文档介绍：Proceedings ofthe 27血ChiBese Control Conference July16·18,2008,Kunming,Yunnan,China 履带车辆的动力学建模与仿真木贺妍,张晓燕,李海滨,刘科元,刘志彬,段志信内蒙古工业大学理学院,内蒙古呼和浩特010051 E-mail:******@,******@ 摘要:针对现有的建立履带车辆运动微分方程一般多采用非完整约束方法带来的复杂计算问题,本文提出了基于给定斜坡路径的完整约束下将履带车辆简化为单体与多体模型相结合的建模方法。首先对车辆进行力学分析,推导出系统阻力以及由电机转矩损失引起的耗散力;然后将完整约束条件与履带车辆单体集中质量模型与多体模型相结合计算出系统能量,运用拉格朗日方程建立系统运动微分方程,得出运动模型;最后通过算例验证了该模型的可行性,为履带车辆斜坡路面的实地行驶提供理论参考。关键词:履带车辆,动力学模型,完整约束,仿真 Dynamics Modeling and Simulation forTracked Vehicles He Yan,Zhang Xiaoyan,Li Haibin,Liu Keyuan,Liu Zhibin,Duan Zhixin College ofScience,Inner Mongolia University ofTechnology,Hohhot 010051, E-mail:******@,******@ Abstract:Wlen constructing differential equations forthetracked vehicles on thenonholonomic constraint calculation problems tend such problems,this paper proposes amodeling method thatsimplifies thetracked vehicle as single and model based on theholonomic constraint condition on thegiven slope path. System rolling resistance and thedissipated forcecaused by the lossofelectromotor torsion ale deduced bymechanical analysis system energy calculated bining the holonomic constraint condition with themodel of monomer lumped mass and themodel ofmulti— system equation ofmotion established byLagrange equation and motion model additi