小型农用履带底盘多体动力学建模及验证
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摘要
多体动力学建模及仿真是研究履带车辆动力学性能的重要手段,其分析结果是否可信取决于所建立的动力学模型是否准确。该文以自主研制的小型农用履带底盘为对象,运用极限理论和瞬态运动分析法建立了履带底盘的运动学方程,运用拉格朗日法建立了履带底盘的动力学方程,在此基础上,结合履带底盘的拓扑结构分析建立了其多体动力学模型,并通过不同路面环境下履带底盘直线行驶的实车试验与仿真结果的对比分析验证了模型的有效性、可信度。结果表明:硬质、松软2种路面环境下履带底盘直线行驶时的平均速度、侧向偏移量、驱动轮转矩和履带张紧力等仿真分析数据与实车试验结果的相对误差分别为5.00%、2.27%,3.86%、6.83%,3.15%、4.66%,0.15%、0.62%,吻合度较好,说明所建立的履带底盘动力学模型准确度较高。该研究可为后期履带底盘动力学性能的深入研究提供参考模型。
Multi-body dynamics modeling and simulation has also become an important means to study the dynamic performance of the tracked vehicles, where the reliability of the analysis results depends on the accuracy of the established dynamics model. In this paper, a self-developed small mountain crawler chassis was used as the research object. To ensure the accuracy of the dynamics model, the centroid coordinates and Euler angles of the crawler chassis were selected as generalized coordinates. And the kinematics equation of the crawler chassis was established by using the limit theory and the transient motion analysis method, and the dynamic equation was established by the Lagrangian method, where the parameters that affected the precision of numerical simulation model in theory was analyzed. On this basis, combined with the topology analysis, the multi-body dynamics model of the crawler chassis was established. Firstly, using the three-dimensional software SolidWorks, combined with the physical prototype and design drawings of the crawler chassis, the three-dimensional model of the components was built and the quality characteristics, such as the coordinates of centroid, mass, moment of inertia and so on, were calculated. Secondly, the three-dimensional model of the components was imported into the multi-body dynamics software RecurDyn, and the parametric modeling of the tracks, drive wheels, tensioners and other wheel train components was built in a RecurDyn/Track(LM) environment. All of these were assembled to establish a preliminary multi-body dynamics model of the crawler chassis. Thirdly, combined with the topology analysis of the crawler chassis, the constraint relationship among the components was defined. And the quality characteristic parameters of each component were defined according to the previous calculation results. Finally, according to the actual vehicle test results under the idling condition of the crawler chassis, the stiffness coefficient and damping of the internal bushing force of the crawler belt were determined by the trial and error method. The coefficient was debugged, and the pre-tensioning force of the crawler belt was in accordance with that of the physical prototype measured at rest. In order to further verify the reliability of the established multi-body dynamics model of the crawler chassis, the real vehicle test of the crawler chassis were carried out, where two straight running conditions on hard ground and soft terrain were taken into account, and the parameters such as the average speed, side position offset, driving wheel torque and tension force were considered. By comparing the results between real vehicle test and simulation analysis under the two working conditions on hard ground and soft terrain, the validity and credibility of the model were verified. The results showed that the simulated analysis data and the actual vehicle test results of the average speed, side position offset, driving wheel torque and tension force of the crawler chassis under rigid and soft road conditions were in good agreement. The error was 5.00% and 2.27%, 3.86% and 6.83%, 3.15% and 4.66%, 0.15% and 0.62%, respectively, and the range between the simulation and the measured of driving wheel torque and tension force were 3.05% and 7.30%, 2.80% and 4.02%, respectively. Therefore, the established dynamic model of crawler chassis had high accuracy and good consistency of fluctuations, which could provide a reference model for the in-depth study of the dynamic performance of the crawler chassis.
