Device and method for simulating movement of tracked vehicle on undulating road surface

Abstract

The invention provides a device and a method for simulating the movement of a crawler on an undulating road surface, a simulated vehicle body of a crawler simulation unit is vertically and freely arranged on a base frame in a sliding manner, and a plurality of driving wheels and guide wheels with rotating shafts extending transversely are arranged on the outer side of the simulated vehicle body at intervals; the simulation crawler belt is longitudinally arranged and is supported by a driving wheel and a guide wheel; the road condition simulation unit is arranged below the crawler simulation unit, each road surface fluctuation unit is provided with a road surface plate for dynamically adjusting the height and the inclination angle, and the road surface plates are supported to the bottom surface of a simulated crawler; the simulation control unit controls the driving wheels to drive the simulation crawler to move and controls the road surface plates of the road surface fluctuation units to dynamically adjust the height and the inclination angle so as to dynamically simulate the working condition of the crawler traveling on the fluctuation road surface, improve the fitness of the simulation process and the actual traveling process, reduce the operation difficulty of the simulation device and improve the simulation efficiency. And technical parameters are provided for subsequent design and development of the crawler.

Description

Technical Field

[0001] The invention relates to the technical field of simulated crawler vehicle simulation test, and in particular provides a device and method for simulating the movement of a crawler vehicle on an undulating road surface. Background Art

[0002] Tracked vehicles have the characteristics of strong ground adaptability and are widely used in construction, agriculture, transportation, national defense and other fields. The simulation of the tracked vehicle's travel process on the undulating road surface has important guiding significance for the design and manufacture of tracked vehicles.

[0003] At present, most of the methods are to build a large simulation bench and place the produced tracked vehicle on the simulation platform for a series of simulation operations. The above technology not only requires a complete set of manufactured tracked vehicles, but also requires a large simulation bench with high operation difficulty. In addition, the simulation process is difficult to simulate the running conditions of the tracked vehicle on an uneven road surface. It cannot meet the technical needs of designing a model and conducting a model test to simulate the running on an uneven road surface during the research and development of the vehicle, and it is impossible to dynamically simulate the running conditions of the tracked vehicle on an uneven road surface. Therefore, there is an urgent need for a simulation device that can be designed and developed, and use a tracked vehicle model to conduct a simulation test on an uneven road surface to provide technical parameters for subsequent vehicle design. Summary of the invention

[0004] Based on this, the present invention provides a device and method for simulating the movement of a tracked vehicle on an undulating road surface, so as to dynamically simulate the driving conditions of a tracked vehicle on an undulating road surface, improve the fit between the simulation process and the actual driving process, and reduce the operating difficulty of the simulation device, thereby providing technical parameters for the subsequent design and development of the tracked vehicle.

[0005] In order to achieve the above-mentioned purpose, in a first aspect, the present invention provides a device for simulating the movement of a tracked vehicle on an undulating road surface, wherein the tracked vehicle simulation unit comprises a simulated vehicle body and a simulated track, wherein the simulated vehicle body is freely slidably arranged on a base frame in a vertical direction, and a plurality of driving wheels and guide wheels with rotating shafts extending laterally are arranged at intervals on the outer side of the simulated vehicle body, and the simulated track is arranged longitudinally and supported by the driving wheels and guide wheels; a road condition simulation unit is arranged below the tracked vehicle simulation unit, and comprises a plurality of road surface undulation units arranged longitudinally at intervals on the base frame, each of the road surface undulation units is respectively provided with a road surface plate with dynamically adjustable height and tilt angle, and the road surface plate is supported to the bottom surface of the simulated track; a simulation control unit is control-connected to the tracked vehicle simulation unit and the road condition simulation unit, and is configured to control the driving wheel to drive the simulated track movement while controlling the road surface plate of each road surface undulation unit to dynamically adjust the height and tilt angle, so as to dynamically simulate the working condition of the tracked vehicle moving on an undulating road surface.

[0006] Furthermore, the simulated track is a double-strand chain, and the simulated vehicle body is provided with a driving sprocket simulating a driving wheel, a passive sprocket simulating a guide wheel, a first tensioner simulating a track roller and a second tensioner simulating a road wheel, and the double-strand chain is supported by the driving sprocket, the passive sprocket, the first tensioner and the second tensioner.

[0007] Furthermore, the simulated vehicle body is provided with a traveling motor connected to the driving sprocket, and is also provided with a magnetic damper connected to the driven sprocket, and the magnetic damper is configured to simulate the damping during the travel of the crawler vehicle.

