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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Grahic Jump Location
Tension estimation on the downward slope
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Control result for downward traveling
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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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Estimated tension on the right track 〈left turning case〉
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Control result for the stationary case
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ECU hardware configuration
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Tension control simulation and experiment
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Control result for longitudinal driving
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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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