CN111076951A - Method for testing steering slip ratio of tracked vehicle - Google Patents

Method for testing steering slip ratio of tracked vehicle Download PDF

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CN111076951A
CN111076951A CN201911234074.0A CN201911234074A CN111076951A CN 111076951 A CN111076951 A CN 111076951A CN 201911234074 A CN201911234074 A CN 201911234074A CN 111076951 A CN111076951 A CN 111076951A
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steering
tracked vehicle
point
slip ratio
track
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CN111076951B (en
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李耀明
丁肇
唐忠
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Jiangsu University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/03—Endless-tracks

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Abstract

The invention provides a method for testing the steering slip ratio of a tracked vehicle, which comprises the following steps: establishing an equation of motion of any point on the creeper tread in the steering process; establishing a mathematical model of unilateral braking steering time T and track slip ratio i of the tracked vehicle; and calculating the track slip ratio i by testing the unilateral braking steering time T and the rotating speed n of the driving wheel of the tracked vehicle. The method can measure the track slip rate of the tracked vehicle when the tracked vehicle turns under different conditions, has simple test process and improves the test efficiency.

Description

Method for testing steering slip ratio of tracked vehicle
Technical Field
The invention relates to the field of testing of steering slip ratio of a crawler, in particular to a method for testing the steering slip ratio of a crawler.
Background
The slip refers to the absolute movement of the track relative to the ground, and the movement is determined by the relative movement of the track to the vehicle body (the winding movement of the track) and the traction movement (the rotation movement of the tracked vehicle around the steering center), and when the relative movement speed is higher than the traction movement speed, the slip phenomenon is generated.
The crawler vehicle always slips relative to the ground along with the track of the ground contact section in the steering process, so that the steering performance of the vehicle is greatly influenced, and the working safety, the trafficability characteristic and the working efficiency of the vehicle are directly influenced.
In the steering process of the crawler-type vehicle, the crawler-type vehicle generates slip under the braking action of the inner crawler and the driving force action of the outer crawler. The actual steering radius of the vehicle is larger than the theoretical steering radius, the actual steering angular velocity is smaller than the theoretical steering angular velocity, and the actual maneuvering performance is lower than the theoretical maneuvering performance. The efficient drive efficiency of the crawler combine harvester needs to work within the optimal slip ratio range, and different slip ratio ranges exist in different field operations. Slip is related to ground properties, turning radius, track plate configuration, and the like.
The traditional slip rate measurement is complex and mainly comprises the measurement of the rotating speed of a driving wheel and the measurement of the vehicle speed. The measurement of the rotating speed mostly uses a Hall sensor, a photoelectric encoder and the like, and the precision is higher; the measurement of the vehicle speed is complex, and the measuring equipment generally comprises a GPS, a radar, a five-wheel instrument and the like. In the 'test and analysis of the slip rate of the tractor driving wheel under the road surface running condition', the clockwork measures the rotating speed of the tractor driving wheel by adopting an encoder, and measures the running speed by adopting 3 methods, namely a GPS method, a radar method and a minimum wheel speed method, but the GPS method is greatly influenced by weather, the radar method is suitable for the environment with better road surface condition, and the minimum wheel speed method is suitable for the condition of high rotating speed. The Chinese patent discloses a method for testing the slip ratio of a tractor, which also utilizes an encoder to measure the rotating speeds of front and rear wheels on the same side and utilizes a radar to measure the translation speed of a vehicle. Zhou Hui et al adopted a set of LabVIEW-based tractor slip ratio measurement system in the four-wheel drive tractor slip ratio measurement and characteristic analysis design, and verified the accuracy of the system through field experiments, but the system requires complex software and hardware, is high in price, and has no universality. A relation model between theoretical speeds, actual relative steering radiuses, steering angular speeds and slip rates of the two side tracks of the tracked vehicle is established in research on a slip rate testing method for the steering process of the tracked vehicle by Song navy and the like, and the slip rates of the two side tracks in the steering process can be calculated by measuring physical quantities of track movement, but the calculated physical quantities are more and the measurement is more difficult.