基于新型双功率流差速转向机构的履带车辆转向性能
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摘要
转向机构直接影响履带车辆的转向性能。传统机械式双功率流差速转向机构只能实现数目有限的转向半径,并且往往需要制动器等元件,为此,设计一种具有连续转向半径且可避免磨损的新型机械式双功率流差速转向机构;建立差速转向机构的两电机轴(输入)转速与两半轴(输出)转速的运动学模型。根据两半轴转速与履带车转向半径之间的关系,得到履带车的两电机轴(输入)转速与转向半径的运动学模型;建立考虑履带宽度以及滑转、滑移的履带车稳态转向数学模型;最后进行运动仿真和理论分析对比研究。研究结果表明:对差速转向机构的转速仿真结果与理论值相对误差最大为1.50%,且能够使履带车辆实现任意的连续转向半径,该研究成果能为履带车辆的电机选取、转向控制以及结构优化等提供理论参考。
Steering mechanism directly affects steering performance of tracked vehicles. Because the traditional differential steering mechanism with twin driving can only realize a limited number of steering radius and often requires the sliding grinding of brake and other components. A new type of differential steering mechanism with twin driving with continuous steering radius and avoiding wear was designed, and kinematic model differential steering mechanism of the two motor shafts(input) and the rotational speed with two shaft(output) between was established. According to relationship between the tracked vehicles steering radius and two shafts speed, kinematic model between the two motor shafts of the tracked vehicles(input) speed and the steering radius were obtained. Finally, a comprarative study of motion simulation and theoretical was analyzed. The steady steering model of tracked vehicle considering width, skids and slips was established. The results show that the maximum relative error of rotation speed between the simulation results and the theoretical values is 1.50%, and the tracked vehicle can achieve continuous steering radius, which can provide theoretical basis for the steering control of the tracked vehicles and the structural optimization of the differential steering mechanism.
Steering mechanism directly affects steering performance of tracked vehicles. Because the traditional differential steering mechanism with twin driving can only realize a limited number of steering radius and often requires the sliding grinding of brake and other components. A new type of differential steering mechanism with twin driving with continuous steering radius and avoiding wear was designed, and kinematic model differential steering mechanism of the two motor shafts(input) and the rotational speed with two shaft(output) between was established. According to relationship between the tracked vehicles steering radius and two shafts speed, kinematic model between the two motor shafts of the tracked vehicles(input) speed and the steering radius were obtained. Finally, a comprarative study of motion simulation and theoretical was analyzed. The steady steering model of tracked vehicle considering width, skids and slips was established. The results show that the maximum relative error of rotation speed between the simulation results and the theoretical values is 1.50%, and the tracked vehicle can achieve continuous steering radius, which can provide theoretical basis for the steering control of the tracked vehicles and the structural optimization of the differential steering mechanism.
引文
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[16]姚宗伟,韩进城,任云鹏.四履带车辆稳态滑移转向特性研究[J].建筑机械,2011(1):78-82.YAO Zongwei,HAN Jincheng,REN Yunpeng.Study skid-steering research of 4-tracked vehicle[J].Construction Machinery,2011(1):78-82.
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[19]WONG J Y.Theory of ground vehicles[M].4rd ed.Hoboken,New Jersey:John Wiley and Sons Incorporation,2008:390-393.
[2]曹付义,周志立,贾鸿社.履带车辆转向机构的研究现状及发展趋势[J].河南科技大学学报(自然科学版),2003,24(3):89-92.CAO Fuyi,ZHOU Zhili,JIA Hongshe.Studying actualities and developing tendency of turning mechanism of crawler[J].Journal of Henan University of Science and Technology(Natural Science Edition),2003,24(3):89-92.
[3]熊光明,鲁浩,郭孔辉,等.基于滑动参数实时估计的履带车辆运行轨迹预测方法研究[J].兵工学报,2017,38(3):600-607.XIONG Guangming,LU Hao,GUO Konghui,et al.Research on trajectory prediction of tracked vehicles based on real time slip estimation[J].Acta Armamentarii,2017,38(3):600-607.
[4]王红岩,陈冰,芮强,等.集中载荷作用下的履带车辆稳态转向分析与试验[J].兵工学报,2016,37(12):2196-2202.WANG Hongyan,CHEN Bing,RUI Qiang,et al.Analysis and experiment of steady-state steering of tracked vehicle under concentrated load[J].Acta Armamentarii,2016,37(12):2196-2202.
