全地形双节履带车辆斩腰转向稳定性分析
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摘要
为了搞清全地形双节履带车辆斩腰转向的稳定性,建立了包含履带中心距及铰点位置等参数的全地形双节履带车辆斩腰转向的数学模型。应用Recur Dyn和AMESim进行联合仿真分析,得到全地形双节履带车辆在松软土壤条件下斩腰转向时的受力情况及前后车体侧倾角的变化规律,据此分析了全地形双节履带车辆斩腰转向时的稳定性,验证了全地形双节履带车辆在松软土壤条件下的转向过程。仿真分析结果为全地形双节履带车辆的设计和转向控制提供了理论依据。
In order to figure out the stability of the all-terrain double-section tracked vehicle during waist turning, the paper established its mathematical model during waist turning involving the central distance of track and the location of articulated points. It also applied Recur Dyn and AMESim to conduct simulation and analysis, and obtained the force state of the vehicle and the variation laws of the sideslip angle of the front and the rear section while it waist turning on soft soil. And then, it analyzed the stability of the vehicle during waist turning, and verified the turning process of the vehicle on soft soil. The simulation and analysis results offered theoretical reference for the design and the turning control of the all-terrain double-section tracked vehicle.
In order to figure out the stability of the all-terrain double-section tracked vehicle during waist turning, the paper established its mathematical model during waist turning involving the central distance of track and the location of articulated points. It also applied Recur Dyn and AMESim to conduct simulation and analysis, and obtained the force state of the vehicle and the variation laws of the sideslip angle of the front and the rear section while it waist turning on soft soil. And then, it analyzed the stability of the vehicle during waist turning, and verified the turning process of the vehicle on soft soil. The simulation and analysis results offered theoretical reference for the design and the turning control of the all-terrain double-section tracked vehicle.
引文
[1]杨航宇,李爱峰,周明星.基于Recur Dyn的大型矿用挖掘机履带行走装置动力学仿真[J].工程机械,2015,46(1):26-31.
[2]陈艳梅,王俊元,杜文华,等.铰接式胶轮车原地转向阻力矩与车轮转角关系研究[J].煤炭工程,2016,48(3):136-141.
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[4]罗恩志,冯江,张敏,等.基于滑转条件下的履带车辆原地转向特性研究[J].农机化研究,2013(2):240-243.
[5]陈兵,田政,尹忠俊,等.履带车辆原地转向特性仿真研究[J].车辆与动力技术,2011(2):22-24.
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[7]李阳,成凯,任鹏.基于Recur Dyn的铰接式履带车辆爬坡性能分析[J].煤矿机械,2011,32(7):93-95.
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[9]汪建春.铰接式装载机原地转向力学分析[J].煤矿机械,2009,30(3):85-87.
[10]史力晨,王良曦,张兵志.履带车辆转向动力学仿真[J].兵工学报,2003,24(3):289-293.
[11]薛劲橹,王红岩,迟宝山.履带车辆试验路面统计特性的仿真[J].汽车工程,2012,34(7):647-652.
[2]陈艳梅,王俊元,杜文华,等.铰接式胶轮车原地转向阻力矩与车轮转角关系研究[J].煤炭工程,2016,48(3):136-141.
[3]高玉,申焱华,金纯.铰接系统布局方案对铰接车原地转向性能的影响[J].机械科学与技术,2014,33(8):1219-1224.
[4]罗恩志,冯江,张敏,等.基于滑转条件下的履带车辆原地转向特性研究[J].农机化研究,2013(2):240-243.
[5]陈兵,田政,尹忠俊,等.履带车辆原地转向特性仿真研究[J].车辆与动力技术,2011(2):22-24.
[6]成凯,张俊,曲振东.铰接履带车转向及俯仰性能研究[J].兵工学报,2012,33(2):134-141.
[7]李阳,成凯,任鹏.基于Recur Dyn的铰接式履带车辆爬坡性能分析[J].煤矿机械,2011,32(7):93-95.
[8]汪建春.铰接式车辆原地转向动态数学模型[J].建筑机械,2008(6):86-90.
[9]汪建春.铰接式装载机原地转向力学分析[J].煤矿机械,2009,30(3):85-87.
[10]史力晨,王良曦,张兵志.履带车辆转向动力学仿真[J].兵工学报,2003,24(3):289-293.
[11]薛劲橹,王红岩,迟宝山.履带车辆试验路面统计特性的仿真[J].汽车工程,2012,34(7):647-652.