DELLING AND PERFORMANCE ANALYSIS OF THE BVP M- YBRID …
Transcript of DELLING AND PERFORMANCE ANALYSIS OF THE BVP M- YBRID …
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
MOANADRI
Stefana Serbi Belgr e-ma ORCb Univea.Mec. e-ma ORC
FIELD: MechaARTICLE TYP
Abstract:
Introduction: the industry oand benefitsaround the combat vehichave lower emission, atechnical chaof hybrid tractests of prorestrictions ostorage of elecannot be alprototypes, a
Method: Theis possible tomore or less of possible sof hybrid drivto display a the model de
Results: Thehybrid drive drivetrain ele
DELLINGALYSIS OVE
n V. Milićeviian Armed Forrade, Republicil: stefanm967ID iD: https:
ersity of Defenhanical Engineail: slavko.muzCID iD: https
DOI: 10.5937
anical engineePE:Original sc
Hybrid techof passenger
s that hybrid world investcles and deve
fuel consund additionaallenges muscked combat
ototypes havon key technoectricity. In sullowed nor spand testing.
erefore, it is co examine vamimic real op
solutions concve, to propossimulation hy
evised in Sim
e results obtasolution pro
ements of the
64
G AND POF THE
ića, Slavko Rrces, Central Lc of Serbia, [email protected]://orcid.org/00
nce in Belgradeering, [email protected]://orcid.org/00
7/vojtehg69-28
ering cientific paper
hnology has br and commetechnology bt in the develop prototypumption, beal onboard st be resolvedt vehicles in
ve been conologies such uch conditionpending a lo
clever to run tarious paramperating condcerning the s
se a system sybrid drive m
mulink.
ained by the ovides bette
e vehicle.
PERFOR BVP M-
R. MuždekaLogistics Base
m, correspond00-0003-4837
de, Military Acade, Republic od.gov.rs, 000-0002-618
8232; https://d
been succesercial vehiclesbrings, manyvelopment of pes of trackedetter perform
electric powd before it cooperational u
nducted so fas electric m
ns, where finat of resource
the simulationmeters in simuditions. This pselection of apsolution for a
model and th
simulation sr performanc
RMANCE-80A HY
b
e, 1st Logistics
ding author, 7-9067
ademy, Deparof Serbia
9-9473
doi.org/10.593
ssfully incorpos. Driven by thy defense orgf hybrid techd combat vehimance, bettewer. Howeveomes to the inuse. Several far, but thermotors, electrance is limitedes on plannin
n software wulated conditpaper aims toppropriate tehybrid BVP Me results obt
show that thece while reta
E YBRID
s center,
rtment of
37/69-28232
orated into he success ganizations hnology for hicles which er exhaust er, various ntroduction successful
re are still ronics, and d, mistakes ng, building
with which it tions which o show one echnologies M80A, and tained from
e proposed taining key
65
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87Conclusion: Only turning parameters are considered during the simulation
but it is clear that the hybrid drivertrain has advantages related to straight-line motion as well. Also, sound projections about the drivetrain performance and control can be made with the use of the proposed model.
Key words: hybrid drive, combat vehicle, tracked vehicle performance, hybridization, MATLAB, Simulink.
Introduction In the case of wheeled vehicles, in general, the drive (propulsion)
and steering functions are separated and the change of direction does not significantly affect the traction and braking performance of the vehicle. In contrast to this, in the case of tracked vehicles, the steering control is performed by achieving a difference in the speed of rewinding of the tracks, i.e. lateral drift. This way of steering significantly affects the traction performance of the vehicle because, as a rule, the resistance when making turns increases compared to the straight-line movement. Also, the control function built into the power transmission system affects the load distribution and power balance within the power transmission system itself (Muždeka et al, 2004). The turning performance and the effects of various elements of the transmission design on the performance have been the subject of numerous research papers. However, vehicle hybridization, which has recently experienced rapid development in the military industry, raises many unanswered questions (Khalil, 2009). Numerous states and defense organizations, guided by the advantages of hybrid vehicles such as improvement of mobility and fuel economy, higher specific power, silent mobility and silent watch capabilities, enhancement of onboard electric power generation, etc. invest significant resources in the development and testing of prototype hybrid vehicles (Bhatia, 2015), (Kramer & Parker, 2011), (Dalsjø, 2008). Some papers deal with the design of such vehicles (Johnson & Dueck, 2001), (Nederhoed & Walker, 2009) but, to the best of the authors’knowledge, there are no papers that deal with the performance of such a vehicle except one paper (Taira et al, 2018). The paper presents the conceptual hybrid drive solution for the infantry fighting vehicle BVP M-80A, analyzes the power flow, defines the model of turning resistance acting on the vehicle implemented in the Matlab Simulink software environment, and develops a model for simulating the vehicle drivetrain. The results of the comparative analysis of the symmetrical and asymmetrical turning mechanisms are presented because hybrid drive
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
enables introduct
InflIn ad
specific ppower remobility, the turninis that, electricityact as a motors, turning rparamete
Theof the BVshould transmisselectric mboth con
UnliMuždekadrive, theauxiliary rewindingmotors wreason, conventioadditionavehicle, achieve adjustmeindependturning relementsvelocity dasymmetthe outeacted up
а selectionory part of t
uence of ddition to thpower of thequirementsetc., the qu
ng system adue to they will be gendriven machybrid driv
radii but alser. re are seveVP M80A dnot implysion. Theremotors instaventional ake the conv
a, 2007), we hybrid tra
drive in thg speed of whose ang
such a tonal transmal drive unit
enabling tbetter acce
ent of their dent drive radii withous. Also, sindirection, strical, deper track is h
pon by the
n of the kinthe article.
