双电机独立驱动的履带车辆坡转性研究

Ramp Steering Dynamics of an Electric Tracked Vehicle Driven Independently by Dual Motors

针对研究坡上转向力学特性的必要性和重要性,分析了车辆坡上转向过程中的受力特性,建立车辆动力学数学模型,并利用Matlab/Simulink平台建立了仿真模型。通过车辆在水平地面和15°坡上转向的仿真对比表明:15°上坡转向时,两侧履带速差较大,角速度增量大,转向半径较小,瞬心偏移量呈先降后升趋势;阻力矩为正值,起到帮助转向作用,15°上坡转向比水平地面转向容易,运动剧烈但无侧翻隐患;车辆高速转向时,瞬时转向中心纵向偏移量不应大于±L/2。

The necessity and importance of studying the dynamical characteristics of ramp steering were described. The vehicle stress of ramp steering was analyzed. A dynamics mathematical model of the vehicle was built, and a simulation model was also built in Matlab/Simulink. Comparison and analysis of the vehicle steering on level ground and 15°ramp were done. When the vehicle steered on 15°ramp, the following results were acquired. A large speed difference and an increment of angular velocity arose. The turning radius was very small comparatively. The side - play amount of instantaneous center was reduced at first and then increased. The inoment of resistance had a positive value and did help to steering, in other word, the vehicle steers on ramp much more easily than on level ground. When the vehicle steers on ramp, it moved strenuously but Safely. The side - play amount of instantaneous center should not be greater than ± L/2 when the vehicle runs at a high speed.