重心可调式履带车辆设计与坡地稳定性研究

Design of Adjustable Center of Gravity Tracked Vehicles and Study on Slope Stability

摘要:

针对丘陵山区坡陡路窄、地形地貌复杂、现有机型坡地适用性差和山地动力机械设计方法缺乏的问题，本文提出一种适用于丘陵山地的“横摆-纵移”重心调整式履带车辆方案，为降低研发成本、缩短研发周期，特创制一种“横摆-纵移”重心可调式遥控履带比例样机，用于方案的可行性验证与坡地稳定性研究。对重心调整前后的坡地行驶建立数学模型并进行受力分析，提出一种兼顾横向和纵向稳定性指标——履带接地压力分布均匀度。接地压力与通过性试验结果表明：本文提出的“横摆-纵移”重心可调方案可极大地改进2条履带在坡地行驶的接地压力分布均匀度；在5°、10°、15°、20°条件下，整机重心纵向与横向均调整后，航偏角45°上坡时，车辆平均牵引力分别为39870、33941、26567、22232N，相比调整前分别增加13.9%、18.1%、27.3%和50.5%。极限倾翻试验结果表明：上层车身纵向距离伸出至最大值150mm时，静态纵向极限侧翻角从39°提升至46°，相比重心调整前增加17.9%；上层车身横摆角度调至最大值25°时，静态横向极限仰翻角从40.0°提升至43.5°，相比调整前增加8.8%；在斜坡上经过障碍物时，通过横向或纵向重心调整后，车辆在坡地上的动态倾翻系数会有所提升，提升效果会随坡度增加而减弱。研究结果证明本文方案可行且能显著提升履带车辆在坡地的行驶稳定性和抗倾翻能力，可为履带车辆性能分析和结构优化设计提供方法和数据支撑。

Abstract:

In response to the problems of steep slopes and narrow roads, complex terrain and landforms, poor applicability of existing models on sloping land, and lack of design theory for mountain power machinery in hilly and mountainous areas, this paper proposes a “lateral swing longitudinal shift” center of gravity adjustment crawler tractor scheme suitable for hilly and mountainous areas. In order to reduce research and development costs and shorten the research and development cycle, a “lateral swing longitudinal shift” center of gravity adjustable remote control crawler proportional prototype is specially created for feasibility verification and slope stability research of the scheme. A mathematical model and force analysis were conducted for slope driving before and after adjusting the center of gravity, and a stability index that considers both lateral and longitudinal directions-the uniform distribution coefficient of track contact pressure-was proposed. Grounding pressure and passability tests were conducted, and the results showed that the “lateral swing longitudinal shift” center of gravity adjustable scheme proposed in this paper can greatly improve the uniformity of grounding pressure distribution for two tracks traveling on slopes;Under the slope conditions of 5°, 10°, 15°, and 20°, after adjusting the center of gravity of the whole machine longitudinally and laterally, the maximum traction force of the vehicle when inclined 45° uphill is 398.70N, 339.41N, 265.67N, and 222.32N, respectively. The maximum traction force has increased by 13.9%, 18.1%, 27.3%, and 50.5% compared to before regulation. A maximum rollover test was conducted, and the results showed that when the longitudinal distance of the upper body extended to a maximum of 150mm, the static longitudinal maximum rollover angle increased from 39° to 46°, an increase of 17.9% compared to before the center of gravity adjustment;When the upper body sway angle is adjusted to the maximum value of 25°, the static lateral limit tilt angle is increased from 40.0° to 43.5°, an increase of 8.8% compared to before regulation;When passing obstacles on a slope, adjusting the horizontal or vertical center of gravity will increase the dynamic tipping coefficient of the vehicle on the slope, and the lifting effect will weaken with the increase of slope. Prove that the proposed solution is feasible and can significantly improve the driving stability and anti rollover ability of tracked vehicles on slopes, providing theoretical and data support for performance analysis and structural optimization design of tracked vehicles.