hybrid drhe advantaghe vehicle, s of the veuestion arisand the turne existencenerated durchine - genve allows nso the pos
eral possibledrive, and
radical efore, it is alled in the nd hybrid trventional trahich has a nsmission hhe form of tracks is a
ular velocittransmissio
mission cants and thusthe vehicle
eleration, etcangular ve
units, it is ut power lonce electricsuch a turnending on thheld stiff, anelectric mo
66
nematic par
rive on thges hybrid additional oehicle subsses as to honing performe of a brakring the turn
nerator. Alsonot only anssibility of c
e conceptuain this papdesign cha parallel
auxiliary drransmissionansmissionsingle-stag
has two indtwo electr
achieved byties can be
on offers nnot fulfill. s increase te to overcoc. Since twelocities are
possible tosses due c motors cing systemhe control mnd the elec
otor in the s
rameter. Th
he turningdrive offersonboard elesystems anow vehicle mance. Oneking force n because to, if it is man infinite nuchoosing th
al solutions per a solutiohanges to hybrid arcrive. The kinsare given , describedge transmisdependent pric motors. y activating e precisely several poFirst of all,the specific ome higheo electric me in the auto provide to friction an easily c can be bomethod. If tctric motor sense of re
he introduct
g system s, which relaectric powend armamehybridizatio
e of the asson the innhe electric ade with twumber of che kinemati
for the hybon was cho
the conchitecture, nematic scin Figure 1in detail in
ssion in thepower sourc
The changone or botcontrolled.
ossibilities electric mpower of t
r resistancmotors with uxiliary drivan infinite in the tranchange theoth symmetthe electric of the inneducing the
tion is an
ate to the er to meet ent, silent on affects sumptions ner track, motor will
wo electric calculated ic turning
bridization osen that nventional
with two chemes of .
n (Vesić & e auxiliary ces in the ge in the th electric . For this that the
motors are the whole ces or to a precise
ve as two range of
nsmission e angular trical and
c motor of er track is
speed of
rewindingacting upintensity,
Figure 1Рис.
Слик This
possibilitopens umaking athe best.
PowThe
independelectric m
g, it is an apon the ou, but in the o
1 – Kinematic 1 – Кинемат
ка 1 – Kинема
s fact is vey of simulap a possiba conclusio
wer flow aelectric mo
dent of the motors can
symmetricauter and innopposite dir
scheme of theтическая схем
привоатска шема к
ery importaating the vbility of comn about wh
analysisotors can fin
internal con have a w
67
al turning syner track wrection, it is
e conventionaма конвенциоодного двигаконвенционал
ant from thevehicle turnmparing thhich control
ne-tune angombustion ewide range
ystem. If thewith the sa a symmetr
al (a) and the hонального (а)ателя лног (а) и хиб
e aspect on by using e performaalgorithm f
gular velocitengine (ICEe of angula
e electric mme angula
rical turning
hybrid (b) drive) и гибридног
бридног погон
of performaboth syste
ance of turfor electric
ty, in both dE) which mear velocities
motors are ar velocity system.
e system го (б)
она (b)
ance. The em types rning and motors is
directions, eans that s, from a
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
maximumvelocity wreason, wthe directhe sun gvelocity tpreciselygives the
Sincsmaller tradius Rwhen tur
Figure 2
Рис. 2 – П
Слика 2
m angular vwith a positwhen determction of the gear angulathat the ringy the flexibe option to sce vehicle tthan the rads), power f
rning with a
– Power flow
Поток мощно
2 – Токови снп
velocity withive sign witmining powsun gear a
ar velocity isg gear anguility offered
select (adjusturns are mdius at whicflow was anradius sma
during asymmradiu
ости при асипри радиус
аге код несимполупречнико
68
h a negativthout any de
wer flows, it angular vels that muchular velocity d by the inst) the kinem
most often pch the innernalyzed onlaller than Rs
metrical (a) anus smaller thaимметричномсе поворота метричног (аом мањим од
ve sign to ependence is necessaocity and to
h higher thachanges d
ndependentmatic turninperformed wr track forcey for that cs is shown i
d symmetricalan Rs м (а) и симметменьше Rs а) и симетрислободног R
a maximumon the ICE
ry to pay ato the possin the carrieirection. Thauxiliary d
ng parametewith a turnine equals zecase.The poin Figure 2.
l turning (b) at
тричном вра
ичног заокретRs
m angular E. For that ttention to ibility that er angular his case is drive that er. ng radius
ero ("free" ower flow
t a turning
ащении (б)
та (b) са
69
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87In the case of an asymmetrical turn with a radius smaller than Rs,
the power flow is identical to the conventional transmission for the radius at which there is no power loss due to friction in the drivetrain (the "calculated" radius Rp). The calculated radius is achieved by activating the clutch S1 (Figure 1a), with the difference that the auxiliary drive supplies the electric motor power and not the ICE power as in the conventional transmission. The recuperation power from the inner track, which enters the transmission via the ring gear, is added to the power of the auxiliary drive and transmitted to the outer track via the driven gearbox shaft. In the case of a turn with a radius greater than Rs, the power of the ICE is divided into two when it reaches the carrier; one part goes to the sun gear while the other part goes to the ring gear, where the electric motor works as a generator. The situation on the planetary gear set of the outer track is the same in both cases as in the case of the straight-line motion when the vehicle is powered only by the ICE.
