Establishment and Verification of Steady-State Steering Model for Mountain Tracked Vehicle on Soft Slope Road

doi:10.13304/j.nykjdb.2021.0619

Abstract

Abstract:

The special working environment in hilly and mountainous areas has a profound impact on the mobility of tracked vehicles， so this paper established a theoretical model of steady-state steering of tracked vehicle to researcy the influence of slope angle， turning radius， turning angle and soil environment on the turning performance of mountain tracked vehicles on soft slopes. The results showed that the steering characteristics were consistent between the numerical analysis and simulation results， which indicating that the established dynamic model of steady-state steering of tracked vehicle on soft slope road had high accuracy. Moreover， the deviation and slip rate had opposite trends with change of the slope angle and turning radius. The traction force， braking force， steering drive torque and resistance torque had the same trend with change of the slope angle and turning radius， and showed periodic changes as the steering angle changes within ［0，360°）. At the same time， the tracked vehicle was easier to achieve steering movement under the condition of larger turning radius and gentle slope angle. And soil environment was a significant factor affecting the steering characteristics of tracked vehicles. This study provided reference for the designation of tracked vehicle steering system and the analysis of steering characteristics on soft slope road.

Key words: tracked vehicle, steady-state steering, mechanical model, computer simulation, slope driving

摘要：

丘陵山区特殊的作业环境影响履带车辆的机动性能，建立履带车辆软坡路面稳态转向理论模型，探讨坡角、转向半径、转向角度和土壤环境等因素对山地履带车辆转向性能的影响。结果表明：基于动力学模型的数值分析与基于RecurDyn模型的仿真分析表现出较为一致的转向特性，这说明所建立的履带车辆软坡路面转向模型准确度较高；偏移量和滑移率随坡角及转向半径的变化趋势相反；牵引力、制动力、转向驱动力矩和阻力矩随坡角及转向半径的变化趋势一致，随转向角度在［0，360°）内呈现周期性变化；履带车辆在转向半径越大、坡角越平缓的情况下越易于实现转向运动，土壤环境是影响履带车辆转向特性的显著因素。研究结果可为履带车辆转向系统设计及其软坡路面转向特性分析提供参考。

关键词: 履带车辆, 稳态转向, 力学模型, 计算机仿真, 坡地行驶

CLC Number:

S229

Xin JIA, Ni XIE, Xiaobing DING, Lianghao LIU, Yu LIU. Establishment and Verification of Steady-State Steering Model for Mountain Tracked Vehicle on Soft Slope Road[J]. Journal of Agricultural Science and Technology, 2022, 24(11): 97-111.

贾鑫, 谢铌, 丁小兵, 刘良豪, 刘妤. 山地履带车辆软坡路面稳态转向模型建立及验证[J]. 中国农业科技导报, 2022, 24(11): 97-111.

Figures/Tables 20

Fig. 1 Coordinate system for crawler chassis slope steering

Fig. 2 Steering motion model of tracked vehicle on slope road

Fig. 3 Force analysis of tracked vehicles turning on slope road

Fig. 4 Speed analysis of tracked vehicle

Fig. 5 Division of grounding segment for tracked vehicles

Fig. 6 Calculation process of numerical iteration method

Fig.7 Structure and simulation model of the small crawler chassis

Table 1 Basic parameter of crawler chassis

参数 Parameter	值 Value	参数 parameter	值 Value
车体质量 Body weight/kg	571.5	驱动轮半径 Drive wheel radius/mm	119
惰轮半径 Idler radius/mm	115	轨距 Track gauge/mm	852
单条履带宽度 Width of single track/mm	149	支撑区段长度 Length of support section/mm	1 098

Fig. 8 Speed setting of the driving wheel

Table 2 Basic parameters of different soils［21］

参数 Parameter	干沙土 Dry sandy soil	砂质腐殖土 Humus soil	黏性土 Cohesive soil
含水量 Water content/%	0	15	38
K_c /［kN·m^-（ⁿ^+1）］	0.95	5.27	13.19
c/kPa	1.04	1.72	4.14
K_ϕ /［kN·m^-（ⁿ^+2）］	1 528.43	1 515.04	692.15
K/mm	25	25	25
n	1.1	0.7	0.5
φ/deg	28	29	13

Fig. 9 Comparison of results of numerical analysis and simulation analysis of centroid displacement

Fig. 10 Displacement of the center of mass at the X & Y direction

Fig. 11 Change of the slip rate with slope angle， turning radius and soil environmentA：δ1-α-R-soil environment；B：δ2-α-R-soil environment

Fig. 12 Change of the traction and braking force with slope angle， turning radius and soil environmentA：Fy2-α-R-soil environment；B：Fy1-α-R-soil environment

Fig. 13 Change of the steering drive torque and resistance torque with the slope angle， steering radius and soil environmentA：MT -α-R-soil environment；B：MR -α-R-soil environment

Fig. 14 Change of the offset with slope angle， turning radius and soil environmentA：A1-α-R-soil environment；B：A2-α-R-soil environment；C：D0-α-R-soil environment

Fig. 15 Change of the slip rate with slope angle and steering angle

Fig. 16 Change of the traction and braking force with slope angle and steering angle

Fig. 17 Change of steering drive torque and resistance torque with slope angle and steering angle

Fig. 18 Change of the offset with the slope angle and steering anglev

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