履带车软地面斜坡转向运动分析

Kinematic analysis of slope steering on soft ground of tracked vehicle

以小型电动履带车为研究对象,建立了包含推土阻力的履带车软地面斜坡转向动力学模型,探究了车辆在软地面行驶时下陷量、推土阻力随航向角、坡度角和土壤类型等因素的变化规律,在此基础上搭建履带车的多体动力学模型,对比理论计算与仿真分析结果,验证车辆转向状态力学模型的正确性和合理性。结果表明,理论计算与仿真分析结果中下陷量较为一致,转向动力学理论模型正确。完善了车辆软地面斜坡转向动力学模型,改进了接地比压和下陷量计算公式,对后续履带车软地面行驶动力学研究具有一定的参考意义。

Taking small-type electric tracked vehicle as the research object,a kinematic model of slope steering on soft ground for the tracked vehicle is built.The bulldozing resistance force is considered in the model.The transformation law,which explains the rule that the grounding specific pressure and sinkage change along with course angle,gradient angle,agrotype and other factors,is explored.The multibody kinematic model is formed.The accuracy and feasibility of the kinematic model during steering is verified though theoretical calculation and simulation analysis.The result shows that,the sinkage in theoretical calculation coordinates with that in the simulation,thus the steering kinematic theoretical model is correct.The research modifies the vehicle’s slope steering kinematic model on soft ground and improves the calculation formula of grounding specific pressure and sinkage.It provides reference for follow-up studies on tracked vehicles on soft ground.