高速履带车辆转向过程分析与试验验证

Analyzing and Testing Verification the Performance about High-speed Tracked Vehicles in Steering Process

为了准确分析高速履带车辆在转向过程中运动学和动力学参数的变化规律,在考虑高速履带车辆转向离心力和履带滑动的条件下,建立计算两侧履带与地面之间的作用力、转向阻力矩、转向半径、转向角速度等参数的运动学、动力学模型。分析研究结果表明,转向时履带与地面之间的滑动使两侧履带的作用力随转向半径的增大而逐渐减小,离心力对车辆转向性能也有一定程度的影响;与传统转向理论的计算结果相比,考虑履带与地面之间滑动时的转向半径是传统理论计算值的1.5倍左右,转向角速度是传统理论计算值的67%左右。实车试验结果表明,文中所建立的转向模型具有较好的准确性,更符合高速履带车辆转向的实际情况。研究结果可为新型高速履带车辆转向机构的设计和转向过程控制提供理论支持。

In order to analyse the kinematical and dynamic character parameters of steering process of high-speed tracked vehicle, the calculation model of kinematical and dynamic character parameters of acting force, turning resistance moment, turning radius, turning angular speed between tracks and ground is built, considering the influence of steering centrifugal force, the slipping of track-contact-ground. The analysis results show that steering centrifugal force has the some influence to the steering performance, the acting forces for out and inner tracks decrease along with the turning radius gradually in slipping steer situation. Compared to the calculation results based on traditional steering theory, which the turning radius is about 1.5 times, and the turning angular speed is 67% in slipping steer situation. Tracked vehicle testing results show that steering model established in this paper considering slip steering is accurate, which agrees with the actual turning process well, those research works provide the theoretical supported on the design of the new steering mechanism and the steering process control.