CN111597639A - Coupling analysis method for crawler belt and cross-country road surface - Google Patents
Coupling analysis method for crawler belt and cross-country road surface Download PDFInfo
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Abstract
The invention discloses a coupling analysis method for a crawler and a cross-country road surface, and belongs to the technical field of vehicle dynamics. According to the invention, through establishing a track-road surface shaping filtering model of the tracked vehicle, the actual road surface elevation excitation formed by the track of the grounding section on the bogie wheel of the instantaneous tracked vehicle is obtained, the dynamic performance of the tracked vehicle running under the off-road working condition is predicted with high precision, and guidance is provided for the suspension design and the power transmission device parameter design of the tracked vehicle, so that the dynamic performance of the tracked vehicle on the off-road surface and the running stability of the vehicle are improved. The method fully considers the shaping and filtering effects of the original road surface elevation model and the crawler on the road surface, not only considers the influence of the road surface unevenness, but also fully considers the self-paving effect of the crawler of the tracked vehicle under the actual off-road working condition, can improve the accuracy of the actual crawler self-paving road surface driven by the bogie wheels, and further can improve the dynamic performance prediction accuracy of the tracked vehicle driven under the off-road working condition.
Description
Technical Field
The invention relates to a method for analyzing a track-road surface of a tracked vehicle running under an off-road working condition, in particular to a method for analyzing and predicting a track-off-road surface coupling relation of the tracked vehicle, and belongs to the technical field of vehicle dynamics.
Background
The tracked vehicle is provided with a running system different from that of the wheeled vehicle, the running device of the tracked vehicle consists of a driving wheel, an inducer, a loading wheel, a tensioning device and a closed-loop track, and the tracked vehicle has better trafficability under the cross-country working condition compared with the wheeled vehicle due to the shaping effect of the track on the ground. When the tracked vehicle runs under the cross-country working condition, the acting force of the ground on the tracked vehicle is transmitted through the track, the ground is not in direct contact with the bogie wheels, the road surface unevenness is not directly acted on the bogie wheels, the original road surface unevenness is filtered to a certain degree through the shaping action of the track, and the tracked vehicle is equivalent to running on a road paved by the track. When describing the dynamics of the tracked vehicle, only a road surface unevenness model is not enough to be established, and an actual road surface elevation excitation model under the action of the track needs to be known. The establishment of the crawler self-laying elevation model of the crawler is an important basis for analyzing and researching the dynamics of the crawler under the cross-country working condition.
Disclosure of Invention
The invention discloses a coupling analysis method for a crawler and a cross-country road surface, which aims to solve the technical problems that: by establishing a track-road surface shaping filtering model of the tracked vehicle, the actual road surface elevation excitation formed by the track of the grounding section, which is applied to the bogie wheels of the instantaneous tracked vehicle, is obtained, the dynamic performance of the tracked vehicle running under the off-road working condition is predicted with high precision, and guidance is provided for the suspension design and the power transmission device parameter design of the tracked vehicle, so that the dynamic performance of the tracked vehicle on the off-road surface and the running stability of the vehicle are improved.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a caterpillar track and cross-country road surface coupling modeling analysis method, which comprises the following steps:
the method comprises the following steps: for a tracked vehicle running under a cross-country working condition, the number of the bogie wheels on one side of the tracked vehicle, the longitudinal distance between the mass center of the tracked vehicle and the wheel centers of all the bogie wheels and the radius of the bogie wheels are obtained.
The first implementation method comprises the following steps: for the tracked vehicle running under the cross-country working condition, the number N of the single-side bogie wheels of the tracked vehicle and the longitudinal distance l between the mass center of the tracked vehicle and the wheel centers of all the bogie wheels are obtainedwi(i 1-N), and a bogie radius R.
