搜索
:1002-6886(2008)06-0010-03RecurDyn31,1,2(1.,100072;2.,100072)3:(9140C3401010601):(1980),,,(1959),,,(1978),,,,,:2007-6-20:RecurDynTrack(HM),,,,:DynamicSimulationofTrackedVehicleTurningatHighSpeedBasedonRecurDynLUJinjun,WEILaisheng,ZHAOTaoshuoAbstract:A3Ddynamicalmodelofacertaintrackedvehicleiscreatedbasedonthemulti2bodydynamicsoftwareRecurDyn/Track(HM).Thesimulationsofthetrackedvehicleturningonhardandsoftterrainareimplementedrespectively,andthere2sultsareanalyzedandcompared.Thesteeringpropertiesoftrackedvehicleturningonsoftterrainatahighspeedareempha2sized.Thesimulationresultscanprovidesometheoreticalguidanceforstudyingthesteeringcharacteristicsoftrackedvehiclesatahighspeed.Keywords:trackedvehicle;terramechanics;turning;dynamicsimulation0[1],[2,3]J.YWong[4]AnhTuanLe[5],[6,7],[3,8],,,RecurDynTrack(HM),,,,1RecurDynTrack(HM),,11.1RecurDyn,,5396,,l=3.36m,B=2.06m,b0.23m01200811.22RecurDyn,,,(Ground2TrackLinkShoepad),RecurDyn:F=-k(q-q0)n-cq(1)q-q0;,n23;(1)kc,2,[10];,z,()MG2[11],:p=(k/b+kc)zn(2),p,k,kc,b,z,n(2):p=pmax-(K0+AuZmax)(Zmax-Z)(3),K0,Au,(2),,-[11]:=max(1-e-sj/k)(4),Sj;k;max,:max=c+ptan(5),p;c;(5)(4):=(c+ptan)(1-e-sj/k)(6),(SoftGround2GrouserShoepad),32,,,[12],,1),2Motion,33rad/s,23km/h;1s1.5s11rad/s(7.66km/h),0,23km/h,10s2),31):,,,485,,11,6,,,,,,6,,,78,,(),,3RecurDynTrack(HM),,,,,,Recur2Dyn,1,1-[M]1:,20042,,1[J]1,2003,24(4):55125543,,1[J]1,2003,1:272334WONGJY,CHIANGCF.AGeneralTheoryforSkid2steeringofTrackedVehiclesofFirmGround[C]1//ProcofInstitutionofMe2chanicalEngineers,PartD[C]1JournalofAutomobileEngineer2ing,2001,vol215:522575AnhTuanLe,ModellingandControlofTrackedVehicles[J]1De2partmentofMechanicalandMechatronicEngineeringoftheUni2versityofSydney.1999(1999):18321966,1[J]1,2005,19(3):172217,,1[J]1,2006,1(101):442488,,1[J]1,2003,24(3):28922939,,1[J]1,2003,24(2):246224910FunctionBay.RecurDynTM/SolverTheoreticalManual[CP]14thed.,Korea:FunctionBayInc.,200311BEKKERMG.2[M]1:,197812WONGJY.TheoryofGroundVehicles[M]1JohnWiley&Sons,199313,,1[J]1.2004.15(9):2772280(3)4.5,,,3,,,5,,;,,,,,,1,.SSS68T[J].,2004,22(4):482502,,.[M](2)1:,20023.[M](2).:,20064.[M](2).:,19995,.SSS[J].,2003,45(6):36623676.[J].,2001,3:402412120081