重型履带车辆软地面行驶性能研究
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摘要
为了缓解能源需求的巨大压力，“十二五”期间国家重点发展5000万吨级、亿吨级特大型煤炭企业。在特大型煤炭企业中，斗轮挖掘机、排土机、堆取料机和移动式破碎站等连续性开采设备得到了广泛应用。重型履带行走装置是担负这些设备承重、移动及转向功能的重要载体，其性能优劣直接影响到整车的工作效率和可靠性。开发具有高效率、高可靠性的重型履带行走装置，已经成为当前的重要任务。本文结合“产学研”项目，主要针对重型履带车辆在软地面上的行驶性能进行研究。
在广泛查阅国内外资料基础上，介绍了重型履带软地面行驶性能的研究背景和研究意义；综述了重型履带与软地面作用原理的研究现状；从数字化物理样机、功能样机等方面介绍了虚拟样机技术在重型履带研究中的应用；指出巨型化、零部件的通用化、远程控制和智能控制是重型履带的发展趋势。
对重型履带的结构类型、转向方式、驱动方式和功能特点进行了介绍。考虑速度瞬心偏移、质心偏移等因素，结合贝克沉陷理论，分析了履带在软地面行驶时受到的沉陷阻力、转向推土阻力、转向摩擦阻力、运行阻力、惯性阻力、爬坡阻力以及风阻力等作用力，给出了不同工况下履带驱动功率的计算方法。通过对比履带在密执安土、砂壤土和粘土等三种土壤下的沉陷阻力及沉陷量，确定了本文的研究路面为密执安土壤，并研究了履带宽长比对履带车辆行驶性能的影响。
定义了履带链节随动坐标系与大地坐标系的关系，将重型履带分为上部自由段、与地面接触的支持段、与导向轮接触的部分及与驱动轮接触的部分等四部分，分别对每一部分的履带链节进行力学分析，建立了刚性履带环与软地面作用的数学模型，确定了每一个履带链节的位置和受力关系。
针对某重型双履带排土机的转向性能进行了理论计算，分析了在外侧履带驱动轮转速为3.33r/min时，转向半径、质心偏移、履带宽长比以及履带轨距等因素对内、外侧履带驱动力、驱动功率以及转向摩擦阻力矩等性能的影响。
应用大型多体动力学仿真软件Recurdyn创建了某重型履带的虚拟样机模型，并对平地直行、爬坡直行和平地转向等多种工况进行了仿真分析，得到了该履带在上述工况下的驱动力、张紧力以及驱动轮、支重轮、平衡梁和履带的支反力。通过与理论计算结果进行对比，进行了相互验证。
对某排土机重型履带进行了实车试验。采用“有线测试”与“无线遥测”相结合的方法搭建了电机参数、扭矩、转速和应力等多参数测试系统，确定了各个测点位置、被测件的标定方法以及测试工况。通过处理分析测试数据，得到了重型履带不同工况下的运行规律，并与理论计算、虚拟样机仿真结果进行对比，验证了软地面行驶理论及虚拟样机仿真结果的正确性。
本文研究了重型履带车辆与软地面作用原理、主要结构参数的对行驶性能的影响、虚拟样机仿真以及实车试验方法，为重型履带行走装置的设计提供了一定的依据。
In order to alleviate the enormous pressure of the energy, our country majority developthe5000ton and hundred million tonlarge coal enterprises during the “12th Five-Year”.Continuous mining equipment such as bucket-wheel excavator, dump machine,stacker-reclaimer and full-mobile crusher station are applied widely in large coalmine.Heavy crawler travel unit is an important carrier of the weight of above mentionedequipment, and the function of moving and steering, whose performance directly effects theworking efficiency and the reliability of the whole machine. To meet the urgent needs of themining industry, it has been a significant task to develop highly reliable heavy crawler travelunit. Combined with the “Ceeusro”, this paper focuses on the study of the riding performa-nce of the heavy tracked vehicle through the soft ground.
Base on the extensively review about the information at home and abroad, this studyintroduced the research background and significance of the soft ground driving performanceof the heavy crawler. Overviewed the research status of the action principle between theheavy crawler and the soft ground. From the digital physical prototype and the functionalprototype, this paper introduced the application of the virtual prototype technology on theresearch of the heavy crawler. Pointed out that the giant, the generalization of the compon-ents, remote control and intelligent control is the development trend of heavy crawler.
