柔性履带土槽实验台的设计与实验
Design and Experiment of Track Mechanism-Soil Interaction System

以吉林大学工程仿生实验室的土槽实验台作为参照，设计并搭建了柔性履带土槽实验系统，合理配备传感器实现了车体下陷量、倾角、电机转速、前进速度、电机驱动力矩及履带-土壤作用应力等数值的实时在线测量，并实际安装激光测距仪所用的圆盘等构件实现了履带形态的分段捕捉。以车体沉陷量为实验指标，车体载荷、履带宽度为实验因素设计正交实验方案，在履带3种不同预紧程度下进行土槽实验，并采集车体的沉陷量和倾角。通过回归分析，拟合得到履带不同预紧程度下车体沉陷关于车体载荷、履带宽度及滑转率的三元回归方程，方程拟合效果较好，置信度均为0.99，相关系数均不小于0.9。车轮沉陷量实验值与回归方程计算值之间的平均相对误差小于10%。本研究结果可为预测柔性履带应力分布计算以及在软土地面的通过性提供数据支持和重要参考。
The experimental system of track mechanism-soil interaction is designed and constructed according to the new test system of soil bin developed by the Key Laboratory of Bionic Engineering in Ministry of Education, which is composed of soil trough and track-type trolley device as well as its supporting driving element and real-time test system through which can obtain parameters such as driving moment of the motor, horizontal displacement of trolley,sinkage in the traveling process of the trolley, inclined angle of the vehicle body, and motor speed, as well as the variation from the start to the smooth operation of the trolley device. Laser range finder is constructed with turnplate to realize the stage extraction of the track shape, which is not in contact with a road wheel. The vehicle load, track width and slip rate are taken as the experimental factors, the mechanism sinkage is taken as the experimental index, and orthogonal experiment design method is adopted. The experiments are carried out in three different Tightness degrees of the track, where sinkages and dipangles are obtained. The three regression equations of the sinkage on the vehicle body load, track width and slip rate are obtained by regression analysis, whose fitting effect is good, confidence is 0.99, and correlation coefficient is not less than 0.9. The average relative error between the test value and the calculated value of the regression equation is less than 10%. The results can be used to predict the stress distribution of flexible track and provide data support and important reference for the ground of soft soil.