Multi-body dynamics modeling and simulation has also become an important means to study the dynamic performance of the tracked vehicles, where the reliability of the analysis results depends on the accuracy of the established dynamics model. In this paper, a self-developed small mountain crawler chassis was used as the research object. To ensure the accuracy of the dynamics model, the centroid coordinates and Euler angles of the crawler chassis were selected as generalized coordinates. And the kinematics equation of the crawler chassis was established by using the limit theory and the transient motion analysis method, and the dynamic equation was established by the Lagrangian method, where the parameters that affected the precision of numerical simulation model in theory was analyzed. On this basis, combined with the topology analysis, the multi-body dynamics model of the crawler chassis was established. Firstly, using the three-dimensional software SolidWorks, combined with the physical prototype and design drawings of the crawler chassis, the three-dimensional model of the components was built and the quality characteristics, such as the coordinates of centroid, mass, moment of inertia and so on, were calculated. Secondly, the three-dimensional model of the components was imported into the multi-body dynamics software RecurDyn, and the parametric modeling of the tracks, drive wheels, tensioners and other wheel train components was built in a RecurDyn/Track(LM) environment. All of these were assembled to establish a preliminary multi-body dynamics model of the crawler chassis. Thirdly, combined with the topology analysis of the crawler chassis, the constraint relationship among the components was defined. And the quality characteristic parameters of each component were defined according to the previous calculation results. Finally, according to the actual vehicle test results under the idling condition of the crawler chassis, the stiffness coefficient and damping of the internal bushing force of the crawler belt were determined by the trial and error method. The coefficient was debugged, and the pre-tensioning force of the crawler belt was in accordance with that of the physical prototype measured at rest. In order to further verify the reliability of the established multi-body dynamics model of the crawler chassis, the real vehicle test of the crawler chassis were carried out, where two straight running conditions on hard ground and soft terrain were taken into account, and the parameters such as the average speed, side position offset, driving wheel torque and tension force were considered. By comparing the results between real vehicle test and simulation analysis under the two working conditions on hard ground and soft terrain, the validity and credibility of the model were verified. The results showed that the simulated analysis data and the actual vehicle test results of the average speed, side position offset, driving wheel torque and tension force of the crawler chassis under rigid and soft road conditions were in good agreement. The error was 5.00% and 2.27%, 3.86% and 6.83%, 3.15% and 4.66%, 0.15% and 0.62%, respectively, and the range between the simulation and the measured of driving wheel torque and tension force were 3.05% and 7.30%, 2.80% and 4.02%, respectively. Therefore, the established dynamic model of crawler chassis had high accuracy and good consistency of fluctuations, which could provide a reference model for the in-depth study of the dynamic performance of the crawler chassis.
引文
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[23]欧屹.特种地面移动机器人机械系统设计与分析[D].南京:南京理工大学,2013.Ou Yi.A Research on Design and Analysis of Special Ground-Mobile Robotic Mechanical System[D].Nanjing:Nanjing University of Science&Technology,2013.(in Chinese with English abstract)
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[2]杜岳峰.丘陵山地自走式玉米收获机设计方法与试验研究[D].北京:中国农业大学,2014.Du Yuefeng.Design Method and Experiment Research on Self-propelled Corn Harvester for Hilly and Mountainous Region[D].Beijing:China Agricultural University,2014.(in Chinese with English abstract)
[3]刘平义,王振杰,李海涛,等.行星履带式农用动力底盘设计与越障性能研究[J].农业机械学报,2014,45(增刊1):17-23.Liu Pingyi,Wang Zhenjie,Li Haitao,et al.Design and overcoming obstacles ability research of tracked driving chassis with planetary structure[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(Supp.1):17-23.(in Chinese with English abstract)
[4]刘平义,彭凤娟,李海涛,等.丘陵山区农用自适应调平底盘设计与试验[J].农业机械学报,2017,48(12):42-47.Liu Pingyi,Peng Fengjuan,Li Haitao,et al.Design and simulation of adaptive leveling chassis for hilly area[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(12):42-47.(in Chinese with English abstract)
[5]张拓,岳高峰,刘妤.橡胶履带底盘的研究进展[J].重庆理工大学学报:自然科学,2018,32(5):82-88.Zhang Tuo,Yue Gaofeng,Liu Yu.Research progress of rubber tracked chassis[J].Journal of Chongqing University of Technology:Natural Science,2018,32(5):82-88.(in Chinese with English abstract)
[6]Arkadiusz Mezyk,Tomasz Czapla,Wojciech Klein,et al.Numerical simulation of active track tensioning system for autonomous hybrid vehicle[J].Mechanical Systems and Signal Processing,2017,89:108-118
[7]Sojka Michal.Tracked vehicle movement modelling[C]//Engineering for Rural Development-International Scientific Conference.Jelgava:Latvia University of Agriculture,2018:2098-2103.
[8]崔雪斌,张宏,石涛.基于链环不均匀系数的履带车辆行驶平顺性分析[J].工程设计学报,2018,25(1):71-78.Cui Xuebin,Zhang Hong,Shi Tao.Ride comfort analysis of tracked vehicle based on nonuniform coefficient of link[J].Chinese Journal of Engineering Design,2018,25(1):71-78.(in Chinese with English abstract)
[9]郭浩亮,穆希辉,杨小勇,等.四橡胶履带轮式车辆转向力学性能分析与试验[J].农业工程学报,2016,32(21):79-86.Guo Haoliang,Mu Xihui,Yang Xiaoyong,et al.Mechanics properties analysis and test of four rubber tracked assembly vehicle steering system[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2016,32(21):79-86.(in Chinese with English abstract)
[10]葛晓雯,侯捷建,王立海.集材机可更换三角形履带转向动力学仿真分析[J].系统仿真学报,2017,29(2):360-367.Ge Xiaowen,Hou Jiejian,Rang Lihai.Steering dynamics simulation analysis of replaceable triangular track of skidder[J].Journal of System Simulation,2017,29(2):360-367.(in Chinese with English abstract)
[11]Mocera Francesco,Nicolini Andrea.Multibody simulation of a small size farming tracked vehicle[J].Procedia Structural Integrity,2018,8:118-125.
