Improving the quality of transients in the control of a high-speed tracked vehicle

The study focuses on the controlled motion of a tracked vehicle with discrete properties of a steering control mechanism. The research aims to improve the quality of transient processes when adjusting the angular speed of a tracked vehicle. The article substantiates the need to improve the quality of transients in steering control of a tracked vehicle in order to increase its speed. The research of controlled motion dynamics is a simulation-based study of a system of differential equations with respect to three generalized coordinates. Basing on a comparative analysis of the simulation results and experimental data of the controlled motion dynamics, it was established that the specific speed is limited by the overshoot of machine response to the control action, the transient oscillation, and the insufficient intensity of its damping. The problem of increasing speed was solved by implementing a modern information approach, i.e. creation of an automated system for stabilizing the machine trajectory that redistributes the power control effect (Input Shaper). It was found that the Zero Vibration Shaper (ZV-Shaper) algorithm works best for the control object under consideration. It minimizes the limiting overshoot, and the transient becomes similar to a periodic. The quality of the control process is determined by the stability of the natural frequency of the system to which the proposed Input Shaper is tuned. Thus, it is advisable to introduce a circuit of monitoring and natural frequency identification into the control system. The research results suggest increasing the specific speed of a vehicle, including on soils of low coupling properties.