扈凯,张文毅,李坤,刘宏俊,祁兵.高地隙三角履带底盘多体动力学建模与试验[J].农业机械学报,2021,52(7):386-394.
HU Kai,ZHANG Wenyi,LI Kun,LIU Hongjun,QI Bing.Multi-body Dynamics Modeling and Experiment of Triangular Tracked Chassis with High Ground Clearance[J].Transactions of the Chinese Society for Agricultural Machinery,2021,52(7):386-394.
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高地隙三角履带底盘多体动力学建模与试验   [下载全文]
Multi-body Dynamics Modeling and Experiment of Triangular Tracked Chassis with High Ground Clearance   [Download Pdf][in English]
投稿时间:2021-04-08  
DOI:10.6041/j.issn.1000-1298.2021.07.043
中文关键词:  三角履带  农机底盘  多体动力学  拓扑结构  试验
基金项目:农业农村部南京农业机械化研究所所级重点项目(CAAS-NRAM-SJ-201903)和国家重点研发计划项目(2017YFD0700704)
作者单位
扈凯 农业农村部南京农业机械化研究所 
张文毅 农业农村部南京农业机械化研究所 
李坤 农业农村部南京农业机械化研究所 
刘宏俊 农业农村部南京农业机械化研究所 
祁兵 农业农村部南京农业机械化研究所 
中文摘要:三角履带底盘具有高地隙、接地压力小、机动性好等优点,多体动力学分析是研究履带底盘运动特性的重要方法。以高地隙三角履带底盘为研究对象,建立了履带底盘各组件和车体总成的拓扑结构模型,分析了各部分之间的约束和运动关系;采用运动学和动力学手段分析了履带底盘行驶和爬坡的运动过程,构建了承重轮与履带接触模型、履带张紧力模型和履带-软地面接触模型;建立了高地隙三角履带底盘的三维模型,采用谐波叠加法构建了B级路面(水泥硬质路面)和E级路面(农田软质路面)的路谱,并进行了模型仿真与测试验证。结果表明,在硬质路面和农田软质路面上,所构建模型的平均速度误差率均小于1.50%,行驶偏移量误差分别为5.68%、4.89%,平均俯仰角误差不大于3%,说明高地隙三角履带底盘多体动力学模型具有较高的精度。
HU Kai  ZHANG Wenyi  LI Kun  LIU Hongjun  QI Bing
Nanjing Research Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs
Key Words:triangular crawler  chassis of agricultural machinery  multi-body dynamics  topological structure  experiment
Abstract:Triangular crawler chassis has the advantages of high ground clearance, low grounding pressure, good maneuverability, etc. Multi-body dynamics analysis is an important method to study the dynamic characteristics of crawler chassis. The triangular crawler chassis with high ground clearance was studied and its topological structure model and car body assembly were constructed. The constraints and motion relationship between the various parts were analyzed. The motion state of the tracked chassis in the driving and climbing process was studied. The contact model between load bearing wheel and crawler, the crawler tension model and the contact model between crawler and soft ground were deduced and analyzed. The road spectra of class B-level road (cement hard ground pavement) and class E-level road (farmland soft soil surface) were established by harmonic superposition method. Then multi-body dynamics simulation and experiment verification were conducted. The results showed that the average speed error rate of the established model was less than 1.50%. The distance offset error of hard road was 5.68%, and that of soft soil road was 4.89%. The average pitch angle error was no more than 3%. The data indicated that the established multi-body dynamics model of triangular crawler chassis had high accuracy. The research conclusions and methods can be extended to the dynamic investigation of other tracked chassis.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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