轮式车辆低速稳态滑移转向特性研究

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In this paper, the mathematical model for the stationary skid-steering process of wheeled vehicles is set up and the numerical method tbr analyzing the stationary turning performance is given. Based on a 6×6 all-terrain vehicle, the effect of relative steering radius on skid-steering performance of wheeled vehicles with low speed is simulated and analyzed. The result shows that relative steering radius increases with wheel rev ratio increasing. Relative transverse displacement increases with relative steering radius increasing, relative vertical displacement, vertical force, turning resistance torque decreases with rela- tive steering radius increasiag.建立了轮式车辆稳态滑移转向的数学模型并提出数值求解方法,并基于某6×6全地形车,仿真分析了轮式车辆在低速时相对转向半径对滑移转向性能的影响。仿真结果表明：内外车轮的转速比越大,相对转向半径越大;相对横向偏移量随相对转向半径的增大而增大;相对纵向偏移量、纵向力和转向阻力矩随相对转向半径的增加而较少。