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中南大学学报(自然科学版)

Journal of Central South University

第50卷    第4期    总第296期    2019年4月

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文章编号:1672-7207(2019)04-0864-09
基于新型双功率流差速转向机构的履带车辆转向性能
石志标1,刘江1,高峰2,曾文2

(1. 东北电力大学 机械工程学院,吉林 吉林,132000;
2. 北京航空航天大学 交通科学与工程学院,北京,100191
)

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。

 

关键词: 差速转向机构;行星机构;履带车辆;运动学模型;动力学模型

Steering performance of tracked vehicle based on mechanical differential steering mechanism with twin driving
SHI Zhibiao1, LIU Jiang1, GAO Feng2, ZENG Wen2

1. School of Mechanical Engineering, Northeast Electric Power University, Jilin 132000, China;
2. School of Transportation Science and Engineering,
Beijing University of Aeronautics and Astronautics, Beijing 100191, China

Abstract: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.

 

Key words: differential steering mechanism; planetary mechanism; tracked vehicle; kinematic model; kinetic model

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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