六轮足地面无人车辆动力学建模及仿真研究  

Dynamic modeling and simulation of six-wheeled unmanned ground vehicle

作　　者：董震[1] 邢俊文[1] 

机构地区：[1]装甲兵工程学院机械工程系,北京100072

出　　处：《现代机械》2017年第5期71-74,共4页Modern Machinery

摘　　要：为了对六轮足无人车辆动力学特性进行研究,结合多体动力学理论,基于Recur Dyn仿真平台建立了路面系统模型和车辆动力学模型;选取典型路况、不同障碍对无人车辆进行多工况动力学仿真;仿真结果表明:所建三维路面模型能够较好的模拟实际随机路面;所建六轮足无人车辆模型越障性能较好,具有良好的通过障碍的能力。为六轮足无人车辆的设计和研究提供了模型参考。In order to study the dynamic characteristics of six-wheeled unmanned vehicles,combined with the theory of multi-body dynamics,the road system model and vehicle dynamics model were established based on Recur Dyn simulation platform. Dynamic simulation of unmanned vehicles was carried out with typical traffic conditions and different obstacles. The simulation results showed that the three-dimensional pavement model can simulate the actual random road surface well.The six-wheel unmanned vehicle model has better obstacle performance. It provides a reference for the design and research of six-wheeled unmanned vehicles.

关 键 词：六轮足无人车辆 动力学特性 RECURDYN 随机路面 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]