松软地面下履带车辆斜坡转向特性  

Ramp Steering Characteristics of Tracked Vehicles on Soft Terrain

作　　者：张宇 刘西侠 李军 宋海军 邱绵浩 ZHANG Yu;LIU Xi-xia;LI Jun;SONG Hai-jun;QIU Mian-hao(Department of Vehicle Engineering,Academy of Army Armored Force,Beijing 100072,China)

机构地区：[1]陆军装甲兵学院车辆工程系,北京100072

出　　处：《科学技术与工程》2021年第3期1011-1016,共6页Science Technology and Engineering

基　　金：国防预先研究项目(2019YY03);国家重点研发计划(2018YFC0810500)。

摘　　要：越野环境下的松软地面是履带车辆行驶的主要地形,在这种条件下行驶不可避免地要进行斜坡转向操作,履带车辆的斜坡转向特性值得重点关注。针对研究履带车辆斜坡转向特性的必要性和重要性。根据履带车辆转向的运动特点,建立了坡道转向动力学模型,结合地面力学理论,进一步深入研究履带车辆在松软地面下斜坡转向特性。通过履带车辆在斜坡上完成规定半径转向动作所需的滑转率这一指标,来分析坡角、地面性质、转向半径对履带车辆斜坡转向性能影响,为履带式无人车的设计、路径规划和跟踪控制打下基础。The tracked vehicle mainly runs on the soft terrain in the field environment.In this condition,it is inevitable to perform ramp steering operations.The characteristics of ramp steering of tracked vehicle are worthy of analysis.Aiming at the necessity and importance of studying the ramp steering mechanical characteristics of tracked vehicles,a dynamic model of steering was established based on the analysis of steering condition on ramp.Combining the model with terramechanics,the ramp steering characteristics of tracked vehicles on soft terrain were further analyzed.By analyzing the required slip rate of the tracked vehicle to complete the steering action of the specified radius on the ramp,the impact of the ramp angle,terrain properties,and steering radius on the ramp steering performance of the tracked vehicle was studied respectively.The research lays the foundation for design,path planning and tracking control of unmanned tracked vehicle.

关 键 词：履带车辆 斜坡转向 地面力学 滑转率 松软地面 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]