轮腿复合全地形车辆单腿系统动力学建模与分析  

Dynamics Modelling and Analysis of Sing leg System for Wheel-legged Composite All-terrain Vehicle

作　　者：张喜清[1] 陈殿民 郭永瑞 Zhang Xiqing;Chen Dianmin;Guo Yongrui

机构地区：[1]太原科技大学

出　　处：《工程机械》2024年第10期92-97,I0021,共7页Construction Machinery and Equipment

基　　金：山西省基础研究计划项目(202203021221160);太原科技大学研究生创新项目(SY2022048);太原市“揭榜挂帅”项目(2024TYJB0121)。

摘　　要：精确的支腿液压缸驱动力获取是实现轮腿复合全地形车辆良好底盘姿态控制的关键。全地形车辆在行驶过程中,轮端垂向载荷、整车位姿参数难以获得,因此选取较易测量的角度值作为广义坐标,采用Lagrange动力学方法,对全地形车辆单(支)腿系统进行动力学数值建模,分别针对轮端腾空和触地两种状态下支腿液压缸驱动力进行换算求解。为验证动力学计算模型的正确性,通过Simulink-Simscape对全地形车辆单腿系统进行仿真分析,仿真值与计算值对比显示,误差波动小于1.25%。Accurate acquisition of drive force of the leg hydraulic cylinder is the key to achieving good chassis posture control for the wheel legged composite all-terrain vehicle.During the travelling process of the all-terrain vehi cle,it is difficult to obtain the vertical load at the wheel and the overall posture parameters,so the angle values that are easy to measure are selected as generalized coordinates.The Lagrange dynamics method is adopted for dynamics numerically modelling of the single leg system of the all-terrain vehicle,and the drive forces of the leg hydraulic cyl inder in two states of wheel rising upward and touching the ground are calculated and solved,respectively.To verify the correctness of the dynamics calculation model,SimulinkSimscape is used to simulate and analyze the single-leg system of the all-terrain vehicle,and the comparison between the simulated value and calculated value shows that the er ror fluctuation is less than 1.25%.

关 键 词：动力学模型 轮腿复合结构 全地形车辆 

分 类 号：TU689[建筑科学—建筑技术科学]