履带车多刚体建模与仿真分析  

Multi-Rigid-Body Modeling and Simulation Analysis for Tracked Vehicle

作　　者：戴瑜[1] 刘少军[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《计算机仿真》2009年第3期281-285,共5页Computer Simulation

基　　金：国家高技术研究发展计划资助项目(2006AA09Z240);国家自然科学基金资助项目(50675226)

摘　　要：首先以车辆地面力学理论为基础,分析了典型的履带与地面相互作用关系及其在RecurDyn/Track(LM)程序中的处理,分别定义了两种典型地面土力学参数,从而建立了基于Bekker理论与Janosi&Hanamoto理论的循环动载荷作用下履带与地面相互作用力学模型;同时分析了履带系统各部件之间的接触力学模型,定义各接触参数及约束关系,从而准确合理地建立了履带车多刚体模型,通过施加运动函数,实现模型在典型地面参数下的行走特性仿真分析,仿真结果与理论分析及实际情况相符合,互为验证,从而为进一步深入研究提供了理论依据与有效分析手段。Based on vehicle - terramechanics theory for analyzing the typical track - soil interaction and its application in ReenrDyn/Track（LM） firstly, two typical kinds of soil mechanic parameters are defined, and with which a track - soil interaction model under cycle - loading based on Bekker theory and Janosi ＆ Hanamoto theory is established. Meanwhile the contact mechanical models between parts of the track system are discussed, the contact parameters and restrictions are also defined, which form the multi - rigid - body tracked vehicle model exactly and reasonably. Then through defining motion functions, the simulation analysis of tracked vehicle steering on the typical ground is performed. The simulation results are compatible with the theoretical analysis and the facts, which provide a theo- retical basis and an effective solution for further researches.

关 键 词：履带车 车辆地面力学 多刚体动力学 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]