基于剪应力模型的履带车辆转向力矩分析与试验

doi:10.3969/j.issn.1000-1093.2015.06.002

兵工学报 ›› 2015, Vol. 36 ›› Issue (6): 968-977.doi: 10.3969/j.issn.1000-1093.2015.06.002

基于剪应力模型的履带车辆转向力矩分析与试验

芮强¹，王红岩¹，王钦龙¹，郭静²，邹天刚²，万丽³

(1.装甲兵工程学院机械工程系，北京 100072； 2.中国北方车辆研究所车辆传动重点实验室，北京 100072；

收稿日期:2014-06-25 修回日期:2014-06-25 上线日期:2015-08-03
通讯作者: 芮强 E-mail:ruiqiang2006@163.com
作者简介:芮强（1979—），男，讲师，博士
基金资助:
军内科研计划列支项目（2014WX04）

Analysis and Experiment of Tracked Vehicle Steering Torque Based on Shear Stress Model

RUI Qiang¹, WANG Hong-yan¹, WANG Qin-long¹, GUO Jing², ZOU Tian-gang², WAN Li³

(1.Department of Mechanical Engineering, Academy of Armored Force Engineering, Beijing 100072, China;2Science and Technology on Vehicle Transmission Laboratory, China North Vehicle Research Institute, Beijing 100072, China;3China North Special Vehicle Research Institute, Beijing 100072, China)

Received:2014-06-25 Revised:2014-06-25 Online:2015-08-03
Contact: RUI Qiang E-mail:ruiqiang2006@163.com

摘要/Abstract

摘要： 为了研究在打滑条件下的履带车辆转向性能，提高履带车辆转向模型的模拟精度，建立了考虑履带滑转、滑移及转向离心力影响的高速履带车辆稳态转向模型。根据剪切应力-剪切位移关系模型推导了两侧履带牵引力、制动力及转向阻力矩的计算公式。在此基础上，根据力平衡关系构建了履带车辆转向运动学方程，并采用迭代计算方法进行求解。以某型装备综合传动装置的高速履带车辆为对象，通过试验测试结果与计算结果的对比分析，对履带车辆转向模型的准确性进行了验证。基于履带车辆稳态转向模型，研究了履带车辆转向运动学及动力学特性随转向半径及车速的变化规律，结果表明：当履带车辆转向速度越高，转向半径越小时，离心力对转向性能的影响越显著。

关键词: 兵器科学与技术, 剪切应力-剪切位移关系, 滑转, 滑移, 履带车辆转向, 试验验证

Abstract: For the study of steering performance of tracked vehicles under skidding, a steady-state steering model of tracked vehicle, which takes the skid and slippage of tracks and centrifugal force into consideration, is established to improve the simulating accuracy of the tracked vehicle steering model. Expressions of driving force and braking force of outside track and inside track, and steering resistance torque of tracked vehicles are derived using shear stress-shear displacement relationship model, respectively. According to force and torque equilibrium theory, the steering dynamic equations of tracked vehicle are established and solved by iterative algorithm. Taking a certain type of tracked vehicle with the integrated transmission device as the object,the accuracy of steering model of tracked vehicles is verified by comparing the experimental and calculated results. The rules of changing the kinematics and dynamic steering performance of tracked vehicles with turning radius and running velocity are deeply studied based on the steady-state steering model of tracked vehicle. The results show that the influence of the steering centrifugal force on steering performance increases significantly with the increase in running velocity and the decrease in turning radius.

Key words: ordnance science and technology, shear stress-shear displacement relationship, skid, slippage, tracked vehicle steering, experimental verification

中图分类号:

TJ811

芮强，王红岩，王钦龙，郭静，邹天刚，万丽. 基于剪应力模型的履带车辆转向力矩分析与试验[J]. 兵工学报, 2015, 36(6): 968-977.

RUI Qiang, WANG Hong-yan, WANG Qin-long, GUO Jing, ZOU Tian-gang, WAN Li. Analysis and Experiment of Tracked Vehicle Steering Torque Based on Shear Stress Model[J]. Acta Armamentarii, 2015, 36(6): 968-977.

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基于剪应力模型的履带车辆转向力矩分析与试验

Analysis and Experiment of Tracked Vehicle Steering Torque Based on Shear Stress Model

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