摘要
研究了履带车辆的动力学建模.将履带式车辆处理为三大刚体系统:即车体和左右两侧履带系统.其中将履带简化为柔索约束,并用"冰刀+车轮"的模式对履带约束进行了数学描述,采用多刚体系统理论建立履带车辆的力学模型.其模式对履带约束的数学描述属于一阶线性非完整约束,用描述非完整系统的Routh方程建立了履带车辆的力学模型.
A dynamics modeling for endless-track vehicle is established in this paper. Endless-track vehicle is simplified as three part rigid body systems: bodywork and two sides pedrail system. The pedrail system is reduced flexible cable constraint and the mathematical description of flexible cable constraint is descripted by skate add wheel mode. A dynamics modeling for endless-track vehicle is established through using multi rigid body system theory. The result indicates that skate add wheel mode′s mathematical description belong to one order linear nonholonomic constraint. A dynamics modeling for endless-track vehicle is created by Routh eqeation.
出处
《华北工学院学报》
2005年第3期164-166,共3页
Journal of North China Institute of Technology
基金
中北大学自然科学基金资助项目
关键词
履带
车辆
ROUTH方程
建模
endless-track vehicle
multi rigid body system
dynamics modeling reference
