- 期刊
The Multi-Body Dynamic Analysis of High-Mobility Tracked Vehicle on Different Ground Friction Conditions
高機動履帶車輛在不同地面摩擦條件下的多體動力學分析
摘要
Several modelling methods had recently been developed for the dynamic analysis of tracked vehicles. These methods are used demonstrate the significant force effects of the interaction between the track links and vehicle components. There are two major difficulties encountered in developing the compliant track models discussed in this paper. The first problem is due to the integration step size must be kept small in order to maintain the numerical stability of the solution. This solution includes high oscillatory signals resulting from the impulsive contact force and the use of stiff compliant elements to present the joints between the track links. The characteristics of the compliant elements use in this paper to describe the track joints were measured experimentally. A numerical method having a relatively large stability region is employed in order to maintain the solution accuracy, and a variable step size integration algorithm is used in order to improve the efficiency. The second difficulty encountered in this paper is due to the large number of the system equation of motion of three-dimensional multi-body high-mobility tracked vehicles model. The dimensionality problem is solved by decoupling the equations of motion of chassis and track subsystems. Recursive method is used to obtain a minimum set of equations for the chassis subsystem. Several ground friction simulation scenarios including an accelerated motion, high-speed motion, braking, and turning motion of high-mobility vehicle are tested and verified in order to demonstrate the effectiveness and validity of the methods proposed in this paper.
並列摘要
本文介紹了近年來開發的幾種運用於履帶車輛動態分析的建模方法。這些方法應用於同時考慮履帶鏈節和車輛部件之間的相互作用的顯著的力效應。在研究開發本文所討論的順應軌道模型時遇到兩個主要困難點。第一個必須克服的問題點乃是由於集成步長必須保持較小以保持數值解的數值穩定性。該解決方案包括由脈衝接觸力產生的高振盪信號和使用剛性柔順元件來呈現履帶鏈節之間的接頭。在本研究中使用柔順元件的特徵來描述軌道接頭是通過實驗測量的。採用具有相對大的穩定區域的數值方法以保持求解精度，並且使用可變步長積分算法以提高效率。本研究遇到的第二個困難克服點是由於三維多體高機動履帶車輛模型的大量系統運動方程組。通過求解底盤和軌道子系統的運動方程來解決維數問題。遞歸方法運用於獲得機械子系統的最小方程組。為了證明本研究中提出的方法的有效性和正確性，對於包括高移動性車輛的加速運動，高速運動，制動和轉向運動在內的幾種模擬不同接觸地面摩擦條件下進行測試與驗證。