山地履带车辆软坡路面稳态转向模型建立及验证

doi:10.13304/j.nykjdb.2021.0619

摘要/Abstract

摘要：

丘陵山区特殊的作业环境影响履带车辆的机动性能，建立履带车辆软坡路面稳态转向理论模型，探讨坡角、转向半径、转向角度和土壤环境等因素对山地履带车辆转向性能的影响。结果表明：基于动力学模型的数值分析与基于RecurDyn模型的仿真分析表现出较为一致的转向特性，这说明所建立的履带车辆软坡路面转向模型准确度较高；偏移量和滑移率随坡角及转向半径的变化趋势相反；牵引力、制动力、转向驱动力矩和阻力矩随坡角及转向半径的变化趋势一致，随转向角度在［0，360°）内呈现周期性变化；履带车辆在转向半径越大、坡角越平缓的情况下越易于实现转向运动，土壤环境是影响履带车辆转向特性的显著因素。研究结果可为履带车辆转向系统设计及其软坡路面转向特性分析提供参考。

关键词: 履带车辆, 稳态转向, 力学模型, 计算机仿真, 坡地行驶

Abstract:

The special working environment in hilly and mountainous areas has a profound impact on the mobility of tracked vehicles， so this paper established a theoretical model of steady-state steering of tracked vehicle to researcy the influence of slope angle， turning radius， turning angle and soil environment on the turning performance of mountain tracked vehicles on soft slopes. The results showed that the steering characteristics were consistent between the numerical analysis and simulation results， which indicating that the established dynamic model of steady-state steering of tracked vehicle on soft slope road had high accuracy. Moreover， the deviation and slip rate had opposite trends with change of the slope angle and turning radius. The traction force， braking force， steering drive torque and resistance torque had the same trend with change of the slope angle and turning radius， and showed periodic changes as the steering angle changes within ［0，360°）. At the same time， the tracked vehicle was easier to achieve steering movement under the condition of larger turning radius and gentle slope angle. And soil environment was a significant factor affecting the steering characteristics of tracked vehicles. This study provided reference for the designation of tracked vehicle steering system and the analysis of steering characteristics on soft slope road.

Key words: tracked vehicle, steady-state steering, mechanical model, computer simulation, slope driving

中图分类号:

S229

贾鑫, 谢铌, 丁小兵, 刘良豪, 刘妤. 山地履带车辆软坡路面稳态转向模型建立及验证[J]. 中国农业科技导报, 2022, 24(11): 97-111.

Xin JIA, Ni XIE, Xiaobing DING, Lianghao LIU, Yu LIU. Establishment and Verification of Steady-State Steering Model for Mountain Tracked Vehicle on Soft Slope Road[J]. Journal of Agricultural Science and Technology, 2022, 24(11): 97-111.

图/表 20

图1 履带底盘坡地转向坐标系

Fig. 1 Coordinate system for crawler chassis slope steering

图2 履带车辆坡地转向运动模型

Fig. 2 Steering motion model of tracked vehicle on slope road

图3 履带车辆坡地转向受力分析

Fig. 3 Force analysis of tracked vehicles turning on slope road

图4 履带车辆速度分析

Fig. 4 Speed analysis of tracked vehicle

图5 履带车辆接地段划分

Fig. 5 Division of grounding segment for tracked vehicles

图6 数值迭代法的计算流程

Fig. 6 Calculation process of numerical iteration method

图7 小型山地履带底盘结构

Fig.7 Structure and simulation model of the small crawler chassis

表1 履带底盘基本参数

Table 1 Basic parameter of crawler chassis

参数 Parameter	值 Value	参数 parameter	值 Value
车体质量 Body weight/kg	571.5	驱动轮半径 Drive wheel radius/mm	119
惰轮半径 Idler radius/mm	115	轨距 Track gauge/mm	852
单条履带宽度 Width of single track/mm	149	支撑区段长度 Length of support section/mm	1 098

图8 驱动轮转速设定

Fig. 8 Speed setting of the driving wheel

表2 不同土壤基本参数［21］

Table 2 Basic parameters of different soils［21］

参数 Parameter	干沙土 Dry sandy soil	砂质腐殖土 Humus soil	黏性土 Cohesive soil
含水量 Water content/%	0	15	38
K_c /［kN·m^-（ⁿ^+1）］	0.95	5.27	13.19
c/kPa	1.04	1.72	4.14
K_ϕ /［kN·m^-（ⁿ^+2）］	1 528.43	1 515.04	692.15
K/mm	25	25	25
n	1.1	0.7	0.5
φ/deg	28	29	13

图9 质心位移数值分析与仿真分析结果对比

Fig. 9 Comparison of results of numerical analysis and simulation analysis of centroid displacement

图10 质心在X 和Y 方向的位移

Fig. 10 Displacement of the center of mass at the X & Y direction

图11 滑移率随坡角、转向半径和土壤环境的变化A：δ1-α-R-土壤环境；B：δ2-α-R-土壤环境

Fig. 11 Change of the slip rate with slope angle， turning radius and soil environmentA：δ1-α-R-soil environment；B：δ2-α-R-soil environment

图12 牵引力和制动力随坡角、转向半径和土壤环境的变化A：Fy2-α-R-土壤环境；B：Fy1-α-R-土壤环境

Fig. 12 Change of the traction and braking force with slope angle， turning radius and soil environmentA：Fy2-α-R-soil environment；B：Fy1-α-R-soil environment

图13 转向驱动力矩和阻力矩随坡角、转向半径和土壤环境的变化A：MT -α-R-土壤环境；B：MR -α-R-土壤环境

Fig. 13 Change of the steering drive torque and resistance torque with the slope angle， steering radius and soil environmentA：MT -α-R-soil environment；B：MR -α-R-soil environment

图14 偏移量随坡角、转向半径和土壤环境的变化A：A1-α-R-土壤环境；B：A2-α-R-土壤环境；C：D0-α-R-土壤环境

Fig. 14 Change of the offset with slope angle， turning radius and soil environmentA：A1-α-R-soil environment；B：A2-α-R-soil environment；C：D0-α-R-soil environment

图15 滑移率随坡角和转向角度的变化A：δ1-α-φ；B：δ2-α-φ

Fig. 15 Change of the slip rate with slope angle and steering angle

图16 牵引力、制动力随坡角和转向角度的变化A：Fy2 -α-φ；B：Fy1 -α-φ

Fig. 16 Change of the traction and braking force with slope angle and steering angle

图17 转向驱动力矩、阻力矩随坡角和转向角度的变化A：MT -α-φ；B：MR -α-φ

Fig. 17 Change of steering drive torque and resistance torque with slope angle and steering angle

图18 偏移量随坡角和转向角度的变化A：A1-α-φ；B：A2-α-φ；C：D0-α-φ

Fig. 18 Change of the offset with the slope angle and steering anglev

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