农业机械学报2025，Vol.56Issue(5)：597-607,11.DOI:10.6041/j.issn.1000-1298.2025.05.058
山地履带式底盘坡地牵引性能预测模型构建与试验
Development and Validation of Traction Performance for Mountain Tracked Chassis on Slopes
摘要
Abstract
In order to accurately and effectively predict the traction performance of tracked undercarriages under the complex operating environment in hilly and mountainous areas,a prediction model for the traction performance of tracked undercarriages was established and experimentally verified based on the law of grounding pressure distribution.Firstly,a mathematical model of ground pressure distribution with multi-peak non-linear distribution was proposed by considering the slope angle and chassis parameters,and the ground pressure test was carried out at different slopes and postures,and the results showed that the average error of its prediction was about 4.7％,the model can better predict the distribution of grounding pressure of crawler chassis in slope environment.Secondly,based on the grounding pressure model and the track-ground interaction law,by considering the soil characteristics,slope and the change of the position of the center of gravity for the attitude adjustment of the crawler chassis,the traction-slip rate prediction model of the crawler chassis composed of the driving force characteristics of the evenly distributed vertical load and the non-uniform load control part was further constructed.Finally,the traction performance tests of contour driving and longitudinal climbing conditions were carried out based on the three types of crawler chassis to verify the prediction model,and the results showed that the average prediction error of the model was 3.6％,5.4％and 6.3％,respectively,and the overall prediction error was small,which could provide theoretical basis and data support for the design and development of the applicability of the tracked chassis in hilly and mountainous areas and the optimization of maneuverability.关键词
丘陵山地/履带式底盘/接地压力/牵引性能/模型预测Key words
hilly mountainous terrain/tracked chassis/ground pressure/traction performance/model prediction分类
农业科技引用本文复制引用
刘琪,纪宇轩,杨福增,张龙海,杜子星,刘志杰,朱晓岩..山地履带式底盘坡地牵引性能预测模型构建与试验[J].农业机械学报,2025,56(5):597-607,11.基金项目
国家重点研发计划项目(2022YFD2001300、2023YFD1000800)和国家农业重大项目(NK20221603) （2022YFD2001300、2023YFD1000800）