[0008] Furthermore, the first tensioner includes a plurality of them and is longitudinally spaced apart and arranged on the simulated vehicle body, and the output end of each of the first tensioners extends upward and is respectively supported on the lower surface of the upper simulated track to tension the upper simulated track; the second tensioner includes a plurality of them and is longitudinally spaced apart and arranged on the simulated vehicle body, and the output end of each of the second tensioners extends downward and is respectively supported on the upper surface of the lower simulated track to tension the simulated track below the driving wheel / guide wheel.

[0009] Furthermore, the pavement plates of each of the pavement undulation units are arranged directly below different second tensioners to provide support force to the simulated track supported by each second tensioner to simulate the support force exerted on the simulated track at the tangent point of the road wheel and the ground.

[0010] Furthermore, each of the road surface undulation units includes a front vertical linear cylinder, a rear vertical linear cylinder and a road surface plate, the front vertical linear cylinder and the rear vertical linear cylinder are longitudinally spaced apart and arranged on the ground, a slide rail extending longitudinally is arranged at the bottom of the road surface plate, an upper slider is slidably provided on the slide rail, the movable end of the front vertical linear cylinder is hinged to the front end of the road surface plate, and the movable end of the rear vertical linear cylinder is hinged to the upper slider.

[0011] Furthermore, the front vertical linear cylinder includes a front vertical screw, a front nut and a front motor, the front motor is drivingly connected to the lower end of the front vertical screw, the front nut is meshingly connected near the upper end of the front vertical screw and is hinged to the front end of the pavement plate, and the rear vertical linear cylinder includes a rear vertical screw, a rear nut and a rear motor, the rear motor is drivingly connected to the lower end of the rear vertical screw, the rear nut is meshingly connected near the upper end of the rear vertical screw and is hinged to the upper slider at the bottom of the pavement plate, and the up and down movement of the front nut and the rear nut drives the pavement plate to rise and fall and adjust the tilt angle to simulate changes in pavement height and tilt angle.

[0012] Furthermore, the road undulation unit is a five-link mechanism, and its motion mode is:

[0013] The position of the center of the upper linear slider relative to the ground coordinate system O is The expression is:

[0014]

[0015] The speed of the upper linear slide expression:

[0016]

[0017] Calculate the inclination angle φ and angular velocity ω of the pavement slab, the expression is:

[0018]

[0019] Among them, the upper linear slider is slidably arranged on the linear guide rail, and the distances between the center of the front linear slider and the rear linear slider and the ground are h1 and h2 respectively, the movement speeds are v1 and v2 respectively, the longitudinal distance between the front linear slider and the rear linear slider is D, the horizontal distance d and the vertical distance H between the hinge at the front end of the pavement block and the front linear slider; the horizontal distance d and the vertical distance H between the hinge of the upper linear slider and the rear linear slider.

[0020] In order to achieve the above-mentioned purpose, in a second aspect, the present invention provides a method for simulating the movement of a tracked vehicle on an undulating road surface, wherein the simulated tracks of the tracked vehicle simulation unit are in contact with the road surface slabs of the road condition simulation unit, and the simulation control unit controls the driving wheels to drive the simulated tracks to move, and controls the undulating movement of the road surface slabs, and the tracked vehicle simulation unit moves up and down with the road surface slabs to dynamically simulate the traveling conditions of the tracked vehicle under different undulating road conditions.

[0021] Furthermore, a method for simulating movement of a tracked vehicle on an undulating road surface is provided, comprising the steps of:

[0022] S100. The simulation control unit controls the travel motor of the tracked vehicle simulation unit to drive the driving wheel to rotate, and the driving wheel drives the simulated track to simulate the forward state of the tracked vehicle;

[0023] S200. The simulation control unit controls the front motor of the road condition simulation unit to drive the front vertical screw to rotate, controls the rear motor to drive the rear vertical screw to rotate, and drives the front nut and the rear sliding nut to move up and down respectively, drives the road surface plate to rise and fall and adjust the tilt angle, so as to realize the control of the road surface height and tilt angle, and drives the simulated vehicle body to rise and fall vertically with the ups and downs of the road surface;

[0024] S300. During the simulation process, the motion parameters of the simulated vehicle body are detected by sensors arranged on the simulated vehicle body.

[0025] The technical advantages of the provided device and method for a simulated crawler vehicle to move on an undulating road surface are at least reflected in:

[0026] 1. By setting up a crawler vehicle simulation unit and a road condition simulation unit which are arranged relatively up and down, the simulated vehicle body of the crawler vehicle simulation unit is freely slid vertically on a base frame, and simulated tracks supported by driving wheels and guide wheels are arranged at intervals on the outer side of the simulated vehicle body; each road surface undulation unit of the road condition simulation unit is respectively provided with a road surface plate with dynamically adjusted height and inclination angle, and the road surface plate supports the bottom surface of the simulated track; the test process does not need to configure a large platform and a prototype of a crawler vehicle, which reduces the test cost and improves the test efficiency.

