【摘要】 针对考虑离心力时履带车动力学模型在控制算法应用中计算量过高的问题，理论计算了离心力对模型计算精确度的影响范围，并对动力学模型进行了仿真验证。论文首先理论分析了三种履带车动力学模型，以转向极偏移量为衡量离心力影响程度的指标，基于某履带车结构参数进行了理论计算，确定了可以忽略离心力影响的运动学范围。为验证该范围下滑移滑转模型的有效性，利用CoppeliaSim和Simulink进行了仿真对比，结果表明，在该运动学约束下，滑移滑转模型与履带车适配性较好，对减小履带车模型计算量有重要意义。更多还原

【Abstract】 Aiming at the problem that the calculation amount of the dynamic model of the tracked vehicle is too large in the application of the control algorithm when the centrifugal force is considered, the influence range of the centrifugal force on the calculation accuracy of the model is theoretically calculated, and the dynamic model is simulated and verified.Firstly, three dynamic models of the tracked vehicle are theoretically analyzed.Taking the steering pole offset as the index to measure the influence of centrifugal force, theoretical calculation is carried out based on the structural parameters of a certain tracked vehicle, and the kinematic range in which the influence of the centrifugal force can be ignored is determined.In order to verify the effectiveness of the slip-slip model in this range, this paper uses CoppeliaSim and Simulink to carry out simulation comparison.The results show that under the kinematic constraints, the slip-slip model has better adaptability to the tracked vehicle, which is of great significance to reduce the calculation amount of the tracked vehicle model.更多还原