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为了更真实地反映系统的随机因素,提出一种结合随机模拟分析技术与确定性虚拟样机模型的随机虚拟样机模拟方法。基于相对坐标法建立高速履带车辆动力学模型,详细描述履带-地面之间的相互作用关系,考虑了负重轮重复加载对地面变形及接地压力分布的影响。结合履带车辆接地压力分布的计算实例,说明履带车辆随机虚拟样机模型的建模方法、步骤,给出了考虑地面土壤特性参数不确定性时,履带车辆接地压力的区间分布及概率密度分布的计算结果,为不确定环境下履带车辆地面牵引特性及越野机动性评估奠定基础。
In order to more truly reflect the random factors of the system, a stochastic virtual prototype simulation method combining stochastic simulation and deterministic virtual prototype is proposed. Based on the relative coordinate method, the dynamic model of high-speed tracked vehicle is established. The interaction between crawler and ground is described in detail, and the influence of the repeated load on the ground deformation and ground pressure distribution is considered. Combined with the calculation example of the ground pressure distribution of the tracked vehicle, the modeling method and procedure of the stochastic virtual prototype model of the tracked vehicle are described. The interval distribution of the ground pressure of the tracked vehicle and the calculation of the probability density distribution are given when the uncertainty of the soil characteristic parameters is considered As a result, ground traction characteristics and off-road maneuverability evaluation of crawler vehicles in uncertain environment are laid.