为了准确分析履带车辆的转向性能,建立了考虑履带滑动的转向过程动态模型,分析计算了履带与地面之间的牵引力、制动力以及转向阻力矩、转向半径、转向角速度等运动学和动力学参数的变化规律。研究表明:考虑履带滑动时的转向半径是理论计算值的1.5倍左右,转向角速度是理论值的67%左右。试验结果证明了所建立的转向模型的可信性。 In order to accurately analyze the steering performance of the tracked vehicle, a dynamic model of the steering process considering track sliding is established. The kinematics and dynamics parameters such as traction, braking force, steering resistance torque, steering radius and steering angular velocity are analyzed and calculated The law of change. The results show that the steering radius is about 1.5 times of the theoretical value and the steering angular velocity is about 67% of the theoretical value. The test results demonstrate the credibility of the established steering model.