履带车动力学模型离心力影响边界探究与模型验证
Exploration and model validation of centrifugal force influence boundary of tracked vehicle dynamic model
宋秋杰 1李信伟 2张福广 2熊树生1
作者信息
- 1. 浙江大学,浙江 杭州 310012
- 2. 浙江松信汽车空调有限公司,浙江 丽水 323700
- 折叠
摘要
针对考虑离心力时履带车动力学模型在控制算法应用中计算量过高的问题,理论计算了离心力对模型计算精确度的影响范围,并对动力学模型进行了仿真验证.论文首先理论分析了三种履带车动力学模型,以转向极偏移量为衡量离心力影响程度的指标,基于某履带车结构参数进行了理论计算,确定了可以忽略离心力影响的运动学范围.为验证该范围下滑移滑转模型的有效性,利用CoppeliaSim和Simulink进行了仿真对比,结果表明,在该运动学约束下,滑移滑转模型与履带车适配性较好,对减小履带车模型计算量有重要意义.
Abstract
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.
关键词
履带车动力学模型/离心力/转向极偏移/仿真验证Key words
tracked vehicle dynamic model/centrifugal force/steering pole offset/simulation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据