[0027] 2. During the test, the simulation control unit is connected to the tracked vehicle simulation unit and the road condition simulation unit, and is configured to control the driving wheel to drive the simulated track movement while controlling the pavement panels of each road undulation unit to dynamically adjust the height and inclination angle to dynamically simulate the working conditions of the tracked vehicle traveling on an undulating road surface. It has a highly adjustable road condition simulation function, can simulate the movement state of the tracked vehicle on complex terrain, reduce the operating difficulty of the simulation device, and provide technical parameters for the subsequent design and development of the tracked vehicle, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the device for simulating the movement of a tracked vehicle on an undulating road surface;

[0030] Figure 2 is a front view of an embodiment of the provided apparatus for simulating movement of a tracked vehicle on an undulating road surface;

[0031] Figure 3 is a side view of an embodiment of a provided apparatus for simulating movement of a tracked vehicle on an undulating surface;

[0032] Figure 4 is a plan view of an embodiment of a provided tracked vehicle simulation unit;

[0033] Figure 5 A plan view of an embodiment of a road condition simulation unit provided;

[0034] Figure 6 It is a schematic diagram of the road surface undulation unit mechanism;

[0035] Figure 7 It is a schematic diagram of the mathematical model of the road undulation unit.

[0036] Figure 8 This is a control system block diagram of the device provided to simulate the movement of a tracked vehicle on an undulating road surface.

[0037] Fig. 9 The flow chart of the method for simulating the movement of a tracked vehicle on an undulating road surface is provided.

[0038] Description of the accompanying drawings:

[0039] 1-track vehicle simulation unit, 11-simulated vehicle body, 12-simulated track, 13-driving wheel, 14-guide wheel, 15-first tensioner, 16-second tensioner;

[0040] 2-road condition simulation unit, 21-road surface undulation unit, 211-road surface plate, 212-front vertical linear cylinder, 213-rear vertical linear cylinder;

[0041] 3-Analog control unit;

[0042] 4-five-link mechanism, 41-ground, 42-front linear slider, 43-linear guide rail, 44-upper linear slider, 45-rear linear slider. DETAILED DESCRIPTION

[0043] The contents of the present invention and the differences between the present invention and the prior art can be understood with reference to the accompanying drawings and text content. The technical scheme (including the preferred technical scheme) of the present invention is further described in detail below by means of the accompanying drawings and by listing some optional embodiments of the present invention. It should be noted that any technical feature and any technical scheme in the present embodiment are one or more of a variety of optional technical features or optional technical schemes. In order to describe the need for brevity, it is impossible to list all the alternative technical features and alternative technical schemes of the present invention in this document, and it is not convenient for the implementation method of each technical feature to emphasize that it is one of the multiple optional implementation methods. Therefore, those skilled in the art should know that any technical means provided by the present invention can be replaced or any two or more technical means or technical features provided by the present invention can be combined with each other to obtain a new technical scheme.

[0044] like Figures 1 to 5 , Figure 8As shown, the present invention provides a device for simulating the movement of a tracked vehicle on an undulating road surface, wherein a tracked vehicle simulation unit 1 comprises a simulation vehicle body 11 and a simulation track 12, wherein the simulation vehicle body 11 is freely slidably arranged on a base frame vertically, and a plurality of driving wheels 13 and guide wheels 14 with rotating shafts extending laterally are arranged at intervals on the outer side of the simulation vehicle body 11, and the simulation track 12 is arranged longitudinally and supported by the driving wheels 13 and guide wheels 14; a road condition simulation unit 2 is arranged below the tracked vehicle simulation unit 1, and comprises a plurality of road surface undulation units 21 arranged longitudinally at intervals on the base frame, and each of the road surface undulation units 21 is respectively provided with a road surface block 211 with dynamically adjustable height and tilt angle, and the road surface block 211 supports the bottom surface of the simulated track 12; a simulation control unit 3 is control-connected to the tracked vehicle simulation unit 1 and the road condition simulation unit 2, and is configured to control the driving wheel 13 to drive the simulated track 12 to move, while controlling the road surface block 211 of each road surface undulation unit 21 to dynamically adjust the height and tilt angle, so as to dynamically simulate the working condition of the tracked vehicle 12 moving on an undulating road surface.

