六轮车辆滑移转向动力学建模与运动特性分析.pdfVIP

六轮车辆滑移转向动力学建模和运动特性分析 1，2 2 杨闫景 ，钱瑞明 （1. 93511 部队，山西代县 034200 ） （2.东南大学 机械工程学院，江苏 南京211189 ） 摘要：轮式滑移转向车辆由于其机动灵活和结构简单可靠而具有广泛的应用价值。本文针对一种六轮车辆， 基于车轮触地点的速度分析、轮轴转动副摩擦分析和车辆力平衡关系，建立了稳态滑移转向时的动力学模 型，分析了车辆主要结构参数和左右侧车轮转速的不同对滑移转向的瞬心位置、转向角速度和车轮所需力 矩的影响规律。研究结果可为六轮车辆的合理设计和实现滑移转向时的轮速控制与驱动提供理论依据。 关键词：轮式车辆；滑移转向；动力学模型；转动副摩擦；转向特性 Skid-steering Dynamic Modeling and Moving Characteristic Analysis of a Six-wheel Vehicle Yang Yanjing, Qian Ruiming (School of Mechanical Engineering, Southeast University, Nanjing 211189) Abstract: Wheeled skid-steering vehicles have extensive application values due to their flexible operation, simple and reliable structure. Based on the speed analysis of the contact points that wheels touch the ground, the friction analysis of wheel axle rotating pairs and the balance relationship of vehicle’s forces; a steady-state dynamic model of a six-wheel skid-steering vehicle is established. The change law of the skid-steering vehicle’s instantaneous center position, turning angular velocity and wheel’s required torques are analyzed, by taking different vehicle main structure parameters and the ratios of left and right wheel speeds. The results provide a theoretical basis for the rational design of six wheeled vehicles and wheel speed control and drive when skid-steering. Keywords: Wheeled Vehicles; Skid-steering; Dynamic Model; Rotating Pair’s Friction; Steering Characteristics 为（俯视向前旋转为正，左侧转速大于右侧转速）， 0 前言 i 车轮半径均为R ，第i 个车轮中心O 的坐标为(x ,y ) ， i i i 滑移转向即为差速转向，通过控制车辆左右两