耦合驱动的滑移转向轮式车辆模型与动态特性  

Skid-steering Wheeled Vehicle Model Coupled with HydraulicDrive system and Its Dynamic Characteristics

作　　者：刘祺慧 吴维[1] 潘丰 LIU Qihui;WU Wei;PAN Feng(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Chongqing Tiema Industrial Group Co.,Ltd.,Chongqing 400000,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]重庆铁马工业集团有限公司,重庆400000

出　　处：《兵工学报》2024年第S02期222-230,共9页Acta Armamentarii

摘　　要：滑移转向轮式车辆应用领域广泛,掌握驱动系统对车辆直驶、转向性能的影响是实现其正向设计的基础。针对全液压驱动滑移转向车辆设计分析需求,基于全液压驱动滑移转向车辆系统原理,建立液压驱动系统和车辆动力学系统耦合仿真模型,结合具体车辆参数,仿真分析车辆直驶和转向工况特性,得到车辆行驶过程中液压系统的动态响应特性,并通过实车验证模型的仿真结果。研究结果表明:道路阻力、车速和驾驶员操作等时变参数对直驶液压驱动系统压力影响较大,转向液压驱动系统压力与动态转向阻力强相关;耦合驱动的车辆仿真模型能够实现车辆运动状态与驱动系统状态的耦合仿真,可用于驱动系统特性和车辆动力学特性的耦合分析。Skid-steering wheeled vehicle has a wide range of applications.Understanding the impact of drive system on the vehicle driving and steering performance is the basis for forward design.In response to the design and analysis requirements of hydraulically-driven skid-steering wheeled vehicle,a coupling simulation model of hydraulic drive system and vehicle dynamics system is established based on the principle of the hydraulically-driven skid-steering wheeled vehicle systems.Combined with the specific vehicle parameters,the characteristics of the vehicle driving and steering conditions are simulated and analyzed to obtain the dynamic response characteristics of hydraulic driving system during vehicle driving.The simulated results of the model are verified through the actual vehicle.The results show that time-varying parameters such as road resistance,vehicle speed and driver operation have a great impact on the pressure of hydraulic driving system,which is strongly related to the dynamic steering resistance.The coupled simulation model can be used for the coupled simulation of vehicle motion state and hydraulic driving system state and the coupled analysis of hydraulic driving system characteristics and vehicle dynamics characteristics.

关 键 词：轮式车辆 滑移转向 耦合驱动 耦合仿真 动态特性 

分 类 号：TH137[机械工程—机械制造及自动化]