Step two: at any instant, acquiring a vertical coordinate of the mass center of the vehicle according to the tracked vehicle dynamic model; determining the longitudinal coordinate of each bogie wheel center of the tracked vehicle according to the longitudinal distance between the centroid longitudinal coordinate and each bogie wheel center; and obtaining the original output elevation of the crawler within the crawler range of the ground section according to the longitudinal coordinates of the wheel centers of the loading wheels of the crawler.
The second step of realizing the method comprises the following steps:
step 2.1: at any instant, acquiring the ordinate x of the vehicle mass center according to the tracked vehicle dynamics modelc。
Step 2.2: according to the centroid ordinate xcLongitudinal distance l from wheel center of each loading wheelwi(i is 1 to N), and determining the vertical coordinate x of the wheel center of each bogie wheel of the tracked vehiclewi(i＝1～N)。
Step 2.3: according to the ordinate x of the centre of the wheel of each bogie of the tracked vehiclewiAnd (i is 1-N), obtaining the original output elevation q (x) of the crawler within the crawler range of the ground contact segment.
Step three: according to the longitudinal coordinate of the wheel center of each bogie wheel, the length of the track plate is made to be half of the radius of the bogie wheel, two adjacent points of the wheel center are taken as the positions of the track pins at intervals of half of the radius of the bogie wheel, and the elevation of the corresponding position is obtained according to the original output elevation of the track within the range of the track of the ground contact section and the positions of the track pins.
The third implementation method comprises the following steps: according to the longitudinal coordinate x of the wheel center of each bogie wheelwi(i is 1 to N), the length of the track shoe is half of the radius R of the bogie wheel, and two adjacent points of the wheel center are taken at an interval of R/2 as the position x of the track pinnew(t) removing the track shoe between adjacent edges of adjacent road wheels, seeMaking a one-piece track shoe, determining 5N track pin positions based on the original output elevation q (x) of the track and the position x of the track pinnew(t) obtaining the elevation of the corresponding position, and recording the elevation as qnew(xnew(t))。
Step four: and determining the instantaneous output elevation of the crawler according to the position of the crawler pin at any instantaneous moment and the original pavement elevation model. The method comprises the steps of obtaining a track input elevation within a track range of a ground section at an instant moment through an original road elevation model, classifying road excitations, respectively determining the output elevation of each track pin according to single-bump road excitation, single-pit road excitation, multiple-bump or pit road excitation and random road excitation obtained through classification, and connecting all track pins to obtain the actual track self-paved road elevation of the bogie running.
The fourth realization method comprises the following steps:
step 4.1: from the position x of the track pin at any instant in timenew(t) and an original road surface elevation model q (x) to obtain the track input elevation q (x) in the track range of the ground contact section at the instant momentnew(t)). Road surface excitations are classified as single bump road surface excitations, single pit road surface excitations, multiple bump or pit road surface excitations, and random road surface excitations.
Step 4.2: and (4) according to the four road surface excitations of single-bump road surface excitation, single-pit road surface excitation, multiple-bump or pit road surface excitation and random road surface excitation obtained by classifying the road surface excitations in the step (4.1), respectively determining the output elevation of each track pin, and connecting all the track pins to obtain the actual track self-paved road surface driven by the bogie wheel.
