Digital twin with a high-speed tracked vehicle with an onboard hydrostatic turning mechanism

The article is devoted to the study of the processes occurring in the transmission and turning mechanism of the high-speed tractor with the original structure of the gear and turning mechanism (GTM). The traditional design of the gear-lever double-flow GTM is supplemented by three hydraulic machines connected by two hydraulic lines. This allowed the tractor to implement any turning radius from a straight line to a turn in place around the center of gravity. A mathematical model (digital twin) of a high-speed caterpillar tractor has been developed, with the help of which it was possible to select the parameters of the tractor automatic traffic control system, which ensures that the vehicle passes a serpentine-type track in fourth gear at a speed of 34 km/h, which is unattainable with the traditional GTM of this machine. The indicators of controllability of the tractor movement near the skid boundary are analyzed. It is shown that the turn of a high-speed tracked vehicle at the drift boundary is very attractive from an energy point of view. Turning due to inertial forces significantly unloads the internal combustion engine, and ultimately reduces fuel consumption. The difficulty lies in driving the car at the edge of the skid. The article shows that the servo control system successfully solves this problem. Information about the curvature of the track, which can be formed by GPS navigation or reference points on the ground, was used as a setting signal. The result of the study is graphs of changes in the hydrostatic transmission pump control parameter, pressure in the hydrostatic transmission lines, rotational speeds of the driving wheels, the displacement of the pole of rotation, which characterizes the degree of approach to the skid boundary, and the movement trajectory in Cartesian coordinates.