海底自行式四履带车的差速转向性能研究

Research on the differential Steering Performance of Self-propelled Four-tracked Vehicle Using in Seabed

四履带采矿车在海底富钴结壳矿区的稳健转向,可有效提升其在复杂地形上的作业能力。基于库仑摩擦理论,建立了打滑条件下四履带采矿车的稳态差速转向的数学模型,采用拟牛顿法(BFGS)对模型进行数值求解,分析了在硬地面条件下,轨距、纵向间距、履带宽度、履带长度等参数对四履带采矿车转向驱动力、滑转率等性能指标的影响规律。结果表明,履带宽度和履带长度对转向驱动力的影响可忽略不计,而轨距减小、履带纵向间距增大会使得滑转率和驱动力显著增大。进一步研究发现,前后履带间距和轨距之比大于1.5时,即使转弯半径很大,其滑转率和滑移率也会超过30%。研究结果为四履带车辆的设计和性能的预测提供了一种新的参考。

The steady steering of four-tracked mining vehicle using in cobalt-rich crust mining area can effectively improve its op- erational performance in complex terrain. Based on the Coulomb Friction Theory, a mathematical model on the steady differen- tial steering of four-tracked vehicle was established under the skidding condition. The quasi-Newton method （BFGS） was used to solve the model. And the influences of track gauge, longitudinal track spacing, track width, track length and other factors on the performance indexes were analyzed under the condition of hard ground, the performanee indexes including driving force and slip ratio. The results showed that the influences of track width and length on the steering force could be ignored. But the re- duction of track gauge and the increase of longitudinal track spacing could significantly improve the slip ratio and driving force. By further analysis, when the ratio of track gauge to track spacing was greater than 1.5, the steering ratio and slip ratio of vehi- cle would exceed 30% even though the radius of turning circle was large. This research provided a new reference for the design and the performance prediction of four-tracked vehicle.