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EnglishThis paper presents a study related to an Articulated Amphibious All-Terrain Tracked Vehicle (ATV) characterized by a modular architecture. The ATV is composed by two modules: The first one hosts mainly the vehicle engine and powertrain components, meanwhile the second one can be used for goods transportation, personnel carrier, crane and so on. The engine torque is transmitted to the front axle sprocket wheel of each module and finally distributed on the ground through a track mechanism. The two modules are connected through a multiaxial joint designed to guarantee four relative degrees of freedom. To steer the ATV, an Electro Hydraulic Power System (EHPS) is adopted, thus letting the vehicle steerable on any kind of terrain without a differential tracks speed. The paper aims to analyze the steady-state lateral behavior of the ATV on a flat road, through a non-linear mathematical vehicle model built in Matlab/Simulink environment. The model describes the vehicle main planar motion and the interaction between the two modules through the application of a hydraulic steering torque. The model simulates steady-state handling maneuvers in Matlab/Simulink. Two scenarios are considered: One with the application of an open-loop hydraulic steering torque without any vehicle feedback; the second one with a closed-loop steering torque actuation based on the relative angle between the two modules (hitch angle). Finally, the influence of the ATV longitudinal speed on vehicle lateral characteristics is also presented.
Steering Behavior of an Articulated Amphibious All-Terrain Tracked Vehicle / Tota, A.; Velardocchia, M.; Rota, E.; Novara, A.. - In: SAE TECHNICAL PAPER. - ISSN 0148-7191. - STAMPA. - 1(2020), pp. 1-11. ((Intervento presentato al convegno SAE 2020 World Congress Experience, WCX 2020 tenutosi a TCF Center, usa nel 2020.
| Titolo: | Steering Behavior of an Articulated Amphibious All-Terrain Tracked Vehicle |
| Autori: | |
| Data di pubblicazione: | 2020 |
| Rivista: | |
| Abstract: | This paper presents a study related to an Articulated Amphibious All-Terrain Tracked Vehicle (ATV...) characterized by a modular architecture. The ATV is composed by two modules: The first one hosts mainly the vehicle engine and powertrain components, meanwhile the second one can be used for goods transportation, personnel carrier, crane and so on. The engine torque is transmitted to the front axle sprocket wheel of each module and finally distributed on the ground through a track mechanism. The two modules are connected through a multiaxial joint designed to guarantee four relative degrees of freedom. To steer the ATV, an Electro Hydraulic Power System (EHPS) is adopted, thus letting the vehicle steerable on any kind of terrain without a differential tracks speed. The paper aims to analyze the steady-state lateral behavior of the ATV on a flat road, through a non-linear mathematical vehicle model built in Matlab/Simulink environment. The model describes the vehicle main planar motion and the interaction between the two modules through the application of a hydraulic steering torque. The model simulates steady-state handling maneuvers in Matlab/Simulink. Two scenarios are considered: One with the application of an open-loop hydraulic steering torque without any vehicle feedback; the second one with a closed-loop steering torque actuation based on the relative angle between the two modules (hitch angle). Finally, the influence of the ATV longitudinal speed on vehicle lateral characteristics is also presented. |
| ISBN: | 01487191 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| Steering behavior of an Articulated Amphibious All-Terrain Tracked Vehicle_Review.pdf | Post Print version | 2. Post-print / Author's Accepted Manuscript | PUBBLICO - Tutti i diritti riservati | Embargo: 14/10/2020 Richiedi una copia |
| 2020-01-0996.pdf | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11583/2845598
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