On the issue of caterpillar trains controllability evaluation at the design stage using a complex of natural-mathematical modeling

Introduction (problem statement and relevance). The insurance of the required safety level is getting more relevant in connection with the intensive implementation of remote control systems being developed for vehicles with varying degrees of motion autonomy. When transporting bulky and heavy loads off-road by remote-controlled tracked trains it is advisable to use the methods of full-scale mathematical modeling at the design stage to evaluate the operational properties of the remote-controlled tracked trains associated with undetermined actions of the driving operator.

The purpose of the study was to evaluate the controllability of caterpillar trains transporting goods off-road with the help of a natural-mathematical modeling complex.

Methodology and research methods. To assess the controllability of caterpillar trains, the mathematical model requirements for a complex of full-scale mathematical modeling were worked out, taking into account the mathematical model of caterpillar train motion. Using the method of natural-mathematical modeling, the controllability of a caterpillar train was evaluated when moving along a “snake” type trajectory.

Scientific novelty and results. The methods presented in this paper and the developed mathematical model, suitable for a complex of natural-mathematical motion modeling, allow to determine the indicators of tracked trains operational properties associated with non-deterministic control actions of the driver operator and the disturbing effect of the road conditions. The novelty of the work lies in the developed mathematical model and the possibility of its application in the complex of natural-mathematical motion modeling for the study of operational properties and load modes of unmanned tracked trains. As a result of the study, the caterpillar trains controllability evaluation has been made when moving along a “snake” type trajectory as well as assessment of the caterpillar trains transmission load.

Practical significance. The developed mathematical model allows determining the indicators of caterpillar trains operational properties at the design stage using a complex of natural-mathematical motion modeling. In addition, when performing virtual races, one can get data on the modes of transmission and select required characteristics.

1. Evseev K.B. Mobility of vehicles for transportation of heavy indivisible load in the Far North and methods of mobility estimation. Journal of Physics: Conference Series, 2021, no. 2061, pp. 12095.

2. Buzunov N.V. [A method for developing control laws for a steering wheel loader in the absence of a direct connection in the steering system of wheeled vehicles. Cand. eng. sci. diss.]. Moscow, BMSTU, 2017. 186 p. (In Russian)

3. Evseev K.B. [Development of hierarchy of operational properties of vehicles for transporting of heavy indivisible loads in the Far North conditions]. Trudy NGTU im. R.E. Alekseeva, 2021, no. 2 (133), pp. 74–84. (In Russian)

4. Evseev K., Kositsyn B., Kotiev G. et al. Development of the conceptual design of vehicles for off-road container transportation for mining applications. E3S Web of Conferences, 2021, no. 326, pp. 25.

5. Soltani A., Assadian F. A Hardware-in-the-Loop facility for integrated vehicle dynamics control system design and validation. IFAC-PapersOnLine, 2016, no. 49, pp. 32–38.

6. Tumasov A.V., Vashurin A.S., Trusov Y.P. et al. The Application of Hardware-in-the-Loop (HIL) simulation for evaluation of active safety of vehicles equipped with electronic stability control (ESC) systems. Procedia Computer Science, 2019, no. 150, pp. 309–315.

7. Shao Y., Mohd Zulkefli M.A., Sun Z. et al. Evaluating connected and autonomous vehicles using a hardware-in-the-loop testbed and a living lab. Transportation Research Part C: Emerging Technologies, 2019, no. 102, pp. 121–135.

8. Wang C., Xiong R., He H. et al. Comparison of decomposition levels for wavelet transform based energy management in a plug-in hybrid electric vehicle. Journal of Cleaner Production, 2019, no. 210, pp. 1085–1097.

9. Zhang H., Zhang Y., Yin C. Hardware-in-the-Loop Simulation of Robust Mode Transition Control for a Series–Parallel Hybrid Electric Vehicle. IEEE Transactions on Vehicular Technology, 2016, no. 65, pp. 1059–1069.

10. Fodor D., Enisz K. Vehicle dynamics based ABS ECU verification on real-time hardware-in-the-loop simulator. 16th International Power Electronics and Motion Control Conference and Exposition, pp. 1247–1251.

11. Hahlbrock GmbH – Faserverstärkte Kunststoffe. Available at: http://www.hahlbrock.de/fvk/en/projekte/forschungsanlagen/daimler_fahrsimulatordom_en.php (accessed 08 January 2022).

12. 4DOF motion simulators. Available at: http://www. motion-sim.cz/new/ (accessed 08 January 2022).

