高速履带车辆横摆运动响应特性分析与试验验证  

Analysis and Experimental Verification of Yaw Motion Response Characteristics of High-speed Tracked Vehicle

作　　者：袁艺[1] 盖江涛[1] 曾根[1] 周广明[1] 李训明 马长军[1] YUAN Yi;GAI Jiangtao;ZENG Gen;ZHOU Guangming;LI Xunming;MA Changjun(China North Vehicle Research Institute,Beijing 100072,China)

机构地区：[1]中国北方车辆研究所,北京100072

出　　处：《兵工学报》2024年第4期1094-1107,共14页Acta Armamentarii

摘　　要：为研究高速履带车辆操纵特性,奠定高速电驱动履带车辆的操纵稳定性评价及控制的基础,建立了高速履带车辆非线性转向动力学模型及2自由度线性转向动力学模型,并对模型进行试验验证。利用2自由度线性模型推导了高速履带车辆横摆运动传递函数,基于此进行了高速履带车辆横摆运动时域和频域响应特性分析,提出履带车辆稳态横摆角速度增益及临界阻尼车速的定义。研究结果表明:履带车辆稳态横摆角速度增益均小于1,履带车辆具有不足转向特性;履带车辆系统阻尼比在1左右;当车速小于临界阻尼车速时,车辆系统为过阻尼系统,横摆角速度响应的上升时间在0.2 s内;当车速等于临界阻尼车速时,车辆系统为临界阻尼系统,横摆角速度响应的上升时间大于10 s;当车速大于临界阻尼车速时,车辆系统为欠阻尼系统,横摆角速度响应的上升时间迅速减小至2~3 s。In order to study the handling characteristics of high-speed tracked vehicle to lay the foundation for the evaluation and control of its handling stability,the nonlinear steering dynamics model and linear two-degree-of-freedom linear steering dynamics model of high-speed tracked vehicle are established and verified by experiments.The transfer function of the yaw motion of high-speed tracked vehicles is derived using the two-degree-of-freedom linear model.Based on this,the time domain and frequency domain response characteristics of the yaw motion of high-speed tracked vehicles are analyzed,and the definitions of steady-state yaw rate gain and critical damping speed of tracked vehicles are proposed.The analyed result show that the steady-state yaw rate gain of tracked vehicle is less than 1,so the tracked vehicle has deficient steering characteristic.The damping ratio of tracked vehicle system is about 1.When the vehicle speed is less than the critical damping speed,the vehicle system is an overdamped system,and the rise time of yaw rate response is within 0.2 seconds.When the vehicle speed is equal to the critical damping speed,the vehicle system is a critially-damped system,and the rise time of yaw rate response is greater than 10 seconds.When the vehicle speed is greater than the critical damping speed,the vehicle system is an underdamped system,and the rise time of yaw rate response decreases rapidly to 2-3 seconds.

关 键 词：高速履带车辆 操纵特性 横摆运动 瞬态响应 频率响应 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]