阅读说明：本技术 一种轮履互换底盘静态转向扭矩计算方法 (Wheel-track interchange chassis static steering torque calculation method ) 是由 梁康 涂群章 沈新民 房中行 杨旋 于 2021-02-04 设计创作，主要内容包括：一种轮履互换底盘静态转向扭矩计算方法,涉及车辆在履带行驶模式下的静态转向扭矩计算方法的技术领域。包括如下步骤：S1：初始化参数,对整车载荷进行分析,同时取得各轮系位置；S2：得到负重轮轴的承载力；S3：得到每个负重轮产生的转向扭矩；S4：生成履带总成的静态转向扭矩。本发明无需计算接地压力分布即可计算轮履互换底盘的所需的转向扭矩,从而避免因计算接地压力分布带来的复杂过程,大大降低计算转向扭矩的复杂度。(A wheel-track interchange chassis static steering torque calculation method relates to the technical field of static steering torque calculation methods of vehicles in a track running mode. The method comprises the following steps: s1: initializing parameters, analyzing the load of the whole vehicle, and simultaneously obtaining the positions of each gear train; s2: obtaining the bearing capacity of the load bearing wheel axle; s3: obtaining the steering torque generated by each bogie wheel; s4: a static steering torque of the track assembly is generated. The method can calculate the steering torque required by the wheel-track interchange chassis without calculating the grounding pressure distribution, thereby avoiding the complex process caused by calculating the grounding pressure distribution and greatly reducing the complexity of calculating the steering torque.)

1. A wheel-track interchange chassis static steering torque calculation method is characterized by comprising the following steps:

s1: initializing parameters, analyzing the load of the whole vehicle, and simultaneously obtaining the positions of each gear train;

s2: obtaining the bearing capacity of the load bearing wheel axle;

s3: obtaining the steering torque generated by each bogie wheel;

s4: a static steering torque of the track assembly is generated.

2. The method for calculating the static steering torque of the wheel-track interchange chassis according to claim 1, wherein the step S1 is specifically performed by: determining the load G of the whole vehicle₀Track assembly weight G₁And the position parameter x of the wheel train_ioAnd y_io；x_ioIs the ordinate of the center point of the ith load bearing wheel axle; y is_ioThe abscissa is the central point of the ith load bearing wheel shaft; taking a steering hinge point as an O point and taking the vehicle running direction as an X axis; the lateral direction of the vehicle is taken as the Y axis.

3. The method for calculating the static steering torque of the wheel-track interchange chassis according to claim 2, wherein the step S2 is implemented by the following steps:

based on the wheel train layout of the track assembly, L can be obtained₁、L₂、L₃、L₄、L₁₁、L₁₂、L₂₁And L₂₂(ii) a Combined with the load G of the whole vehicle₀And track assembly weight G₁The load F of each load bearing axle can be obtained_i；α₁Is L₁And L₁And L₂Ratio of sum, α₂Is L₃And L₃And L₄Ratio of sums, beta₁Is L₁₁And L₁₁And L₁₂Ratio of sums, beta₂β₁Is L₂₁And L₂₁And L₂₂The ratio of the sums;

wherein L is₁Is axle load G₀With the first hinge point T₁The horizontal distance of (d); l is₂Is axle load G₀And a second hinge point T₂The horizontal distance of (d); l is₃Is the weight G of the track assembly₁With the first hinge point T₁The horizontal distance of (d); l is₄Is the weight G of the track assembly₁And a second hinge point T₂The horizontal distance of (d); l is₁₁Is a first hinge point T₁With a first load wheel load F₁The horizontal distance of (d); l is₁₂Is a first hinge point T₁And the second load wheel load F₂The horizontal distance of (d); l is₂₁Is a second hinge point T₂With third loading wheel load F₃The horizontal distance of (d); l is₂₂Is a second hinge point T₂And a fourth load wheel load F₄The horizontal distance of (d); x is the number of₁、x₂、x₃、x₄Respectively as the x-coordinate, y-coordinate of the central point of each bogie wheel₁、y₂、y₃、y₄Respectively is a y coordinate of the central point of each bogie wheel; e is the distance between the inner side of the rubber track and a steering hinge point; w is the track width.

4. The method for calculating the static steering torque of the wheel-track interchange chassis according to claim 3, wherein the step S4 is implemented by the following steps:

wherein: m_iaIs the steering torque, M, produced by each road wheel_aIs static steering torque of track assembly, mu is rubber trackCoefficient of friction of the belt with the ground; f_iThe weight carried by the ith bogie wheel; x is the number of_iThe value of the X coordinate of the center point of the ith load bearing wheel axle is shown; y is_iThe value of the Y coordinate of the center point of the ith load bearing wheel axle is shown; taking a steering hinge point as an O point and taking the vehicle running direction as an X axis; the lateral direction of the vehicle is taken as an axis Y; and n is the number of the bogie wheels in the rubber track assembly.

