轮式车辆稳态滑移转向仿真研究  

Simulation of Stationary Skid-steering on Wheeled Vehicles

作　　者：郭晓林[1] 潘家平[1] 于诏诚[1] 

机构地区：[1]装甲兵工程学院机械工程系,北京市100072

出　　处：《农业装备与车辆工程》2012年第11期17-20,共4页Agricultural Equipment & Vehicle Engineering

摘　　要：详细分析了轮式车辆在低速稳态条件下的滑移转向过程,建立了稳态转向数学模型,最后基于某6×6全地形车,使用建立的数学模型对其转向动力学性能进行仿真分析。仿真结果表明:转向半径越小,车辆的滑转、滑移现象越严重,车辆受到的转向阻力也越大;地面附着系数越小,车辆受到的转向阻力越小,但附着系数较小时,车辆则容易打滑,不利于转向。The mathematical model for stationary skid-steering process of wheeled vehicle at low speed is set up. Based on a 6×6 allterrain vehicle, the simulation and analyzing are carried out. The result shows that with less turning radius, vehicle is affected by much severer slippage and turning resistance; with less adherent coefficient, vehicle is affected by less turning resistance, but tends to skid which goes against turning.

关 键 词：轮式车辆 滑移转向 稳态转向 建模 仿真 

分 类 号：U463.51[机械工程—车辆工程]