履带式特种车辆精细化动力学建模与仿真

doi:10.12382/bgxb.2022.1070

摘要/Abstract

摘要：

履带车辆动力学模型是车辆结构优化设计与控制算法开发、测试与标定的基础。基于商业软件所搭建模型的动力学方程及梯度信息对用户未知,极大地限制了结构参数与控制参数的优化效率。此外,现有商业软件求解效率低、实时性差,影响了控制算法开发进度。针对上述问题,基于多体动力学推导建立可同时满足纵横垂耦合运动仿真需求的履带车辆精细化动力学模型并进行仿真。建立考虑空间三维耦合运动的车体动力学模型以及精细到履带板的履带链动力学模型。通过计算履带板与各部件相互作用力,将车体模型、履带链模型以及地面相关联,最终构建190自由度的履带车辆动力学模型。在加速、刹车与转向等工况下与ATV(ADAMS Tracked Vehicle Toolkit)进行对比,结果表明自主开发的仿真模型纵横垂向运动仿真结果与商业软件高度一致,验证了新方法的准确性。

关键词: 履带车辆, 多体动力学, 精细化建模, 履带链模型, 动力学建模仿真

Abstract:

The tracked vehicle dynamics model serves as a foundation for the design of vehicle structure optimization and the development, testing and calibration of control algorithms. However, the user is unaware of the dynamic equations and gradient information of the model created using commercial software, which significantly lowers the efficiency of the optimization of structural parameters and control parameters. Additionally, the poor real-time performance and low solving efficiency of the currently available commercial software have an impact on the development and porting of control algorithm. An improved dynamic model of tracked vehicles, which can satisfy the needs of vertical and horizontal coupling motion simulation, is constructed and simulated based on the derivation of multibody dynamics in order to address the aforementioned issues. A dynamic model of vehicle body considering the three-dimensional coupling motion of space and a dynamic model of track chain including track link are established. By calculating the interaction force between the track links and other components, the vehicle body model, the track chain model and the ground are related, and finally a track vehicle dynamic model with 190 degrees of freedom is constructed. It was compared to the ADAMS Tracked Vehicle Toolkit (ATV) in terms of acceleration, braking, and steering. The simulated results of the proposed simulation model are remarkably compatible with those of commercial software, confirming the accuracy of the approach.

Key words: tracked vehicle, multibody dynamics, refined modeling, track chain model, dynamic modeling simulation

中图分类号:

TJ810.2

吴锐, 于会龙, 董昊天, 席军强. 履带式特种车辆精细化动力学建模与仿真[J]. 兵工学报, 2024, 45(5): 1384-1401.

WU Rui, YU Huilong, DONG Haotian, XI Junqiang. Refined Dynamics Modeling and Simulation of Special Tracked Vehicles[J]. Acta Armamentarii, 2024, 45(5): 1384-1401.

图/表 17

图1 履带车辆模型示意图

Fig.1 Diagrammatic sketch of tracked vehicle model

图2 驱动轮示意图

Fig.2 Diagrammatic sketch of driving sprocket

图3 诱导轮示意图

Fig.3 Diagrammatic sketch of idler

图4 平衡肘与负重轮示意图

Fig.4 Diagrammatic sketch of idler arm and roller

图5 相邻履带板示意图

Fig.5 Diagrammatic sketch of adjacent track links

图6 履带销与驱动轮接触

Fig.6 The contact of track pin and sprocket

图7 履带板与负重轮接触

Fig.7 The contact of track link and roller

图8 摩擦系数

Fig.8 Coefficient of friction

图9 侧向接触

Fig.9 Lateral contact

图10 履带板旋转关节示意图

Fig.10 Diagrammatic sketch of revolute joint between track links

图11 求解步骤流程图

Fig.11 Flowchart of solution

图12 纵向加速对比

Fig.12 Comparison of longitudinal accelerations

表1 纵向加速误差

Table 1 Longitudinal acceleration error

参数	最大误差绝对值	误差均方根
纵向位移/m	5.290×10^-1	3.521×10^-2
纵向速度/(m·s^-1)	1.249×10^-1	9.895×10^-3
垂向位移/m	3.389×10^-3	2.346×10^-4
垂向速度/(m·s^-1)	4.547×10^-2	1.582×10^-3
俯仰角/rad	7.124×10^-3	5.162×10^-4
俯仰角速度/(rad·s^-1)	2.672×10^-2	9.156×10^-4

图13 纵向减速对比

Fig.13 Comparison of longitudinal decelerations

表2 纵向减速误差

Table 2 Longitudinal deceleration error

参数	最大误差绝对值	误差均方根
纵向位移/m	1.554×10^-1	1.471×10^-2
纵向速度/(m·s^-1)	1.083×10^-1	5.511×10^-3
垂向位移/m	5.163×10^-3	2.680×10^-4
垂向速度/(m·s^-1)	4.274×10^-2	1.124×10^-3
俯仰角/rad	5.738×10^-3	4.401×10^-4
俯仰角速度/(rad·s^-1)	1.754×10^-2	7.596×10^-4

图14 转向工况对比

Fig.14 Comparison of steering working conditions

表3 转向工况误差

Table 3 Steering error

参数	最大误差绝对值	误差均方根
纵向位移/m	2.119×10^-1	9.132×10^-3
纵向速度/(m·s^-1)	1.614×10^-1	6.746×10^-3
横向位移/m	5.422×10^-2	3.147×10^-3
横向速度/(m·s^-1)	1.085×10^-1	4.212×10^-3
横摆角/rad	6.198×10^-2	2.893×10^-3
横摆角速度/(rad·s^-1)	1.000×10^-1	2.329×10^-3

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