CN111428314B - Layout design method for bogie wheels of tracked vehicle - Google Patents
Layout design method for bogie wheels of tracked vehicle Download PDFInfo
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- CN111428314B CN111428314B CN202010272541.5A CN202010272541A CN111428314B CN 111428314 B CN111428314 B CN 111428314B CN 202010272541 A CN202010272541 A CN 202010272541A CN 111428314 B CN111428314 B CN 111428314B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
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- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention relates to the field of military tracked vehicles and various tracked engineering vehicles, and discloses a layout design method for a bogie wheel of a tracked vehicle. The method comprises the following steps: firstly, determining the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels, and determining the mass center position of the sprung mass of the whole vehicle according to the layout of all parts of the whole vehicle; secondly, defining the distance between each other loading wheel and the center of mass relative to the sprung mass, and defining the distance variable as a design variable; constructing a target function for optimizing the layout of the bogie wheels according to the static balance condition of the whole vehicle; thirdly, acquiring a group of constraint conditions of design variables according to the distance requirement between adjacent bogie wheels; and finally, optimizing and solving to obtain the distance between each loading wheel and the mass center of the sprung mass, and finally obtaining the optimized layout of the loading wheels. The method realizes the superposition of the center of gravity and the center of mass of the tracked vehicle as much as possible by constructing a specific optimization objective function so as to eliminate the coupling of the pitching vibration and the vertical vibration of the center of mass and keep the vehicle body horizontal as much as possible.
Description
Technical Field
The invention relates to the field of military tracked vehicles and various tracked engineering vehicles, in particular to a layout design method for bogie wheels of a tracked vehicle.
Background
For the overall design of crawler-type military vehicles and engineering vehicles, the determination of the relative layout positions of each pair of bogie wheels of the moving system relative to the mass center of the whole vehicle is of great significance, because the arrangement of the bogie wheels of the moving system influences the static balance posture of the vehicle body, further influences the average cross-country speed of the vehicle, and even influences the reliability of the whole vehicle. Because various components in the tracked vehicle are numerous, the centroid position of the whole vehicle is difficult to arrange in the geometric center of the whole vehicle, so that the centroid position of the whole vehicle is not coincident with the centroid position due to the adoption of the layout mode of uniform layout of the bogie wheels, pitching vibration and vertical vibration of the vehicle are coupled, the average cross-country speed of the vehicle is influenced, and on the other hand, the load of each bogie wheel is uneven, and the service life of the bogie wheel is influenced. Therefore, it is desirable to design a layout design method for the bogie wheels of the tracked vehicle.
Disclosure of Invention
The invention aims to provide a layout method of the bogie wheels of a tracked vehicle, which enables the elastic center position of the tracked vehicle to coincide with the mass center position as much as possible so as to eliminate the coupling of the pitching vibration and the vertical vibration of the mass center, keep the vehicle body horizontal and enable the load of each bogie wheel to be equal during static balance.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method of designing a layout for road wheels of a tracked vehicle, the method comprising:
(1) Determining the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels, and determining the mass center position l of the sprung mass of the whole vehicle according to the layout of all parts of the whole vehicle 1 、l n N represents n pairs of bogie wheels, l 1 Distance between the first pair of loading wheels and the whole vehicle spring-loaded mass center of mass, | n The distance between the nth pair of loading wheels and the whole vehicle spring load mass center is represented;
(2) According to the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels of the whole vehicle and the position of the center of mass of the sprung mass, defining the distance between each other loading wheel and the center of mass of the sprung mass, and defining the distance variable as a design variable; constructing a target function for optimizing the layout of the bogie wheels according to the static balance condition of the whole vehicle;
(3) Acquiring a group of constraint conditions of design variables according to the distance requirement between adjacent bogie wheels, namely the non-collision condition of the adjacent bogie wheels;
(4) And (3) according to the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels determined in the step (1), carrying out optimization solution to obtain the distance between each loading wheel and the sprung mass centroid by combining the target function and the design variable determined in the step (2) and the constraint condition of the design variable in the step (3), and finally obtaining the optimized layout of the loading wheels.
