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软地面恶劣复杂环境下车辆的通过性一直是非路面车辆动力学及其控制领域的研究热点及难点。课题组在前期对半履带气垫车研究的基础上,提出一种以六个气垫靴作为行走机构的新型软地面概念车。该车通过驱动机构实现其纵向运动,而足的垂向运动则通过充放气实现,因此该车运动学建模的首要任务是单靴模型的建立。本文首先简单介绍了这种新型车辆的结构和工作原理,然后建立了考虑橡胶弹性形变的理论模型,并与有限元仿真结果相比较对该模型进行了验证和修正,最后为了验证其有效性,以某种典型的充气工况为例,利用该模型进行了瞬态动力学仿真。该研究结果可为将来的整车建模和控制算法设计提供有益的参考。
The passing of vehicles in the harsh complex environment of soft ground has been the research hotspot and difficult point in the field of non-pavement vehicle dynamics and its control. Based on the previous research on half-tracked air-cushion vehicles, the research team proposed a new concept of soft-ground vehicle with six air-cushioned boots as the traveling mechanism. The car through the drive mechanism to achieve its longitudinal movement, while the full vertical movement through the charge and discharge to achieve, so the car kinematics modeling first task is the establishment of single-boot model. In this paper, the structure and working principle of this new vehicle are briefly introduced. Then a theoretical model considering the elastic deformation of rubber is established. Compared with the finite element simulation results, the model is validated and corrected. Finally, in order to verify its validity, Taking a typical inflatable case as an example, a transient dynamic simulation is carried out by using this model. The results of this study can provide useful reference for the design of vehicle modeling and control algorithms in the future.