Step 4.2.1: for single-bump road excitation, determining maximum original road elevation q and corresponding ordinate position x within range of ground segment trackqDetermining a tracked vehicle centroid position xcThe relation with the maximum original road surface elevation position if the vehicle mass center position xcAt the rear of the maximum original elevation, at least one track pin at the rear end of the tracked vehicle lands, the farther the vehicle mass center is away from the maximum original road surface elevation, the more the number of the track pins lands, and the track tension force isThe method has the advantages that a part of track plates are emptied, the front end of the vehicle keeps an anticlockwise included angle with the positive direction of the x axis under the action of track tensioning force, the direction of the vehicle head is upward, the farther the distance between the mass center of the vehicle and the maximum original road surface is, the larger the included angle between the front end of the vehicle and the positive direction of the x axis is; if the mass center of the vehicle is in front of the maximum original elevation, the crawler pins at the rear end of the vehicle leave the ground under the action of the tensioning force of the crawler, the crawler at the front end of the vehicle falls on the ground one by one, when the mass center of the vehicle is far enough away from the maximum original pavement elevation, the rear end of the tracked vehicle forms a clockwise included angle with the x-axis negative direction under the action of the tensioning force of the crawler, and the tail direction of the vehicle is upward. According to the centre of mass position x of the tracked vehiclecDetermining the track output elevations of the front and rear two track pins adjacent to the maximum original road surface position according to the relationship with the maximum original road surface elevation position, then determining the track output elevations of other track pins forward and backward in sequence, and connecting all the track pins to obtain the actual track self-paved road surface driven by the bogie wheel.
Step 4.2.2: for the type of the single pit road surface obstacle, determining the starting position and the ending position of a single pit within the range of a track of a ground connection section, wherein the track output elevation of a track pin below a bogie wheel which is far away from the edges of two sides of the pit is the minimum value under the action of the pressure of a bogie wheel on the track, the track plate between the pits is emptied under the action of the tension of the track, the output elevation of the corresponding track pin is larger than the original road surface elevation, the number of the bogie wheels between the pits is larger, the minimum value of a track output elevation model is smaller, the positions of the track pins close to marked coordinates at two ends of the pit always meet the constraint limitation of the maximum included angle of the adjacent track plates, the output elevation of each track pin under the single pit road surface obstacle is obtained, and all the track pins are connected to obtain the actual track self.
Step 4.2.3: for the types of road surface obstacles with a plurality of bulges or a plurality of pits, determining the vertical coordinate and the original elevation of each bulge or the vertical coordinate and the original elevation of the supporting point at the two ends of each pit in the range of a track at a grounding section, respectively determining the track output elevations of a front track pin and a rear track pin which are nearest to the supporting positions at the two ends of each bulge or pit, considering the pressure action of a load wheel on a track plate below the load wheel and the tension action of the track according to the included angle constraint of adjacent track plates to obtain the output elevations of other track pins, and connecting all the track pins to obtain the actual track self-paving elevation of the running track of the load wheel.
Step 4.2.4: for random pavement excitation types, determining the maximum original pavement elevation and corresponding coordinate positions in the range of a track of a ground connection section, determining the track output elevations of two track pins in front and at the back of the ground connection section, taking the two track pins as starting points, respectively and sequentially aligning each track pin forwards and backwards, obtaining the original elevation of the track pin by an interpolation method according to the original pavement elevation, obtaining the output elevation of each track pin under the constraint condition that the output elevation is not lower than the original elevation constraint and the maximum included angle constraint of adjacent track plates, and connecting all the track pins to obtain the actual self-paved pavement elevation of the track driven by the bogie wheels.
Step five: and (4) bringing the actual track self-paving road surface elevation formed by the track of the grounding section on the instantaneous tracked vehicle bogie wheel obtained in the step four into a complete vehicle dynamic model, performing high-precision prediction on the dynamic performance of the tracked vehicle running under the cross-country working condition, and providing guidance for the suspension design and the power transmission device parameter design of the tracked vehicle, so that the dynamic performance of the tracked vehicle on the cross-country road surface and the running stability of the vehicle are improved.
Has the advantages that:
1. the invention discloses a method for analyzing coupling of a crawler and a cross-country road surface, which fully considers the shaping and filtering effects of an original road surface elevation model and the crawler on the road surface, not only considers the influence of road surface unevenness, but also fully considers the effect of the crawler self-paving surface of a crawler under the actual cross-country working condition, can improve the accuracy of the actual crawler self-paving surface of a bogie running under the running condition, and further can improve the prediction accuracy of the dynamic performance of the crawler running under the cross-country working condition.
