山地履带拖拉机纵向坡地越障性能仿真分析及试验验证

Performance verification and simulation of the hillside crawler tractor for crossing the longitudinal slope obstacle

山地履带拖拉机作为一种农用动力机械,工作在地形复杂、条件恶劣的丘陵山区,因此,要求其不仅具有一般履带拖拉机的基本特点,而且应具有良好的坡地越障性能。利用Pro/E三维软件绘制山地履带拖拉机车体几何模型,并在多体动力学软件Recur Dyn中完成履带行走机构的选配及整机动力学模型的建立,同时利用Recur Dyn自带的地面Ground模块建立地面模型,基于以上3种模型对该机进行多体动力学仿真,分析速度、坡度角及拖拉机质心位置对其纵向坡地越障性能相关参数的影响。仿真结果表明,在车速与坡度角一定的情况下,质心位置越靠车体前端且越接近地面,越有利于纵向越障性能。相关的坡地实测试验所测得结果与仿真结果基本保持一致,验证了仿真模型的正确性,为山地履带拖拉机进一步的改进设计提供理论参考依据。

Hillside crawler tractors are often used in hills and mountains where the working conditions are always complicated. Therefore, they should have general features of a crawler tractor and the ability to cross ob- stacles in a sloping field. In this paper, a three-dimensional geometrical model of a hillside crawler tractor was draw using the Pro/E software. Configuration of the crawling devices and building a multi-body model and a ground model were achieved in the three-dimensional dynamics software RecurDyn. Based on the three models, a dynamic simulation was conducted to analyze the effects of different speed, slope angles, and centroid position on the longitudinal obstacle performance of the hillside crawler tractor in a sloping field. The results showed that, at certain speed and angles, the closer the centroid position to the front part of the tractor and the ground, the better the longitudinal slope obstacle performance of the tractor. The experimental results are in good agreement with the simulation results, which further validates the correctness of the simulation model and provides a theoretical ref- erence for the further improvement of hillside crawler tractors.