基于打滑条件下的履带车辆转向分析

STEERING ANALYSIS OF TRACKED VEHICLES BASED ON SKID CONDITION

研究履带车辆转向性能时传统履带车辆转向理论不考虑履带接地段的滑转与滑移,计算结果与实际存在一定差别。在分析履带与地面相互作用的基础上,基于滑转滑移条件讨论履带车辆平稳转向的实际过程,导出了履带牵引力、制动力、转向阻力矩、转向半径和转向角速度的表达式,采用迭代法求其数值解,和传统转向理论的相关结果作了定量比较,并进行了实车试验。结果表明,考虑履带接地段打滑后相对转向半径约为不考虑打滑时的转向半径的1．5倍,即约为履带车辆接地长L与履带中心距B之比,转向角速度约为不考虑打滑时的2／3,考虑履带接地段打滑时转向半径与转向角速度同实车试验测定的数据相比误差在3％左右。表明建立的考虑履带打滑时的转向模型更符合履带车辆转向实际。

Slips and skids of tracks contacting ground aren＇t considered for traditional steering theory of tracked vehicles, so gaps exist between the calculated and actual values. Based on mutual effects of tracks and ground, the actual steering processes of tracked vehicles are analyzed considering tracks＇ slip and skid. Then the formulas of tracks propelling power, broken power, turning resistance moment, turning radius and turning angle velocity are obtained. The stimulated results are gotten with iteratively programming, and some quantitative comparisons with traditional conclusions are given. On-vehicle measurement is carded out. The results show that relative turn radius considering slip and skid is one and a half time of it without considering skid and slip, that is equal to the ratio of track contact ground length L to track gauge B, turn angle velocity is two thirds of it without considering skid and slip. Comparison with measurement, the error of turn radius and turn angle velocity is limited to three percent. So, steering model considering skid and slip corresponds with actual steering character.