SU842865A1 - Device for simulating endless-track vehicles - Google Patents

Description

The purpose of the invention is to improve the accuracy of modeling vibrations. The goal is achieved by the fact that a device for simulating oscillations of a caterpillar machine, containing a terrain angle sensor, the output of which is connected to the first input of the integrator, the linear speed setting unit and the actuator through the shaper, and the simulator of the suspension the tracked MSL1, the output of which is connected to the actuator, and the input of the module for mounting the suspension of the tracked vehicle is connected to the first input of the inertia sound on and connected to you go integrator, a second input coupled to an output multiplying unit whose inputs are connected respectively to the outputs of set linear velocity and the inertial unit, a second input connected to the output of the tilt angle sensor mestn minute. In addition, the suspension modeling unit of the tracked vehicle contains a power source, an inverter, adders and integrators, the first input of the first adder is the input of the unit, the output of the first adder through the first inlet; the integrator is connected to the inputs of the second integrator and the first inverter, whose output is connected with the second input of the first adder, the third input of which is connected to the output of the second integrator connected to the first input of the second adder, the second input of which is connected to the output of the power source, the output of the second adder connected to the input. the second inverter, the output of which is the output of the block. The drawing shows a device for modeling oscillations of a rolling machine, a block diagram. The device contains series-connected elevation angle sensors 1, a terrain shaping unit 2, a track laying machine simulation unit 3, an actuator 4 (electrohydraulic drive), an inertial link 5, a block b, a multiplication, and a linear speed setting unit 7. The block 2 of the terrain consists of: shaped; bodies -8 of the falling edge of the signal and, integrator 9 .. Bj composition of block 3 includes adder 10, integrators 11, 12, adder 13 inverters 14, 15 and power supply 16. The device works as follows. In the initial position, the voltage from the output of sensor 1 is removed and proportional to the angle of slope of the terrain, and fed to the inputs of link 5 and block 2, the output voltage licf of integrator 9 with a limited level proportional to the angle of inclination of the unsprung part of the machine is equal to the voltage u, t. e. In this case, the mode is reproduced when the machine is moving across the terrain with a constant angle of inclination of the track bearing surface. Since the voltage and (and, the voltage at the first input of block 6 is zero, the second input of this block is supplied with a voltage proportional to the speed of the linear motion from block 7. At the same time, at the output of block 6, Hc1 voltage is zero. In the simulation changing the angle of inclination of the unsprung part of the tracked vehicle when the angle of inclination of the terrain increases by 4 ° C at the output of sensor 1, the voltage increases by the lead value, i.e. the total output voltage becomes equal to ir (, + l. The last goes to one of the link inputs 5 and on in One driver 8, through which it passes unchanged and enters the control input of integrator 9. It increases the level of restriction of the integrator's charge to the value of and, + + and UgL.B first time moment, the voltage at the output of integrator 9 is U If u It arrives at the second input of link 5 with the opposite sign. At the output of link 5, a voltage appears (X, which is multiplied by the voltage uy, proportional to the speed of a linear motion of the tracked vehicle, and the voltage goes to the input of the integrator 9 and chews it up to level restrictions. As the voltage at the output of the integrator 9 increases, the difference in voltage (+ AUocJ and uc, voltage) decreases and, through block 3, enters the actuator 4, which raises the simulator cab by an angle corresponding to the voltage U (. Thus, the change in the angle of the unsprung part of the track is simulated when moving uphill. When simulating a change in the angle of inclination of the unsprung part of a tracked vehicle when the angle of inclination on / oL at the output of sensor 1 decreases, the voltage decreases by the value flU (ji, i.e. the input voltage becomes equal to JC-di. This voltage goes to one input of link 5, to the other input of which voltage comes from the output of integrator 9, which has voltage U (., as a result of link 5 there is a voltage e, and its sign is opposite to the i sign when simulating an upward movement. The voltage id is multiplied by the voltage u in block 6 and the voltage equal to the product Uy. the idea is fed to the input of the integrator 9 and er is err until its output voltage equals silt,. In this case, the voltage at the output of the link 5 and block 6 will become zero. The voltage Uy, proportional to the speed of the linear movement of the tracked vehicle, is given by block 7. This voltage is applied to one of the inputs of block 6 multiplication. The smaller Uy, the lower the performance of Uy-Uj c, therefore, the voltage at the output of integrator 9 also changes more slowly. The higher the Uy, the greater the product of the voltages and. consequently, the change in voltage and i to the output of integrator 9 is faster. This means that as the vehicle speed increases as it travels through areas with varying profile angles, the speed of change in the angle of the unsprung part of the tracked vehicle will increase in accordance with this profile. At a constant speed at variable angles, the time of entry at these angles will remain constant, t, e. as the angle increases, the product will also increase, while the voltage limit of the integrator 9 will increase, i.e. the angular rate of rotation of the unsprung part at a constant linear velocity will increase.

The tracked vehicle consists of IE M6-suppressed and sprung parts connected between the system under the weight. The suspension equation of the tracked vehicle will be written as

Q + P + K, H A, where "/ is the angle of inclination of the sprung

parts;

P damping formula;

The frequency of own oscillations of the sprung part;

And the external impact. The adder 10 is used to add voltages proportional to RF, A. The external effect A in this case is the voltage U If proportional to the angle of inclination of the sprung part. A voltage proportional to the angular acceleration of the sprung part 4 arises at the output of the adder. This voltage is integrated by the integrator 11 and is fed through the inverter 15 to the input of the adder 10. The voltage from the output of the integrator 11 proportional to the angular velocity of the sprung oscillations, is integrated by the integrator 12, as a result of which a voltage appears at its output proportional to the angle of inclination of the sprung part, which is also applied to one of the inputs of the adder 10 and to the adder 13, in which with a voltage power source 16 is proportional to the value of the angle corresponding to the horizontal position of the sprung part. The voltage coming from the output of the adder 13, through the inverter 14 is fed to the actuator 4.,

The considered device in comparison with the known one allows to simulate more accurately the oscillations

About a tracked vehicle, which, in turn, when used in tracked drivers, improves the quality and reduces the training time for drivers.

five

Claims (2)

Claims; 1. An apparatus for simulating oscillations of tracked vehicles, comprising a terrain angle sensor, the output of which is via a driver 0 of the trailing edge of the signal is connected to the first input of the integrator, a linear speed setting unit and an actuator, characterized in that, in order to improve accuracy, an inertial link, a multiplication unit and a track simulation unit of the track machine, whose output is connected, are entered into it with the actuator, and the input of the block, the simulation of the suspension of the tracked machine, is connected to the first input of the inertial link and is connected to the output of the integrator, the second input of which is connected to the output of the multiplication unit, whose inputs sootvet5 s) with governmental block specifying whether the linear output speed and inertial -link, the second input of which is connected to the output of the tilt sensor area. : 2. Device POP.1, characterized in that the block of modeling of the suspension of the tracked vehicle contains a power source, inverters, summator and integrators, the first input of the first adder being the input of the block, the output of the first 5, the adder is connected via the first integrator to the inputs of the second integrator and the first inverter, the output of which is connected to the second input of the first adder, the third input of which is connected to the output of the second integrator connected to the first input of the second adder, the second input connected to the output of the power source, output of the second accumulator 5 is connected to the input of a second inverter, the output of which is a Welldbm block. Sources of information taken into account in the examination 1. Rymarenko A, G., and others. Technical means of intensifying driving instruction, WATVTV Publishing House, 1970.86. 2. Product TTV-1/155. Technical description 51.00.00.00.00.000 TO, p.45-45 (prototype). five