履带车辆转向分析

分析了履带接地段滑动时履带车辆的转向规律。推导了履带接地压力为均匀分布与集中载荷2种典型条件下转向所需牵引力、制动力、转向阻力矩、转向半径及转向角速度的表达式。采用迭代法求解转向平面运动方程，并与实车试验作了比较。试验结果表明：建立的考虑履带接地段滑动时的转向模型是合理的；接地压力均匀分布条件下考虑履带接地段滑动时，转向半径较传统转向理论计算值增大，转向角速度低于传统转向理论计算值；集中载荷条件下车辆转向更为困难。

Analysis on the Steering of Tracked Vehicles

The steering rule of tracked vehicles was analyzed at the relative skidding of ground and track within ground contact area.Expressions of pulling force,brake force,turning resistance moment,turning radius and turning angular speed were deduced under the conditions of uniform pressure distribution and concentrated ground-contact-load for the steering.Plane motion equations were solved by means of iterations.A real vehicle test was carried out to compare with the models.The results show that the models are reasonable,in the case of uniform pressure distribution,the turning radius is larger than that given by the traditional steering theory,and the angular speed in turning is lower than that given by the traditional steering theory.Steering with concentrated ground-contact-load is more difficult.