The hybrid transmission, unlike the conventional one, offers several flexibilities that can be used in a turn: in addition to the classic asymmetric turn with inner track deceleration, it is possible to achieve an asymmetric turn with outer track acceleration, as well as a symmetrical turn. The possibility of an asymmetrical turn with the acceleration of the outer track is not justified due to high power demand, but the possibility of a symmetrical turn certainly enables the improvement of the vehicle's turning flexibility and performance.
With a symmetrical turn, the case with the inner track is the same as with the asymmetrical turn, where the rewinding speed of the inner track decreases, but the case with the outer track is not. For the outer track to accelerate, it is necessary for the sun gear of the planetary gear set to be driven with a velocity of the negative sign. In this case, the drive of the outer track is done by summing the power of the outer track electric motor and the ICE power in the main drive.
What attracts attention in the analysis of power flow is the fact that there is no regenerative braking during a turn with a radius smaller than Rs. With this kinematic configuration of the transmission, regenerative braking is achieved only at turns with a radius greater than Rs, but since the vehicle is in such a mode for a very short time, regenerative braking would be negligible.
Hybrid drivetrain model In order to analyze the performance of different variants of
hybridized transmission operation, a Simulink model of the M80A infantry
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
fighting vdevelopeFigure 3basic comin more d
Рис. 3 –Слика Driv
"TransmiUnit" bloliteraturethe requacceleratpossible.signals predefineelectric mthat are the signacontrol ssignal alfrom theparticulaconsidere
vehicle drived. The ba. Before themponents odetail in (Mi
Figure – Структураа 3 – Структ
etrain modeission Contck is the st
e (MacAdamired speedtor pedal po. The transmwhich adju
ed scenariomotor contrset accordals controllsignals for lows the s
e point of zr simulationed turning m
e compartmsic structure formationof the electrlićević, 201
3 – BVP M-80имитационн
тура симулац
el control isrol Unit" blotandard Sim
m, 1980). T of the vehosition so thmission conust the tra
o. As the surol, it was aing to the ping the elethe clutch imulation o
zero velocitn are not usmode.
70
ment with thre of the dn of the drivric drive we9).
0A hybrid driveной модели гционог модел
s achieved ocks. The kmulink Longhe main fuhicle, whichhat the presntrol unit is ansmission
ubject of theadopted to predefined ectric motorand the m
of the vehicty, while thsed, since
he hybridizedrive group ve group si
ere selected
e topology in Sибридного двла хибридног
with the "ICkey elemengitudinal Drnction of thh is achievset speed is
modeled in paramete
e paper is ncontrol thecontrol sce
rs, the blocmain brakescle when it e brake cobrakes are
ed transmismodel is
imulation md, which is d
Simulink вигателя БВПпогона БВП М
CE Control t of the "ICriver block bhis block is ved by adju reached asn the form oers accordinot the autoem by speeenario. In ack also incl. The clutcstarts to a
ontrol signanot activat
ssion was shown in
model, the described
ВП М-80А М-80А
Unit" and E Control based on to define
usting the s soon as of control ing to a
omation of ed signals ddition to ludes the ch control accelerate als in this ted in the
The Engine (Krsmanoaccordanwith the maximumstandardselected from the of engag
The elementsgear pairparametereal transhown inthe brakithe placeand K2 w
The
unit (battshown in
"ICE and Cblock andović, 2008)nce with th
initial angm speed a Simulink so that it ispoint of zeing the clutTIB block
s and the ar because thers of the gesmission. T
n Figure 4 ang of the IC
e only by emwere modele
Figure 4Рис. 4 –Слика 4 –
"Auxiliary tery) and elen Figure 5,
Clutch" blocd a hydra), (Grkić et e power cu
gular speedt 2500 minblock Funds possible t
ero velocity,ch.
k (Figure 4auxiliary elehe simulatioears (gear rThe only dand the reaCE drive shmploying aned within th
4 – TIB (TransМодель ТВБ
– Модел ТУБ
drive electrectric motor, an existin
71
ck consists aulically ac
al, 2009). urve of thed of 900 mn-1. The fridamental Fto simulate, without in-
4) includesectric drive. on involves ratios) corre
difference bal model is haft in the cn electric m
he transmiss
smission in BloБ (трансмиссБ (трансмисиј
ric motors" rs. For the ng generic
of a standactivated fricThe ICE pa
e BVP M80min-1and thction clutch
Friction Clut the accele-detail deal
s the mechThe gearbmovement
espond to thbetween the
the KM bracase of starmotor. Also, sion model.
ock) model in сия в блоке) вје у блоку) у S
block inclubattery modlithium-ion
ard Simulinkction clutcarameters aA engine (
he regulatioh model cotch with pa
eration of thing with the
hanical tranbox is modein one gea
he paramete mechanicake which sting the vehthe main b
Simulink Simulink
Simulink-у
des a powdel whose s
battery m
k Generic ch model are set in (10V003), on of the ontains a arameters he vehicle e process
nsmission eled as a r, and the ters of the cal model simulates hicle from brakes K1
wer supply scheme is odel was
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
adopted equation
f
Andcalculate
where: Epolarizatbattery ccapacity [Ah−1].
