Study Of The Ride Dynamics Characteristics Of The Off-road Vehicle With Two Degrees Of Freedom Articulated Body

In recent years, frequent natural disasters at home and abroad, causing serious damage to the road after the disaster relief work is not commenced in time, need a lot of very high and mobility through the off-road vehicles. Border areas of armed conflict have occurred and continue to upgrade, in response to a variety of terrain of the battlefield and to provide reliable logistics support, troops also need a lot of that road through a variety of complex structures and obstacles in the off-road vehicles. Therefore, in order to improve the passage of vehicles, it is significant to research the vehicle ride dynamics characteristics.In this thesis, to analyze the characteristics of vehicle's ride dynamics, namely, the vehicle's trafficability when riding, as the platform of the national 863 Project "The Wheeled Robot with Two Degrees of Freedom Articulated Body for the complex non-structural terrain", articulated off-road vehicles on the two degrees of freedom when the more impaired driving dynamics were studied and analyzed, using Kane multi-body dynamics method to establish the car's kinetic model was derived before and after the body of the car, driving wheel supporting the vehicle dynamics equations and the formula through the index, and through computer simulation and prototype Experimental research, analysis the change of the vehicle when the vehicle dynamics obstacle parameters and indicators of supporting trafficability.First, before the analysis of the the vehicle of two degrees of freedom ride dynamics characteristics, the vehicle's trafficability is studied theoretically, provides for the following research objectives targeted, while the computer simulation and experimental research prototype Analysis provides a valuable reference.Secondly, based on the definitions of the supporting trafficability, combined with the features of the off-road vehicle with two degrees of freedom articulated body, Kane's Method associated with the multi-body system dynamics is applied to research the vehicle's support trafficability, and derive the expression of the support trafficability, including the traction coefficient, the traction efficiency and the adhesion weight. Finally, the theoretical analysis based on the mathematical model, the paper articulated vehicles of the two degree of freedom computer simulation and prototype experiments. Before the simulation and experiment, based on geometric definitions by combining off-road vehicles, the characteristics of two degrees of freedom articulated body, determined by parameters like vehicle geometry and its unique geometry. With these measured parameters, this paper establishes a three-dimensional solid model of the car, so the shape model and prototype, basically the same size, so that the simulation results more accurate. In the computer simulation analysis has been established for three-dimensional solid model of the vehicle obstacle simulated and the dynamic characteristics of vehicle parameters, including pre and post body and the body before and after the drive wheel relative rotation angle, angular velocity And angular acceleration. In the prototype experiment, according to the established mathematical models and computer simulation model designed to test the same obstacle, the more impaired by a car when some of the actual dynamics parameters. At the same time, the simulation and experiment parameters is the formula for solving driving dynamics and vehicle support through the key parameters of the index formula. After analysis, the test results and simulation results are in agreement, confirming the correctness of the simulation model. According to the definition of the support trafficability combined with the features of the off-road vehicle with two degrees of freedom articulated body, Kane's Method associated with the multi-body system dynamics is applied to research the vehicle's support trafficability, and derive the expression of the support trafficability, including the traction coefficient, the traction efficiency and the adhesion weight.In this thesis, it will be helpful to study the trafficability of the off-road vehicle with two degrees of freedom articulated body from the results and equations of the obstacle-crossing dynamics testing, the simulation and the mathematical model of the vehicle. Some conclusions from the thesis can provide more valuable reference for studying the ride dynamics of the off-road vehicle with two degrees of freedom articulated body.