Technical Field

The invention relates to the technical field of a static steering torque calculation method of a vehicle in a track running mode.

Background

The wheel-track interchange chassis has two running modes of a tire and a track, so that the wheel-track interchange chassis has the advantages of the tire and the track, and has the advantages of high running speed, low ground contact ratio pressure and the like. However, the track driving mode steering process of the wheel-track interchange chassis is different from that of a common wheeled vehicle and a track vehicle, and the steering capacity of a steering system of the wheel-track interchange chassis is multiple times of that of the wheeled vehicle. However, accurately calculating the steering torque required by the wheel-track interchange chassis is one of the most important design parameters of the wheel-track interchange chassis-dedicated steering system.

At present, a method for calculating steering torque of a wheel-track interchange chassis is mainly a method for calculating based on ground contact pressure. As shown in fig. 1, the method first calculates the ground contact pressure distribution of the vehicle, and then calculates the steering torque. However, the distribution of the ground contact pressure is influenced by various factors such as the arrangement of the crawler wheel system, the ground state and the like, and the accurate steering torque can be obtained only after test and test are needed. The method has complex calculation process, and the whole calculation process can be completed only by combining experiments, thereby being inconvenient for popularization and application of the method.

Disclosure of Invention

The invention provides a static steering torque calculation method for a wheel-track interchange chassis, which can calculate the required steering torque of the wheel-track interchange chassis without calculating the grounding pressure distribution, thereby avoiding the complex process caused by calculating the grounding pressure distribution and greatly reducing the complexity of calculating the steering torque.

A wheel-track interchange chassis static steering torque calculation method comprises the following steps:

s1: initializing parameters, analyzing the load of the whole vehicle, and simultaneously obtaining the positions of each gear train;

s2: obtaining the bearing capacity of the load bearing wheel axle;

s3: obtaining the steering torque generated by each bogie wheel;

s4: a static steering torque of the track assembly is generated.

Preferably, the specific process of step S1 of the present invention is: determining the load G of the whole vehicle₀Track assembly weight G₁And the position parameter x of the wheel train_ioAnd y_io；x_ioIs the ordinate of the center point of the ith load bearing wheel axle; y is_ioThe abscissa is the central point of the ith load bearing wheel shaft; taking a steering hinge point as an O point and taking the vehicle running direction as an X axis; the lateral direction of the vehicle is taken as the Y axis.

Preferably, the specific process of step S2 of the present invention is:

based on the wheel train layout of the track assembly, L can be obtained₁、L₂、L₃、L₄、L₁₁、L₁₂、L₂₁And L₂₂(ii) a Combined with the load G of the whole vehicle₀And track assembly weight G₁The load F of each load bearing axle can be obtained_i；α₁Is L₁And L₁And L₂Ratio of sum, α₂Is L₃And L₃And L₄Ratio of sums, beta₁Is L₁₁And L₁₁And L₁₂Ratio of sums, beta₂β₁Is L₂₁And L₂₁And L₂₂The ratio of the sums;

wherein L is₁Is axle load G₀With the first hinge point T₁The horizontal distance of (d); l is₂Is axle load G₀And a second hinge point T₂The horizontal distance of (d); l is₃Is the weight G of the track assembly₁With the first hinge point T₁The horizontal distance of (d); l is₄Is the weight G of the track assembly₁And a second hinge point T₂The horizontal distance of (d); l is₁₁Is a first hinge point T₁With a first load wheel load F₁The horizontal distance of (d); l is₁₂Is a first hinge point T₁And the second load wheel load F₂The horizontal distance of (d); l is₂₁Is a second hinge point T₂With third loading wheel load F₃The horizontal distance of (d); l is₂₂Is a second hinge point T₂And a fourth load wheel load F₄The horizontal distance of (d); x is the number of₁、x₂、x₃、x₄Respectively as the x-coordinate, y-coordinate of the central point of each bogie wheel₁、y₂、y₃、y₄Respectively is a y coordinate of the central point of each bogie wheel; e is the distance between the inner side of the rubber track and a steering hinge point; w is the track width.

Preferably, the specific processes of steps S3 and S4 of the present invention are:

wherein: m_iaIs the steering torque, M, produced by each road wheel_aThe steering torque is the static steering torque of the crawler assembly, and mu is the friction coefficient between the rubber crawler and the ground; f_iThe weight carried by the ith bogie wheel; x is the number of_iThe value of the X coordinate of the center point of the ith load bearing wheel axle is shown; y is_iThe value of the Y coordinate of the center point of the ith load bearing wheel axle is shown; taking a steering hinge point as an O point and taking the vehicle running direction as an X axis; in the lateral direction of the vehicleA Y axis; and n is the number of the bogie wheels in the rubber track assembly.

