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研究履带接地段滑动条件下履带车辆稳态转向问题。基于履带接地压力除均匀分布外另一典型分布-集中载荷条件,推导了转向所需牵引力、制动力、转向阻力矩、转向半径、转向角速度的表达式。采用迭代法求解转向平面运动方程,计算结果与实车实验进行了对比。结果表明,滑动模型反映了实际转向过程机理,可用于预测转向物理量取值区间。
Study on Steady Steering Problem of Tracked Vehicle under Slip Condition of Tracked Grounding Section. Based on another typical distribution - concentrated load condition except for uniform distribution of crawler ground pressure, the expressions of traction, braking force, steering resistance torque, steering radius and steering angular velocity are derived. The iterative method is used to solve the steering plane equation of motion. The calculated results are compared with the real vehicle experiments. The results show that the sliding model reflects the actual steering process and can be used to predict the steering physical value interval.