两栖车辆实时控制水陆性能虚拟试验系统开发

两栖车辆有水上、陆上、水陆过渡3种工况。目前对两栖车辆的仿真计算主要有两种：一是利用多体动力学软件平台进行陆上仿真；二是利用计算流体力学软件进行水上性能仿真。都是针对单一工况进行仿真。为了解决多种工况下的动力学计算问题，采用粒子流场与刚体碰撞耦合的理论，结合传统多体动力学计算方法，建立了实时控制的两栖车辆全工况的动力学仿真系统。在此基础上实现了对多项水陆性能的虚拟试验，并以某高速履带两栖车辆为实例进行了验证。两栖车辆有水上、陆上、水陆过渡3种工况。目前对两栖车辆的仿真计算主要有两种：一是利用多体动力学软件平台进行陆上仿真；二是利用计算流体力学软件进行水上性能仿真。都是针对单一工况进行仿真。为了解决多种工况下的动力学计算问题，采用粒子流场与刚体碰撞耦合的理论，结合传统多体动力学计算方法，建立了实时控制的两栖车辆全工况的动力学仿真系统。在此基础上实现了对多项水陆性能的虚拟试验，并以某高速履带两栖车辆为实例进行了验证。验证结果表明：与试验数据对比，该仿真方法的计算误差小于15%，具有一定的准确度。

Development of Virtual Test System for Real-time Control and Performance of Amphibious Vehicle

Amphibious vehicles have three operating conditions: on-water, on-land and water-land transition. At present, two main simulation methods have been used for amphibious vehicle. One is to use the multi-body dynamics software for simulation of on-land operating condition, and the other is to use CFD software for simulation of on-water operating condition. The methods are used to simulate a single operating condition. In order to solve the computing problem of dynamics under various operating conditions, a real-time control dynamic simulation system for all operating conditions of amphibious vehicle is established by using the coupling theory of particle flow field and collision and the calculating methods of multibody dynamics. Based on this, many virtual tests were completed. The test results were verified by taking a high-speed tracked amphibious vehicle for example. The results show that the proposed method has a certain degree of accuracy, and the calculation error is less than 15% compared to the experimental data.