履带车辆转向动力学仿真

本文采用机械系统动力学分析与建模通用方法，通过总体参考系、动参考系、连体参考系来描述车辆与地面运动和相互作用关系，并综合考虑了包括离心力等因素对履带车辆转向的影响，对其在水平硬地面转向过程进行了动力学分析和动态仿真计算。对履带车辆低速转向的仿真与试验结果进行了对比分析，说明所建模型与实际履带车辆的转向动态过程基本一致；高速情况下分别对有无离心力影响两种情况进行了仿真，结果的对比分析说明了离心力对履带车辆高速转向的影响。

DYNAMIC SIMULATION OF TRACKED VEHICLE STEERING PERFORMANCE

Generalized method of the dynamic analysis of mechanical system was used for tracked vehicle steering performance, and global coordinates, relative coordinates and body fixed coordinates were built up to describe the motion and relations between the tracked vehicle and ground. The factors, such as the centrifugal force etc. to vehicle steering performance, were considered and analyzed to acquire a dynamic model of tracked vehicle on hard level ground, and the corresponding digital simulation carried out. The comparison of low speed steering result between digital simulation and field tests was made which indicated that the mathematical model is acceptable, while the high speed steering performance with centrifugal force effect is compared to that without centrifugal force effect, to represent the importance of centrifugal force for high speed steering response.