CAJ | 학술논문

为了准确分析高速履带车辆在转向过程中运动学和动力学参数的变化规律，在考虑高速履带车辆转向离心力和履带滑动的条件下，建立计算两侧履带与地面之间的作用力、转向阻力矩、转向半径、转向角速度等参数的运动学、动力学模型。分析研究结果表明，转向时履带与地面之间的滑动使两侧履带的作用力随转向半径的增大而逐渐减小，离心力对车辆转向性能也有一定程度的影响；与传统转向理论的计算结果相比，考虑履带与地面之间滑动时的转向半径是传统理论计算值的1.5倍左右，转向角速度是传统理论计算值的67%左右。实车试验结果表明，文中所建立的转向模型具有较好的准确性，更符合高速履带车辆转向的实际情况。研究结果可为新型高速履带车辆转向机构的设计和转向过程控制提供理论支持。
위료준학분석고속리대차량재전향과정중운동학화동역학삼수적변화규률，재고필고속리대차량전향리심력화리대활동적조건하，건립계산량측리대여지면지간적작용력、전향조력구、전향반경、전향각속도등삼수적운동학、동역학모형。분석연구결과표명，전향시리대여지면지간적활동사량측리대적작용력수전향반경적증대이축점감소，리심력대차량전향성능야유일정정도적영향；여전통전향이론적계산결과상비，고필리대여지면지간활동시적전향반경시전통이론계산치적1.5배좌우，전향각속도시전통이론계산치적67%좌우。실차시험결과표명，문중소건립적전향모형구유교호적준학성，경부합고속리대차량전향적실제정황。연구결과가위신형고속리대차량전향궤구적설계화전향과정공제제공이론지지。
In order to analyse the kinematical and dynamic character parameters of steering process of high-speed tracked vehicle, the calculation model of kinematical and dynamic character parameters of acting force, turning resistance moment, turning radius, turning angular speed between tracks and ground is built, considering the influence of steering centrifugal force, the slipping of track-contact-ground. The analysis results show that steering centrifugal force has the some influence to the steering performance, the acting forces for out and inner tracks decrease along with the turning radius gradually in slipping steer situation. Compared to the calculation results based on traditional steering theory, which the turning radius is about 1.5 times, and the turning angular speed is 67% in slipping steer situation. Tracked vehicle testing results show that steering model established in this paper considering slip steering is accurate, which agrees with the actual turning process well, those research works provide the theoretical supported on the design of the new steering mechanism and the steering process control.