摘要
针对非结构化复杂路面环境下无人战车在执行军事运输、抢险救灾等任务时通过性不足的问题,提出了一种轮腿式全液压驱动的8轮无人战车,该战车通过摆臂的协同控制调整其运行姿态,可适应不同的复杂地形。越障性能是衡量无人战车通过性的关键要素,建立无人战车的越障动力学模型和姿态规划模型,通过求取轮腿式无人战车不同越障高度与摆臂摆角的关系式,得到无人战车典型垂直墙障碍的越障性能。在理论分析的基础上,利用QT、Simulink、ADAMS建立综合仿真平台,进行了仿真验证。研究表明:轮腿式全液压驱动的8轮无人战车可完成高度为轮胎直径1.176倍的垂直墙越障,具有良好的地形适应能力,为8轮无人战车的实验测试提供了理论参考。
Aiming at the problem of insufficient trafficability of military transportation,emergency rescue and disaster relief on an unstructured complex road surface,this paper proposes an eight-wheeled unmanned combat vehicle driven by wheel-legged full hydraulic pressure,which can adjust its operation attitude to adapt to different complex terrains through the cooperative control of the swinging arms.Obstacle-crossing performance is the key factor to measuring its trafficability.An obstacle-crossing dynamics model and a posture planning model of the unmanned combat vehicle are established,and then the obstacle-crossing performance of typical vertical wall obstacles of the vehicle is obtained by figuring out the relationship between different obstacle-crossing heights and swinging angles of the swinging arms of the vehicle.On the basis of theoretical analysis,a comprehensive simulation platform is established and verified through QT,simulink and ADAMS.The results show that the eight-wheeled unmanned combat vehicle driven by wheel-legged full hydraulic pressure can complete vertical wall obstacle-crossing with a height of 1.176 times of the tire diameter.
作者
许志伟
朱纪洪
XU Zhiwei;ZHU Jihong(School of Mechanical Engineering,Guangxi University,Nanning 530000,China;Department of Precision Instrument,Tsinghua University,Beijing 100084,China)
出处
《兵器装备工程学报》
CAS
CSCD
北大核心
2023年第5期59-66,共8页
Journal of Ordnance Equipment Engineering
基金
国家自然科学基金项目(62073185)。
关键词
轮腿式
无人战车
越障
动力学
姿态规划
wheel leg
unmanned combat vehicle
obstacle-crossing
dynamics
posture planning
