速差转向车辆的建模验证与操纵性能分析

A Modeling, Validation and Handling Performance Analysis of Skid Steered Vehicle

摘要:

以一辆装备有双差速液压机械传动装置的8×8速差转向全地形车为研究对象，对其操纵性能进行分析与讨论.建立了速差转向车辆2自由度动力学模型，并对该模型进行了试验验证.试验结果表明，速差转向车辆与阿克曼转向车辆的操纵性能、稳态性能有很大的差异，速差转向车辆特殊的转向能力使其具有更好的操纵性；速差转向车辆的瞬态操纵性能优于阿克曼转向车辆；由于转向过程中会产生较大的轮胎侧偏角，速差转向车辆轮胎易磨损.

Abstract:

The handling performance of a 8×8 skid steered all terrain vehicle equipped with doublestream hydromechanical transmission(HMT) was studied. A 2 DOF dynamic model was proposed and verified by simulation and experiment. The result shows that there are great differences between the steady state performance of skid steered vehicle and Ackermann steered vehicle. The skid steered vehicle has a better transient handling performance because of the special steering mode. Moreover, the transit performance of the skid steered vehicle is better than that of the Ackermann steered vehicle. Furthermore, because of larger side slip angle during a turning, tyres of skid steering vehicle are more easily worn out.