Analysis on the Steering of Tracked Vehicles

The steering rule of tracked vehicles was analyzed at the relative skidding of ground and track within ground contact area.Expressions of pulling force,brake force,turning resistance moment,turning radius and turning angular speed were deduced under the conditions of uniform pressure distribution and concentrated ground-contact-load for the steering.Plane motion equations were solved by means of iterations.A real vehicle test was carried out to compare with the models.The results show that the models are reasonable,in the case of uniform pressure distribution,the turning radius is larger than that given by the traditional steering theory,and the angular speed in turning is lower than that given by the traditional steering theory.Steering with concentrated ground-contact-load is more difficult.