The structure feature, steering method, driving method and function features of heavycrawler are introduced in this paper. Considering the offset of the center of speed and thecenter of mass and combined with the sinkage method proposed by Bekker, forces duringdriving on soft ground such as the sinking resistance, steering bulldozing resistance, steeringfriction, running resistance, inertial resistance, climbing resistance and wind resistance areanalyzed. Calculation of the crawler drive power under different conditions are given. Byconstracting the sinking resistance and sinkage of the track on Michigan soil,sandy loam andclay, the Michigan soil is used in this paper. Width to length ratio influence on driving perfo- rmance of tracked vehicles is researched.
The track link relationship between the fixed coordinate system and the geodeticcoordinate system is defined and the track chain is divided into four segments: the upper freesegment, support segment in contact with the ground, segment in contact with the guidewheel, and segment in contact with the driving wheel. The mechanical analysis for the tracklink in each of the four segments is carried out. A mathematical model of the interactionbetween the rigid track ring and the soft ground is established. The location of each tracklink and forces on it are determined.
For a heavy double track of dumping machine, steering performance is calculated. Thispaper analyzes the influence of steering radius, mass migration and Width to length ratio,crawler wide longer than the interior and the lateral, caterpillar gauge crawler drive, drivepower, steering torque friction and other factors for the performance，when the drivingwheels on the crawler speed is3.33r/min.
A VP model of heavy tracks is constructed in Recurdyn--a large multi-body dynamicssimulation software. Different working conditions such as straight moving on plain, straightclimbing, and turning around on plain are simulated to get the results of reaction forces actedon driving wheels, thrust wheels, balance beam and tracks as well as the driving and tensionforce of the tracks. The results from simulation and those got from theoretical calculationreaches fine mutual verification.
The real vehicle test of heavy tracks of a conveyer loader combines wired and unwiredtesting methods to make up the multi-parameter testing system which contains parameters ofelectric motor, torque, rotate speed and stress. Those two testing methods also help fix thelocation of test points and determine the calibration methods as well as testing conditions.The operation law of the heavy track under different working conditions is obtained throughthe test which is contrasted with results from theoretical calculation and VP simulation inorder to prove their correctness.
The function principle when heavy tracked vehicle works on soft ground and itsstructural parameters' influence on driving performance are researched in this paper. Testedby both virtual and physical tests, the results could provide basis when designing running gear of heavy tracked vehicles.
在广泛查阅国内外资料基础上，介绍了重型履带软地面行驶性能的研究背景和研究意义；综述了重型履带与软地面作用原理的研究现状；从数字化物理样机、功能样机等方面介绍了虚拟样机技术在重型履带研究中的应用；指出巨型化、零部件的通用化、远程控制和智能控制是重型履带的发展趋势。
对重型履带的结构类型、转向方式、驱动方式和功能特点进行了介绍。考虑速度瞬心偏移、质心偏移等因素，结合贝克沉陷理论，分析了履带在软地面行驶时受到的沉陷阻力、转向推土阻力、转向摩擦阻力、运行阻力、惯性阻力、爬坡阻力以及风阻力等作用力，给出了不同工况下履带驱动功率的计算方法。通过对比履带在密执安土、砂壤土和粘土等三种土壤下的沉陷阻力及沉陷量，确定了本文的研究路面为密执安土壤，并研究了履带宽长比对履带车辆行驶性能的影响。
定义了履带链节随动坐标系与大地坐标系的关系，将重型履带分为上部自由段、与地面接触的支持段、与导向轮接触的部分及与驱动轮接触的部分等四部分，分别对每一部分的履带链节进行力学分析，建立了刚性履带环与软地面作用的数学模型，确定了每一个履带链节的位置和受力关系。
针对某重型双履带排土机的转向性能进行了理论计算，分析了在外侧履带驱动轮转速为3.33r/min时，转向半径、质心偏移、履带宽长比以及履带轨距等因素对内、外侧履带驱动力、驱动功率以及转向摩擦阻力矩等性能的影响。
应用大型多体动力学仿真软件Recurdyn创建了某重型履带的虚拟样机模型，并对平地直行、爬坡直行和平地转向等多种工况进行了仿真分析，得到了该履带在上述工况下的驱动力、张紧力以及驱动轮、支重轮、平衡梁和履带的支反力。通过与理论计算结果进行对比，进行了相互验证。
对某排土机重型履带进行了实车试验。采用“有线测试”与“无线遥测”相结合的方法搭建了电机参数、扭矩、转速和应力等多参数测试系统，确定了各个测点位置、被测件的标定方法以及测试工况。通过处理分析测试数据，得到了重型履带不同工况下的运行规律，并与理论计算、虚拟样机仿真结果进行对比，验证了软地面行驶理论及虚拟样机仿真结果的正确性。
本文研究了重型履带车辆与软地面作用原理、主要结构参数的对行驶性能的影响、虚拟样机仿真以及实车试验方法，为重型履带行走装置的设计提供了一定的依据。