FiguРис. 5 – Э
Слика 5 –
(Balch et as (Tremblay discharg
1 , *,tf i i i
charge
2 , *,tf i i i
the batteed from the
E0 - constaion resistan
current [A]; [Ah]; A-ex
ure 5 – EquivaЭквивалентна
Еквивалент
al, 2001), (Gy & Dessainge model (i*
Eo K
model (i* <
t
Eo Ki
ery charge following eq
10SOC
ant voltagence [Ω]; i*it - extrac
xponential v
alent battery cая схема мод
тно коло моде
72
Gao & Ehsnt, 2009): * > 0)
*t
Qi K
Q i
0)
*0.1
Qi
Q
status (S
quation:
0
100 1
t
iQ
e [V]; K -- low-frequ
cted capacivoltage [V];
circuit presenteдели батареи
(2) и (3) ела батерије
и (3)
sani, 2012),
tt
QK i
Q i
*t
QK
Q i
State of Ch
[%]t dt
polarizationuency currety [Ah]; Q and B - e
ed by equationи, представл
е представље
represente
tB iA e
Bti A e
harge - S
n constant[nt dynamic - maximumexponential
ns (1), (2), andенная уравне
ене једначина
ed by the
(1)
ti
(2)
SOC%) is
(3)
[V/Ah], or cs [A]; i - m battery l capacity
d (3) ениями (1),
ама (1), (2)
The the Simu6, a bloc2016).
The
which reresistancResistantype of sradius, eresistancwith the f
- thethat the i
- thetrack so and
- traconsidere
electric moulink library ck diagram
Figure Рис. Слик
"Tracks" bepresents rce to the mces to mov
soil, slope, etc. (Muždece model isfollowing ase turn is achnfluence ofe center of that the sp
ck slip undeed.
otor model imodified sof a drive
6 – Block diag6 – Эквивалека 6 – Еквивал
lock (Figureresistance lmovement vement havdistribution
eka et al, 2s consideressumptions:hieved on af the centrifugravity is iecific press
er the influe
73
is a DTC Ino that its inwith the DT
gram of the coентная схемаалентно коло
e 7) is a suloads of thof the veh
ve a compn of specific2004). For ted in the a: a hard horizugal force isn the middsure of the
ence of the
nduction monput is direcTC control
onventional DTа модели бато модела бат
ubsystem ofhe drive cohicle when lex nature
c pressuresthis paper, nalysis of t
zontal surfas not considle of the cotrack on th
brake and
otor drive mct current. is displaye
TC drive тареи терије
f the Simuliompartment
performingand depen
s on the soa simplifie
turning per
ce, at low sdered, ontact surfae soil is rec
traction forc
odel from In Figure
ed (Rosić,
ink model t, i.e. the g a turn. nd on the il, turning
ed turning rformance
speed, so
ace of the ctangular,
ces is not
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
The
equation
where: Vthe track
Figu
the condmodel, thare obtai
where: Rresistanc
РиСли
turning rad:
V1, V2 – the width.
ure 8 showsditions desche equationned as follo
Rk1, Rk2 – thce.
Figure 7 –ис. 7 – Simulinика 7 – Simulin
dius of a tra
R
e rewind sp
s the forcescribed abovns for deteows:
F
F
e straight-li
74
Simulink modnk модель гуnk модел гус
cked vehicl
2
22
v vBR
v v
peed of the
s acting on tve. Based rmining the
2 2
1 1
k
k
MF R
BM
F RB
ine motion
del of tracks усеничных лененичних крет
le is obtaine
1
1
v
v
inner and o
the vehicle on the pre
e required f
c
c
M
BM
B
resistance
нт тача
ed from the
outer tracks
during turnesented meforces on t
and Mc – th
following
(4)
s and B –
ing under echanical the tracks
(5)
he turning
Figure 8 –Рис.
Слика 8 In th
on a horconsequeexpressio
where: f N1, N2 –
For
equal to
– Forces and m8 – Силы и м
8 – Силе и мо
he case of tizontal surfence of thons:
– the rollingthe surface
the considehalf the we
moments actinоменты, дей
менти који д
the uniformface, the strhe surface
g resistance reaction fo
ered case oight of the v
kR
75
ng on the tracйствующие н
поворотаделују на гусе
m turn of theraight-line me deformat
1 1
2 2
k
k
R fN
R fN
e coefficienorces.
of turning, thvehicle:
1 2k kR f
cked vehicle duна гусеничной
енично возило
e tracked vemotion resision, are c
t (adopted
he normal s
2
Gf
uring a steadyй машине во в
о приликом за
ehicle at lowstances, whcalculated
value 0f
surface reac
y state turn время
заокрета
w speeds hich are a from the
(6)
0.07 ) and
ctions are
(7)
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
The
where: weight an
The calculate
where: R
(adopted
( 8.0 a Afte
the coeff
The
The
be seen force at radii larg
turning res
– the tund the conta
turning resed using the
R – the turn
d value m85.0 , ado
r adopting tficient of res
final inner a
track forcethat the ouall turning rer than Rs,
istance is o
urning resisact surface
sistance coee following e
a
ning radius
max 0,85 ),
opted value
the values sistance to r
85.0
and outer tr
2 2
1 1
k
k
F R
F R
es are radiuuter track foradii, while while it is a
76
obtained as
4c
GLM
stance coeflength, res
efficient (expression:
max
(1 )R
a aB
; max – the
and a –
85.0a ).
of the coefrotation is o
15.05
85.0
B
R
rack forces
2 2
2
c
c
M fG
BM fG
B
us dependeorce has a
the inner ta braking fo
follows: L
fficient andpectively.
Nikitin & Se
12
RB
e coefficient
– the expe
fficients, theobtained:
2
1
expression
2 4
4
G GL
BG GL
B
ent as showpositive sigtrack force orce at smal
G, L – th
ergeev, 196
t value whe
erimental c
e final expre
s:
wn in Figuregn, i.e. it is is a tractiveler ones.
