履带式特种车辆精细化动力学建模与仿真

The tracked vehicle dynamics model serves as a foundation for the design of vehicle structure optimization and the development, testing and calibration of control algorithms. However, the user is unaware of the dynamic equations and gradient information of the model created using commercial software, which significantly lowers the efficiency of the optimization of structural parameters and control parameters. Additionally, the poor real-time performance and low solving efficiency of the currently available commercial software have an impact on the development and porting of control algorithm. An improved dynamic model of tracked vehicles, which can satisfy the needs of vertical and horizontal coupling motion simulation, is constructed and simulated based on the derivation of multibody dynamics in order to address the aforementioned issues. A dynamic model of vehicle body considering the three-dimensional coupling motion of space and a dynamic model of track chain including track link are established. By calculating the interaction force between the track links and other components, the vehicle body model, the track chain model and the ground are related, and finally a track vehicle dynamic model with 190 degrees of freedom is constructed. It was compared to the ADAMS Tracked Vehicle Toolkit (ATV) in terms of acceleration, braking, and steering. The simulated results of the proposed simulation model are remarkably compatible with those of commercial software, confirming the accuracy of the approach.