Steering System

Problem Solving
 Example # 1
Figure shows a 1.47 kN hybrid air-cushion tracked vehicle is designed for operating on
swamp terrain which have a bearing capacity of 7 kN/m 2. The vehicle parameters were
optimized as: ground contact length, L = 0.54 m, width, B =0.12 m. The terrain parameters
are given as cohesion, c= 1.37 kN/m2 and internal friction angle, Φ= 370. Determine the,
i. mobility of the vehicle during straight motion
ii. traction force of the vehicle.
iii. If the mobiity of the vehicle is not supported by the terrain based on the current design
(a) What the necessary action should make about the vehicle mobility on the same terrain
without negotiating the vehicle weight
(b) Determine the traction force of your newly design vehicle
(c) Motion resistance of the vehicle due to compaction if kc=29.76 kN/m3,
kΦ=2083 kN/m3, z = 20 mm, n =1
 Example # 1
Figure shows a 1.47 kN hybrid air-cushion tracked vehicle is designed for operating on
swamp terrain which have a bearing capacity of 7 kN/m 2. The vehicle parameters were
optimized as: ground contact length, L = 0.54 m, width, B =0.12 m. The terrain parameters
are given as cohesion, c= 1.37 kN/m2 and internal friction angle, Φ= 370. Justify the,
i. mobility of the vehicle during cornering
ii. traction force of the vehicle.
iii. Lateral motion resistance of the vehicle if lateral motion resistance coefficient, μ l=0.5.
iv. Power consumption due to the lateral resistance if the lateral acceleration, a y=0.56 m/s2.
v. The air cushion is used to increase the flotation capacity and allow the
vehicle traverse where the bearing capacity of the soil is 5 kN/m2. Determine
the additional area of the aircushion required to make the vehicle traverse.
A tracked vehicle (Fig. 3) weighs 155.68 kN and has a tread of 203.2 cm. Each of the two tracks
has a contact length of 304.8 cm and a width of 76.2 cm. The contact pressure is assumed to
be uniform. The vehicle travels over a terrain with cohesion 3.45 kN/m 2 and an angle of
internal shearing strength 250. Over this terrain, the coefficient of motion resistance 0.15 and
the average coefficient of lateral resistance 0.5. Determine:
(i) Steerability of the vehicle over the terrain specified if the skid-steering method is
employed.
(ii) Required thrusts of the outside and inside tracks during a steady state-state turn
(iii) Motion resistance due to the lateral resistance
Turning: low and moderate speed
Turning: low and moderate speed
• If the sprocket of the
outside track rotates
at an angular speed
of ω0 and inner
tracks at ωi and the
tracks in skid, the
turning radius R and
yaw velocity Ω can
be expressed as,

B érw 0 + rw i ù
Turning radius, R = ê ú
2 ërw 0 - rw i û
rw 0 + rw i
Yaw velocity, W =
2R
A tracked vehicle (Fig. 3) weighs 155.68 kN and has a tread of
203.2 cm. Each of the two tracks has a contact length of 304.8
cm and a width of 76.2 cm. The contact pressure is assumed to
be uniform and equipped with brake steering system. Over this
terrain, the coefficient of motion resistance 0.15, the average
coefficient of lateral resistance 0.5 and and an angle of internal
shearing strength 300.
If, during the turn, the sprocket of the outside track, with a
radius of 0.305 m, is rotating at 10 rad/s, and the inside track is
disconnected by applying brake, determine the,
i. turning radius
ii. yaw velocity of the vehicle
iii. Calculate the power required to maintain a steady-state
turns with a turning radius (i) when the speed of the CG of
the vehicle is 10 km/h.