履带车辆硬地面转向阻力矩算法的研究

提出履带车辆一边履带驱动、另一边履带制动实现转向时地面产生的阻力矩的计算方法。通过建立相对车辆静止的动坐标系，推导出履带板上任意点的运动速度方程。地面对履带板上接触点的摩擦力方向与该点的运动速度方向相反，从而确定出产生转向阻力矩的摩擦力的大小和方向，对转向中心取矩得到转向阻力矩。通过求解运动学方程组，得出转向阻力矩。研究表明，履带与地面问摩擦力沿履带方向的分力提供转向驱动力，垂直履带方向的分力产生转向阻力。该转向阻力矩计算方法比传统计算方法更加精确。

A study of a method for calculating a tracked vehicle's resistance moment as it steers on a hard ground

A method is introduced in this essay for calculating the resistance moment present when a tracked vehicle steers on the ground by driving one track while braking on the other track. Through the establishment of a dynamic coordinate system that remains at rest in relation to the vehicle, a velocity equation is derived that can be applied to any point on the track. Based on the fact that the frictional force applied by the ground on a point on the track surface is opposite from the direction in which that point moves, both the size and direction can be determined for the frictional force that causes the steering resistance moment, on the basis of which the steering resistance moment can then be obtained by factoring in the point＇s distance from the turning center. In fact, the steering resistance moment is calculated through solving a set of kinematics equations. As research indicates, the component of the frictional force between the track and the ground that is par- allel to the track provides the driving force during steering, while the other component that is perpendicular to the track gen- erates the steering resistance. This method of calculating the steering resistance moment is more accurate than traditional calculation methods.