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Article

Track Tension Controller Design and Experimental Evaluation in Tracked Vehicles

[+] Author and Article Information
Kunsoo Huh

School of Mechanical Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, Seoul 133-791, Koreaemail: khuh2@hanyang.ac.kr

Chung Choo Chung

Division of Electrical and Computer Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, Seoul 133-791, Korea

I. M. Kim

School of Mechanical Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, Seoul 133-791, Korea

Mun-suk Suh

Agency for Defense Development, Taejon, Korea

J. Dyn. Sys., Meas., Control 126(4), 764-771 (Mar 11, 2005) (8 pages) doi:10.1115/1.1852461 History: Received February 17, 2003; Revised January 04, 2004; Online March 11, 2005
Copyright © 2004 by ASME
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References

Garnich, M. R., and Grimm, T. R., 1984, “Modeling and Simulation of a Tracked Vehicle,” International Computers in Engineering Conference, Las Vegas, Vol. 2, pp. 591–600.
Oakley,  R., Quinn,  D., and Jones,  R. D., 1994, “Track Tensioning Program for Tacom on the Active Suspension Scorpion (P3) Tank,” NTIS Report No., ADA282723, U.S. Dept. of Commerce.
Huh,  K., and Hong,  D., 2001, “Track Tension Estimation in Tracked Vehicles Under Various Maneuvering Tasks,” ASME J. Dyn. Syst., Meas., Control, 123(2), pp. 179–185.
Ryu,  H. S., Bae,  D. S., Choi,  J. H., and Shabana,  A., 2000, “Compliant Tank Link Model for High-Speed, High-Mobility Tracked Vehicle,” Int. J. Numer. Methods Eng., 48, pp. 1481–1502.
Ehlert,  W., Hug,  B., and Schmid,  I. C., 1992, “Field Measurements and Analytical Models as a Basis of Test Stand Simulation of the Turning Resistance of Tracked Vehicles,” J. Terramech., 29(1), pp. 57–69.
Wong, J. Y., 1993, Theory of Ground Vehicles, 2nd ed., Wiley, New York.
Kar,  M. K., 1987, “Prediction of Track Forces in Skid-Steering of Military Tracked Vehicles,” J. Terramech., 24(1), pp. 75–86.
Burke,  D., 1992, “Specification Report for TACOM Track Tensioning Program,” NTIS Report AD-A252 824, May, U.S. Dept. of Commerce.
Sullivan, J. A., 1998, Fluid Power—Theory and Applications, Prentice-Hall, Engelwood, NJ.
Lambeck, R. P., 1983, Hydraulic Pumps and Motors—Selection and Application for Hydraulic Power Control Systems, Marcel Dekker.
Proportional Pressure Relief Valves, 2001, Catalog GB-2162E, Vickers, Inc.
Bladder Accumulators, 2000, Catalog SB330 series, HYDAC, Co.
Proportional Pressure Reducing Valves, 2001, Catalog GB-2322D, Vickers, Inc.
79 Series Servovalves, 1999, Catalog 79 series, Moog, Inc.
Servo and Proportional Systems Catalogue, 2001, M210-00.01, En04.92, pp. 61–66, Moog Co.
Jang, J. R., Sun, C. T., and Mizutani, E., 1997, Neuro-Fuzzy and Soft Computing, Prentice-Hall, Englewood Cliffs, NJ.
Kolodziej,  C., and Priemer,  R., 1999, “Stability Analysis of Fuzzy Systems,” J. Franklin Inst., 336, pp. 851–873.
Matlab/Simulink User’s Manual, 2000, The Mathworks Inc., Natick, MA.
Kim, I. M., 2002, “Experimental Study on Dynamic Track Tensioning System in Tracked Vehicles,” M.S. thesis, Hanyang University, Seoul.
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Simula, G., Ruonavaara, N., and Pakkals, J., 1999, DTIS Operation Manual, KRC, Michigan Technological University, Houghton, MI.

Figures

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Proposed track tension control system
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Geometry of the idler and the tension actuator
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Schematic configuration of the hydraulic unit
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Flow model around the pump
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Track tension estimation and controlled variable selection
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Block diagram of the proposed tension control system
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Track tension control algorithm
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Simulation tool for track tension control
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Tension simulation result for the left track
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Configuration of sensor installment
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Experiment setup for the tension controller
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ECU hardware configuration
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Tension control simulation and experiment
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Tension estimation on the downward slope
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Estimated tension on the right track 〈left turning case〉
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Control result for the stationary case
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Control result for longitudinal driving
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Control result for downward traveling
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Control result for driving on a lateral slope
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Control result for turning left on the paved road
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Control result for turning left on the sands
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Left tension for pivoting right
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Right tension for pivoting right

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