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for testing the steering slip ratio of a tracked vehicle, which solves the problems that the vehicle speed measurement is more complex and is greatly influenced by the environment in the traditional test.
The present invention achieves the above-described object by the following technical means.
A method for testing the steering slip ratio of a tracked vehicle comprises the following steps:
establishing an equation of motion of any point on the creeper tread in the steering process;
establishing a mathematical model of unilateral braking steering time T and track slip ratio i of the tracked vehicle;
and calculating the track slip ratio i by testing the unilateral braking steering time T and the rotating speed n of the driving wheel of the tracked vehicle.
Further, an equation of motion of any point on the track shoe in the steering process is established, and the equation of motion specifically comprises the following steps:
respectively establishing a static coordinate system XOY based on the ground and a rotating coordinate system x rotating along with the chassis1o1y1；
Selecting any point M on the track shoe in contact with the ground when the tracked vehicle is turned through an angle
Figure RE-GDA0002407603340000021
When the time is changed from 0 to t, the coordinate system x is rotated1o1y1The coordinate value of the midpoint M is represented by (x)p0,yp0) Become (x)p,yp)；
Setting the absolute velocity of M point to
Figure RE-GDA0002407603340000022
Relative velocity of M point is
Figure RE-GDA0002407603340000023
The tie-in speed of M point is
Figure RE-GDA0002407603340000024
Then:
Figure RE-GDA0002407603340000025
wherein: vpThe theoretical advancing speed of the crawler belt; omega is the actual steering angular velocity of the tracked vehicle,
Figure RE-GDA0002407603340000026
i is the track slip ratio, and B is the track gauge;
Figure RE-GDA0002407603340000027
and
Figure RE-GDA0002407603340000028
respectively a rotating coordinate system x1o1y1Two unit vectors of (1);
according to
Figure RE-GDA0002407603340000029
The absolute velocity of the point M can be obtained as follows:
Figure RE-GDA00024076033400000210
the absolute velocity of point M in the static coordinate system XOY is then:
Figure RE-GDA00024076033400000211
wherein:
Figure RE-GDA00024076033400000212
and
Figure RE-GDA00024076033400000213
two unit vectors in the stationary coordinate system XOY;
thus, the equation of motion for point M is:
Figure RE-GDA00024076033400000214
further, a mathematical model of the unilateral braking steering time T and the track slip ratio i of the tracked vehicle is established, and the mathematical model specifically comprises the following steps:
let time be t1When the point P on the track shoe leaves the ground, the vehicle needs to rotate by an angle α,
wherein:
Figure RE-GDA0002407603340000031
xptand yptRespectively the transit time t of the tracked vehicle1The coordinate value of the outermost point P of the most forward track shoe can be obtained by solving an equation of motion of any point;
the one-week turning time of the vehicle is as follows:
Figure RE-GDA0002407603340000032
l is the length of the creeper tread; vpIs the theoretical travel speed of the track, Vp2 pi rn; r is the radius of the driving wheel, and n is the rotating speed of the driving wheel;
the relationship between the steering time T and the slip ratio i is as follows:
Figure RE-GDA0002407603340000033
the invention has the beneficial effects that:
1. the method for testing the steering slip ratio of the tracked vehicle solves the problems that the vehicle speed measurement is complex and is greatly influenced by the environment in the traditional test, and the used test method is simple and easy to implement.
2. The method for testing the steering slip ratio of the tracked vehicle is effective in verification, and the track slip ratio of the tracked vehicle under different ground conditions can be obtained.
3. The testing method for the steering slip ratio of the tracked vehicle verifies the effectiveness of the method through test calculation and comparison with a theoretical value.
Drawings
FIG. 1 is a schematic view of the tracked vehicle steering motion of the present invention.
FIG. 2 is a schematic view of the velocity at any point on the track shoes during steering of the track laying vehicle according to the present invention.
