大型履带式液压凿岩台车原地转向能力研究.pdf

第36 卷第2 期 Vol.36 No.2 井冈山大学学报( 自然科学版) 2015 年3 月 Mar. 2015 Journal of Jinggangshan University (Natural Science) 54 54 井冈山大学学报( 自然科学版) 文章编号：1674-8085(2015)02-0054-05 大型履带式液压凿岩台车原地转向能力研究 *陈周伟，罗春雷 （中南大学高性能复杂制造国家重点实验室，湖南，长沙 410083 ） 摘 要：针对大型履带式液压凿岩台车原地转向能力展开研究。以车辆-地面力学理论、履带车多刚体建模理论 为基础，在多体动力学软件 RecurDyn 中构建了整车的动力学模型，分析了三种路面条件下履带式车辆的结构参 数即履带接地长度与履带中心距比值L/B 对转向能力的影响。仿真结果表明，结构参数L/B 对履带式车辆的转向 能力有很大影响；履带车辆在软地能够转向必须满足L/B 小于 1.7，且当L/B 越小，履带车转向能力更好；对于 在硬地转向，L/B 越小，履带车辆转向稳定性更好。仿真结果与理论分析相符合，互为验证，研究工作对大型履 带车辆行驶操控和结构优化设计提供了新思路。 关键词：履带式车辆；转向能力；多刚体建模理论；动力学模型；结构参数L/B 中图分类号：TP391.9 文献标识码：A DOI:10.3969/j.issn.1674-8085.2015.02.013 PIVOT TURNING ABILITY RESEARCH OF LARGE HYDRAULIC CRAWLER JUMBO * CHEN Zhou-wei, LUO Chun-lei (State Key Laboratory of High Performance and Complex Manufacturing, Central South University, Changsha, Hunan 410083, China) Abstract: We do research on the pivot turning ability of large hydraulic crawler jumbo. Based on the vehicle terramechanics theory, tracked vehicle multi-rigid body modeling theory, the dynamic model of vehicle is built in the multi-body dynamics software RecurDyn. We analyze the influence of the structure parameters of the tracked vehicle, which is the ration between track ground length and track center distance L/B under three kinds of road conditions. Results indicate that structure parameter L/B has great influence on the steering ability of tracked vehicles. L/B less than 1.7 is necessary for steering of tracked vehicles and steering ability is better. L/B is less and steering stability steering on hard road is be