【作者】 贺妍； 张晓燕； 李海滨； 刘科元； 刘志彬； 段志信；

【Author】 He Yan,Zhang Xiaoyan,Li Haibin,Liu Keyuan,Liu Zhibin,Duan Zhixin College of Science,Inner Mongolia University of Technology,Hohhot 010051,P.R.China

【机构】 内蒙古工业大学理学院；

【摘要】 针对现有的建立履带车辆运动微分方程一般多采用非完整约束方法带来的复杂计算问题,本文提出了基于给定斜坡路径的完整约束下将履带车辆简化为单体与多体模型相结合的建模方法。首先对车辆进行力学分析,推导出系统阻力以及由电机转矩损失引起的耗散力;然后将完整约束条件与履带车辆单体集中质量模型与多体模型相结合计算出系统能量,运用拉格朗日方程建立系统运动微分方程,得出运动模型;最后通过算例验证了该模型的可行性,为履带车辆斜坡路面的实地行驶提供理论参考。更多还原

【Abstract】 When constructing differential equations for the tracked vehicles on the nonholonomic constraint condition,the complex calculation problems tend to be caused.For such problems,this paper proposes a modeling method that simplifies the tracked vehicle as single and multi-body model based on the holonomic constraint condition on the given slope path. System rolling resistance and the dissipated force caused by the loss of electromotor torsion are deduced by mechanical analysis for the vehicle.Then system energy is calculated by combining the holonomic constraint condition with the model of monomer lumped mass and the model of multi-body.Finally system equation of motion is established by Lagrange equation and motion model is gotten.In addition,the feasibility of the model is verified by a calculation example,which offers a theoretical reference for tracked vehicles traveling on slope road surface.更多还原