2. The invention discloses a coupling analysis method of a crawler and an off-road surface, which is used for performing coupling modeling of the crawler and the off-road surface in a ground contact section crawler ordinate range determined at the moment, effectively improving the dynamic performance prediction efficiency of a crawler running under an off-road working condition, and providing sufficient external elevation excitation input for the dynamic prediction analysis of the crawler running under the off-road working condition.
3. The invention discloses a coupling analysis method of a crawler and a cross-country road surface, which is characterized in that the instantaneous output elevation of the crawler is determined according to the position of a crawler pin at any instantaneous moment and an original road surface elevation model, the input elevation of the crawler in the range of a ground contact section at the instantaneous moment is obtained by the original road surface elevation model, the road surface excitations are classified, the output elevation of each crawler pin is respectively determined according to the single-bump road surface excitation, the single-pit road surface excitation, the multiple-bump or pit road surface excitation and the random road surface excitation which are obtained by classification, the actual crawler self-pavement elevation of the running of a bogie wheel is obtained by connecting all the crawler pins, and the actual crawler self-pavement elevation is brought into a whole vehicle dynamics model, so that the dynamics performance prediction accuracy. And further provides guidance for the suspension design and the power transmission device parameter design of the tracked vehicle, so that the dynamic performance of the tracked vehicle on the off-road surface and the running stability of the tracked vehicle are improved.
Drawings
Fig. 1 is a schematic diagram of the position of a track of a ground contact segment in the method for analyzing coupling between the track and an off-road surface.
FIG. 2 is a schematic flow chart of a method for analyzing coupling between a crawler and a cross-country road surface.
FIG. 3 is a schematic view of the output elevation of a crawler at several moments in time during the process of passing a road obstacle by a certain tracked vehicle, which is obtained based on the method for analyzing the coupling between the crawler and an off-road surface disclosed by the present invention, wherein: fig. 3a shows the tracked vehicle with the front wheel just contacting the road surface obstacle, fig. 3b shows the tracked vehicle above the road surface obstacle with the vehicle's center of mass to the left, fig. 3c shows the tracked vehicle above the road surface obstacle with the vehicle's center of mass to the right, and fig. 3d shows the tracked vehicle passing completely across the road surface obstacle.
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
as shown in fig. 2, the method for analyzing coupling between a crawler and an off-road surface disclosed in this embodiment includes the following specific steps:
the method comprises the following steps: for the tracked vehicle running in the off-road working condition, the number N of the load wheels on one side of the tracked vehicle is acquired to be 6. As shown in FIG. 1, the bogey wheels are numbered in order from the front end to the rear end of the vehicle, the bogey wheel at the front end of the vehicle being designated as the 1 st bogey wheel, and the longitudinal distance l between the center of mass of the tracked vehicle and the center of the wheel of all the bogey wheelswi(i is 1 to 6), and the bogie radius R is 0.32.
Step two: at any instant, acquiring a vertical coordinate of the mass center of the vehicle according to the tracked vehicle dynamic model; determining the longitudinal coordinate of each bogie wheel center of the tracked vehicle according to the longitudinal distance between the centroid longitudinal coordinate and each bogie wheel center; and obtaining the original output elevation of the crawler within the crawler range of the ground section according to the longitudinal coordinates of the wheel centers of the loading wheels of the crawler.
Step 2.1: at any instant, acquiring the ordinate x of the vehicle mass center according to the tracked vehicle dynamics modelc。
Step 2.2: according to the centroid ordinate xcLongitudinal distance l from wheel center of each loading wheelwi(i is 1-6), and determining the vertical coordinate x of the wheel center of each bogie wheel of the tracked vehiclewi(i＝1～6)。
Step 2.3: according to the ordinate x of the centre of the wheel of each bogie of the tracked vehiclewiAnd (i is 1-6), obtaining the original output elevation q (x) of the crawler within the crawler range of the ground section.
