履带车辆差速转向时载荷比受土壤下陷的影响  

Steering power ratio affected by soil sinkage with differential steering in tracked vehicle

作　　者：迟媛[1] 张荣蓉[1] 任洁[1] 李寒寒 王勇[1] 

机构地区：[1]东北农业大学工程学院,哈尔滨150030

出　　处：《农业工程学报》2016年第17期62-68,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金资助项目(51105073)

摘　　要：为进一步探究履带车辆双功率流动力差速转向机构的转向性能,需要对载荷比的影响因素进行全面分析。该文主要考虑下陷量及土壤参数的影响,对试验样机进行差速转向试验,得到了下陷量与实际载荷比的关系、下陷量与转向半径的关系以及载荷比与转向半径的关系,根据载荷比公式计算的数值与试验测得的数值接近,误差范围在0.16～1.74。试验中,载荷比从1.65增加到6.08,下陷量从3.60 mm增加到10.42 mm,转向半径从1.00 m减小到0.29 m。试验结果表明：履带车辆在松软地面进行差速转向时,下陷量随着实际载荷比的增加而增大,但随着转向半径的减小而增大。该文试验所得结果与理论分析相吻合,可以进一步完善履带车辆差速转向理论。In order to study the steering performance of tracked vehicle adopting differential steering mechanism, the influence factors of steering power ratio need to be analyzed comprehensively. In early study, the influence factors of steering power ratio including turning radius, skid ratio and steering coefficient have been researched. Except those, steering power ratio of tracked vehicle is affected by the soil sinkage depth. At first, relationship between steering power ratio and sinkage was theoretically analyzed. Then the equation of steering power ratio, turning radius, skid ratio and sinkage was obtained. At the same time, steering power ratio is related to the soil parameters. In order to determine the soil parameters of the steering experiment ground, plate sinkage test was carried out. The test results showed that cohesive modulus of soil is 1.05933 kN /mn＋1, frictional modulus of soil is 16.33049 k N/mn＋2, deformation exponent is 0.6306. Then, experiments of considering the influences of sinkage and soil parameters were performed. A new measuring method has been proposed to reduce the experimental error of steering power ratio that the vehicle was steered in a small part of a circle instead of a full circle. The purpose is to reduce measuring error of steering power ratio caused by the different contact condition between track and ground. Experimental prototype was steered in large turning radius and in small on the ground in Northeast Agricultural University. Water content of soil is 12.09%. The average value of soil shear modulus is 0.4529 m. Soil cohesion is 17 716 Pa. Internal friction angle is 15.892°. Through changing the rotational speed of the straight motor and steering motor, the different radius of experimental prototype can be implemented. The experimental data were recorded by sensors of moment and rotational speed, lap top and intelligent multi-channels recorder. Experiment value of steering power ratio can be calculated. Turning radius and central angle were measured by using T-ruler, tap

关 键 词：车辆 转向 土壤 差速转向 载荷比 下陷量 打滑率 

分 类 号：S219.032.3[农业科学—农业机械化工程]