本文關鍵詞：履帶車輛行動系統(tǒng)及軟地面的動力學建模與分析　出處：《北京理工大學》2016年碩士論文　論文類型：學位論文

  更多相關文章： 履帶車輛 行動系統(tǒng) LMS Virtual.lab 動力學仿真 接觸/碰撞 軟地面

【摘要】：行動系統(tǒng)是履帶車輛最基礎的組成部分,是實現履帶車輛高機動性、全地形通過性和輕量化的關鍵子系統(tǒng)。近年來隨著大型多體動力學軟件的廣泛應用,針對履帶車輛行動系統(tǒng)的動力學研究變的非常普遍。本文基于多體動力學軟件LMS Virtual.lab Motion分別建立了履帶車輛行動系統(tǒng)及軟地面的動力學模型,并對模型車輛在特定工況下的越障性能和在軟地面上的附著特性進行仿真分析。在行動系統(tǒng)建模方面,由于已有的大部分論文都將重點放在了后期對車輛性能的分析上,很少關注前期的建模過程,尤其忽略了軟件內部對于接觸力的計算過程,而行動系統(tǒng)的正常工作在很大程度上依賴于各部件、地面與履帶板的接觸,接觸力的定義會直接影響模型的正確度及后期車輛性能的分析,因此,本文在行動系統(tǒng)建模方面主要對軟件中接觸力的作用機制從理論和應用上進行說明。首先介紹了LMS Virtual.lab Motion中計算接觸力和摩擦力所采用的數學模型,詳細描述了軟件在處理接觸碰撞時對于接觸點的搜索過程。其次,說明了主動輪、負重輪、地面與履帶板之間接觸的定義方式。最后,重點分析了接觸定義中最大碰撞深度、恢復系數和過渡速度這三個參數對接觸力的影響。在行動系統(tǒng)仿真分析方面,利用所建的動力學模型分析了履帶車輛通過崖壁的過程,提出了以低速接近崖壁然后以3m/s的速度通過崖壁的通過方案;用波長為不同履帶板節(jié)距倍數的正弦路面作為激勵,研究了履帶的濾波效應對車輛平順性的影響。在軟地面建模方面,現有論文中均未提及履帶板板體、履刺與地面的接觸方式,且土壤參數的輸入均采用軟件中自帶的參數,往往不知道此時土壤的含水率。本文針對這兩方面的不足,在定義履帶板與軟地面接觸方式時,提出了一種能較精確模擬板體與履刺的方法,土壤參數通過試驗方法獲得。通過土壤的壓盤試驗和直剪試驗測得了10%含水率下沙壤土和粘土的土壤參數。在軟地面仿真分析方面,從盡量縮短仿真計算時間的角度考慮,設計了“牽引法”測履帶車輛地面附著系數的方案,并對沙壤土和粘土兩種土壤的附著系數進行了測定。在模型驗證方面,按照實車道路模擬試驗工況,建立了履帶車輛臺架動力學模型,分析了模型在不同速度、不同路面下各個負重輪與車體之間的相對位移,并通過與實驗數據對比,驗證了模型的準確性。
[Abstract]:Action system is the most basic part of the tracked vehicle, is to achieve the high mobility of tracked vehicles, all terrain by key and lightweight system. In recent years, with the wide application of large-scale multi-body dynamics software, kinetic study for tracked vehicle operation system becomes very common. The multi-body dynamics software LMS Virtual.lab based on Motion respectively established a dynamic model of tracked vehicle operation system and the soft ground, and the obstacle performance in specific working conditions and vehicle model in soft ground adhesion characteristics were analyzed. The action of system modeling, because most of the existing will focus on the analysis of the performance of the vehicle late, very few pay attention to early modeling process, especially the process of calculation for the contact force and the normal work of internal software, operation system relies heavily on In each part, the ground and the crawler board contact, definition of contact force will directly affect the accuracy of analysis, and later the vehicle performance model so that the mechanism in the action of software system modeling main contact force is explained from theory and application. Firstly introduces the mathematical model for the calculation of contact force and friction force the LMS Virtual.lab Motion, a detailed description of the software in contact for the contact point of the search process. Secondly, the driving wheel and the wheel, defining the contact way between the ground and the crawler board. Finally, focus on the analysis of the definition of the maximum contact collision depth, influence coefficient and the transition speed three parameters of the contact force. In the action system simulation analysis, analysis of the tracked vehicle through the cliff process using the dynamic model of construction, put forward to speed close to natural cliff After taking 3m/s speed through the cliff by pavement scheme; sinusoidal pitch multiple wavelength for different track plate festival as an incentive, study the filtering effect of track effects on the vehicle ride comfort. In the aspect of the soft ground modeling, the existing papers were not mentioned in the track plate body, grouser contact with the ground. And the soil parameters were adopted as the input parameters of the built-in software, often do not know when soil water content. Aiming at these two problems, in the way of defining contact track plate and soft ground, put forward a more accurate simulation method for plate and grouser, soil parameters obtained by the test method. Through the test of soil pressure and direct shear test measured 10% moisture content of Xiasha loam and clay soil parameters. In soft ground simulation analysis, the computation time from the point of view as far as possible to shorten the simulation, the design of "pulling method" Test of tracked vehicle ground adhesion coefficient scheme, and the adhesion coefficient of sandy loam and clay of two kinds of soil were determined. In the aspect of model verification, in accordance with the real vehicle road simulation test bench, established tracked vehicle dynamics model, analyzes the model in different speed, the relative displacement between the wheels and the vehicle is different the road, and the comparison with the experimental data to verify the accuracy of the model.

【學位授予單位】：北京理工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U469.694;TJ810

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