河南农业大学学报2017，Vol.51Issue(3)：335-340,6.
高地隙履带车转向性能试验
Steering performance test of high clearance tracked vehicle
摘要
Abstract
A small high clearance tracked vehicle with remote control and full hydraulic drive was designed.It was designed to complete the agricultural mechanization management in the later growth stage of crops.Pivot steering of the vehicle used the way of positive inversion of two hydraulic motors.In order to verify whether the pivot steering design scheme was reasonable,AMEsim software and Unistrong's G970 Multi-frequency GNSS system were used to do the simulation analysis and prototype test.The simulation results showed that the left motor speed was about-76 r · min-1 and the right motor speed was about 81 r · min-1 on both the cement road and brick road.Speed difference was about 3.3％ of the total speed,which could basically achieve the equal speed positive inversion.The prototype experiment showed that the pivot steering trajectories of the vehicle could be accurately determined by using the realtime differential satellite positioning signal.The radii of the pivot steering trajectories were 0.054 m and 0.126 m respectively in cement road and brick road.The coefficients of variation of radii were 40.969％ and 64.899％ respectively.The standard deviations of center distance were 0.093 m and 0.017 m respectively.The simulation and prototype test showed that it was feasible to use the way of positive inversion of two hydraulic motors to achieve pivot steering,and the steering radius was small.关键词
履带车/转向/差分定位/AMEsimKey words
tracked vehicle/steering/differential positioning/AMEsim分类
农业科技引用本文复制引用
王宝山,王淼森,王万章,种东风,陈蒋..高地隙履带车转向性能试验[J].河南农业大学学报,2017,51(3):335-340,6.基金项目
河南省现代农业产业技术体系玉米全程机械化岗位专项(S10-02-G07/2016) （S10-02-G07/2016）
河南省烟草公司科技专项(HYKJ1206/2016) （HYKJ1206/2016）
