高速履带车辆在坚实地面转向机理研究

运用系统分析的方法,研究坚实地面条件下高速履带车辆转向过程理论及其计算机仿真。以履带滑动转向理论为基础,考虑影响履带车辆转向的诸多因素(质心位置、负荷分布等),建立了履带车辆转向过程动力学模型。并为求解模型中的微分一代数混合方程,编写相应程序进行了仿真计算,对高低速2种情况下高速履带车辆的转向过程进行了计算机仿真实验,仿真计算的结果与实车野外实验的结果呈现一致性。特别在分析履带车辆高速转向过程中研究了离心力通过履带接地压力而对履带车辆转向过程的影响。

Study on Steering Process of Tracked Vehicles on Hard Ground

In this paper, presented theoretical analysis and computer simulation of steering process of tracked vehicles on hard ground by means of system analysis. First, in terms of skid-steering theory, the plane motion dynamic equations of high-speed tracked vehicles were developed in which all possible factors concerning steering such as the location of gravity, load distribution on road wheels, etc. had been taken into account. In order to investigate the steering operation, a mathematical model was also developed and computer simulation program for the differential-algebra equation were established. The two simulations of low and high speed steering performance of high-speed tracked vehicle were made. The calculation result was consistent with that of field test. Especially the influence of centrifugal effect on steering performance was analysis through the change of press distribution on road wheels.