特殊悬架结构探测车通过性仿真分析  

Analysis of Trafficability for Special Suspension Structure Rover

作　　者：庞罕[1] 王超凡 刘健[1] 孙延迪 

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580

出　　处：《计算机仿真》2014年第12期320-324,共5页Computer Simulation

基　　金：国家自然科学基金项目"滩浅海土壤附着力模型及通过性评价方法研究"(E051103)

摘　　要：在滩浅海探测车悬架结构设计问题的研究中,传统悬架结构由于受到结构尺寸的限制相对于特殊悬架结构的探测车来说通过性能较差。为了检验一种主动自适应型特殊悬架结构滩浅海探测车的优良通过性能,采用数学仿真与理论分析结合的验证方法,首先建立了探测车在垂直越障时的数学模型,利用数值分析软件Matlab求解出越障高度和悬架尺寸之间的理论关系;理论分析了探测车在滩浅海软粘土壤环境的牵引通过性并在几种典型工况下对探测车的多重地面几何通过性进行了仿真分析。分析结果表明,采用主动自适应悬架结构的滩浅海探测车具有良好的越障性能、较强的地形适应性和稳定性。Higher trafficability is required for shallow sea rovers, due to the limitation of structure size, the traffic- ability of traditional suspension structure is worse than the special structure of suspension. In order to verify the ex- cellent trafficability performance of special suspension structure rover, In this paper, by combining the theory of math- ematical modeling and simulation analysis for validation, we establish mathematical model of obstacle climbing, solve out the relationship between the barrier height and size of suspension by using numerical analysis software MATLAB. Then ,we analyze the tractive characteristics of the rovers in the soft soil environment and dynamic characteristics of the beach shallow sea rover are simulated on several extreme conditions. The analysis results show that this rover has good obstacle climbing performance, strong terrain adaptability and stability.

关 键 词：探测车 悬架结构 越障 通过性 

分 类 号：TB391.9[一般工业技术—材料科学与工程]