Further, in the second step, the objective function of the constructed optimization of the layout of the bogie wheel is as follows:
abs[l 1 +l 2 +l 3 -(l 4 +...+l n )]，
wherein l 1 、l 2 、……、l n The distance from the center of the bogie wheel of the nth pair to the mass center of the sprung mass of the whole vehicle is 1 st pair, 2 nd pair, 82308230823082.
Further, in the third step, the constraint condition of the distance of each loading wheel relative to the center of mass of the sprung mass is as follows:
wherein: the bogie radius R and the spacing s between adjacent bogies are known values; l 1 、l 2 、……、l n The distance from the center of the bogie wheel of the 1 st pair, the 2 nd pair, the 8230the vehicle sprung mass center of mass of the vehicle.
Further, n is more than or equal to 5 and less than or equal to 7.
The invention achieves the following beneficial effects:
the invention provides a method for quickly arranging the loading wheels of a tracked vehicle, which realizes the superposition of the center of mass and the position of the center of mass of the tracked vehicle as much as possible by constructing a specific optimization objective function so as to eliminate the coupling of the pitching vibration and the vertical vibration of the center of mass and keep the vehicle body horizontal as much as possible.
Drawings
FIG. 1 is a schematic illustration of a road wheel layout;
FIG. 2 is a road wheel layout determination flow diagram.
Detailed Description
The following describes a layout design method for a road wheel of a tracked vehicle, with reference to the accompanying drawings and embodiments.
Referring to fig. 2, the present invention provides a layout design method for a bogie wheel of a tracked vehicle, the method comprising:
(1) Setting n pairs of loading wheels of the whole crawler, determining the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels, and determining the mass center position l of the sprung mass of the whole crawler 1 、l n ，5≤n≤7；
(2) According to the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels of the whole vehicle and the position of the mass center of the sprung mass, defining the distance between each other loading wheel and the mass center of the sprung mass relative to the sprung mass, and keeping the distance l from the center of each loading wheel to the mass center of the sprung mass of the whole vehicle 2 、l 3 、……、l n-1 Defining as a design variable, and constructing an objective function of the bogie wheel layout optimization according to the static balance condition:
abs[l 1 +l 2 +l 3 -(l 4 +...+l n )]；
(3) Acquiring a constraint condition of a set of design variables according to the requirement of the distance between adjacent bogie wheels, namely a non-collision condition of the adjacent bogie wheels, wherein the constraint condition is shown as the following formula:
l 2 -l 3 ＞2R+s
l 1 -l 2 ＞2R+s
l 3 +l 4 ＞2R+s
l 5 -l 4 ＞2R+s
l n -l n-1 ＞2R+s
wherein the bogie wheel radius R and the spacing between adjacent bogie wheels s are known values;
(4) According to the distance between the 1 st pair of bogie wheels and the last 1 pair of bogie wheels determined in the step (1), the target function and the design variable determined in the step (2) are usedCombining the constraint conditions of the design variables in the step (3), and carrying out optimization solution to obtain l 2 、l 3 、……、l n-1 And (5) obtaining the optimized layout of the bogie wheels finally.
The present invention will be described in further detail below with reference to 7 pairs of bogie wheel layouts as examples.
(1) Taking 7 pairs of bogie wheels as an example, the bogie wheels are arranged as shown in figure 1, wherein 1 To l 7 The distance between each loading wheel and the mass center of the spring-loaded mass of the whole vehicle is respectively shown, R is the radius of the loading wheel, and s is the minimum distance between adjacent loading wheels. Determining the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels according to the requirements of the length of the whole vehicle body, the ground pressure, the trench crossing height, the vertical wall height and the like, determining the mass center position of the sprung mass according to the layout of all parts of the whole vehicle, namely determining the mass center position l 1 And l 7 The numerical value of (c).
