Research on Modeling and Load Simulation Algorithm of Tracked Vehicle Braking System on Mu-Split Road Surfaces

The efficient work of the braking system ensures the safety of the driver's life and property during the driving process. For tracked vehicles, a reliable braking system is the guarantee of completing the job or the task. This paper studies a high-speed electric-driven tracked vehicle's driving state on different mu-split road surfaces and establishes the braking system model and the longitudinal dynamics model of the vehicle and driving wheels. Steering stability analysis was carried out and a relative motion between the two-sided braking systems resulting in a transfer torque was found. A load simulation test system has been built and the improved forward speed tracking algorithm has been used to adjust the inertia by combining the flywheel and the loading motor to simulate the load of the driving wheel. The results of the motor load simulation test show that the load simulation algorithm in this paper can effectively simulate the load on the driving wheel and restore working conditions of the real tracked vehicle. This paper also conducts the combined braking test of the two-sided system which gives the torque situation on both sides of the vehicle and obtains the transfer torque by applying the load simulation algorithm.