履带车辆系统刚柔耦合动力学建模及分析

Dynamic Modeling and Analysis for Rigid-Flexible Coupling System of Tracked Vehicles

为准确预测履带车辆动态行驶特性,充分考虑了履带非线性因素和地面变形对行驶性能的影响,在贝克理论的基础上建立了履带车辆系统刚柔耦合动力学模型,并在两种路况下进行了算例仿真。结果认为:当履带车辆通过平坦路面时,车辆前进速度和驱动轮角位移迅速从初始值上升到最大值,当驱动轮扭矩保持在6000时,车辆前进速度从指数级上升转为指数级衰减,并且车辆打滑率随着驱动轮扭矩的增大而增加;当通过正弦路面时,车辆动力学特性呈现上下振荡的稳定状态。研究结果为履带车辆行驶特性的准确预测提供了一种新的方法参考。

In order to predict accurately dynamic riding characteristics of tracked vehicles, considering track nonlinear factor and ground deformation effect on driving performance fully, dynamic models of rigid -flexible coupling system of tracked vehicles are established based on Bekker theory, and are simulated with examples on two kinds of pavement. It is concluded that forward velocity of tracked vehicles and angular velocity of driving wheel would rise quickly from the initial value to the maximum when riding on flat road, they also vary from exponential rise to exponential attenuation when driving torque is 6000. Skip rate increases with rising of driving torque. When running on sin road, dynamic characteristics of tracked vehicles is in a stable oscillation state. The results will provide a new method for pe^ormance prediction of tracked vehicles.