Exploration and model validation of centrifugal force influence boundary of tracked vehicle dynamic model
Aiming at the problem that the calculation amount of the dynamic model of the tracked vehicle is too large in the application of the control algorithm when the centrifugal force is considered,the influence range of the centrifugal force on the calculation accuracy of the model is theoretically calculated,and the dynamic model is simulated and verified.Firstly,three dynamic models of the tracked vehicle are theoretically analyzed.Taking the steering pole offset as the index to measure the influence of centrifugal force,theoretical calculation is carried out based on the structural parameters of a certain tracked vehicle,and the kinematic range in which the influence of the centrifugal force can be ignored is determined.In order to veri-fy the effectiveness of the slip-slip model in this range,this paper uses CoppeliaSim and Simulink to carry out simulation comparison.The results show that under the kinematic constraints,the slip-slip model has better adaptability to the tracked vehicle,which is of great significance to reduce the calculation amount of the tracked vehicle model.
tracked vehicle dynamic modelcentrifugal forcesteering pole offsetsimulation
NETL
NSTL
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