Step three: according to the longitudinal coordinate x of the wheel center of each bogie wheelwi(i is 1-6), the length of the track shoe is half of the radius R of the bogie wheel which is 0.32, and two adjacent points of the wheel center are taken as the position x of the track pin by taking R/2 as an intervalnew(t) identifying the track shoe between adjacent edges of adjacent road wheels as a single block without splitting, thereby determining a total of 5N-5 x 6-30 track pin positions, and a schematic representation of the track profile and track pin positions for a track-engaging segment on off-road surfaces is shown in fig. 1. According to the original output elevation q (x) of the track within the track range of the ground contact section and the trackThe elevation of the pin at the corresponding position is taken and is denoted as qnew(xnew(t)). Position xnew(t) coordinates are as shown in formula (1):
step four: and determining the instantaneous output elevation of the crawler according to the position of the crawler pin at any instantaneous moment and the original pavement elevation model. The method comprises the steps of obtaining a track input elevation within a track range of a ground section at an instant moment through an original road elevation model, classifying road excitations, respectively determining the output elevation of each track pin according to single-bump road excitation, single-pit road excitation, multiple-bump or pit road excitation and random road excitation obtained through classification, and connecting all track pins to obtain the actual track self-paved road elevation of the bogie running.
Step 4.1: from the position x of the track pin at any instant in timenew(t) and an original road surface elevation model q (x) to obtain the track input elevation q (x) in the track range of the ground contact section at the instant momentnew(t)). Road surface excitations are classified as single bump road surface excitations, single pit road surface excitations, multiple bump or pit road surface excitations, and random road surface excitations.
Step 4.2: and (4) according to the four road surface excitations of single-bump road surface excitation, single-pit road surface excitation, multiple-bump or pit road surface excitation and random road surface excitation obtained by classifying the road surface excitations in the step (4.1), respectively determining the output elevation of each track pin, and connecting all the track pins to obtain the actual track self-paved road surface driven by the bogie wheel.
Step 4.2.1: for single bump road excitation, determining the maximum original road elevation within the range of the track of the ground segment, and recording as hmaxAnd the corresponding ordinate is denoted xsingle_highComparison of xcAnd xsingle_highMagnitude of value, if xc<xsingle_highAnd then the mass center of the tracked vehicle is positioned behind the maximum original road surface elevation, and the output elevation of the track at the moment meets the following constraint conditions:
(1) at least one crawler pin lands at the rear end of the crawler vehicle, and the farther the vehicle mass center is away from the maximum original road surface height, the more the number of the landed crawler pins is;
(2) because of the action of the tension of the crawler belt, a part of the crawler belt board is emptied, and because of the pressure action of the loading wheel on the crawler belt board contacted below the loading wheel, for the crawler belt board emptied behind the bulge, the appearance that the sharp angle is downward is formed between the front end crawler belt board below the loading wheel and the adjacent crawler belt board at the rear end;
(3) the front end of the vehicle keeps an anticlockwise included angle with the positive direction of an x axis under the action of the tensioning force of the crawler, the direction of the vehicle head is upward, the farther the distance between the mass center of the vehicle and the maximum original road surface is, the larger the included angle between the front end of the vehicle and the positive direction of the x axis is;
if xc>xsingle_highAnd then the mass center of the tracked vehicle is positioned in front of the maximum original road surface elevation, and the output elevation of the track at the moment meets the following constraint conditions:
(1) if the mass center of the vehicle is in front of the maximum original elevation, the crawler pins at the rear end of the vehicle leave the ground under the action of the tensioning force of the crawler, and the crawlers at the front end fall on the ground one by one;
(2) when the vehicle mass center is far enough away from the maximum original road surface elevation, the rear end of the tracked vehicle generates a clockwise included angle with the x-axis negative direction under the action of the tensioning force of the track, and the tail direction of the tracked vehicle is upward.