(8)
e vehicle
62) is
(9)
en 2
BR
coefficient
ession for
(10)
(11)
e 9. It can a tractive e force at
FiРис.Сл
In a
importanperformaneglectedtaken inmechanisgeneral cspeed ofcan use a
where: the vehic
To mechanisto the tolosses in
Figure 9 – Dep. 9 – Зависимлика 9 – Завис
addition to t influence
ance analysd, but lossto accountsm. The efcase depenf movementa linear dep
gm – the eff
cle speed.
be able tsm, it is nec
orque. In th the tracked
endence relatмость силы нсност сила н
external reon the trac
sis, losses ises in the t through tfficiency conds on the t, the type opendence fr
gm
ficiency coe
to simulatecessary to ee case whd mechanis
77
tion of the tracне гусеничнойна гусеницам
esistances,ked vehiclen transmisstracked methe efficien
oefficient of magnitude
of hinge, anrom the equ
0.95 0.0
efficient of t
e the impaexpress theere the for
sm increase
ck forces on thй ленте от рма од полупре
internal rees' power basion and eleechanism cncy coefficthe tracked
e of the forcnd the like. uation (Muž
18 V
he tracked
act of losse efficiency rce on the e the require
he turning radiрадиуса поворечника заокре
esistances alance. For ectric motorcannot, so ient of thed mechanisce on the tA simple cadeka et al,
mechanism
ses in thecoefficient itrack is traed power, s
ius рота ета
have an a vehicle
rs can be they are
e tracked sm in the track, the alculation 2004)
(12)
m and V –
e tracked in relation
active, the so that the
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
torque atand calcu
In tresistancwheel to
On calculate(13) and diagram
Ри
SimBase
movemeperformeperformawith the turning wtrack, wita lower inner andof the ve
t the sprockulated from
he case wces of the tbe reduced
the outer ed from exp
(14), depeof the load
ис. 10 – МодеСлика
mulation red on thent with t
ed. In ordeance, a simu
deceleratiowith the decth a turning initial speed acceleratehicle - sym
ket wheel ththe expres
M
where thereracked mec
d and calcu
M
track, the ression (13nding on thmodel on th
Figure 10 ель сопротив10 – Модел о
results e developedhe hybridir to see thulation wason of the inceleration oradius as ind (case B)ion of the o
mmetrical tu
78
hat represession:
i ppt
gm
F rM
e is a brachanism calated from t
pt i ptM F r
torque on 3), and on thhe sign of thhe inner tra
– Inner track вления на внуотпора на ун
d model, ized transhe hybridiz
s performednternal tracof the innern the previo, and turninouter track urn (case C
ents the res
pt
aking forceause the torthe express
gm
the sprockhe inner trahe force on ack is shown
load model утренней гуснутрашњој гу
the simulasmission dzation influe in three m
ck - asymmr and acceous case - sng with thebut without
C). The first
sistance is i
e on the trque at theion:
ket wheel iack from exp
the track. Tn in Figure 1
сенечной лентусеници
tion of theuring turn
ence on thotion mode
metric turn leration of
symmetricale deceleratio reducing tt case is co
increased
(13)
track, the e sprocket
(14)
is always pressions The block 10.
те
e vehicle ning was he turning es: turning (case A), the outer l turn with on of the
the speed ompletely
equivalenreferenceperformaperformeadvantagfact that due to friare not hybrid tracontrollinpossibilitthe vehicis essentcase is aspeed asturning statemen
С
nt to the be case foance of turned equivaleges over ththe rotationction in thepossible w
ansmission ng electric y of their u
cle with the tially symmea classical s in the A caradius for nts are conf
Figure 11 – TРис. 11 – И
Слика 11 – Пр
ehavior of or assessing. It is impnt to the c
he conventin is continuo
transmissiowith the co
allows sucmotors in tse is realissame radiu
etrical, it is symmetrica
ase. The diaall three
firmed.
Turning radius Изменение рромена полуп
79
the convensing the hportant to nconventionaonal system
ous, i.e. it ison element
onventional ch cases of the auxiliarstic. The B us as in theachieved w
al turn and agram, Figuconsidered
s change in timрадиуса поворпречника заок
ntional transhybridizatio
note that eveal system, tm. The mas achieved ws. The B antransmissioturning by
ry drive, whcase repre
e A case, awith a lower
is achievedure 11, showd cases, w
me for the A, Bрота в случаякрета за слу
smission ann impact en though tthere are s
ain advantawithout pownd C cases on. In contchoosing th
hich meanssents the rond since ther initial speed at the saws the chanwhere the
B, and C casesях A, B и C чајеве А, B и
nd it is a on the
the turn is significant age is the wer losses of turning trast, the he way of s that the rotation of e rotation ed. The C ame initial nge of the
previous
s
C
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
Figuthe turninpoint of zmoving iaspect ofavorable
Figure Рис. 12
Сл In o
analyze tof the bain the authe valuetotal powpower is initial spradius is practicall
ure 12 showng process.zero velocitin a turn wof changinge because t
12 – Change 2 – Изменениелика 12 – Про
rder to perthe power n
asic drive unuxiliary drivee of these wer engage
engaged, eed, but it larger, whic
ly the same
ws the spee. The simulaty, moving
with a constg the speedhere is no c
of the vehicleе скорости момена брзине
ceive the pneeded for nit - diesel ee - is engagpowers, as
ed to perfobearing in is importa
ch is even me power is e
80
eds of the vation includat a constatant radiusd of movemchange in th
e speed duringмашины во вре возила у зао
performanceindividual cengine andged in the s well as thrm the turnmind that t
ant to note more unfavengaged, b
vehicle durides starting ant speed, . It can be ment, the Bhe speed of
g the turn for thремя поворотокрету за слу
e of the turcases of the the power turn, it is n
heir ratio. Fn. In the Che turn takthat, in th
orable. In thbut two facts
ing the simthe vehicleentering a seen that
B and C cf the turn.
