本文对拖拉机机组转向过程中的运动轨迹问题进行了理论研究,确定了转向过程中诸点轨迹间以及轨迹与操向轮转向角间的基本关系。各种转向问题均可用本文导出的引导-跟踪方程和操向方程,通过求数值解予以解决。本文还提出了根据操向角变化规律求运动轨迹的方法,并给出了例题。 This paper makes a theoretical study on the motion trajectory of the tractor unit during the steering process, and determines the basic relationship between the trajectories of the points during the steering process and the steering angle of the steering wheel. Various steering problems can be derived using the guidance - tracking equation and steering equations, by solving the numerical solution. In this paper, a method to find the motion trajectory according to the law of steering angle is also proposed, and examples are given.