According to the centre of mass position x of the tracked vehiclecDetermining the track output elevations of the front and rear two track pins adjacent to the maximum original road surface position according to the relationship with the maximum original road surface elevation position, then determining the track output elevations of other track pins forward and backward in sequence, and connecting all the track pins to obtain the actual track self-paved road surface driven by the bogie wheel.
Taking the type of the single-protrusion road surface obstacle as an example, in the embodiment, during the process that the tracked vehicle passes through the single-protrusion road surface obstacle, at some instant time, the instant track output elevation model is obtained through the method, and the track plates are connected to form an actual road surface outline schematic diagram for the running of the bogie wheels, as shown in fig. 3.
Step 4.2.2: for the type of the single pit road surface obstacle, determining the starting position and the ending position of a single pit within the range of a track of a ground connection section, wherein the track output elevation of a track pin below a bogie wheel which is far away from the edges of two sides of the pit is the minimum value under the action of the pressure of a bogie wheel on the track, the track plate between the pits is emptied under the action of the tension of the track, the output elevation of the corresponding track pin is larger than the original road surface elevation, the number of the bogie wheels between the pits is larger, the minimum value of a track output elevation model is smaller, the positions of the track pins close to marked coordinates at two ends of the pit always meet the constraint limitation of the maximum included angle of the adjacent track plates, the output elevation of each track pin under the single pit road surface obstacle is obtained, and all the track pins are connected to obtain the actual track self.
Step 4.2.3: for the types of road surface obstacles with a plurality of bulges or a plurality of pits, determining the vertical coordinate and the original elevation of each bulge or the vertical coordinate and the original elevation of the supporting point at the two ends of each pit in the range of a track at a grounding section, respectively determining the track output elevations of a front track pin and a rear track pin which are nearest to the supporting positions at the two ends of each bulge or pit, considering the pressure action of a load wheel on a track plate below the load wheel and the tension action of the track according to the included angle constraint of adjacent track plates to obtain the output elevations of other track pins, and connecting all the track pins to obtain the actual track self-paving elevation of the running track of the load wheel.
Step 4.2.4: for random pavement excitation types, determining the maximum original pavement elevation and corresponding coordinate positions in the range of a track of a ground connection section, determining the track output elevations of two track pins in front and at the back of the ground connection section, taking the two track pins as starting points, respectively and sequentially aligning each track pin forwards and backwards, obtaining the original elevation of the track pin by an interpolation method according to the original pavement elevation, obtaining the output elevation of each track pin under the constraint condition that the output elevation is not lower than the original elevation constraint and the maximum included angle constraint of adjacent track plates, and connecting all the track pins to obtain the actual self-paved pavement elevation of the track driven by the bogie wheels.
Step five: and (4) bringing the actual track self-paving road surface elevation formed by the track of the grounding section on the instantaneous tracked vehicle bogie wheel obtained in the step four into a complete vehicle dynamic model, performing high-precision prediction on the dynamic performance of the tracked vehicle running under the cross-country working condition, and providing guidance for the suspension design and the power transmission device parameter design of the tracked vehicle, so that the dynamic performance of the tracked vehicle on the cross-country road surface and the running stability of the vehicle are improved.
