农用履带车辆软地转向特性建模与仿真  

Modeling and Simulation of Turning Performance on Soft Terrain for Agricultural Tracked Vehicles

作　　者：沈仙法[1,2] 周宏平[1] 许林云[1] 王海巧[2] 

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037 [2]三江学院机械工程学院,江苏南京210012

出　　处：《计算机仿真》2014年第8期153-158,共6页Computer Simulation

基　　金：林业公益基金行业专项(201004052);江苏省研究生培养创新工程项目(CXLX12_0524)

摘　　要：在履带车辆软地转向建模问题的研究中,为有效预测农用履带车辆在软地面上的转向特性,根据作用在转向车辆上的力和力矩建立了车辆稳态转向力学模型,进行了数值仿真,并对模型车辆进行了软地转向行驶试验。结果认为:当外侧履带打滑率增大时,履带车辆有效牵引力和内侧履带的打滑率逐渐增大,但转向力矩逐渐减小;当车辆转向比的减小时,履带车辆有效牵引力、内侧履带打滑率及转向半径随之减小,但转向力矩增大。建立的转向力学模型能够预测履带车辆的沉陷量、转向半径和内、外履带的打滑率,并且预测最大误差小于试验值的15%。研究结果为准确、有效地预测农用履带车辆软地转向性能提供了参考依据。Steady - state turning equations of agricultural tracked vehicles are developed according to the force and torque acting on the vehicle during steering for predicting turning characteristics on soft terrain. Numerical simulations are performed and turning experiments are carried out. It is concluded that the effective traction of tracked vehicle and the inside track slip rate will reduce, but the steering torque will raise when the outside track slip rate increases; the effective traction of tracked vehicle, the inside track slip rate and steering radius will decrease as the steering ratio increases, the steering torque will decrease as the steering ratio is lower. The sinkage, the turning radi- us and the slip rate of inner and outer track can be predicted by using the turning equations, and the maximum pre- diction error is within 15%. Research results can provide a reference for predicting steering performance accurately and efficiently on soft terrain for agricultural tracked vehicles.

关 键 词：农用 履带车辆 转向 软地 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]