基于剪应力模型的履带车辆转向力矩分析与试验

为了研究在打滑条件下的履带车辆转向性能，提高履带车辆转向模型的模拟精度，建立了考虑履带滑转、滑移及转向离心力影响的高速履带车辆稳态转向模型。根据剪切应力-剪切位移关系模型推导了两侧履带牵引力、制动力及转向阻力矩的计算公式。在此基础上，根据力平衡关系构建了履带车辆转向运动学方程，并采用迭代计算方法进行求解。以某型装备综合传动装置的高速履带车辆为对象，通过试验测试结果与计算结果的对比分析，对履带车辆转向模型的准确性进行了验证。基于履带车辆稳态转向模型，研究了履带车辆转向运动学及动力学特性随转向半径及车速的变化规律，结果表明：当履带车辆转向速度越高，转向半径越小时，离心力对转向性能的影响越显著。

Analysis and Experiment of Tracked Vehicle Steering Torque Based on Shear Stress Model

For the study of steering performance of tracked vehicles under skidding, a steady-state steering model of tracked vehicle, which takes the skid and slippage of tracks and centrifugal force into consideration, is established to improve the simulating accuracy of the tracked vehicle steering model. Expressions of driving force and braking force of outside track and inside track, and steering resistance torque of tracked vehicles are derived using shear stress-shear displacement relationship model, respectively. According to force and torque equilibrium theory, the steering dynamic equations of tracked vehicle are established and solved by iterative algorithm. Taking a certain type of tracked vehicle with the integrated transmission device as the object,the accuracy of steering model of tracked vehicles is verified by comparing the experimental and calculated results. The rules of changing the kinematics and dynamic steering performance of tracked vehicles with turning radius and running velocity are deeply studied based on the steady-state steering model of tracked vehicle. The results show that the influence of the steering centrifugal force on steering performance increases significantly with the increase in running velocity and the decrease in turning radius.