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运用系统分析的方法,研究坚实地面条件下高速履带车辆转向过程理论及其计算机仿真。以履带滑动转向理论为基础,考虑影响履带车辆转向的诸多因素(质心位置、负荷分布等),建立了履带车辆转向过程动力学模型。并为求解模型中的微分一代数混合方程,编写相应程序进行了仿真计算,对高低速2种情况下高速履带车辆的转向过程进行了计算机仿真实验,仿真计算的结果与实车野外实验的结果呈现一致性。特别在分析履带车辆高速转向过程中研究了离心力通过履带接地压力而对履带车辆转向过程的影响。
Using the method of system analysis, the steering theory and computer simulation of high-speed tracked vehicles under solid ground conditions are studied. Based on the track-slip steering theory, the dynamics model of the steering process of a tracked vehicle is established considering many factors that affect the steering of the tracked vehicle (such as the position of the center of mass, load distribution, etc.). In order to solve the differential-algebraic mixed equations in the model, the corresponding programs were programmed and simulated. The steering process of high-speed tracked vehicles under high and low speeds was simulated by computer. The results of the simulation and field experiments Consistency. Especially in the analysis of high-speed steering of tracked vehicles, the influence of centrifugal force on the steering process of tracked vehicles through crawler grounding pressure was studied.