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山地履带拖拉机作为一种农用动力机械,工作在地形复杂、条件恶劣的丘陵山区,因此,要求其不仅具有一般履带拖拉机的基本特点,而且应具有良好的坡地越障性能。利用Pro/E三维软件绘制山地履带拖拉机车体几何模型,并在多体动力学软件Recur Dyn中完成履带行走机构的选配及整机动力学模型的建立,同时利用Recur Dyn自带的地面Ground模块建立地面模型,基于以上3种模型对该机进行多体动力学仿真,分析速度、坡度角及拖拉机质心位置对其纵向坡地越障性能相关参数的影响。仿真结果表明,在车速与坡度角一定的情况下,质心位置越靠车体前端且越接近地面,越有利于纵向越障性能。相关的坡地实测试验所测得结果与仿真结果基本保持一致,验证了仿真模型的正确性,为山地履带拖拉机进一步的改进设计提供理论参考依据。
As a kind of agricultural power machinery, the mountain caterpillar tractor works in hilly mountain area with complicated terrain and bad conditions. Therefore, it is required that it not only has the basic characteristics of general track tractor, but also should have good obstacle performance. The geometry model of mountain crawler tractor body is drawn by using Pro / E 3D software and the matching of crawler walking mechanism and the complete dynamic model are established in Recur Dyn multi-body dynamics software. At the same time, Based on the above three models, the multi-body dynamics simulation is carried out to analyze the influence of speed, slope angle and tractor center of mass on the parameters of obstacle obstacle of longitudinal slope. The simulation results show that in the case of a certain vehicle speed and gradient angle, the more the center of mass center is closer to the front of the vehicle body and the closer to the ground, the more favorable the longitudinal obstacle obstacle performance. The measured results of the slope test are basically consistent with the simulation results, which verify the correctness of the simulation model and provide a theoretical reference for the further improvement of the design of the tracked tractor.