六轮车辆滑移转向动力学建模和运动特性分析

摘要

Wheeled skidsteer vehicles are of extensive application value due to their flexible operation,simple and reliable structure. Based on the speed analysis of the contact points that wheels touch the ground,the friction analysis of wheel axle rotating pairs and the balance relationship of vehicle’ s forces,this paper establishes the skidsteering dynamic model of a sixwheel vehicle and takes the main structure parameters of different vehicles and the ratios of left and right wheel speeds to analyze the change law of the skidsteer vehicle’ s instantaneous center position,turning angular velocity and wheel’ s required torques. The results provide a theoretical basis for the rational design of six wheeled vehicles and skid steering wheel speed control and drive.%轮式滑移转向车辆由于其机动灵活和结构简单可靠而具有广泛的应用价值。针对一种六轮车辆，车轮触地点的速度分析、轮轴转动副摩擦分析和车辆力平衡关系，建立了稳态滑移转向时的动力学模型，分析了车辆主要结构参数和左右侧车轮转速的不同对滑移转向的瞬心位置、转向角速度和车轮所需力矩的影响规律。研究结果可为六轮车辆的合理设计和实现滑移转向时的轮速控制与驱动提供理论依据。