关键词: 对比分析, 滑转滑移, 履带车辆, 平稳转向

Abstract: Slips and skids of tracks contacting ground aren’t considered for traditional steering theory of tracked vehicles, so gaps exist between the calculated and actual values. Based on mutual effects of tracks and ground, the actual steering processes of tracked vehicles are analyzed considering tracks’ slip and skid. Then the formulas of tracks propelling power, broken power, turning resistance moment, turning radius and turning angle velocity are obtained. The stimulated results are gotten with iteratively programming, and some quantitative comparisons with traditional conclusions are given. On-vehicle measurement is carried out. The results show that relative turn radius considering slip and skid is one and a half time of it without considering skid and slip, that is equal to the ratio of track contact ground length L to track gauge B, turn angle velocity is two thirds of it without considering skid and slip. Comparison with measurement, the error of turn radius and turn angle velocity is limited to three percent. So, steering model considering skid and slip corresponds with actual steering character.

Key words: Skid and slip Comparison and analysis, Steady steering, Tracked vehicle