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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, 70@gmail.com://orcid.org/00

nce in Belgradeering, Belgrazdeka@va.mos://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

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PERFOR BVP M-

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been succesercial vehiclesbrings, manyvelopment of pes of trackedetter perform

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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

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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

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-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

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enables introduct

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specific ppower remobility, the turninis that, electricityact as a motors, turning rparamete

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hybrid drhe advantaghe vehicle, s of the veuestion arisand the turne existencenerated durchine - genve allows nso the pos

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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

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he turningdrive offersonboard elesystems anow vehicle mance. Oneking force n because to, if it is man infinite nuchoosing th

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r resistancmotors with uxiliary drivan infinite in the tranchange theoth symmetthe electric of the inneducing the

tion is an

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wo electric calculated ic turning

bridization osen that nventional

with two chemes of .

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motors are the whole ces or to a precise

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Figure 1Рис.

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67

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e aspect on by using e performaalgorithm f

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maximumvelocity wreason, wthe directhe sun gvelocity tpreciselygives the

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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

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68

h a negativthout any de

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metrical (a) anus smaller thaимметричномсе поворота метричног (аом мањим од

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ащении (б)

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69

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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

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fighting vdevelopeFigure 3basic comin more d

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adopted equation

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where: Vthe track

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turning rad:

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ure 8 showsditions desche equationned as follo

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Figure 8 –Рис.

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on a horconsequeexpressio

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For

equal to

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he case of tizontal surfence of thons:

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the uniformface, the strhe surface

g resistance reaction fo

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kR

75

ng on the tracйствующие н

поворотаделују на гусе

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1 1

2 2

k

k

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e coefficienorces.

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cked vehicle duна гусеничной

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value 0f

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(6)

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The

where: weight an

The calculate

where: R

(adopted

( 8.0 a Afte

the coeff

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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

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k

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es are radiuuter track foradii, while while it is a

76

obtained as

4c

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efficient (expression:

max

(1 )R

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; max – the

and a –

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83

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-87References

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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

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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.

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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

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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,

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