13. Kositsyn B.B., Kotiev G.O., Miroshnichenko A.V., Padalkin B.V., Stadukhin A.A. [Characterization of transmissions of wheeled and tracked vehicles with individual drive wheels]. Trudy NAMI, 2019, no. 3 (278), pp. 22–35 (In Russian)

14. Kositsyn B.B., Miroshnichenko A.V., Stadukhin A.A. [Modeling of random functions of characteristics of road-ground conditions in the study of the dynamics of wheeled and tracked vehicles at the design stage]. Izvestiya MGTU MAMI, 2019, no, 3 (41), pp. 36–46. (In Russian)

15. Krasnen’kov V.I., Kharitonov S.A. [Dynamics of curvilinear motion of a tracked transport vehicle]. Trudy MVTU im. N.E. Baumana, 1980, no. 339, pp. 3–67. (In Russian)

16. Rozhdestvenskiy Yu.L., Mashkov K.Yu. [On the formation of reactions during rolling of an elastic wheel on a non-deformable base]. Trudy MVTU, 1982, no. 390, pp. 56–64. (In Russian)

17. Ellis D.R. [Vehicle handling]. Moscow, Mashinostroenie Publ., 1975. 216 p. (In Russian)

18. Dik A.B. [Calculation of stationary and non-stationary characteristics of the braking wheel when driving with slip. Cand. eng. sci. diss.]. Omsk, SADI, 1988. 224 p. (In Russian)

19. Stadukhin A.A. [Scientific methods for determining the rational parameters of electromechanical transmissions of highly mobile tracked vehicles. Dr. eng. sci. diss.]. Moscow, BMSTU, 2021. 317 p. (In Russian)

20. Gorelov V.A., Kositsyn B.B., Miroshnichenko A.V. et al. [Method for determining the characteristics of an individual traction electric drive of a two-link tracked vehicle at the design stage]. Trudy NGTU im. R.E. Alekseeva, 2019, no. 3 (126), pp. 120–134. (In Russian)

21. Kotiev G.O., Padalkin B.V., Miroshnichenko A.V. et al. [Theoretical studies of the mobility of high-speed tracked vehicles with electric transmissions]. [Proceedings of the International Scientific and Practical Conference. Ed. by Kalyaev I.A., Chernous’ko F.L., Prikhod’ko V.M.]. 2018, pp. 27–36. (In Russian)

22. Farobin Ya.E. [Theory of rotation of transport vehicles]. Moscow, Mashinostroenie Publ., 1970. 176 p. (In Russian)

23. Smirnov G.A. [The theory of motion of wheeled vehicles. Textbook]. Moscow, Mashinostroenie Publ., 1990. 352 p. (In Russian)

24. Zakin Ya.Kh., Shchukin M.M., Margolis S.Ya., Shiryaev P.P., Andreev A.S. [Design and calculation of road trains]. Leningrad, Mashinostroenie Publ., 1968. 332 p. (In Russian)

25. Gorelov V.A. [Scientific methods for improving the safety and energy efficiency of the movement of multiaxle wheeled transport systems. Dr. eng. sci. diss.]. Moscow, BMSTU, 2012. 336 p. (In Russian)

26. Chudakov O.I. [Development of the law of power distribution between the links in the rectilinear motion of a road train based on the analysis of force factors in the coupling device. Cand. eng. sci. diss.]. Moscow, BMSTU, 2017. 146 p. (In Russian)

27. Gorelov V.A., Kositsyn B.B., Miroshnichenko A.V. et al. [Regulator of the steering control system of a high-speed tracked vehicle with an individual drive of the driving wheels]. Izvestiya MGTU MAMI, 2019, no. 4 (42), pp. 21–28. (In Russian)

28. Beketov S.A. [Theory of controlled movement of tracked vehicles]. Moscow, BMSTU Publ., 2017. 125 p. (In Russian)

29. Evseev K.B. [Comparative studies on the maneuverability of caterpillar trains for the transport of containers]. Traktory i sel’khozmashiny, 2021, no. 6, pp. 54–67. (In Russian)

30. Volkov A.A. [Increasing the speed of movement in the turn of a high-speed tracked vehicle based on the improvement of motion control algorithms. Cand. eng. sci. diss.]. Kurgan, 2018. 180 p. (In Russian)

31. Shapkin A.N. [Method for assessing the controllability of tracked vehicles]. [Proceedings of the 77th International Scientific and Technical Conference of the AAI

32. “Automobile and Tractor Engineering in Russia: Development Priorities and Personnel Training”]. Moscow, 2012, pp. 243–252. (In Russian)

33. Spirin N.A., Lavrov V.V., Zaynullin L.A., Bondin A.R., Burykin A.A. [Methods for planning and processing the results of an engineering experiment: textbook. Ed. by Spirin H.E.]. Ekaterinburg, UINTs Publ., 2015. 290 p. (In Russian)