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Power Requirement and Vibration Characteristics of Rubber Crawler Vehicle for Farm Machinery and Determination of Optimum Design Parameters

农机用橡胶履带车的功率需求、振动特性及最佳设计参数的确定

基本信息

批准号：
11460119
负责人：
INOUE Eiji
金额：
$ 6.21万
依托单位：
KYUSHU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2001
项目状态：
已结题

项目摘要

In former study, dynamic model of the rubber crawler system running on the solid horizontal surface, was constructed by the Voigt model composed of the dynamic spring constant, k, and viscous damping coefficient C which were expressed as Fourier series. Further, the simulation of the vibration characteristics could be performed through the motion equations based on the dynamic model.In order to simulate precisely, dynamic parameters k and C were identified by the Gauss-Newton Method which is one of the method of non-linear least squares. As a result, k and C could be identified about only two coefficients of harmonics under the condition of separately identification. Therefore, Leven Berg-Marquartd method which is available for identification of so many parameters and errors of the first stage, was applied as a new identification method. As a result, Ten coefficients of Fourier series concerning to dynamic parameters k and C could be identified under the condition of at the same time identification.Next, Analytical simulation of the travel resistance was performed by using experimental results and static equilibrium equations constructed by the mechanical model of the rubber crawler system. As a result, it was found that this simulation method was applicable to predict travel resistance by the rolling resistance of the track rollers. Further, the rolling resistance for each track roller arrangement could be estimated quantitatively.

在以往的研究中，橡胶履带系统在固体水平面上的动力学模型是由动态弹簧常数k和粘性阻尼系数C组成的Voigt模型建立的。在此基础上，通过建立动力学模型的运动方程，对振动特性进行仿真，为了精确仿真，采用非线性最小二乘法中的高斯-牛顿法对动力学参数k和C进行辨识。结果表明，在分别辨识的情况下，仅需对两个谐波系数进行辨识，即可辨识出k和C。因此，Leven Berg-Marquartd方法，适用于识别这么多的参数和误差的第一阶段，作为一种新的识别方法。在同时辨识的条件下，可以辨识出与动态参数k和C有关的10个傅立叶级数系数。其次，利用实验结果和橡胶履带系统力学模型建立的静态平衡方程，对行走阻力进行了解析仿真。结果表明，该模拟方法适用于由支重轮滚动阻力预测行驶阻力。此外，可以定量地估计每个履带支重轮布置的滚动阻力。