he A, B, and Cта в случаях Aучајеве А, B и
rn, it is nece turn. As tof the electecessary to
Figure 13 sC case, thees place atis case, thhe cases ofs must be t
mulation of e from the turn, and from the
cases are
C cases A, B и C и C
cessary to the power ctric motor o analyze
shows the e greatest t a higher
he turning f A and B, taken into
account: is achievrevolutiothe powetransmiss
Figu
(PDM) andcase, whthat the power isthis case
1) the initiaved. As thns of the ICer of the dsion via the
FРис. 13 –Слика 13 –
ure 14 showd the powe
hich are perpower bala used when
e two electri
al speeds ae moveme
CE, it is impdrive motor
e auxiliary d
Figure 13 – To– Общая мощ– Укупна снаг
ws the ratio oer of the elerformed witance is mon turning, wc motors ar
81
are different ent speed dportant to anr and the rive, i.e. via
otal power neeщность, необхга потребна
of the poweectric motor th the sameore favorabwhich is a cre working.
and 2) the directly affenalyze the rpower that
a the electric
eded for turninходимая для п за извођење
er engaged (PEM) for th
e turning rable becauseconsequenc
same turniects the nurelationshipt is suppliec motor.
ng поворота е заокрета
by the dieshe A case adius. It can
e less diesece of the fa
ing radius umber of
p between ed to the
sel engine and the B n be seen el engine
act that in
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
ConBase
that the pprovide athe key provides motion awith a advantagthat hybrof combibraking, applicatiosystem, hydraulicproposed
FРис. 12 –Слика 12 –
nclusion ed on the proposed hya significancomponent
a simulatnd in turn, wuniform mges of hybrridization alsned drive wetc. Anothe
on in the dwhere it is
c componend hybridized
Figure 12 – To– Общая мощ– Укупна снаг
results presybridizationt improvemts of the potion of the with the facovement. Trid drive whso has advawhen startiner importandevelopmens necessarynts in order d drive grou
82
otal power neeщность, необхга потребна
sented in tn model of thment in vehic
owertrain. T vehicle m
ct that loadsThe simulahen performantages relng the vehicnt applicationt of an apy to integrato obtain a
up solution.
eded for turninходимая для п за извођење
the paper, he BVP M8cle performThe develo
movement bs of the driveation resulming turns, ated to stracle, silent mon of the Sppropriate tate mechanan optimal c
ng поворота е заокрета
it can be c0A powertra
mance while ped Simuliboth in stre group arets show salthough i
aight-line momobility, regSimulink motransmissionical, electrcontrol syste
concluded rain would e retaining nk model raight-line e real only significant it is clear otion, use
generative odel is its on control rical, and em of the
83
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87References
Balch, R.C., Burke, A.& Frank, A.A. 2001. The affect of battery pack technology and size choices on hybrid electric vehicle performance and fuel economy In: Sixteenth Annual Battery Conference on Applications and Advances, Long Beach, CA, USA, pp.31-36, Januar 12. Available at: https://doi.org/10.1109/BCAA.2001.905096.
Bhatia, V. 2015. Hybrid tracked combat vehicle. In: International Transportation Electrification Conference (ITEC), Chennai, India, pp.1-23, August 27-29. Available at: https://doi.org/10.1109/ITEC-India.2015.7386862.
Dalsjø, P. 2008. Hybrid electric propulsion for military vehicles. Research paper. Kjeller, Norway: Norweigan Defence Research Establishment [online]. Available at: https://www.ffi.no/en/publications-archive/hybrid-electric-propulsion-for-military-vehicles-overview-and-status-of-the-technology [Accessed: 25 August 2020]. ISBN: 978-82-464-1394-5.
Gao, Y.& Ehsani, M. 2012. Investigation of battery technologies for the army's hybrid vehicle application. In: Proceedings IEEE 56th Vehicular Technology Conference, Vancouver, BC, Canada, 3, pp.1505-1509, September 24-28. Available at: https://doi.org/10.1109/vetecf.2002.1040467.
Grkić, A., Duboka, Č.& Muždeka, S. 2009. Simulation model of multipleplate friction clutches and brakes. Vojnotehnički glasnik/Military Technical Courier, 57(1), pp.65-80 (in Serbian). Available at: https://doi.org/10.5937/vojtehg0901065G.
Johnson, C. & Dueck, L. 2001. Hybrid Electric Systems for 20-Ton Platforms. SAE International in United States, Technical Paper 2001-01-2773. Available at: https://doi.org/10.4271/2001-01-2773.
Khalil, G. 2009. Challenges of hybrid electric vehicles for military applications. In: 2009 IEEE Vehicle Power and Propulsion Conference, Dearborn, MI, USA, pp.1-3, September 7-10. Available at: https://doi.org/10.1109/vppc.2009.5289878.
Kramer, D.M. & Parker, G.G. 2011. Current state of military hybrid vehicle development. International Journal of Electric and Hybrid Vehicles (IJEHV), 3(4), pp.369-387. Available at: https://doi.org/10.1504/ijehv.2011.044373.
Krsmanović, M. 2008. MATLAB software application for power transmission simulation. Vojnotehnički glasnik/Military Technical Courier, 56(1), pp.50-63 (in Serbian). Available at: https://doi.org/10.5937/vojtehg0801050K.
