在复杂环境中2自由度轮式铰接车辆的越障能力  

Obstacle surmounting capability of 2-DoF articulated vehicle in rough terrain

作　　者：魏巍[1] 刘昕晖[2] 陈延礼[1] 张杨[1] 杨铭[1] 王玮[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130022 [2]吉林大学汽车仿真与控制国家重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2011年第5期1205-1209,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2007AA04Z208)

摘　　要：为了分析2自由度铰接轮式车辆的越障能力,通过简化其越障时的力学模型分别给出了前轮同时越障和单侧轮越障的平衡方程。由于在复杂非结构环境下,诸如附着系数、滚动阻力系数等这些对车辆越障起到关键作用的地面参数具有不确定性,从而导致了顺利通过障碍所用的牵引力也是不确定的。文中用区间表示这些不确定参数,通过区间分析得到了该铰接车顺利通过障碍应具备的牵引力。通过仿真证明了理论结果是可靠的。In order to analyze the obstacle surmounting capability of a wheeled vehicle with a 2-DoF articulated frame,the equilibrium equations under the simultaneously surmounting the obstacle by 2 front wheels and surmounting the obstacle by a single front wheel were derived using a simplified obstacle surmounting mechanical model.As in rough-terrain unstructured environment,the key terrain parameters,such as the adhesion coefficient,the rolling resistance coefficient,etc.,are uncertain,the traction force to surmount the obstacle is also uncertain.Expressing these parameters with intervals,through the interval analysis the traction force needed by the vehicle to surmount the obstacle was calculated.Simulations showed that the theoretical results were reliable.

关 键 词：车辆工程 2自由度铰接车辆 越障 牵引力 区间分析 

分 类 号：U461.1[机械工程—车辆工程]