In order to study the effect of road roughness on the off-road average speed of tracked vehicles, a multi-body dynamic model is established. The vibration response index is proposed and the credibility of the model is verified by the test. Based on the experimental design, a simulation model is made. And the approximate model for analyzing the influences of vehicle speed and road roughness on the vibration response of the vehicles is established. With the threshold value of the vibration response index as the constraint condition, the mathematical relationship between the roughness of the pavement and the speed of vehicle is fitted by the method of target optimization, and the prediction method of the off-road speed under the condition of random and uneven pavement is put forward. The method is used to simulate the vibration response of the vehicle when it passes the test ground. The results show that the model can reflect the impact of road roughness on the vehicle speed. This work provides an effective quantitative means for vehicle mobility prediction.%为了研究路面不平度对履带车辆越野平均速度的影响规律,建立履带车辆多体动力学模型,提出振动响应指标并通过试验验证模型的可信性;根据试验设计进行仿真计算,建立振动响应与车速、路面不平度间的近似模型;以振动响应指标的门限值为约束条件,采用目标寻优方法拟合了路面不平度与车速间的数学关系,提出随机不平路面条件下的越野速度预测方法.应用该方法计算车辆通过某试验场综合路面时的振动响应,结果表明:所建模型可以反映路面不平度对车速的影响,可为车辆机动性预测提供有效的量化手段.
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