离心力影响条件下的履带车滑移转向性能分析
Tracked Vehicle Skid Steer Performance Analysis Under the Influence of the Centrifugal Force

针对传统履带车转向力学模型不考虑离心力的影响，为了准确计算履带车实际转向过程中的各个转向性能参数，在深入研究履带车转向机理的基础上，建立了综合考虑离心力和履带滑移/滑转等影响因素下的履带车转向数学模型，并以某一具体车型为例进行了数值求解。研究结果表明：车辆转向过程中产生的离心力会对转向性能产生影响，与传统转向模型分析结果相比，考虑离心力影响时的履带接地段压力呈现梯形状分布并非传统上认为的均匀分布；车辆在黏性度大的土壤上行驶时履带的滑移/滑转也会影响转向性能。实车试验也验证了模型的正确性。该研究成果为履带车的设计与优化以及平稳转向控制等提供理论依据。
Since the traditional tracked vehicle steering mechanical model ignores the influence of centrifugal force, we set up a Caterpillar vehicle steering mathematical model under the influence of the centrifugal force and track slip/slide. The proposed model contributed to the accurate calculation of various performance parameters of the tracked vehicle in the actual steering process on the basis of thorough study on the tracked vehicle steering mechanism. We took a specific tracked vehicle as an example for a numerical solution. The results showed that when considering the influence of centrifugal force, the ground pressure distribution of tracked vehicle presented a trapezoidal shape rather than the uniform distribution demonstrated in traditional theory. The steering performance was also influenced by track slip/slide when the vehicle drove on stickier soil. Finally, the practical test proved the model’s validity. The findings provide a theoretical basis to the design of the crawler, caterpillar vehicles structure optimization and smooth control of the vehicles steering.