Development of a bench for semi-full-scale modeling of a control system for the movement of a tracked vehicle with a hydrostatic transmission

The article presents the results of the development of a bench for a semi-full-scale simulation of the motion control system of a tracked vehicle with a hydrostatic transmission, intended both for teaching programming of logical controllers and for testing control algorithms at the stage of their development. The analysis of technical solutions known on the market with the identification of their main shortcomings is performed. In the framework of the concept of semi-full-scale modeling, a structure has been drawn up and implemented. A mathematical model of the control system for the movement of a tracked vehicle with hydrostatic transmission is presented. It is made on the basis of an industrial tracked tractor of traction class 15 tons manufactured by JSC Ural Road Construction Equipment Plant and adapted to the needs of the stand. A set of control algorithms has been formed, which includes an algorithm for controlling the movement of a caterpillar vehicle, an algorithm for activating the running-side brake when there is a risk of skidding, and an algorithm for activating the brake of the lagging side when the hydrostatic mechanism is overloaded by pressure. To organize the input of initial data, as well as observations of the simulation results, the Altair Embed software package developed a visualization system that includes an operator panel mimic diagram demonstrating changes in the basic parameters of the tracked vehicle's motion (center of gravity speed; center of gravity trajectory; pump flow control parameters; curvature of the trajectory (set and current); track rotation speed on the left and right sides; soil resistance coefficient under each track), a panel settings the algorithms for motion control of a tracked vehicle, a panel of adjustment of parameters of the soil and the selection panel motion path of the tracked vehicle.