In conclusion, for the tracked vehicle running under the off-road condition, according to the method for modeling and analyzing coupling between the track and the off-road surface disclosed by the embodiment, the instantaneous track output road surface elevation model can be obtained and used as the actual external elevation excitation borne by the bogie wheels, so that the research on the dynamic characteristics of the tracked vehicle is more accurate.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A caterpillar track and cross-country road surface coupling modeling analysis method is characterized in that: comprises the following steps of (a) carrying out,
the method comprises the following steps: for a tracked vehicle running under a cross-country working condition, acquiring the number of the bogie wheels on one side of the tracked vehicle, the longitudinal distance between the mass center of the tracked vehicle and the wheel centers of all the bogie wheels, and the radius of the bogie wheels;
step two: at any instant, acquiring a vertical coordinate of the mass center of the vehicle according to the tracked vehicle dynamic model; determining the longitudinal coordinate of each bogie wheel center of the tracked vehicle according to the longitudinal distance between the centroid longitudinal coordinate and each bogie wheel center; according to the longitudinal coordinates of the wheel centers of the loading wheels of the tracked vehicle, acquiring the original output elevation of the track within the range of the track of the grounding section;
step three: according to the longitudinal coordinate of the wheel center of each bogie wheel, the length of a track plate is made to be half of the radius of the bogie wheel, two adjacent points of the wheel center are taken as the positions of track pins at intervals of the half of the radius of the bogie wheel, and the elevation of the corresponding position is obtained according to the original output elevation of the track within the track range of the grounding section and the positions of the track pins;
step four: determining the instantaneous output elevation of the crawler according to the position of the crawler pin at any instantaneous moment and the original pavement elevation model; obtaining a track input elevation within a track range of a ground section at the instant moment by using an original road elevation model, classifying road excitations, respectively determining the output elevation of each track pin aiming at the classified single-bump road excitation, single-pit road excitation, multiple-bump or pit road excitation and random road excitation, and connecting all track pins to obtain the actual track self-paved road elevation of the bogie during running;
step five: and (4) bringing the actual track self-paving road surface elevation formed by the track of the grounding section on the instantaneous tracked vehicle bogie wheel obtained in the step four into a complete vehicle dynamic model, performing high-precision prediction on the dynamic performance of the tracked vehicle running under the cross-country working condition, and providing guidance for the suspension design and the power transmission device parameter design of the tracked vehicle, so that the dynamic performance of the tracked vehicle on the cross-country road surface and the running stability of the vehicle are improved.
2. The crawler and off-road coupling modeling analysis method of claim 1, wherein: the first implementation method comprises the steps of acquiring the number N of the bogie wheels on one side of the tracked vehicle and the longitudinal distance l between the mass center of the tracked vehicle and the wheel centers of all the bogie wheels for the tracked vehicle running under the cross-country working conditionwi(i 1-N), and a bogie radius R.
3. The crawler and off-road coupling modeling analysis method of claim 2, wherein: the second step is realized by the method that,
step 2.1: at any instant, acquiring the ordinate x of the vehicle mass center according to the tracked vehicle dynamics modelc；
Step 2.2: according to the centroid ordinate xcLongitudinal distance l from wheel center of each loading wheelwi(i is 1 to N), and determining the vertical coordinate x of the wheel center of each bogie wheel of the tracked vehiclewi(i＝1～N)；
Step 2.3: according to the ordinate x of the centre of the wheel of each bogie of the tracked vehiclewiAnd (i is 1-N), obtaining the original output elevation q (x) of the crawler within the crawler range of the ground contact segment.
4. A caterpillar and off-road coupling modeling analysis method as claimed in claim 3, wherein: the third step is realized by the method that the longitudinal coordinate x of the wheel center of each loading wheel is determinedwi(i is 1 to N), the length of the track shoe is half of the radius R of the bogie wheel, and two adjacent points of the wheel center are taken at an interval of R/2 as the position x of the track pinnew(t) treating the track plate between adjacent edges of adjacent bogey wheels without cutting as a one-piece track plate, thereby determining a total of 5N track pin positions based on the original track output elevation q (x) over the ground engaging portion and the track pin position xnew(t) obtaining the elevation of the corresponding position, and recording the elevation as qnew(xnew(t))。
5. The crawler and off-road coupling modeling analysis method of claim 4, wherein: the fourth realization method comprises the following steps:
step 4.1: from the position x of the track pin at any instant in timenew(t) and an original road surface elevation model q (x) to obtain the track input elevation q (x) in the track range of the ground contact section at the instant momentnew(t)); classifying the road surface excitations, including single-bump road surface excitations, single-pit road surface excitations, multiple-bump or pit road surface excitations, and random road surface excitations;
step 4.2: and (4) according to the four road surface excitations of single-bump road surface excitation, single-pit road surface excitation, multiple-bump or pit road surface excitation and random road surface excitation obtained by classifying the road surface excitations in the step (4.1), respectively determining the output elevation of each track pin, and connecting all the track pins to obtain the actual track self-paved road surface driven by the bogie wheel.
