履带行驶系统数学模型及张紧力计算

Mathematical models for a caterpillar driving system and its tension calculation

根据高速履带车辆履带系统的结构,分析履带系统各部分受力,建立负重轮及其曲臂、诱导轮及其曲臂的数学模型,得到履带系统各部位的张紧力以及地面对负重轮法向力的计算公式。建立Recurdyn整车动力学模型,进行多工况下的仿真,得到履带张紧力、以及负重轮法向力的仿真结果,将仿真与公式计算结果相对比,结果表明:公式计算结果与RecurDyn仿真结果具有很好的符合度,验证了公式的准确性。本研究结果为履带行驶系统张紧力的控制奠定了基础。

According to the structure of a tracked system in tracked vehicles,the forces acting on components of the tracked system were analyzed and mathematical models for components were established.The formulas for track tensions and normal forces between wheels and ground were derived with the mathematical models,and the formulas were verified by comparing the calculated results with the formulas to the simulation results with Recurdyn dynamci model.The formulas provided a theoretical basis for control of tensions of a tracked system.