大型履带式液压凿岩台车原地转向能力研究  

PIVOT TURNING ABILITY RESEARCH OF LARGE HYDRAULIC CRAWLER JUMBO

作　　者：陈周伟 罗春雷[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《井冈山大学学报（自然科学版）》2015年第2期54-58,86,共6页Journal of Jinggangshan University (Natural Science)

基　　金：科技部国家高技术研究发展计划项目(863计划)(SS2012AA041809)

摘　　要：针对大型履带式液压凿岩台车原地转向能力展开研究。以车辆-地面力学理论、履带车多刚体建模理论为基础,在多体动力学软件Recur Dyn中构建了整车的动力学模型,分析了三种路面条件下履带式车辆的结构参数即履带接地长度与履带中心距比值L/B对转向能力的影响。仿真结果表明,结构参数L/B对履带式车辆的转向能力有很大影响;履带车辆在软地能够转向必须满足L/B小于1.7,且当L/B越小,履带车转向能力更好;对于在硬地转向,L/B越小,履带车辆转向稳定性更好。仿真结果与理论分析相符合,互为验证,研究工作对大型履带车辆行驶操控和结构优化设计提供了新思路。We do research on the pivot turning ability of large hydraulic crawler jumbo. Based on the vehicle terramechanics theory, tracked vehicle multi-rigid body modeling theory, the dynamic model of vehicle is built in the multi-body dynamics software RecurDyn. We analyze the influence of the structure parameters of the tracked vehicle, which is the ration between track ground length and track center distance L/B under three kinds of road conditions. Results indicate that structure parameter L/B has great influence on the steering ability of tracked vehicles. L/B less than 1.7 is necessary for steering of tracked vehicles and steering ability is better. L/B is less and steering stability steering on hard road is better. The simulation results are compatible with the theoretical analysis. We provide a new idea for drive control and structure optimization design of large tracked vehicle. We also provide a theoretical basis and an effective solution for driving property’ further research of large tracked vehicle.

关 键 词：履带式车辆 转向能力 多刚体建模理论 动力学模型 结构参数L/B 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]