研究履带式工程车辆在复杂路况下的行驶稳定性问题。针对履带式工程车辆在复杂作业环境下行驶时容易出现履带打滑、直行稳定性差的问题,提出了一种基于双行星齿轮系的机械-液压混合驱动系统,并就其工作原理做了详细阐述,并在AMESim进行仿真分析,最后进行了相关试验研究。研究结果表明:搭载新型机械-液压复合驱动系统的履带式车辆行驶稳定性良好,对复杂路况适应能力更强。该研究结果可为履带式工程车辆的行驶稳定性研究提供一定的参考价值。 Research on the running stability of tracked vehicles under complex road conditions. Aiming at the problem of crawler slippage and poor straight straightness when the crawler tracked vehicle works in the complex working environment, a mechanical-hydraulic hybrid drive system based on double planetary gears is proposed and its working principle is elaborated. And carried on the simulation analysis in AMESim, finally carried on the related experimental research. The results show that the tracked vehicle with new mechanical-hydraulic hybrid drive system has good driving stability and adaptability to complex road conditions. The results of this study can provide certain reference value for the study of driving stability of tracked vehicles.