In order to study the handling characteristics of high-speed tracked vehicle to lay the foundation for the evaluation and control of its handling stability,the nonlinear steering dynamics model and linear two-degree-of-freedom linear steering dynamics model of high-speed tracked vehicle are established and verified by experiments. The transfer function of the yaw motion of high-speed tracked vehicles is derived using the two-degree-of-freedom linear model. Based on this,the time domain and frequency domain response characteristics of the yaw motion of high-speed tracked vehicles are analyzed,and the definitions of steady-state yaw rate gain and critical damping speed of tracked vehicles are proposed. The analyed result show that the steady-state yaw rate gain of tracked vehicle is less than 1,so the tracked vehicle has deficient steering characteristic. The damping ratio of tracked vehicle system is about 1. When the vehicle speed is less than the critical damping speed,the vehicle system is an overdamped system,and the rise time of yaw rate response is within 0. 2 seconds. When the vehicle speed is equal to the critical damping speed,the vehicle system is a critially-damped system,and the rise time of yaw rate response is greater than 10 seconds. When the vehicle speed is greater than the critical damping speed,the vehicle system is an underdamped system,and the rise time of yaw rate response decreases rapidly to 2-3 seconds.
维普
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