In order to alleviate the enormous pressure of the energy, our country majority developthe5000ton and hundred million tonlarge coal enterprises during the “12th Five-Year”.Continuous mining equipment such as bucket-wheel excavator, dump machine,stacker-reclaimer and full-mobile crusher station are applied widely in large coalmine.Heavy crawler travel unit is an important carrier of the weight of above mentionedequipment, and the function of moving and steering, whose performance directly effects theworking efficiency and the reliability of the whole machine. To meet the urgent needs of themining industry, it has been a significant task to develop highly reliable heavy crawler travelunit. Combined with the “Ceeusro”, this paper focuses on the study of the riding performa-nce of the heavy tracked vehicle through the soft ground.
Base on the extensively review about the information at home and abroad, this studyintroduced the research background and significance of the soft ground driving performanceof the heavy crawler. Overviewed the research status of the action principle between theheavy crawler and the soft ground. From the digital physical prototype and the functionalprototype, this paper introduced the application of the virtual prototype technology on theresearch of the heavy crawler. Pointed out that the giant, the generalization of the compon-ents, remote control and intelligent control is the development trend of heavy crawler.
The structure feature, steering method, driving method and function features of heavycrawler are introduced in this paper. Considering the offset of the center of speed and thecenter of mass and combined with the sinkage method proposed by Bekker, forces duringdriving on soft ground such as the sinking resistance, steering bulldozing resistance, steeringfriction, running resistance, inertial resistance, climbing resistance and wind resistance areanalyzed. Calculation of the crawler drive power under different conditions are given. Byconstracting the sinking resistance and sinkage of the track on Michigan soil,sandy loam andclay, the Michigan soil is used in this paper. Width to length ratio influence on driving perfo- rmance of tracked vehicles is researched.
The track link relationship between the fixed coordinate system and the geodeticcoordinate system is defined and the track chain is divided into four segments: the upper freesegment, support segment in contact with the ground, segment in contact with the guidewheel, and segment in contact with the driving wheel. The mechanical analysis for the tracklink in each of the four segments is carried out. A mathematical model of the interactionbetween the rigid track ring and the soft ground is established. The location of each tracklink and forces on it are determined.
For a heavy double track of dumping machine, steering performance is calculated. Thispaper analyzes the influence of steering radius, mass migration and Width to length ratio,crawler wide longer than the interior and the lateral, caterpillar gauge crawler drive, drivepower, steering torque friction and other factors for the performance，when the drivingwheels on the crawler speed is3.33r/min.
A VP model of heavy tracks is constructed in Recurdyn--a large multi-body dynamicssimulation software. Different working conditions such as straight moving on plain, straightclimbing, and turning around on plain are simulated to get the results of reaction forces actedon driving wheels, thrust wheels, balance beam and tracks as well as the driving and tensionforce of the tracks. The results from simulation and those got from theoretical calculationreaches fine mutual verification.
The real vehicle test of heavy tracks of a conveyer loader combines wired and unwiredtesting methods to make up the multi-parameter testing system which contains parameters ofelectric motor, torque, rotate speed and stress. Those two testing methods also help fix thelocation of test points and determine the calibration methods as well as testing conditions.The operation law of the heavy track under different working conditions is obtained throughthe test which is contrasted with results from theoretical calculation and VP simulation inorder to prove their correctness.
The function principle when heavy tracked vehicle works on soft ground and itsstructural parameters' influence on driving performance are researched in this paper. Testedby both virtual and physical tests, the results could provide basis when designing running gear of heavy tracked vehicles.
引文
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