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.
Steering Behavior of an Articulated Amphibious All-Terrain Tracked Vehicle
Sae Technical Papers
WCX SAE World Congress Experience ; 2020
2020-04-14
Conference paper
English
Steering Behavior of an Articulated Amphibious All-Terrain Tracked Vehicle
British Library Conference Proceedings | 2020
|Steering Behavior of an Articulated Amphibious All-Terrain Tracked Vehicle
British Library Conference Proceedings | 2020
|Articulated Steering Control for an All-Terrain Tracked Vehicle
TIBKAT | 2021
|Amphibious multi-terrain water planing high speed tracked vehicle
European Patent Office | 2022
|