Compared with the prior art, the technical scheme of the invention is as follows: the complicated calculation process caused by calculating the distribution of the grounding pressure is avoided, so that the settlement process is greatly simplified, and the subsequent calculation is facilitated; the application difficulty of the calculation method is reduced, and engineering popularization and application are facilitated.

Drawings

Fig. 1 is a schematic diagram of a conventional steering torque calculation flow based on a ground contact profile.

FIG. 2 is a schematic diagram of the calculation process of the steering torque based on the spatial layout of the gear train.

Fig. 3 is a schematic diagram of a structure based on the spatial position of a train.

FIG. 4 is a schematic view of a weight bearing axle center point location.

Detailed Description

As shown in fig. 2, a wheel-track interchange chassis static steering torque calculation method includes the following steps:

s1: initializing parameters, analyzing the load of the whole vehicle, and simultaneously obtaining the positions of each gear train;

determining the load G of the whole vehicle₀Track assembly weight G₁And the position parameter x of the wheel train_ioAnd y_io；x_ioIs the ordinate of the center point of the ith load bearing wheel axle; y is_ioThe abscissa is the central point of the ith load bearing wheel shaft; taking a steering hinge point as an O point and taking the vehicle running direction as an X axis; the lateral direction of the vehicle is taken as the Y axis.

S2: obtaining the bearing capacity of the load bearing wheel axle;

based on the wheel train layout of the track assembly, L can be obtained₁、L₂、L₃、L₄、L₁₁、L1₂、L₂₁And L₂₂(ii) a Combined with the load G of the whole vehicle₀And track assembly weight G₁The load F of each load bearing axle can be obtained_i；α₁Is L₁And L₁And L₂Ratio of sum, α₂Is L₃And L₃And L₄Ratio of sums, beta₁Is L₁₁And L₁₁And L₁₂Ratio of sums, beta₂β₁Is L₂₁And L₂₁And L₂₂The ratio of the sums.

As shown in FIG. 3, L₁Is axle load G₀With the first hinge point T₁The horizontal distance of (d); l is₂Is axle load G₀And a second hinge point T₂The horizontal distance of (d); l is₃Is the weight G of the track assembly₁With the first hinge point T₁The horizontal distance of (d); l is₄Is the weight G of the track assembly₁And a second hinge point T₂The horizontal distance of (d); l is₁₁Is a first hinge point T₁With a first load wheel load F₁The horizontal distance of (d); l is₁₂Is a first hinge point T₁And the second load wheel loadF₂The horizontal distance of (d); l is₂₁Is a second hinge point T₂With third loading wheel load F₃The horizontal distance of (d); l is₂₂Is a second hinge point T₂And a fourth load wheel load F₄The horizontal distance of (a). As shown in fig. 4, x₁、x₂、x₃、x₄Respectively as the x-coordinate, y-coordinate of the central point of each bogie wheel₁、y₂、y₃、y₄Respectively is a y coordinate of the central point of each bogie wheel; e is the distance between the inner side of the rubber track and a steering hinge point; w is the track width.

S3: obtaining the steering torque generated by each bogie wheel;

s4: a static steering torque of the track assembly is generated.

Wherein: m_iaIs the steering torque, M, produced by each road wheel_aThe steering torque is the static steering torque of the crawler assembly, and mu is the friction coefficient between the rubber crawler and the ground; f_iThe weight carried by the ith bogie wheel; x is the number of_iThe value of the X coordinate of the center point of the ith load bearing wheel axle is shown; y is_iThe value of the Y coordinate of the center point of the ith load bearing wheel axle is shown; taking a steering hinge point as an O point and taking the vehicle running direction as an X axis; the lateral direction of the vehicle is taken as an axis Y; and n is the number of the bogie wheels in the rubber track assembly.

TABLE 1 technical parameters

The following load and gear train distribution parameters are obtained by solving in combination with the relevant parameters of table 1:

α₁＝0.31；α₂＝0.43；β₁＝0.5；β₂＝0.5；F₁＝45742N；F₂＝45742N；

F₃＝22809N；F₄＝22809N；

further solving to obtain the steering torque generated by each bogie wheel

M_1a＝17748Nm；M_2a＝12527Nm；

M_3a＝7442Nm；M_4a＝13782Nm；

Thereby obtaining the steering torque generated by solving the rubber track assembly

M_a＝M_1a+M_2a+M_3a+M_4a＝51499Nm。