基于多体动力学仿真的履带车辆转向性能分析

Steering performance analysis of tracked vehicles based on multi-body dynamics simulation

以多体系统动力学理论和方法为基础,基于RecurDyn软件建立高速履带车辆多体动力学模型及路面模型,对履带车辆在硬、软两种地面的高速转向过程进行动力学仿真和对比分析。重点分析车辆在转向过程中履带预张紧力、转向半径和路面工况这3方面因素对转向特性的影响。研究结果表明:履带车辆高速转向时,软地面转向性差,易发生车辆侧翻、脱轮等现象;车辆以20 km/h的速度,转向半径r>B/2软地转向时,两侧履带滑移(滑转)现象不明显,转向稳定性最好,当选取车重力的10%(20 kN)作为预张紧力时,履带动态张紧力波动变化小,车辆转向角加速度没有出现幅值突变,转向平稳。

Based on multi-body system dynamics theory and method, a multi-body dynamics model and ground model of the high speed tracked vehicle was built on RecurDyn, the dynamic simula- tion and analysis for high speed steering process of the tracked vehi- cle on the hard and soft grounds was carried out. It focused on the influence on steering characteristics by track pre-tensions, steering radius and road conditions. The results show that it is easy to roll- over, off-wheel and so on when the tracked vehicle is at high speed steering on soft ground. When a tracked vehicle steered in r 〉 B/2 on the soft ground at a velocity of 20 kin/h, slipping phenomenon on both sides of the track is not obvious and the steering stability is the best; when the pre-tension was 10% of the tracked vehicle weight （20 kN） is taken as the pre-tension, the dynamic track ten- sion has small in fluctuations and tracked vehicle steering angle acceleration does not appear amplitude of the mutation, the steering is stable.