Topology synthesis research of dual-input-dual-output coupling mechanism for tracked vehicle

doi:10.3785/j.issn.1006-754X.2025.04.187

Chinese Journal of Engineering Design

2025, Vol. 32

Issue (4): 463-473 DOI: 10.3785/j.issn.1006-754X.2025.04.187

Robotic and Mechanism Design

Topology synthesis research of dual-input-dual-output coupling mechanism for tracked vehicle

Qingkun XING^1,²(

),Shuangyuan YANG³,Datong QIN¹,Xueliang LI³(

),Zengxiong PENG⁴

^1.State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing 400044, China
^2.Key Laboratory of Vehicle Transmission, China North Vehicle Research Institute, Beijing 100072, China
^3.Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China
^4.Key Laboratory of Vehicle Transmission, Beijing Institute of Technology, Beijing 100081, China

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Abstract

In order to decrease the power demand of drive motors in the transmission systems of high-power hybrid tracked vehicles, an innovative design method for a bilateral motor coupling mechanism based on the steering power reflux characteristic was proposed. Taking the dual-planet and triple-planet gear configurations as the research objects, a topological graph theoretical model incorporating kinematic and dynamics constraints was established. The power reflux characteristics under the straight-line driving and steering coordinated condition were transformed into the mathematical criteria for configuration parameters. Using topological synthesis and parametric analysis, six viable configurations were selected. Combined with the steering regenerative power transmission conditions, a multi-objective performance evaluation was conducted, and it was found that the dual-planet gear configuration attained the best in terms of coupling mechanism efficiency and steering power regenerative utilization rate. A electromechanical coupling dynamics simulation model for tracked vehicle was established, and tests on the vehicle's straight-line driving power performance and steering capability were conducted. The results showed that the optimal configuration could achieve a coordinated control with a yaw angle tracking accuracy of over 94% and a longitudinal speed error of less than 2.1%. The research results have provided a novel technical approach for the design of high-power-density hybrid tracked vehicle transmission system.

Key words： tracked vehicle power coupling mechanism mathematical features configuration topology synthesis

Received: 02 January 2025 Published: 01 September 2025

CLC:

TH 112

Corresponding Authors: Xueliang LI E-mail: xingqingkun@163.com;lixl@ysu.edu.cn

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Cite this article:

Qingkun XING,Shuangyuan YANG,Datong QIN,Xueliang LI,Zengxiong PENG. Topology synthesis research of dual-input-dual-output coupling mechanism for tracked vehicle. Chinese Journal of Engineering Design, 2025, 32(4): 463-473.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2025.04.187 OR https://www.zjujournals.com/gcsjxb/Y2025/V32/I4/463

履带车辆双输入双输出耦合机构拓扑综合研究

为了降低大功率混合动力履带车辆传动系统驱动电机的功率需求，提出了基于转向功率回流特性的双侧电机耦合机构创新设计方法。以两行星排和三行星排构型为研究对象，建立了融合运动学与动力学约束的拓扑图论模型，将履带车辆直驶-转向协同工况下的功率回流特征转化为构型参数的数学判据；通过拓扑综合与参数化分析筛选出6种可行构型，结合转向再生功率传递条件进行多目标性能评估，发现两行星排构型在耦合机构效率和转向再生功率利用率方面表现最优；搭建了履带车辆机电耦合动力学仿真模型，进行了车辆直驶动力性和转向能力测试，结果表明：优选构型可实现偏航角跟踪精度大于94%、纵向速度误差小于2.1%的协同控制。研究结果为高功率密度混合动力履带车辆传动系统的设计提供了新的技术路径。

关键词： 履带车辆, 功率耦合机构, 数学特征, 构型拓扑综合

Fig.1 Schematic diagram of electromechanical compound transmission

Table 1 Graph theoretical representation of planetary gear components based on topological relationships

Fig.2 Dual-planetary gear topological configuration

Fig.3 Dual-planetary gear topological scheme

Fig.4 Transmission scheme for dual-planetary gear configuration 1

Fig.5 Transmission scheme for dual-planetary gear configuration 2

Fig.6 Triple-planetary gear topological configuration

Fig.7 Triple-planetary gear topological scheme with f_w=2

Fig.8 Triple-planetary gear topological scheme with f_w=3

Fig.9 Connection methods for triple-planetary gear with f_w=2

Fig.10 Transmission scheme corresponding to figure 9 (a)

Fig.11 Transmission scheme corresponding to figure 9 (d) and (e)

Fig.12 Connection methods for triple-planetary gear with f_w=3

Table 2 Tracked vehicle model parameters

Fig.13 Impact of dual-planetary gear characteristic parameter on transmission performance

Fig.14 Impact of triple-planetary gear characteristic parameter on transmission performance

Fig.15 Power flow in transmission system during straight-line driving

Fig.16 Power flow in transmission system during pivot steering

Fig.17 Power flow in transmission system during unilateral steering

Fig.18 Power flow in transmission system during motor diving steering

Fig.19 Dynamics simulation model of tracked vehicle

Table 3 Parameters of dynamics simulation model of tracked vehicle

Fig.20 Speed of vehicle under straight-line circular test condition

Fig.21 Output torque of drive motor under straight-line circular test condition

Fig.22 Yaw angle of vehicle under combined test condition of straight-line driving and turning

Fig.23 Longitudinal velocity of vehicle under combined test condition of straight-line driving and turning

Fig.24 Output torque of drive motor under combined test condition of straight-line driving and turning


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