基于滑转条件下的履带车辆原地转向特性研究

Pivot Steering Characteristics of Tracked Vehicle Based on Skid Condition

在考虑履带滑转的基础上,建立了履带车辆原地转向时的数学模型,并进行相关的运动学和动力学分析,推导出履带实际转向速度、转向角速度和滑转率的表达式均与横向偏移量S有关。列出动力学平衡方程,运用Matlab软件计算出横向偏移量S值。结果表明:在已知履带车辆结构参数λ为定值时,履带原地转向时相对应的横向偏移量S随地面参数f/μ的增大而增大;考虑履带滑转情况下的履带转向角速度是未考虑时结果的65.3%;选取不同地面参数对应的横向偏移量S在0.3～0.5之间变化时,履带车辆滑转率为30.8%～42.6%;机车主要参数已知时,对应的转向阻力矩约是传统算法下转向阻力矩的1.26倍。

Based on considering the tracks＇ skid, the pivot turning, Then the related kinematics analysis and tained the track actual turning velocity, turning angle mathematical model of the tracked vehicles are established when dynamics analysis of tracked vehicle are analyzed, It has been obvelocity, skid ratio, which are related to lateral deviation value.List the dynamic balance equation, using matlab software to calculate the lateral deviation value. The results show that with the increase of ground parameters, the corresponding lateral deviation value is increasing under the structure parameters of tracked vehicles for setting value ; turning angle velocity considering skid is 65.3 % of it without considering skid ;Choosing the lateral deviation value at O. 3 -0. 5 in different ground parameters, the tracked vehicles skid rate was 30.8%-42.6% ; while the main parameters are known, the steering resistance torque is 126% of the traditionally-calculated values.