履带车辆液压机械差速转向机构转向性能研究

采用机械系统动力学分析与建模通用方法，考虑车辆转向时履带滑转（滑移）及转向中心偏移等因素，在对车辆转向受力状况进行分析与计算的基础上，建立了履带车辆液压机械差速转向机构转向动力学模型，采用Newton-Raphson方法对模型进行了求解。根据提出的转向性能评价指标，结合实例样车，采用仿真与试验方法研究了履带车辆转向性能，行驶试验的结果表明，所建模型能反映履带车辆转向性能的变化趋势。研究结果为履带车辆液压机械差速转向机构设计及行驶控制提供了理论基础。

Study on Steering Performance of Hydro-mechanic Differential Steering Mechanism in Tracked Vehicle

Generalized method of the dynamic analysis and modelling of mechanical system was used for tracked vehicle steering performance. The grounding track skid(slippage), steering centre offset and etc. was considered in steering process, the force analysis and calculation were finished, and the steering dynamics model of tracked vehicle was established based on hydro-mechanical differential. The model was solved using Newton-Raphson method. A steering performance evaluation index was provided. The steering performance changing trend of tracked vehicle was simulated referring to prototype based on hydro-mechanical differential. It is verified by experimental results that the model can reflect the changing trend of tracked vehicle steering performance. The theoretic basis for hydro-mechanical differential steering mechanism design and running control of tracked vehicle is provided.