FIG. 3 is a track trace diagram of the tracked vehicle according to the present invention as it turns.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
The track slip rate of a certain type of tracked vehicle during steering is tested in three ground environments respectively. The three ground surfaces are respectively a cement ground surface, a sand ground surface and a soft soil ground surface. The structural parameters of the tracked vehicle are as follows: the ground-contact length L of the crawler belt is 1720mm, the width B of the crawler belt is 50mm, and the radius r of the driving wheel is 100 mm.
The advancing speed adopts a low gear, the rotating speed measuring device adopts a Hall sensor to measure the rotating speed n of the driving wheel, and the theoretical advancing speed V of the crawler belt can be obtainedpIs 0.8 m/s.
As shown in figure 1, a static coordinate system XOY based on the ground and a coordinate system x rotating with a chassis are established1o1y1For any point M on the track shoe where the outer track just contacts the ground, when the tracked vehicle turns through an angle
Figure RE-GDA0002407603340000041
When the time is changed from 0 to t, the point M is in the coordinate system x1o1y1The coordinate value of (A) is represented by (x)p0,yp0) Become (x)p,yp)，
Setting the absolute speed of M point as the object of study
Figure RE-GDA0002407603340000042
Relative velocity of
Figure RE-GDA0002407603340000043
The drawing speed is
Figure RE-GDA0002407603340000044
Then
Figure RE-GDA0002407603340000045
Figure RE-GDA0002407603340000046
VpThe theoretical traveling speed of the crawler belt, omega is the actual steering angular speed of the crawler belt:
Figure RE-GDA0002407603340000047
i is the track slip ratio, and B is the track gauge;
the three speeds are related to each other
Figure RE-GDA0002407603340000048
As shown in fig. 2, the absolute velocity at point M can be obtained as:
Figure RE-GDA0002407603340000049
wherein:
Figure RE-GDA00024076033400000410
and
Figure RE-GDA00024076033400000411
for rotating the coordinate system x1o1y1Two unit vectors of (1);
therefore, the absolute velocity of point M in the stationary coordinate system XOY is:
Figure RE-GDA00024076033400000412
wherein:
Figure RE-GDA00024076033400000413
and
Figure RE-GDA00024076033400000414
is a two-unit vector in the stationary coordinate system XOY
The trajectory equation for the M points can be found as:
Figure RE-GDA00024076033400000415
as shown in FIG. 3, let time t1When the point P on the track shoe leaves the ground, the vehicle rotates by an angle α, and then:
Figure RE-GDA00024076033400000416
Figure RE-GDA0002407603340000051
xptand yptRespectively the transit time t of the tracked vehicle1The coordinate value of the outermost point P of the most forward track shoe can be obtained by a steering track equation of the point.
Therefore, the vehicle steering one-week time is:
Figure RE-GDA0002407603340000052
wherein: l is the length of the track shoe, VpThe theoretical advancing speed of the crawler belt;
calculating the advancing speed V of the crawler wheelp
Vp＝2πrn (11)
r is the radius of the driving wheel, and n is the rotating speed of the driving wheel;
the relationship between the steering time T and the slip ratio i obtained by the above formula is:
Figure RE-GDA0002407603340000053
the known parameters of the crawler, namely the crawler grounding length L, the crawler width B, the radius r of the driving wheel, the measured steering time T and the rotating speed n of the driving wheel are driven into (12), and finally the relation between the steering time T and the slip ratio i of the crawler is obtained
T＝11.836i2+5.677i+10.607 (13)
According to the formula (13), the time T for the tracked vehicle to turn for one circle is measured under three ground conditions, and the slip ratio of the tracked vehicle under the ground conditions can be obtained. The average slip ratio test values were compared with the theoretical values listed in the paper "study of the steering problem of tracked vehicles" by the WEIGH control, and the results are shown in Table 1
TABLE 1 comparison of theoretical values with test values according to the invention
Cement floor Gravel ground Soft soil ground
Range of theoretical value 0.1-0.2 0.2-0.3 0.3-0.6
Mean test value of the invention 0.164(0.02) 0.235(0.023) 0.448(0.012)
Note: in the table, the values in parentheses are the standard error of the mean test value
As is apparent from Table 1, the track slip measured using the method of the present invention is within the theoretical range. The test result verifies the effectiveness of the method. Compared with the traditional method, the method provided by the invention is simpler, and the problem that the slip ratio measurement is limited by environmental conditions when the tracked vehicle turns is solved.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (3)