MacAdam, C.C. 1980. An Optimal Preview Control for Linear Systems. Journal of Dynamic Systems, Measurement, and Control, 102(3), pp.188-190. Available at: https://doi.org/10.1115/1.3139632.
Milićević, S. 2019. Simulacioni model hibridnog pogona BVP-M80A. Graduate thesis. Belgrade: University of defence in Belgrade – Military academy (in Serbian).
Muždeka, S., Pantić, M.& Arsenić, Ž. 2004. Vučne performanse zaokreta brzohodnih guseničnih vozila. In: XIII MVMScientific Event, Kragujevac, Serbia, October 4-6 (in Serbian).
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
NedeHybrid DrAvailable
Nikitakademija4598.htmА.О., Себронетан4598.htm
Rosimomenta Belgrade:[online]. https://wwRosic_do
TremDynamic pp.289-29
TairaCombat https://wwP18Thu14[Accessed
VesikinematicVojnotehnAvailable
erhoed, R. &rive Vehicle fat: https://doin, A.O. & a bronetankol (in Russianергеев, Л.Внковых войl[Дата посещć, M. 2016sinhronog m University o
ww.etf.bg.ac.ktorska_dise
mblay, O. & Model for
98. Availablea, H., Yoshi
Hybrid-Eww.dst.defen430_Taira_ed: 21 July 20ć, M. & Mu scheme onnički glasnik/at: https://do
МОДЕЛИРОBVP M-80A
Стефан В. Мa Вооружённы база, 1. лог корреспондб Университе военного м
РУБРИКА ГР ВИД СТАТЬИ
& Walker, G.for Military Apoi.org/10.114Sergeev, L.
ovyh vojsk [on) [Accessed. 1962. Тейск [онлайнщения: 25 A6. Redukcijamotora primeof Belgrade
rs/uploads/fiertacija.pdf [ADessaint, L-EV Applica
e at: https://doikawa, T. & Electric ce.gov.au/sit
et_al-Tracked020]. ždeka, S. 2
n turning pow/Military Techoi.org/10.593
ОВАНИЕ И А
Миличевичa, С
ые Силы Респистический цдент,
ет обороны в еханического
РНТИ: 78.00.0 78.25.0 78.25.0 78.25.1И: оригинальн
84
.W. 2009. Dpplications. E
49/1.3087436.V. 1962. Tonline]. Avaid: 25 Augusеория танкн]. Доступн
August 2020].a talasnosti enom kompa- School of
Availables/javni_uviAccessed: 25-A. 2009. Exations. Worldoi.org/10.339
Jumonji, KVehicle
tes/default/fid_Hybrid-Ele
2007. Analyswer balancehnical Courie
37/vojtehg07
АНАЛИЗ РА
Славко Р. Му
публики Сербцентр, г. Белгр
г. Белград, Во инжиниринг
00 ВОЕННОЕ 00 Вооружени09 Военная ав0 Бронетанконая научная с
evelopment ECS Transac6.
Teoriya tankailable at: http
st 2020]. (In ка. Москва:но на: http.) momenta k
aratora sa višelectrical enle d/izvestaji/do5 August 202xperimental Vd Electric V90/wevj3020
K. 2018. Dev[online].
les/basic_paectric_Comba
sis of influene for high sper, 55(2), pp02149V.
АБОТЫ ГИБР
уждекаб
бия, Централрад, Республ
Военная акадега, г. Белград
ДЕЛО: ие и военная твтомобильнаяовая техникастатья
and Testingctons, 16(16
a. Moscow: ps://imwerdethe original:Военная
ps://imwerde
kod direktneše nivoa. Phngineering (in
oktorske/20120]. Validation ofVehicle Jour289. velopment o
Availabages/documeat_vehicle.pd
nce of turninpeed trackedp.149-168 (in
РИДНОГО П
ьная логистиика Сербия,
емия, департа, Республика
техника; я техника,
g of Series 6), pp.1-10.
Voennaja en.de/publ-: Никитин, академия
en.de/publ-
e kontrole h.D. thesis. n Serbian)
at: 16/Marko_
f a Battery rnal, 3(2),
of Tracked le at:
ents/ICSILdf
ng system d vehicles. n Serbian).
ПРИВОДА
ическая
амент а Сербия
85
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87Резюме:
Введение/цель: Гибридная технология успешно применяется в автопромышленности легковых и коммерческих автомобилей. Руководствуясь успехом и преимуществами гибридных технологий, многие оборонные организации по всему миру инвестируют в разработку гибридных технологий для боевых машин и разрабатывают прототипы гусеничных бронемашин, которые расходуют намного меньше топлива, отличаются лучшей производительностью, меньшим выбросом выхлопных газов и дополнительными возможностями. Однако перед вводом в боевую эксплуатацию гибридных гусеничных бронемашин необходимо решить различные технические проблемы. На данный момент был проведен целый ряд испытаний прототипов, но все еще существуют ограничения, относящиеся к ключевым технологиям, таким как: электродвигатели, проводниковая электроника и накопители электроэнергии. В условиях финансовых ограничений нельзя допускать ошибок и тратить много ресурсов на планирование, создание прототипов и испытания.
Методы: Следовтельно, разумным решением было запустить программное моделирование, с помощью которого можно исследовать различные параметры в имитационных условиях, которые более или менее имитируют реальные условия эксплуатации. В данной статье было представлено одно из возможных решений, касающихся выбора соответствующих технологий гибридного привода, предложено системное решение для гибридного привода бронемашины М-80А. В целях осуществления данног плана, была разработана имитационную модель гибридного привода с помощью программы MatlabSimulink.
