基于Simscape和RecurDyn的履带车辆动力学仿真技术研究

Dynamic Simulation of a Tracked Vehicle Based on RecurDyn and Simscape

基于Matlab/Simscape建立履带车辆发动机和传动系统的物理模型。基于多体动力学软件RecurDyn建立履带车辆行动部分虚拟样机。通过Simulink和RecurDyn的接口技术,建立了发动机-传动装置-行动装置的履带车辆联合仿真模型。对履带车辆在硬路面进行直驶仿真,得到了换挡时的车速及驱动轮扭矩变化曲线;对履带车辆在硬路面进行无级转向仿真,得到了转向时驱动轮转速曲线和扭矩曲线、车速曲线和履带车辆运动轨迹。仿真结果表明,论文建立的履带车辆联合仿真模型有效可行,为履带车辆动力学仿真分析提供了新的思路。

By using Madab/Simscape, the physical model of the engine and drive train system are built. Based on RecurDyn（Multi Body Dy- namics analysis software）, the model of a tracked vehicle running system is established. Through the communicator between Simulink and RecurDyn, the co-simulation model of the engine, transmission device, motion device system of a tracked vehicle is made. By the straight driving simulation on the hard ground, the changing curves of the vehicle speed and the torque of the sprockets are obtained while gear change; though the continuous steering simulation, the sprockets angular velocity curves and torque curves, the vehicle velocity curve, and the vehicle trace curve are gained. The results of the simulations show that the co-simulation model of the tracked vehicle in this paper is effective, and a new idea is promoted for the simulation of tracked vehicle.