SU959097A2 - Apparatus for simulating endless-track machine oscillations - Google Patents

Description

(54) DEVICE FOR MODELING THE VIBRATIONS OF TRACKED MACHINES

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The invention relates to the field of analog computing and can be used in simulators for training drivers of tracked vehicles and in research stands.

Device for modeling oscillations of tracked vehicles St. No. 842865 contains a terrain angle sensor, the output of which is connected to the first input of the integrator, a linear speed setting unit, an actuator, an inertial link, a multiplication unit and a tracked vehicle modeling unit, the output of which is connected to the actuator, and an input The suspension modeling unit of the tracked vehicle is connected to the first input of the inertial link and is connected to the integrator output, the second input of which is connected to the output of the multiplication unit, the inputs of which It is connected respectively to the outputs of the linear speed reference unit and the inertial link, the second input of which is connected to the output of the sensor for the angle of inclination of the terrain. The crawler machine simulation block contains a power source, inverters, adders and integrators, the first input of the first accumulator is the input of the block, the output of the first adder through the first integrator is connected to the inputs of the second integrator and the first inverter, whose output is connected to the second

5 by the 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 first adder is connected to the input of the second inverter whose output is the output of block 1.

A disadvantage of this device is that it does not simulate the oscillations of a tracked vehicle caused by the force of inertia that occurs when an uneven movement, for example, when braking or accelerating.

The purpose of the invention is to expand the functionality by simulating oscillations with varying speed of movement of the machine.

The goal is achieved by the fact that the device for modeling oscillations of a tracked vehicle additionally contains a second inertial link and a summing inertia link, the input of the second inertial link and the first input of the summing inertia link connected to the output of the linear speed reference unit, the second input of the summing inertia link is connected to the output an inertial link, and the output is to the fourth input of the first adder. The drawing shows a functional diagram of the device. The device circuit contains a terrain angle sensor, a back-edge driver 2, an integrator 3, a first inertial link 4, a multiplication unit 5, a second inertial link 6, a summing-inertial link 7, a linear speed reference unit 8, a block 9 for modeling a suspension of a tracked vehicle, the adder 10, the integrators 11, 12, the adder 13, the inverters 14, 15, the source 16 of constant voltage, the actuator 17. The device operates as follows. From the output of sensor 1 of the slope of the locality, the voltage LU is removed and supplied to the rear edge driver 2 and the inertial link 4. In the initial state, the output voltage Utf of the integrator 3 with an adjustable level proportional to the angle of the unsprung part of the machine is equal to voltage U That is, 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. In Since and and and are equal, but opposite in sign, the voltage at the output of the inertial link 4 in steady state and at the first input of multiplication unit 5 is zero. The second input of block 5 is supplied with a voltage Uv proportional to the speed of linear motion from block 8. The voltage at the output of block 5 is zero. When modeling the increase in the slope angle on the Act at the output of sensor 1, the voltage increases by the value of AU, T. e. The total output voltage becomes U / + AU, / .. The latter goes to one of the inputs of the inertial link 4 and to the input of the former 2, through which it passes unchanged, and goes to the input of the integrator 3, increasing the integrator charge 3 to the value of W-f CI. At the first moment, the voltage at the output of the integrator 3 is Ucf -LJ and is fed to the second input of the inertial link 4 with the opposite sign. At the output of the latter, an AC voltage appears, which is multiplied by the voltage Uv. The product A is fed to the input of the integrator 3 and charges it to the level of the AC limitation. (As the output voltage of the integrator 3 increases, the voltage difference / Ue decreases (+ Uc. In order for the input of the multiplication unit 5, the voltage AUoi is maintained. Inertial link 4 is used. The voltage from the integrator output through block 9 is fed to the actuator 17, which raises the cab by an angle corresponding to the voltage Uty. This changes the angle of the unsprung part of the track machines to rise. Decreasing the terrain angle by the value at the output of sensor 1 decreases the voltage by the value of ACx, i.e. the total output voltage becomes equal to C {- This voltage goes to one input of the inertial link 4, to another input which the voltage comes from the output of the integrator 3, on which at the first moment there was a voltage Ucf-U. As a result, the output of the inertial link 4 is a voltage with its opposite sign to the voltage of the lift simulation. The voltage, equal to UyU, from the output of block 5 goes to the input of integrator 3 and discharges it until its output voltage equals C (.- Uf. In this case, the voltage at the outputs of blocks 4 and 5 The voltage Uv, proportional to the speed of the rectilinear movement of the tracked vehicle, from the output of block 8 goes to one of the inputs of multiplication unit 5. The smaller Uv, the smaller the product iuid and the smaller the voltage Uy at the output of the integrator 3, and vice versa. This means that with an increase in the speed of the vehicle on the terrain with varying The profile angle increases the rate of change of the angle of the unsprung part of the tracked vehicle in accordance with this profile. The oscillations of the unsprung part of the tracked vehicle are transmitted through the suspension to the sprung part where the driver is. The equation of oscillations of the sprung part of the machine will be written as follows. And, where h - the angle of inclination of the sprung P - the damping factor; the natural frequency of the sprung; And - external influence. Adder 10 is used to add voltages proportional to Pf. KU, A. The external influence in this case is the voltage J, proportional to the angle of inclination of the sprung part. A voltage proportional to the angular acceleration of the sprung portion is formed at the output of the adder 10. 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 total oscillation velocity of the sprung part, is integrated with the help of the integrator 12 and a voltage proportional to the angle of inclination appears at its output sprung part, which also goes to one of the inputs of the adder 10 and to the input of the adder 13, which is summed with the voltage of the power source 16 proportional to the value of the angle corresponding to the horizontal position ssoriennoy parts. From the output of the adder 13 through the inverter 14, the voltage is applied to the actuator. Inverter 14 serves to match the voltage signs.

If the voltage Uv from the output of block 8, which is proportional to the linear speed of movement, remains constant for some time, then the output voltage of the summing-inertial link is zero since the transfer coefficient of the inertial link 6 is chosen equal to one. Therefore, at the inputs of link 7, the voltages are the same in magnitude and opposite in sign.

If the voltage Uv has changed by the value of AUv, which corresponds to an increase in the speed of the maschine, then the voltage at the output of the inertial link 6 changes with some delay. As a result, this voltage is subtracted from the voltage Uv, i.e., the resulting voltage at the input of the link 7 changes dramatically. In order for this change not to be too sharp and serve as link 7. The last time of the latter is chosen from the conditions

reality oscillations tracked vehicles.

From the output of link 7, the voltage is applied to one of the inputs of the adder 10 and participates in the formation of a voltage proportional to the angle of inclination of the sprung part.

The device allows you to reproduce vibrations of the cabin of the simulator when exposed to the learner linear accelerations. This allows you to improve the quality of training on the simulator, while reducing the training time on a real machine. As a result, the savings in the lifespan of training machines, fuel and lubricants, and the cost of maintaining training tracks.

Claims (1)

Invention Formula A device for simulating oscillations of a tracked vehicle according to the author. St. No. 842865 is characterized in that, in order to expand its functionality by simulating oscillations at varying machine speeds, it additionally contains a second inertial link and a summing-inertial link. moreover, the input of the second inertial link and the first input of the summing-inertial link are connected to the output of the linear setting unit, speed, the second input of the summing-inertial link is connected to the output of the second inertial link, and the output is to the fourth input of the first adder. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 842865, cl. G 06 G 7/70, 1979 (prototype).