全地形铰接式履带车辆原地转向运动学与动力学建模  

Kinematic and dynamic modeling of all terrain articulated tracked vehicle in process of spin steering

作　　者：董超[1] 成凯[1] 胡文强[1] 姚禹 高学亮[2] 

机构地区：[1]吉林大学机械科学与工程学院,吉林长春130022 [2]吉林大学汽车仿真与控制国家重点实验室,吉林长春130022

出　　处：《中南大学学报（自然科学版）》2017年第6期1481-1491,共11页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(51375202);国家科技部国际科技合作项目(2009DFR80010)~~

摘　　要：针对铰接式履带车辆原地转向过程中的运动学参数与动力学参数求解计算问题,在研究铰接式履带车原地转向工作机理及借鉴现有双履带车转向研究方法的基础上,采用数学建模的方法建立铰接式履带车原地转向运动学与动力学模型,从理论上推导用于分析计算铰接式履带车原地转向时的转向半径、转向角度、转向驱动力矩、履带受到的摩擦阻力及摩擦阻力矩、铰接点处受到的阻力及阻力矩等的计算公式,并结合某一具体车型进行数值求解,最后采用虚拟样机技术对所建立的理论模型进行验证。研究结果表明:该研究成果能为铰接式履带车辆的结构设计及评价整车机动性能等提供理论依据。For solving computational problems of the articulated tracked vehicle＇s kinematic parameters and kinetic parameters during articulated tracked vehicle pivot turns, the articulated tracked vehicle pivot turning mechanism was studied and the basis of existing double-tracked vehicles steering research methods was drawn, the mathematical modeling approach was adopted to establish the articulated tracked vehicle kinematics and dynamics model during articulated tracked vehicle pivot turns, the turning radius formula, steering angle formula, steering drive torque formula, steering friction formula and resistance formula were theoretically deduced at the hinge point combined with a specific model. Finally, the virtual prototype was adopted to validate the established theoretical model. The results can provide a theoretical basis for the articulated tracked vehicle design and evaluation of vehicle＇s motor performance.

关 键 词：铰接式履带车辆 原地转向 转向半径 运动学模型 动力学模型 

分 类 号：TH113[机械工程—机械设计及理论]