6×6无人地面车辆中心转向力学分析  

Analysis on Mechanics of Zero Turning Radius Steering of 6WD Unmanned Ground Vehicle

作　　者：陈欣 马炯延[2] 左志奇[2] 陈建新[2] 

机构地区：[1]军事交通学院军用车辆系,天津300161 [2]军事交通学院研究生管理大队,天津300161

出　　处：《军事交通学院学报》2013年第5期45-50,共6页Journal of Military Transportation University

摘　　要：基于某6×6无人地面车辆，建立中心转向模型，对轮胎受力进行分析，提出了中心转向过程中转向阻力矩的积分算法，讨论了完全滑移条件下中心转向驱动力矩与阻力矩之间的关系。利用Adams软件，对中心转向工况进行仿真实验，并将仿真实验结果与计算结果进行对比分析，验证了模型和算法的合理性。A zero turning radius steering model was constructed based on a large 6WD UGV. Through the analysis of the tire force, this paper brought forward an integral algorithm of the moment of resistance when a 6WD UGV was in situ steering. This paper made a discussion about the relationship between driving torque and resistance torque under the full slip condi tions when the vehicle was steering by the center. Finally, a zero turning radius steering model of the UGV is built by AD AMS and different working conditions talked above are simulated. Through the analysis of the results of simulation and cal culation, the rationality of the model is validated.

关 键 词：无人地面车辆 差速转向 中心转向 转向阻力 仿真实验 

分 类 号：U461.1[机械工程—车辆工程]