| Tracked vehicles play a very important role in modern military,agriculture,construction,and engineering fields by virtue of their good road surface passing performance.Especially in the military,modern warfare has increased the maneuverability of tracked vehicles.In off-road driving of tracked vehicles,there is a need to face off-road conditions where road surface irregularities such as undulating roads,trenches,and craters change rapidly.In addition to the longitudinal main movement of the vehicle,there are other degrees of freedom of the vehicle due to uneven road surface and changes in longitudinal speed.Directional movements,including the vertical,pitch,and roll motions of tracked vehicles,are collectively referred to as accompanying motions.This paper combines the high-speed tracked vehicles with the road conditions and random road conditions of the test site,establishes a dynamic model of the vehicle,and studies the main longitudinal and concomitant motion response characteristics of the tracked vehicle under off-road conditions.The tracked vehicle is accompanied by a mathematical model of motion,which mainly includes a mathematical model of a high-speed tracked vehicle,a track-road coupling model,and a road surface excitation model.Among them,the dynamic model of the vehicle focuses on the mathematical model description of the balance elbow,body and weight wheel.Based on the mathematical model of the vehicle,a simulation model of tracked vehicle was established using MATLAB numerical simulation software and Recurdyn multi-body dynamics software,and the influence of vehicle concomitant movement on longitudinal running performance of the vehicle was compared.And research and analysis of the road surface roughness incentive and the input power of the vehicle are important factors influencing the power loss of the vehicle accompanying the movement.The greater the road roughness,the greater the input driving power of the vehicle,the greater the proportion of the vehicle’s accompanying power loss to the input power of the vehicle.Since tracked vehicles is a very complex mechanical system,design,prototyping,testing and improvement has always been a traditional R&D model for tracked vehicles.This model is based on empirical formulas and extensive tests.This paper proposes to apply the model test method based on similarity theory widely applied in mechanics analysis,engineering construction and other fields to the dynamic response problem of tracked vehicles,and to push the similarity criteria for tracked vehicles.Finally,a dynamic response test scheme for a 1:10 tracked vehicle similarity model was designed and a similar test model system for tracked vehicles was constructed.The vertical acceleration,longitudinal acceleration and pitching speed of the vehicle model were the main targets for measurement.The vehicle model was experimentally studied.Vertical,pitch and longitudinal motion characteristics under different simulated road excitations.And compared with the vehicle simulation prototype established by using multi-body dynamics,the feasibility of the similarity test method of tracked vehicles was verified. |
