摆动车身车辆越障过程模型及所需最小驱动力矩

Obstacle-climbing model of wheeled vehicle with oscillating body and minimum driving torque

为了研究具有摆动式车身车辆的越障性能,根据其结构特点建立了单侧车轮越障和两前轮同时越障过程的普遍动力学模型,通过简化给出了2DOF铰接车在越障极限位置时的动力学模型。根据该模型能够计算出满足附着条件下各个驱动车轮的可行输出转矩。经进一步分析求出了越障所需的最小驱动力矩。并利用ADAMS对2DOF铰接车越障过程进行仿真,证明了所提方法的可靠性。

general derived t. To study the obstacle-climbing capability of wheeled vehicle with oscillating body, the dynamic equations to climb over obstacle by single front wheel and by two front wheels are based on the vehicle structural characteristics. By obstacle-climbing in limited position of a 2DOF hinge vehicle simplification, the dynamic model of is deduced. According to the mechanics model of obstacleclimbing, the feasible driving torque of each wheel is calculated, which satisfies the ground attachment condition. By further analysis, the minimum feasible total driving torque to climb the obstacle is also calculated. Simulation of 2DOF hinge vehicle using ADAMS demonstrates the reliability of the proposed method.