高速履带车辆横摆运动响应特性分析与试验验证

doi:10.12382/bgxb.2022.1300

摘要/Abstract

摘要：

为研究高速履带车辆操纵特性,奠定高速电驱动履带车辆的操纵稳定性评价及控制的基础,建立了高速履带车辆非线性转向动力学模型及2自由度线性转向动力学模型,并对模型进行试验验证。利用2自由度线性模型推导了高速履带车辆横摆运动传递函数,基于此进行了高速履带车辆横摆运动时域和频域响应特性分析,提出履带车辆稳态横摆角速度增益及临界阻尼车速的定义。研究结果表明:履带车辆稳态横摆角速度增益均小于1,履带车辆具有不足转向特性;履带车辆系统阻尼比在1左右;当车速小于临界阻尼车速时,车辆系统为过阻尼系统,横摆角速度响应的上升时间在0.2s内;当车速等于临界阻尼车速时,车辆系统为临界阻尼系统,横摆角速度响应的上升时间大于10s;当车速大于临界阻尼车速时,车辆系统为欠阻尼系统,横摆角速度响应的上升时间迅速减小至2~3s。

关键词: 高速履带车辆, 操纵特性, 横摆运动, 瞬态响应, 频率响应

Abstract:

In order to study the handling characteristics of high-speed tracked vehicle to lay the foundation for the evaluation and control of its handling stability, the nonlinear steering dynamics model and linear two-degree-of-freedom linear steering dynamics model of high-speed tracked vehicle are established and verified by experiments. The transfer function of the yaw motion of high-speed tracked vehicles is derived using the two-degree-of-freedom linear model. Based on this, the time domain and frequency domain response characteristics of the yaw motion of high-speed tracked vehicles are analyzed, and the definitions of steady-state yaw rate gain and critical damping speed of tracked vehicles are proposed. The analyed result show that the steady-state yaw rate gain of tracked vehicle is less than 1, so the tracked vehicle has deficient steering characteristic. The damping ratio of tracked vehicle system is about 1. When the vehicle speed is less than the critical damping speed, the vehicle system is an overdamped system, and the rise time of yaw rate response is within 0.2 seconds. When the vehicle speed is equal to the critical damping speed, the vehicle system is a critially-damped system, and the rise time of yaw rate response is greater than 10 seconds. When the vehicle speed is greater than the critical damping speed, the vehicle system is an underdamped system, and the rise time of yaw rate response decreases rapidly to 2-3 seconds.

Key words: high-speed tracked vehicle, handling characteristics, yaw motion, transient response, frequency response

中图分类号:

TJ811

袁艺, 盖江涛, 曾根, 周广明, 李训明, 马长军. 高速履带车辆横摆运动响应特性分析与试验验证[J]. 兵工学报, 2024, 45(4): 1094-1107.

YUAN Yi, GAI Jiangtao, ZENG Gen, ZHOU Guangming, LI Xunming, MA Changjun. Analysis and Experimental Verification of Yaw Motion Response Characteristics of High-speed Tracked Vehicle[J]. Acta Armamentarii, 2024, 45(4): 1094-1107.

图/表 28

图1 履带车辆转向平面运动示意图

Fig.1 Steering plane motion diagram of tracked vehicle

图2 履带卷绕速度

Fig.2 Crawler winding speed

表1 仿真参数

Table 1 Simulation parameters

参数	数值
m/kg	20380
L/m	4.51
B/m	2.84
H/m	1.11
n	6
r_z/m	0.2626
K	20
μ₀	0.8

图3 主动轮力矩试验值与仿真值对比

Fig.3 Comparison between test and simulated values of sprocket torque

图4 横摆角速度试验值与两种模型仿真值对比

Fig.4 Comparison between yaw rate test and simulated values of two models

图5 车辆运动轨迹试验值与仿真值对比

Fig.5 Comparison between test and simulated values of vehicle motion track

图6 横摆运动控制输入量

Fig.6 Yaw motion control input

图7 履带卷绕速度

Fig.7 Crawler winding speed

图8 履带纵向滑动速度

Fig.8 Longitudinal sliding speed of track

图9 各负重轮下履带横向滑动速度

Fig.9 Lateral sliding speed of track under the load wheel

图10 横向加速度

Fig.10 Lateral acceleration

图11 履带牵引力纵向分力

Fig.11 Longitudinal component of track traction

图12 履带牵引力横向分力

Fig.12 Lateral component of track traction

图13 履带转向阻力矩

Fig.13 Track steering resistance torque

图14 非线性模型及线性模型横摆角速度对比

Fig.14 Comparison of yaw rates of nonlinear model and linear model

图15 纵向摩擦系数与滑动速度之间的关系

Fig.15 Relationship between longitudinal friction coefficient and longitudinal slip speed

图16 横向摩擦系数与滑动速度之间的关系

Fig.16 Relationship between longitudinal friction coefficient and lateral slip speed

图17 线性模型适用范围

Fig.17 Applicable scope of linear model

图18 不同路面条件下横摆角速度增益随车速变化曲线

Fig.18 Curves of yaw rate gain versus vehicle speed under different road conditions

图19 车辆行驶轨迹试验测试结果

Fig.19 Vehicle motion track

图20 横摆角速度增益试验结果与计算结果对比

Fig.20 Comparison of yaw rate gain test and calculated results

图21 不同车速下车辆横摆角速度阶跃响应

Fig.21 Step responses of vehicle yaw rate at different speeds

图22 不同路面条件下无阻尼自振角频率随车速变化曲线

Fig.22 Curves of undamped natural vibration anglular frequency changing with vehicle speed under different road conditions

图23 不同路面条件下系统阻尼比随车速变化曲线

Fig.23 Curves of system damping ratio changing with vehicle speed under different road conditions

图24 不同路面条件下上升时间随车速变化曲线

Fig.24 Curves of rise time changing with vehicle speed under different road conditions

图25 不同路面条件下峰值时间随车速变化曲线

Fig.25 Curves of peak time changing with vehicle speed under different road conditions

图26 不同车速下横摆角速度频率响应特性

Fig.26 Frequency response characteristics of vehicle yaw rate at different speeds

图27 不同路面参数下横摆角速度频率响应特性

Fig.27 Frequency response characteristics of vehicle yaw rate with different ground parameters

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