基于剪应力模型的履带车辆转向力矩分析与试验

详细信息    查看全文 | 推荐本文 |

英文篇名：Analysis and Experiment of Tracked Vehicle Steering Torque Based on Shear Stress Model 作者：芮强 ; 王红岩 ; 王钦龙 ; 郭静 ; 邹天刚 ; 万丽 英文作者：RUI Qiang;WANG Hong-yan;WANG Qin-long;GUO Jing;ZOU Tian-gang;WAN Li;Department of Mechanical Engineering,Academy of Armored Force Engineering;Science and Technology on Vehicle Transmission Laboratory,China North Vehicle Research Institute;China North Special Vehicle Research Institute; 关键词：兵器科学与技术 ; 剪切应力-剪切位移关系 ; 滑转 ; 滑移 ; 履带车辆转向 ; 试验验证 英文关键词：ordnance science and technology;;shear stress-shear displacement relationship;;skid;;slippage;;tracked vehicle steering;;experimental verification 中文刊名：BIGO 英文刊名：Acta Armamentarii 机构：装甲兵工程学院机械工程系;中国北方车辆研究所车辆传动重点实验室;中国北方特种车辆研究所; 出版日期：2015-06-15 出版单位：兵工学报 年：2015 期：v.36;No.219 基金：军内科研计划列支项目(2014WX04) 语种：中文; 页：BIGO201506002 页数：10 CN：06 ISSN：11-2176/TJ 分类号：10-19

摘要

为了研究在打滑条件下的履带车辆转向性能,提高履带车辆转向模型的模拟精度,建立了考虑履带滑转、滑移及转向离心力影响的高速履带车辆稳态转向模型。根据剪切应力-剪切位移关系模型推导了两侧履带牵引力、制动力及转向阻力矩的计算公式。在此基础上,根据力平衡关系构建了履带车辆转向运动学方程,并采用迭代计算方法进行求解。以某型装备综合传动装置的高速履带车辆为对象,通过试验测试结果与计算结果的对比分析,对履带车辆转向模型的准确性进行了验证。基于履带车辆稳态转向模型,研究了履带车辆转向运动学及动力学特性随转向半径及车速的变化规律,结果表明:当履带车辆转向速度越高,转向半径越小时,离心力对转向性能的影响越显著。
        For the study of steering performance of tracked vehicles under skidding,a steady-state steering model of tracked vehicle,which takes the skid and slippage of tracks and centrifugal force into consideration,is established to improve the simulating accuracy of the tracked vehicle steering model. Expressions of driving force and braking force of outside track and inside track,and steering resistance torque of tracked vehicles are derived using shear stress-shear displacement relationship model,respectively. According to force and torque equilibrium theory,the steering dynamic equations of tracked vehicle are established and solved by iterative algorithm. Taking a certain type of tracked vehicle with the integrated transmission device as the object,the accuracy of steering model of tracked vehicles is verified by comparing the experimental and calculated results. The rules of changing the kinematics and dynamic steering performance of tracked vehicles with turning radius and running velocity are deeply studied based on the steady-state steering model of tracked vehicle. The results show that the influence of the steeringcentrifugal force on steering performance increases significantly with the increase in running velocity and the decrease in turning radius.

引文

[1]Wong J Y.Theory of ground vehicles[M].3rd ed.New York:John Wiley&Sons,2001.
    [2]程军伟.采用综合传动装置的军用履带车辆转向研究[D].北京:装甲兵工程学院,2007.CHENG Jun-wei.Study on steering of military tracked vehicle equipped with power-shift steering transmission[D].Beijing:Academy of Armored Force Engineering,2007.(in Chinese)
    [3]程军伟,高连华,王良曦,等.基于打滑条件下的履带车辆高速转向分析[J].车辆与动力技术,2006(1):45-48.CHENG Jun-wei,GAO Lian-hua,WANG Liang-xi,et.al.Analysis of tracked vehicles steering at a high speed considered tracks’skid and slip[J].Vehicle&Power Technology,2006(1):45-48.(in Chinese)
    [4]Said A M,Lakmal D S,Kaspar A.Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain[J].Journal of Terramechanics,2010,47(3):151-160.
    [5]Ehlert W,Hug B,Schmid I C.Field measurements and analytical models as a basis of test stand simulation of the turning resistance of tracked vehicles[J].Journal of Terramechanics,1992,29(1):57-69.
    [6]荆崇波,魏超,李雪原,等.履带车辆差速转向机构转向过程动态特性的试验方法[J].农业工程学报,2009,25(7):62-66.JING Chong-bo,WEI Chao,LI Xue-yuan,et al.Test method of steering dynamic characteristics of differential steering mechanism of tracked vehicle[J].Transactions of the CSAE,2009,25(7):62-66.(in Chinese)
    [7]曹付义,刘洋,周志立.履带车辆软地面稳态转向驱动力计算模型[J].河南科技大学学报:自然科学版,2014,35(2):29-32.CAO Fu-yi,LIU Yang,ZHOU Zhi-li.Steady turning thrust calculation model of tracked vehicle on soft terrain[J].Journal of Henan University of Science and Technology:Natural Science,2014,35(2):29-32.(in Chinese)
    [8]Wong J Y,Chiang C F.A general theory for skid steering of tracked vehicles on firm ground[J].Journal of Automobile Engineering,2001,215(3):343-355.