履带车辆纵向与垂向耦合动力学模型及功率特性

越野工况履带车辆动力学是车辆越野行驶能力预测的理论基础。考虑高机动履带车辆越野行驶纵向运动和垂向运动耦合效应,提出履带车辆纵向与垂向耦合动力学建模方法。建立车辆耦合动力学模型,对车辆在典型路面上的行驶性能进行仿真,并进行实车测试验证,进而量化分析履带车辆系统的功率特性。仿真结果表明:该模型可以表征车辆在不同类型路面上行驶的动力学响应特性;在越野工况下,车体垂向、俯仰等运动将消耗部分功率,对车辆行驶速度提升有一定影响;在越野路面上行驶的履带车辆瞬时非纵向运动功率数值波动范围大,随着路面条件变差以及速度提高,非纵向运动功率占总输入功率比例增加,对总功率的需求也越大,限制了驱动功率的有效利用。研究结果可用于高机动履带车辆动力学模型构建以及车辆功率流分析。

Longitudinal and Vertical Coupled Dynamic Model and Power Characteristics of Tracked Vehicle

The dynamics of tracked vehicle in the off-road condition is the basis of the prediction of the off-road driving ability. A longitudinal and vertical coupled dynamic modeling method of tracked vehicle is presented，in which the coupling effect of longitudinal and vertical motion of high speed tracked vehicle is considered. A vehicle coupling dynamic model is established. The driving performance of vehicle on the typical road was simulated and verified in the real vehicle test. On this basis，the power flow characteristics of the tracked vehicle were analyzed. The simulated results indicate that the proposed model can be used to calculate the influence of the different road conditions on the vehicle driving performance. In the off-road condition，the road roughness makes the body vertical，pitching and other movements consume part of the power，and then have a certain impact on the speed of the vehicle. The instantaneous non-driving power of the tracked vehicle fluctuates widely. With the deterioration in the road conditions and the increase in speed，the ratio of non-driving power to total input power increases.The demand for the total power increases，which limits the effective use of the driving power.The results can be used for the dynamic model construction and the power flow analysis of high-speed tracked vehicles.