6. The crawler and off-road coupling modeling analysis method of claim 5, wherein: step 4.2 the method is implemented as follows,
step 4.2.1: for single-bump road excitation, determining maximum original road elevation q and corresponding ordinate position x within range of ground segment trackqDetermining a tracked vehicle centroid position xcThe relation with the maximum original road surface elevation position if the vehicle mass center position xcAt least one crawler pin is grounded at the rear end of the tracked vehicle behind the maximum original elevation, the farther the vehicle mass center is away from the maximum original road surface elevation, the more the number of the grounded crawler pins is, due to the action of crawler tensioning force, a part of crawler plates are emptied, an anticlockwise included angle is kept between the vehicle front end and the positive direction of the x axis under the action of the crawler tensioning force, the vehicle head direction is upward, the farther the vehicle mass center is away from the maximum original road surface elevation, and the larger the included angle is between the vehicle front end and the positive direction of the x axis; if the mass center of the vehicle is in front of the maximum original elevation, the crawler pins at the rear end of the vehicle leave the ground under the action of the tensioning force of the crawler, and the crawler at the front end of the vehicle falls on the ground one by one; according to the centre of mass position x of the tracked vehiclecDetermining the track output elevations of the front and rear two track pins adjacent to the maximum original road surface position according to the relationship with the maximum original road surface elevation position, then determining the track output elevations of other track pins forward and backward in sequence respectively, and connecting all the track pins to obtain the actual track self-paved road surface driven by the bogie wheel;
step 4.2.2: for the type of the single pit road surface obstacle, determining the starting position and the ending position of a single pit within the range of a track of a grounding section, wherein the track output elevation of a track pin below a bogie wheel which is far away from the edges of two sides of the pit is the minimum value under the action of the pressure of a bogie wheel on the track, the track plate between the pits is emptied under the action of the tension of the track, the output elevation of the corresponding track pin is larger than the original road surface elevation, the number of the bogie wheels between the pits is more, the minimum value of a track output elevation model is smaller, the positions of the track pins close to marked coordinates at two ends of the pit always meet the constraint limitation of the maximum included angle of the adjacent track plates, the output elevation of each track pin under the single pit road surface obstacle is obtained, and all the track pins are connected to obtain the actual track self-;
step 4.2.3: for the types of road surface obstacles with a plurality of bulges or a plurality of pits, determining the vertical coordinate and the original elevation of each bulge or the vertical coordinate and the original elevation of the supporting point at the two ends of each pit in the range of a track at a grounding section, respectively determining the track output elevations of a front track pin and a rear track pin which are closest to the supporting positions at the two ends of each bulge or pit, considering the pressure action of a load wheel on a track plate below the load wheel and the tension action of the track according to the included angle constraint of adjacent track plates, obtaining the output elevations of other track pins, and connecting all the track pins to obtain the actual track self-paving elevation of the running track of the load wheel;
step 4.2.4: for random pavement excitation types, determining the maximum original pavement elevation and corresponding coordinate positions in the range of a track of a ground connection section, determining the track output elevations of two track pins in front and at the back of the ground connection section, taking the two track pins as starting points, respectively and sequentially aligning each track pin forwards and backwards, obtaining the original elevation of the track pin by an interpolation method according to the original pavement elevation, obtaining the output elevation of each track pin under the constraint condition that the output elevation is not lower than the original elevation constraint and the maximum included angle constraint of adjacent track plates, and connecting all the track pins to obtain the actual self-paved pavement elevation of the track driven by the bogie wheels.
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