Study of Dynamics of Controlled Motion of High-Speed Caterpillars

Results of experimental studies of dynamics of the controlled motion of fast-speed caterpillars are given. The dependence of the integral criterion on a specific power is analyzed for the caterpillar with discrete and continuous properties of the system of the turning control while moving over deformable and low-deformable soils. It is shown that with the specific thrust growth, determined by the specific power, at a certain speed the possibility increases of overcoming the forces resisting the caterpillar motion. It is noted that possibilities to create an additional turning moment and increase the speed properties at the expense of the inertia force while retarding the caterpillar are restricted by the operation speed of the control system for transmission switching.