履带车辆软坡地面力学建模及行驶性能分析  

Ground mechanic modeling and analysis on driving performance of tracked vehicles on the soft slope road

作　　者：刘妤 谢铌 张拓 梁举科 LIU Yu;XIE Ni;ZHANG Tuo;LIANG Ju-ke(College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054)

机构地区：[1]重庆理工大学机械工程学院,重庆400054

出　　处：《机械设计》2021年第3期110-118,共9页Journal of Machine Design

基　　金：重庆高校创新团队建设计划资助项目(CXTDG20162017);重庆市社会事业与民生保障科技创新专项项目(cstc2017shms-xdny80015)。

摘　　要：丘陵山区特殊的作业环境严重影响履带车辆的机动性能。文中重点针对坡地倾角25°范围内的软坡路面环境,建立履带车辆地面力学模型,在此基础上,结合自主研制的小型山地履带底盘,通过基于动力学模型的数值分析与基于RecurDyn模型的仿真分析的结果对比,验证动力学模型的有效性、可信度,并依托该模型分析小型山地履带底盘软坡地路面行驶的动力学特性。结果表明:数值分析与仿真结果表现出较为一致的行驶特性,所建立的履带车辆软坡地路面行驶动力学模型准确度较高;坡地倾角与偏移角影响履带车辆的接地压力分布,进而影响其牵引力及运动状态;同种土壤环境下,履带车辆在不同坡角路面上行驶时具有较为接近的驱动力。该研究可为山地履带车辆软坡地路面行驶的动力学特性分析提供参考模型。Since the special working environment in hilly and mountainous areas seriously affects the mobility of tracked vehicles,in this article aiming at the soft slope road within the slope angle 25°,the ground mechanics model of tracked vehicles is set up. On this basis,in combination with the independently-developed small mountainous track chassis,both the validity and reliability of the dynamic model are verified by comparing the results obtained from the numerical analysis based on the dynamic model and the results obtained from the simulated analysis based on the RecurDyn model. Finally,on basis of this model,the analysis is conducted on the dynamic characteristics of the small mountainous track chassis on the soft slope road. The results show that the results obtained from the numerical and simulated analysis have common driving characteristics;thus,the dynamic model of tracked vehicles which are running on the soft slope road enjoys a high accuracy. Moreover,both the slope angle and the offset angle affect the distribution of ground pressure of tracked vehicles,and then exert certain influence on its traction and movement state. At the same time,with similar soil conditions,tracked vehicles have relatively close driving force even if they are running on the soft slope road with different angles. This study provides a valuable model for the analysis on the dynamic characteristics of tracked vehicles on the soft slope road.

关 键 词：履带车辆 动力学模型 计算机仿真 坡地行驶 

分 类 号：TH113[机械工程—机械设计及理论]