[5]芮强,王红岩,王钦龙,等.履带车辆转向性能参数分析与试验研究[J].机械工程学报,2015,51(12):127-136.RUI Qiang,WANG Hongyan,WANG Qinlong,et al.Research on the acquisition of steering performance parameters of armored vehicle based on experiments[J].Journal of Mechanical Engineering,2015,51(12):127-136.
[6]董超,成凯,高学亮,等.离心力影响条件下的履带车滑移转向性能分析[J].振动.测试与诊断,2017,37(1):76-83.DONG Chao,CHENG Kai,GAO Xueliang,et al.Tracked vehicle skid steer performance analysis under the influence of the centrifugal force[J].Journal of Vibration,Measurement&Diagnosis,2017,37(1):76-83.
[7]曹付义,周志立,贾鸿社.轮履车辆转向性能计算机仿真研究概况[J].农业机械学报,2007,38(1):184-188.CAO Fuyi,ZHOU Zhili,JIA Hongshe.Research summa-rization on simulation of turning performance of tracked vehicle[J].Transactions of the Chinese Society of Agricultural Machinery,2007,38(1):184-188.
[8]AL-MILLI S,SENEVIRATNE L D,ALTHOEFER K.Trackterrain modeling and traversability prediction for tracked vehicles on soft terrain[J].Journal of Terramechanics,2010,47(4):151-160.
[9]迟媛,蒋恩臣.履带车辆差速式转向机构性能试验[J].农业机械学报,2008,39(7):14-17.CHI Yuan,JIANG Enchen.Performance tests on differential steering mechanism of tracked vehicle[J].Transactions of Chinese Society of Agricultural Machinery,2008,39(7):14-17.
[10]SOLIS J M,LONGORIA R G.Modeling track-terrain interaction for transient robotic vehicle maneuvers[J].Journal of Terramechanics,2008,45(3):65-78.
[11]LIU YUGANG,LIU GUANG JUN.Modeling of tracked mobile manipulators with consideration of track-terrain and vehicle-manipulator interactions[J].Robotics and Autonomous Systems,2009,57(11):1065-1074.
[12]孙勇,李文哲.双流传动履带车辆转向机构的研究现状及发展趋势[J].农机化研究,2008(3):235-237.SUN Yong,LI Wenzhe.Actualities and developing tendency of turning mechanism of tracked vehicles with twin driving[J].Agricultural Mechanization Research,2008(3):235-237.
[13]庄皓岚.特种环境移动机器人控制系统与越障研究[D].上海:上海交通大学电子信息与电气学院,2013:60-62.ZHUANG Haolan.Control system of specialized mobile robot and obstacle performance study[D].Shanghai:Shanghai Jiao Tong University.School of Electronic Information and Electrical Engineering,2013:60-62.
[14]ZHU Hua,ZHANG Yong.Robust optimization design on vehicle divided steering linkage[J].Applied Mechanics and Materials,2012,130/131/132/133/134:270-273.
[15]李勇,姚宗伟,王国强.四履带车辆转向性能仿真研究[J].农业机械学报,2011,42(2):34-39.LI Yong,YAO Zongwei,WANG Guoqiang.Steering performance simulation of four-tracked vehicles[J].Journal of Mechanical Engineering,2011,42(2):34-39.
[16]姚宗伟,韩进城,任云鹏.四履带车辆稳态滑移转向特性研究[J].建筑机械,2011(1):78-82.YAO Zongwei,HAN Jincheng,REN Yunpeng.Study skid-steering research of 4-tracked vehicle[J].Construction Machinery,2011(1):78-82.
[17]YAO Zongwei,WANG Guoqiang,GUO Rui,et al.Theory and experimental research on six-track steering vehicles[J].Vehicle System Dynamics,2013,51(2):218-236.
[18]宋必文,李勇,韩进成,等.三履带车辆稳态转向特性研究[J].建筑机械,2011(2):83-88.SONG Biwen,LI Yong,HAN Jincheng,et al.steady steering research of three-tracked vehicle[J].Construction Machinery,2011(2):83-88.
[19]WONG J Y.Theory of ground vehicles[M].4rd ed.Hoboken,New Jersey:John Wiley and Sons Incorporation,2008:390-393.