八輪車輛越野效能分析

Off-Road Capability Analysis of Eight-Wheeled Vehicles

黃粲清(Tsan-Ching Huang)

指導教授 ： 劉霆

國立臺灣大學/工學院/機械工程學研究所/碩士(2015年)

https://doi.org/10.6342/NTU.2015.02207

摘要

越野車輛因其特殊的功能和任務，一般行駛在極為複雜和惡劣障礙環境下，以陡坡、側坡、壕溝、高台等為典型，且這些障礙經常以連續或組合的形式出現，為使其能夠適應各種地形和障礙路面，必須研究車輛對的行通過的性能。本研究之目的在探討八輪車輛穩態越野之行為，分析不同越野狀態時，正向力及俯仰角之變化及重心位置的影響。首先，本研究將8X8的八輪車輛(如雲豹八輪甲車)，依照其幾何關係建立穩態爬坡、攀高及越壕溝時之力學模型，接著配合電腦輔助模擬分析，探討其越野狀態及車身姿態。比較與討論重心改變的情況下越野特性之異同。本研究對八輪車輛越野性能之分析，可以幫助了解其越野性能影響，將會有助益於八輪車輛越野控制策略之決定。

關鍵字

八輪 ； 穩態越野 ； 爬坡 ； 垂直攀高 ； 跨越壕溝

並列摘要

Because of the special functions and tasks, off-road vehicle generally moves in the extremely complex and hostile environment, especially as the steep slope, side slope, trench and steps. And these obstacles are often continuous or in forms of combination. In order to enable the vehicles to adapt to various terrain and roads of obstacles terrain, traffic ability must be studied deeply. The purpose of this study is to understand the steady-state off-Road behaviors of an eight-wheeled vehicle. Analyze the change of normal loads, pitch angle and the influence of the center of gravity changing in different situations. At first, to build a steady-state off-road mathematical model of an eight-wheeled vehicle from its geometry. Analyze the change of normal loads and pitch angle in different situations numerically. The comparisons of the center of gravity changing are then discussed. The result of this analysis could be useful in understanding the off-road capability and helpful for further control strategy design of eight-wheeled vehicles.

並列關鍵字

eight-wheeled ； steady-state off-road ； slop climbing ； obstacle climbing ； trench crossing

參考文獻

[7] T.D.Gillespie, “Fundamentals of Vehicle Dynamics”, Warrendale, PA, Society of Automotive Engineers, 1992.

[13] S.Motoya，“Effect of Traction Force Distribution Control on Vehicle Dynamics”, Vehicle System Dynamics,22(1993),pp.455-464, 1993.

[15] B.J.OLSON, “Nonlinear Dynamics of Vehicle Traction”, Vehicle System Dynamics 2003, Vol. 40, No. 6, pp. 377-399.

[16] Thomas Thueer, “Comprehensive Locomotion Performance Evaluation of All-Terrain Robots”, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems October 9-15, 2006, Beijing, China.

[17] Keiji Nagatani, “Development and Control Method of Six-Wheel Robot with Rocker Structure”, Proceedings of the 2007 IEEE, International Workshop on Safety, Security and Rescue Robotics, Rome, Italy, September 2007.