履带打滑条件下的电驱动车辆转向运动学研究

Study on Electric Vehicle Steering Kinematics Considered Tracks' Skid and Slip

为了解决履带与地面之间的滑转和滑移使实际转向半径远大于理论转向半径的问题,提出了转向半径修正系数及其计算方法,并利用转向半径修正系数对电驱动履带车辆的运动学公式进行了修正.通过采用Matlab/Simulink对履带打滑条件下的车辆转向运动进行仿真,并将仿真结果与转向试验跑道进行对比,结果表明车辆运动轨迹的仿真结果与试验跑道基本一致,证明转向半径修正系数及其计算方法是正确的,能够真实反映电驱动履带车辆在实际转向过程中履带滑转滑移对车辆转向运动学特性的影响.

In this paper, the computing method for turning radius correcting coefficient is proposed to solve the problem that the actual turning radius is much bigger than the theoretical turning radius because of the tracks＇ skid and slippage, and the turning radius correcting coefficient is used to modify the kinematics formulas of electric tracked vehicle. The simulation of vehicle steering motion with the tracks＇ skid and slippage considered is can＇ied out with Matlab/Simulink, and the simulation result is compared with the result from road test. The result shows that the road test result and the simulation result of the vehicle traveling trace are basically in accordance, which proves that the turning radius correcting coefficient can reflect the influence of tracks＇ skid and slippage on vehicle steering kinematics characteristics.