1. A method for testing the steering slip ratio of a tracked vehicle is characterized by comprising the following steps:
establishing an equation of motion of any point on the creeper tread in the steering process;
establishing a mathematical model of unilateral braking steering time T and track slip ratio i of the tracked vehicle;
and calculating the track slip ratio i by testing the unilateral braking steering time T and the rotating speed n of the driving wheel of the tracked vehicle.
2. The method for testing the steering slip ratio of the tracked vehicle according to claim 1, wherein an equation of motion of any point on the track plate during steering is established, and specifically comprises the following steps:
respectively establishing a static coordinate system XOY based on the ground and a rotating coordinate system x rotating along with the chassis1o1y1；
Selecting any point M on the track shoe in contact with the ground when the tracked vehicle is turned through an angle
Figure RE-FDA0002407603330000011
When the time is changed from 0 to t, the coordinate system x is rotated1o1y1The coordinate value of the midpoint M is represented by (x)p0,yp0) Become (x)p,yp)；
Setting the absolute velocity of M point to
Figure RE-FDA0002407603330000012
Relative velocity of M point is
Figure RE-FDA0002407603330000013
Tie-in speed of M pointsDegree of
Figure RE-FDA0002407603330000014
Then:
Figure RE-FDA0002407603330000015
wherein: vpThe theoretical advancing speed of the crawler belt; omega is the actual steering angular velocity of the tracked vehicle,
Figure RE-FDA0002407603330000016
i is the track slip ratio, and B is the track gauge;
Figure RE-FDA0002407603330000017
and
Figure RE-FDA0002407603330000018
respectively a rotating coordinate system x1o1y1Two unit vectors of (1);
according to
Figure RE-FDA0002407603330000019
The absolute velocity of the point M can be obtained as follows:
Figure RE-FDA00024076033300000110
the absolute velocity of point M in the static coordinate system XOY is then:
Figure RE-FDA00024076033300000111
wherein:
Figure RE-FDA00024076033300000112
and
Figure RE-FDA00024076033300000113
two unit vectors in the stationary coordinate system XOY;
thus, the equation of motion for point M is:
Figure RE-FDA00024076033300000114
3. the method for testing the steering slip ratio of the tracked vehicle according to claim 2, wherein a mathematical model of the unilateral braking steering time T and the track slip ratio i of the tracked vehicle is established, and specifically comprises the following steps:
let time be t1When the point P on the track shoe leaves the ground, the vehicle needs to rotate by an angle α,
wherein:
Figure RE-FDA0002407603330000021
xptand yptRespectively the transit time t of the tracked vehicle1The coordinate value of the outermost point P of the most forward track shoe can be obtained by solving an equation of motion of any point;
the one-week turning time of the vehicle is as follows:
Figure RE-FDA0002407603330000022
l is the length of the creeper tread; vpIs the theoretical travel speed of the track, Vp2 pi rn; r is the radius of the driving wheel, and n is the rotating speed of the driving wheel;
the relationship between the steering time T and the slip ratio i is as follows:
Figure RE-FDA0002407603330000023
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CN113432893A (en) * 2021-06-08 2021-09-24 上海大学 Method for testing steering performance of tracked vehicle

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