履带车辆三种转向方式特性的对比分析

Study on Three Typical Steering Modes of Tracked Vehicle

对中心差速、内侧降速和外侧升速3种履带车辆转向方式进行运动学和动力学分析;对3种方式下的转向半径的变化规律进行了研究;对比了3种转向方式的内外侧履带功率需求;在Matlab/Simulink中进行了仿真。运动学和动力学分析表明:在相同转向速度下,3种方式转向半径的变化率相同,但转向半径的数值不同,相比之下内侧降速式的转向半径最小。功率需求分析和仿真结果表明:内侧降速式转向的外侧履带功率需求最小,中心差速式较大,外侧升速式最大;内侧降速式转向可以实现较小的转向半径,而功率需求最低,是3种方式中最为合适的选择。

Aiming at three typical steering mode of tracked vehicle which is mid speed invariant, inside slow down and outside speed up, carry through the dynamic analysis and put attentions on the steering radius variety regulations. Analyze the steering power requirements in three mode and do the simulation in Matlab/Simulation. The Conclusions show up that the radius＇ s variety regulations in three modes are same, but the value of radius in inside slow down mode is least. Outside power request is least in the mode of inside slow down, bigger in the mode of mid speed invariant and biggest in the mode of outside speed up. The mode of inside slow down is the best choice of steering because of the lowest power requirement and the lowest radius as well.