考虑土壤剪切变形的铰接式履带车辆转向性能

doi:10.13229/j.cnki.jdxbgxb201606022

摘要/Abstract

摘要： 为了准确计算求解铰接式履带车辆行驶转向过程中的运动学和力学相关参数,在综合考虑土壤剪切变形和履带滑移/滑转的基础上,采用数学建模的方法建立了铰接式履带车辆行驶转向过程中转向液压缸的运动学模型、转向液压缸的力学模型、铰接式履带车的运动学模型以及履带与地面之间的力学模型;从理论上推导出铰接式履带车行驶转向过程中转向液压缸的角速度、角加速度以及转向半径、履带受到的土壤剪切阻力、转向阻力矩等参数的计算公式,并以某一具体车型为例进行了求解分析。最后采用虚拟样机对所建立的运动学和力学模型进行了验证。该研究成果能为铰接式履带车辆的平稳转向控制以及铰接机构的结构优化等提供理论依据。

关键词: 机械工程, 行驶转向, 铰接式履带车, 运动学模型, 力学模型

Abstract: In order to accurately solve the kinematic parameters and mechanical parameters of articulated tracked vehicle in turning process, the kinematic model and mechanical model of the vehicle's steering hydraulic cylinder, and the kinematic model and mechanical model between the track and soil are established, in which the soil shear deformation and crawler slip are taken into consideration. The formulas of the angular velocity, angular acceleration of steering hydraulic cylinder, the steering radius, the shear resistance and steering resisting moment are theoretically derived. These formulas are solved numerically for a specific articulated tracked vehicle as an example. Finally a virtual prototype model of the articulated tracked vehicle is adopted to verify the theoretical model. This research can provide theoretical basis for the smooth steering control and structural optimization of articulated tracked vehicle.

Key words: machanical engineering, driving steering, articulated tracked vehicles, kinematic model, mechanical model

中图分类号:

TH113

董超, 成凯, 胡文强, 欧阳波, 武斌. 考虑土壤剪切变形的铰接式履带车辆转向性能[J]. 吉林大学学报(工学版), 2016, 46(6): 1922-1932.

DONG Chao, CHENG Kai, HU Wen-qiang, OUYANG Bo, WU Bin. Steering performance analysis of articulated tracked vehicle considering soil shear deformation[J]. 吉林大学学报(工学版), 2016, 46(6): 1922-1932.

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