一种新型软地面步行概念车的气垫靴建模与仿真  

Modeling and Simulation of Air-boots for a Novel Soft-terrain Walking Concept Vehicle

作　　者：马聪[1] 曹阳[1] 罗建南[1] 刘庆伟[1] 喻凡[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2012年第5期27-32,共6页Machine Design And Research

基　　金：高等学校博士学科点专项科研基金资助项目(20100073110063)

摘　　要：软地面恶劣复杂环境下车辆的通过性一直是非路面车辆动力学及其控制领域的研究热点及难点。课题组在前期对半履带气垫车研究的基础上,提出一种以六个气垫靴作为行走机构的新型软地面概念车。该车通过驱动机构实现其纵向运动,而足的垂向运动则通过充放气实现,因此该车运动学建模的首要任务是单靴模型的建立。本文首先简单介绍了这种新型车辆的结构和工作原理,然后建立了考虑橡胶弹性形变的理论模型,并与有限元仿真结果相比较对该模型进行了验证和修正,最后为了验证其有效性,以某种典型的充气工况为例,利用该模型进行了瞬态动力学仿真。该研究结果可为将来的整车建模和控制算法设计提供有益的参考。It has been a difficult but hot subject to improve the vehicle trafficability in some complex soft-terrain environments in the research area for off-road vehicle dynamics and control.Based on previous study for a semi-tracked air-cushion vehicle,a novel soft-terrain concept vehicle with a walking mechanism by using six air-cushion boots is proposed.The vehicle motion is realized by a driving-gears while the boots vertical motion is realized by air charging or discharging.Therefore modeling a single boot is the first important task for vehicle motion modeling and control.In this paper,the structure and working principle of the vehicle are described firstly.Then a theoretical model of air-boots considering the rubber elastic deformation is established,which is verified and corrected by comparing with finite element simulation results.Finally,in order to examine the model effectiveness,a typical air-charging process is taken as an example,its transient dynamics process is simulated by using the established model.The research results provide useful references for future work on vehicle modeling and control algorithm design.

关 键 词：软地面车辆 气垫靴 有限元分析 瞬态动力学仿真 

分 类 号：U273[机械工程—车辆工程]