[12]Chen Bingyan.A rigid flexible coupling dynamics simulation of one type of tracked vehicle based on the RecurDyn[C]//2017 IEEE International Conference on Mechatronics and Automation.Takamatsu:Institute of Electrical and Electronics Engineers Inc,2017:711-716.
[13]Ottonello Giovanni.Functional design of Elloboat,A tracked vehicle for launching and beaching of watercrafts and small boats[C]//2018 IEEE International Conference on Mechatronics and Automation.Oulu;Institute of Electrical and Electronics Engineers Inc,2018.DOI:10.1109/MESA.2018.8449173
[14]孙强,白书战,李国祥,等.履带式推土机动力传动系统推土工况建模与仿真[J].农业工程学报,2012,28(7):57-61.Sun Qiang,Bai Shuzhan,Li Guoxiang,et al.Modeling and simulation of power transmission of crawler bulldozer[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(7):57-61.(in Chinese with English abstract)
[15]王川伟,马琨,杨林,等.四摆臂-六履带机器人单侧台阶障碍越障仿真与试验[J].农业工程学报,2018,34(10):46-53.Wang Chuanwei,Ma Kun,Yang Lin,et al.Simulation and experiment on obstacle-surmounting performance of four swing arms and six tracked robot under unilateral step environment[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(10):46-53.(in Chinese with English abstract)
[16]梁梓,王涛.基于动力学仿真的轻型履带车辆载荷获取与编谱[J].装甲兵工程学院学报,2018,32(2):54-58.Liang Zi,Wang Tao.Load acquisition and compilation of light tracked vehicle based on dynamic simulation[J].Journal of Academy of Armored Force Engineering,2018,32(2):54-58.(in Chinese with English abstract)
[17]Zhang Yunan,Huang Tao.Research on a tracked omnidirectional and cross-country vehicle[J].Mechanism and Machine Theory,2014,87:18-44.
[18]刘伟.深海富钴结壳四履带采矿车底盘研究与设计[D].长沙:长沙矿山研究院,2018.Liu Wei.Research and Design of Four-Tracked Cobalt Crust Mining Vehicle Chassis for Cobalt Crusts in Deep Sea[D].Changsha:Changsha Institute of Mining Research,2018.(in Chinese with English abstract)
[19]杨怀彬,张豫南,黄涛,等.新型履带式全方位移动平台运动分析[J].浙江大学学报:工学版,2018,52(7):1345-1353,1397.Yang Huaibin,Zhang Yunan,Huang Tao,et al.Motion analysis of novel track omnidirectional platform[J].Journal of Zhejiang University:Engineering Science,2018,52(7):1345-1353,1397.(in Chinese with English abstract)
[20]宋韩韩.基于ADAMS的刚柔耦合整车模型平顺性分析[D].锦州:辽宁工业大学,2015.Song Hanhan.The Simulation Study of Ride Comfort for Rigid-flexible Coupling Vehicle Model Base on ADAMS[D].Jinzhou:Liaoning University of Technology,2015.(in Chinese with English abstract)
[21]王红岩,芮强.履带车辆虚拟样机技术及其应用[M].北京:国防工业出版社,2015.
[22]郝丙飞,王红岩,芮强,等.坦克多体系统动力学建模及模型试验验证[J].中国机械工程,2018,29(4):429-433,440.Hao Bingfei,Wang Hongyan,Rui Qiang,et al.Dynamics modeling and model test verification of multi-body systems[J].China Mechanical Engineering,2018,29(4):429-433,440.(in Chinese with English abstract)
[23]欧屹.特种地面移动机器人机械系统设计与分析[D].南京:南京理工大学,2013.Ou Yi.A Research on Design and Analysis of Special Ground-Mobile Robotic Mechanical System[D].Nanjing:Nanjing University of Science&Technology,2013.(in Chinese with English abstract)
[24]吴子岳,高亚东,王董测,等.基于RecurDyn的履带移动机器人统一动力学仿真分析[J].机械设计与研究,2016,32(5):35-39,45.Wu Ziyue,Gao Yadong,Wang Dongce,et al.Unified dynamic simulation analysis of tracked mobile robot based on RecurDyn[J].Machine Design and Research,2016,32(5):35-39,45.(in Chinese with English abstract)
[25]Edwin P,Shankar K,Kannan K.Soft soil track interaction modeling in single rigid body tracked vehicle models[J].Journal of Terramechanics,2018,77:1-14.
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