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15Vol.15Supp1.20069COMPUTERAIDEDENGINEERINGSep.20061006-0871(2006)S1-0277-04410082MSCAdamsATV.U463.4;TP391.4ADynamicSimulationofTrackedVehicleTurningatHighSpeedDONGXinjianWENGuilinHANXuStateKeyLab.ofAdvancedDesign&ManufactureforVehicleBodyHu’nanUniv.,ChangshaHu’nan410082,ChinaAbstract:A3Ddynamicalmodelofacertaintrackedvehicleiscreatedbasedonthemulti-bodydynamicsoftwareMSCAdams/ATV.Thesimulationsofthetrackedvehicleturningonhardandsoftterrainareimplementedrespectivelyandtheresultsareanalyzedandcompared.Thesteeringpropertiesoftrackedvehicleturningonsoftterrainatahighspeedareemphasized.Thesimulationresultscanprovidesometheoreticalguidanceforstudyingthesteeringcharacteristicsoftrackedvehiclesatahighspeed.Keywords:trackedvehicle;terramechanics;turning;dynamicsimulation0.[1].[2,3]WONG[4].THAI[5].[6,7].[3,8]....MSCAdamsATV2006-06-202006-07-17(1981-)(E-mail)bjbsw0@yahoo.com.cn2782006.ATV.1MSCAdamsATV1.1.1ATV......527392.2=lm54.2=Bm.1.2-ATV..(Impactforce).MSCAdamsqcqqkFn&−−−=)(0(1)0qq−n2-31kc.1.1k/N·mnc/s·m1nμsμdνmax/m·s12.0E+73.0E+52.00.90.71.0[10].z.M·G·-[11]ncZkbkP)(+=ϕ(2)PKϕcKbZn.2.:))((maxmax0maxZZZAKPPu−+−=(3)0KuA(2).-[11]/max(1)jkeττ−=−(4)jkmaxτmaxtancPτφ=+(5)Pcφ.54/(tan)(1)jkcPeτφ−=+−(6)2.12792n(+1)/NmncK−⋅(+2)/NmnKφ−⋅/φ°/Pac30/NmK−⋅4/NmuA−⋅0.71694050580031.5115005030003..[12]..(1)1.33rad/s;1s33rad/s1s1.5s11rad/s.V0=31.8km/h4s.(2)2.(1)..27.2.34.57534622802006.67.4MSCAdamsATV..ATV.[1].-[M].:2004.[2].[J].200324(4):551-554.[3].[J].20031:27-33.[4]WONGJYCHIANGCF.Ageneraltheoryforskid-steeringoftrackedvehiclesoffirmground[C]//ProcofInstitutionofMechanicalEngineersPartD[C].JournalofAutomobileEngineering2001vol215:52-57.[5]THAITDMUROT.Numericalanalysistopredictturningcharacteristicsofrigidsuspensiontrackedvehicle[J].JournalofTerramechanics36(1999):183-196.[6].[J].200519(3):17-21.[7].[J].20061(101):44-48.[8].[J].2003243289-293.[9].[J].2003242246-249.[10]AdamsTrackedVehicleToolkitversion2005.Documentation[R]MSCSoftwareSwedenAB.2004-12-06.[11]BEKKERMG.-[M].:1978.[12]WONGJY.TheoryofGroundVehicles[M].JohnWiley&Sons1993.