• 论文 •

### 高速履带车辆制动能量与制动力分布规律预测方法研究

1. (1.陆军装甲兵学院 控制工程系, 北京 100072; 2.中国北方车辆研究所, 北京 100072)
• 收稿日期:2018-06-12 修回日期:2018-06-12 上线日期:2019-07-26
• 通讯作者: 张豫南（1961—）， 男， 教授， 博士生导师 E-mail:zhang_yunan@sina.com
• 作者简介:张舒阳（1988—）， 男， 研究员， 博士。 E-mail: zhshy_ang@163.com
• 基金资助:
国家国防科技工业局基础产品创新科研项目（VTDP-3601）

### Research on Forecasting Methods of Braking Energy/force Distribution for High Speed Tracked Vehicles

ZHANG Shuyang1， ZHANG Yunan1， NING Keyan2， YAN Nanming1， FANG Qingfeng2

1. (1.Depatment of Control Engineering, Academy of Armored Force Engineering, Beijing 100072，China; 2.China North Vehicle Research Institute, Beijing 100072, China)
• Received:2018-06-12 Revised:2018-06-12 Online:2019-07-26

Abstract: A series of models， including a dynamics model, a driving system model and a braking system model， were established to study a tracked vehicle, which are used to predict the energy/force distributions of the braking system in high speed tracked vehicle. An approach to define testing road using eight parameters such as line length, slope, radius, roil angle, pavement power spectral density, running resistance coefficient, maximum soil adhension coefficient, and maximum steering resistance coefficient, is proposed, and then the influences of these parameters on the speed of vehicle are investigated. A driving strategy to minimize the running time of vehicle is designed based on the optimal control theory, and a binary linear regression equation used to calculate the braking torque is derived statistically. The accuracy of the approach and the efficiency of the strategy are verified using the experimental and simulated results. A typical model is built based on the experimental data of 1 000 km distance field test, and is used to predict the energy/force distributions of braking system in the region of a whole distance of 6 000 km. Key