考虑土壤滑转流动的柔性履带应力分布研究  

Flexible Track Stress Distribution Considering Slip Subsidence

作　　者：孙中兴[1] 唐力伟[1] 汪伟[1] 赵家丰 沈晨晖 孙也尊 

机构地区：[1]军械工程学院火炮工程系,石家庄050003 [2]驻二四七厂军事代表室,太原030000

出　　处：《农业机械学报》2017年第1期317-324,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：陆军部通保科学基金项目(WG2016271S0007)

摘　　要：履带-地面相互作用力学研究在履带机构设计、优化、控制与仿真方面具有重要的作用,其中柔性履带应力分布是目前该项研究的难点。本文将地面力学广泛应用的半经验法与土槽实验方法相结合,首先在KARAFIATH构想的基础上分析了履带行进过程中土壤的剪切流动及滑移线分布规律,提出了滑转流动导致的土壤流失量的计算方法,并在引入履带应力分布的研究中,实现了对传统履带-地面应力分布模型的修正和改进。利用履带机构-土壤实验系统进行相关测试,结合实验测量拟合得到履带段各点的下陷量曲线,代入本文模型中计算得到机构各处的正应力与切应力的分布情况。在载荷6 kg,滑动率从0.23增加到0.71时,履带机构竖直方向正应力的计算值与实验测量平均相对误差不超过15%,相关系数不小于0.83。模型可用于柔性履带地面耦合动力学建模与特性分析。Track terramechanics,of which the track stress distribution is the bottleneck,plays an important role in the areas of track mechanism＇s design,optimizing,control and simulation. Semiempirical method and soil trough experiment were combined. Soil shear flow and distribution of slip line during the movement of track mechanism were analyzed on the basis of KARAFIATH concept. The algorithm of amount of soil loss caused by slip,which was used to correct the traditional track-terrain stress distribution model,was raised. Sinkage data of track gathered from soil trough experiment was input to the established model,and then the distributions of normal and shear stresses were obtained. The experimental system of track mechanism-soil interaction composed of soil trough and track-type trolley device as well as its supporting driving element and real-time test system through which can obtain parameters such as driving moment of the motor,horizontal displacement of trolley,sinkage in the traveling process of the trolley,inclined angle of the vehicle body,and motor speed,as well as the variation from the start to the smooth operation of the trolley device was designed and constructed according to the new test system of soil bin developed by the Key Laboratory of Bionic Engineering of Ministry of Education. Laser range finder was constructed with turnplate to realize the stage extraction of shape of track not in contact with a road wheel. The vehicle load,track width and slip rate were taken as experimental factors,the mechanism sinkage was taken as experimental index,and orthogonal experiment design method was adopted. The relative error between numerical calculation and experiment results of normal stress in vertical direction of track mechanism was less than 15%,and correlation coefficient was equal to or more than 0. 83 when the weight was 6 kg and slip rate was varied from 0. 23 to 0. 71. The stress model can be used to build mathematical model of interaction between tracked vehicle and terrain.

关 键 词：柔性履带 应力分布 剪切流动 履带-地面力学 

分 类 号：O39[理学—工程力学] U469.694[理学—力学]