Результаты: Результаты, полученные при моделировании, показывают, что предлагаемое решение гибридного привода обеспечивает лучшую производительность транспортного средства.
Выводы: При моделировании проверялись только параметры поворота, но эта модель может быть успешно примененав испытанияхпараметров при прямолинейном движении. Кроме того предложенную модельможно применять для испытания параметров и алгоритмов котроля трансмиссии.
Ключевые слова: гибридный привод, боевая машина, параметры гусенечных машин, гибридизация, MATLAB, Simulink.
VO
JNO
TE
HN
IČK
I GLA
SN
IK /
MIL
ITA
RY
TE
CH
NIC
AL
CO
UR
IER
, 202
1, V
ol. 6
9, Is
sue
1
СИМУЛАЦИХИБРИДНО
Стефан В. Мa Војска Срби Београд, Реб Универзитеа.војномашин ОБЛАСТ: маВРСТА ЧЛАН
Сажетак:
Увод: Хибриндустријипредностимширом светвозила. Ракоја имају издувну емискориститпостоје рапре увођеоперативнуиспитивањвези са кљскладиштетаквим услбити многоизградњу пр
Метода: Ракоје је могуусловима експлоатацизбора одпредложеновозило песимулационMatlabSimul
Резултатипредложеноперформан
Закључак: Рсе може управолинијс
ИОНИ МОДЕОГ ПОГОНА
Милићевићa, С
ије, Централнепублика Срб
т одбране у Бнског инжење
шинство НКА: оригинал
бридна техи путничкихма које оната улажу узвијају и прмању потрмисију и вити за разлзличити тења хибриу употреб
ња прототиључним техе електричнловима, у ко грешака рототипов
ационално јуће испитакоји, мањеције. У раддговарајућио системскшадије М-ни модел хиlink.
и: Резултао решење хнсе погонске
Разматраниуспешно прског крет
86
ЕЛ И АНАЛИБВП М-80А
Славко Р. Му
на логистичкабија, аутор за
Београду, Војерства, Беогр
лни научни р
хнологија јх и комерција доноси, му развој хибрототиповрошњу гориише електличите елеехнички изаидног гусебу. Спровеипова, али јхнологијамане енергијекојима су фни трошењва и њихово
је развити ати различие или вишду је приказих технолко решење -80А. За уибридног по
ати добијехибридног пе групе вози
и су само пприменити тања. Поре
ИЗА ПЕРФОА
уждекаб
а база, 1. логиа преписку
јна академијарад, Републик
ад
је успешнојалних возилмноге одбрабридне техве гусеничнива, боље тричне енеременте наазови који меничног бедено је још увек поа као што и проводни
финансије оња пуно рестестирањ
софтверските парамеше, опонашзано једно логија хибхибридног
усвојено рогона у про
ни симулацпогона обезила.
параметри зи при анед тога,
ОРМАНСИ
истички цента
а, Катедра ка Србија
о инкорпорла. Вођени уамбене оргхнологије заних борбениперформанргије која адградње. Мморају биторбеног внеколико остоје ограсу електричка електрограничене, сурса на пле.
ку симулацијетре у симшају реалнеод могућихбридног попогона за
ешење разограмском о
цијом показбеђује знат
заокрета, аализи перфмодел је
ар,
рирана у успехом и ганизације а борбена их возила нсе, бољу се може Међутим,
ти решени возила у успешних аничења у ромотори, троника. У
не може ланирање,
ију помоћу мулираним е услове х решења погона и а борбено звијен је окружењу
азују да тно боље
али модел форманси е могуће
Paper receManuscriptДатум досPaper acceконачног п
© 2021 The (www.vtg.moterms and co(http://creati
© 2021 АвтоTechnical Cраспростра(http://creati
© 2021 Ауто(www.vtg.moскладу са C
користитиконтроле т
Кључнеречигусеничних
eived on / Датt corrections sстављања испepted for publприхватања ч
Authors. Publisod.gov.rs, втг.мonditions of thevecommons.org
оры. Опубликоourier» (www.vtаняется в соотвvecommons.org
ори. Објавио Вod.gov.rs, втг.мCreative Comm
и и за истрансмисије
и: хибриднвозила, хиб
а получения submitted on / правки рукопиishing on / Дачланка за обја
shed by Vojnoteмо.упр.срб). Thi
Creative Commg/licenses/by/3.
овано в «Военнtg.mod.gov.rs, вветствии с лицеg/licenses/by/3.
ојнотехнички гмо.упр.срб). Овons licencom (h
87
спитивање е.
ни погон, ббридизација
работы / Дат/ Дата получеиса: 28.10.20ата окончателављивање: 30
ehnički glasnik /is article is an omons Attribution0/rs/).
но-техническийвтг.мо.упр.срб)ензией «Creativ0/rs/).
гласник / Vojnotво је чланак отвhttp://creativeco
перформа
борбена во, MATLAB, S
ум пријема чления исправле20. льного соглас0.10.2020.
Military Techniopen access artin license
вестник / Vojn). Данная статьve Commons»
tehnički glasnikвореног пристуommons.org/lice
анси и алг
озила, перфSimulink.
ланка: 02.09.2енной версии
сования работ
cal Courier cle distributed u
otehnički glasniья в открытом д
/ Military Technпа и дистрибуи
enses/by/3.0/rs/)
горитама
формансе
2020. и работы /
ты / Датум
under the
ik / Military доступе и
nical Courier ира се у ).
Miliće
vić,
S. e
t al,
Mod
ellin
g an
d pe
rfor
man
ce a
naly
sis
of th
e B
VP
M-8
0A h
ybrid
driv
e, p
p.64
-87