Turning Dynamics of Series Hybrid Power All-Terrain Vehicle

The complex and unstructured working environment of all-terrain vehicle cause large resistance when they are turning. The turning power which affects a lot on the mobility of all-terrain vehicle is much larger than the power in running straight. In this paper, a series hybrid power system of an all-terrain fire robot was discussed, the turning model of the robot is simplified to 2D mechanical model, force analysis was made, a power formula in which the power is only related to the drag coefficient and relative turning radius was derived, and a dynamic model based on the driving power of lateral side and the braking power of medial side has been set up, simulation has been made in the condition of paddy field, hard soil road and asphalt road, the simulation reults shows the characteristic curve of driving power and baking power in turning, and the extreme power needed in turnning have been found.