摘要
履带车辆拥有良好的路面适应能力,被广泛应用于各类复杂地形中.基于动力学建模的履带车辆仿真是研究履带车辆动力学性能与优化设计参数的有效手段.履带车辆和路面之间的复杂接触常常会降低履带车辆模型的求解效率和稳定性.本文提出了一种将路面视为几何约束嵌入到动力学模型中的约化建模方法,在给定路面和轮子几何后,通过离线计算得到一条不依赖于行驶速度和其他车辆参数的名义轮心轨迹,即轮与路面接触的轨迹约束.在轨迹的几何约束基础上,依据负重轮所受路面支持力的大小及轮心位置,可以判断车轮何时与路面接触,这使得模型能有效模拟复杂路面条件下的履带车辆通过性.所提出的模型在不同频率的正弦路面和带坑洞的路面上进行了仿真验证.
Tracked vehicles possess excellent terrain adaptability and are widely used in various complex terrains.Simulation of tracked vehicles based on dynamic modeling is an effective means to study dynamic performance of tracked vehicles and optimize design parameters.The complex contact between the tracked vehicle and the ground often reduces efficiency and stability of solving the tracked vehicle model.This paper proposes a reduced-order modeling method that embeds the ground as a geometric constraint into the dynamic model.Given the ground and wheel radius,a nominal wheel center trajectory that does not depend on the vehicles driving speed and other vehicle parameters can be pre-calculated.Contact between the wheel and the ground can be transformed into a constraint that the wheel center falls on the nominal trajectory.Based on magnitude of ground support force on the loaded wheels and position of the wheel center,it can be determined when the wheel contacts the ground.This allows the model to effectively simulate passing ability of tracked vehicles under challenging ground conditions.The proposed model is validated through simulations on sinusoidal terrains of different frequencies and the terrain with a pothole.
作者
孙博天
李文涵
柳月
王雪峰
Sun Botian;Li Wenhan;Liu Yue;Wang Xuefeng(College of Engineering,Peking University,Beijing 100871,China;China North Vehicle Research Institude,Beijing 100072,China)
出处
《动力学与控制学报》
2025年第11期44-52,共9页
Journal of Dynamics and Control
基金
项目名称略(JSZL2021208A001)。
关键词
履带车辆
动力学
约束嵌入
模型降维
tracked vehicles
dynamics
constraint embedding
model order reduction
