独立转向与驱动无人装甲车操稳性分析  

Analysis on Steering Stability of Independent Steering and Driving of Unmanned Armored Vehicles

作　　者：谢磊 杜忠华[1] 王腾 周光东 XIE Lei;DU Zhong-hua;WANG Teng;ZHOU Guang-dong(Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《火力与指挥控制》2019年第2期21-25,共5页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(11372142)

摘　　要：为了提高军用车辆在恶劣环境中行驶的操纵稳定性,自行设计了一款线控独立转向与驱动无人装甲车辆。基于多体系统动力学理论,在ADAMS/Car中建立线控独立转向与驱动无人装甲车辆悬架、轮胎、转向等子系统模型,并由相应的通讯器建立整装虚拟样机。以建立的虚拟样机模型和试制样车为研究对象,参照国家相关标准完成6项操纵稳定性仿真试验和实车试验,根据实车试验数据验证了仿真结果的正确性。通过分析线性二自由度理论模型推出瞬态响应影响因素并进行转向盘角阶跃输入试验对其定量分析。最后,通过优化后建立的新模型对整车操纵稳定性能进行重新评价。结果表明:优化后在一定程度上改进了车辆的瞬态响应特性,其操纵稳定性能得到相应的提升。In order to improve the handling stability of military vehicles in harsh environments,we designed a wire-controlled independent steering and driving of unmanned armored vehicles.Based on the theory of multi-body system dynamics,a sub-system model of independent steering and driving of unmanned armored vehicle suspension,tire and steering is established in ADAMS/Car,and a complete virtual prototype is established by corresponding communication device.Based on the virtual prototype model and the prototype prototype,six operational stability simulation tests and real vehicle tests were carried out according to the relevant national standards.The correctness of the simulation results was verified according to the actual test data.Then,the influence factors of transient response are introduced by analyzing the linear two degrees of freedom theory model and the quantitative analysis is carried out by steering wheel angle step input test.Finally,a new model is established to optimize the vehicle handling stability.The results show that the stability of the vehicle is improved to a certain extent,and the stability of the vehicle is improved.

关 键 词：独立转向 无人装甲车 瞬态响应 操纵稳定性 定量分析 

分 类 号：U467.1[机械工程—车辆工程] TJ01[交通运输工程—载运工具运用工程]