(2) The distance l from the center of each loading wheel to the center of mass of the spring load mass of the whole vehicle 2 、l 3 、l 4 、l 5 、l 6 Defining as a design variable, according to the static equilibrium condition, the following formula as an objective function:
abs[l 1 +l 2 +l 3 -(l 4 +l 5 +l 6 +l 7 )]。
(3) Acquiring a set of constraint conditions of design variables according to the spacing requirement between adjacent bogie wheels, wherein the constraint conditions are shown as the following formula:
l 1 -l 2 ＞2R+s
l 2 -l 3 ＞2R+s
l 3 +l 4 ＞2R+s
l 5 -l 4 ＞2R+s
l 6 -l 5 ＞2R+s
l 7 -l 6 ＞2R+s
(4) And (3) according to the distance between the 1 st pair of bogie wheels and the last 1 pair of bogie wheels determined in the step (1), performing optimization solution by combining the target function and the design variables determined in the step (2) and the constraint conditions of the design variables in the step (3), and finally obtaining the optimized layout of the bogie wheels.
Specific examples are given below:
l 1 ＝2213mm
l 7 ＝2687mm
the radius R =340mm of the loading wheel
Minimum spacing between bogie wheels s =30mm
The objective function is then: abs [2213+ 2 +l 3 -(l 4 +l 5 +l 6 +2687)]
The inequality constraint conditions are as follows:
and solving by adopting an optimization algorithm such as sequence quadratic programming and the like to obtain:
l 3 ＝793mm，l 2 ＝1503mm，l 4 ＝-83mm
l 5 ＝627mm，l 6 ＝1337mm
negative values indicate that the road wheel position should be to the left of the center of mass.
While the present invention has been described in detail and with reference to the embodiments thereof as shown in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Accordingly, certain general details of the embodiments are not to be interpreted as limiting, and the invention is to be defined by the scope of the appended claims.
Claims (1)
1. A layout design method for the bogie wheels of a tracked vehicle is characterized by comprising the following steps:
(1) Determining the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels, and determining the mass center position l of the sprung mass of the whole vehicle according to the layout of all parts of the whole vehicle 1 、l n N represents n pairs of loading wheels, n is more than or equal to 5 and less than or equal to 7 1 Represents the distance between the first pair of loading wheels and the center of mass of the spring-loaded mass of the whole vehicle, i n Representing the distance from the nth pair of loading wheels to the mass center of the sprung mass of the whole vehicle;
(2) According to the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels of the whole vehicle and the position of the center of mass of the sprung mass, defining the distance between each other loading wheel and the center of mass of the sprung mass, and defining the distance variable as a design variable; constructing a target function for optimizing the layout of the bogie wheels according to the static balance condition of the whole vehicle;
the objective function of the constructed bogie wheel layout optimization is as follows:
abs[l 1 +l 2 +l 3 -(l 4 +...+l n )]，
wherein l 1 、l 2 、……、l n The distance from the center of the load wheel of the nth pair to the mass center of the spring load mass of the whole vehicle is 1 st pair, 2 nd pair, 8230, 8230;
(3) Acquiring a group of constraint conditions of design variables according to the distance requirement between adjacent bogie wheels, namely the non-collision condition of the adjacent bogie wheels;
the constraint conditions of the distance of each loading wheel relative to the center of mass of the sprung mass are as follows:
wherein: the bogie wheel radius R and the minimum spacing between adjacent bogie wheels s are known values; l 1 、l 2 、……、l n The distance from the center of the load wheel of the nth pair to the mass center of the spring load mass of the whole vehicle is 1 st pair, 2 nd pair, 8230, 8230;
(4) And (3) according to the distance between the 1 st pair of loading wheels and the last 1 pair of loading wheels determined in the step (1), carrying out optimization solution to obtain the distance between each loading wheel and the sprung mass centroid by combining the target function and the design variable determined in the step (2) and the constraint condition of the design variable in the step (3), and finally obtaining the optimized layout of the loading wheels.
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