[0045] In some embodiments, the simulated crawler 12 is a double-strand chain, and the simulated vehicle body 11 is provided with a driving sprocket simulating a driving wheel 13, a passive sprocket simulating a guide wheel 14, a first tensioner 15 simulating a support wheel, and a second tensioner 16 simulating a road wheel, and the double-strand chain is supported by the driving sprocket, the passive sprocket, the first tensioner 15, and the second tensioner 16. The simulated vehicle body 11 is provided with a travel motor connected to the driving sprocket, and is also provided with a magnetic damper connected to the passive sprocket, and the magnetic damper is configured to simulate the damping of the crawler 12 during the driving process. The first tensioner 15 includes a plurality of devices which are longitudinally spaced apart and arranged on the simulated vehicle body 11, and the output end of each of the first tensioners 15 extends upward and is respectively supported on the lower surface of the upper simulated track 12 to tension the upper simulated track 12; the second tensioner 16 includes a plurality of devices which are longitudinally spaced apart and arranged on the simulated vehicle body 11, and the output end of each of the second tensioners 16 extends downward and is respectively supported on the upper surface of the lower simulated track 12 to tension the simulated track 12 below the drive wheel 13 / guide wheel 14.

[0046] In some embodiments, the pavement blocks 211 of each of the pavement undulation units 21 are respectively arranged directly below different second tensioners 16, and provide support force to the simulated track 12 supported by each second tensioner 16, so as to simulate the support force exerted on the simulated track 12 at the tangent point between the road wheel and the ground 41. Each of the pavement undulation units 21 includes a front vertical linear cylinder 212, a rear vertical linear cylinder 213, and a pavement block 211, wherein the front vertical linear cylinder 212 and the rear vertical linear cylinder 213 are longitudinally spaced apart and arranged on the ground 41, and a slide rail extending longitudinally is arranged at the bottom of the pavement block 211, and an upper slider is slidably arranged on the slide rail, and the movable end of the front vertical linear cylinder 212 is hinged to the front end of the pavement block 211, and the movable end of the rear vertical linear cylinder 213 is hinged to the upper slider.

[0047] During implementation, the front vertical linear cylinder 212 includes a front vertical screw, a front nut and a front motor, the front motor is drivingly connected to the lower end of the front vertical screw, the front nut is meshingly connected near the upper end of the front vertical screw and is hinged to the front end of the pavement block 211, and the rear vertical linear cylinder 213 includes a rear vertical screw, a rear nut and a rear motor, the rear motor is drivingly connected to the lower end of the rear vertical screw, the rear nut is meshingly connected near the upper end of the rear vertical screw and is hinged to the upper slider at the bottom of the pavement block 211, and the up and down movement of the front nut and the rear nut drives the pavement block 211 to rise and fall and adjust the tilt angle to simulate changes in pavement height and tilt angle.

[0048] Based on the above embodiments, a device and method for a simulated tracked vehicle to move on an undulating road surface are provided, in which a simulated vehicle body of a tracked vehicle simulation unit is freely arranged on a base frame in a vertically sliding manner, and simulated tracks supported by driving wheels and guide wheels are arranged at intervals on the outer sides of the simulated vehicle body, and each road surface undulation unit of the road condition simulation unit is respectively provided with a road surface plate with dynamically adjustable height and inclination angle, and the road surface plate is supported to the bottom surface of the simulated track. The device has a simple structure, and the test process does not require the configuration of a large platform and a prototype of a tracked vehicle, thereby reducing the test cost and improving the test efficiency.

[0049] The following is an introduction to the device in conjunction with a specific embodiment to make the structural principle clearer:

[0050] In the implementation process, a device for simulating the movement of a tracked vehicle on an undulating road surface is provided, which is mainly composed of a tracked vehicle simulation unit 1 and a road condition simulation unit 2. The tracked vehicle simulation unit 1 includes a simulated track 12 and multiple simulated wheels, a simulated vehicle body 11 and a base frame. The road condition simulation unit 2 includes three independent road undulation units 21, each of which is designed with a five-link mechanism 4.

[0051] The crawler vehicle simulation unit 1 comprises a driving sprocket simulating a driving wheel 13, a passive sprocket simulating a guide wheel 14, a double-strand chain simulating a crawler track 12, a first tensioner 15 simulating a track roller and three second tensioners 16 simulating road wheels, as well as a simulated vehicle body 11 and a base frame. The driving sprocket is driven by a servo motor, and the passive sprocket is connected to a magnetic damper to provide damping during the travel of the crawler vehicle. The first tensioner 15 simulating the track roller is arranged at the top to tension the upper crawler track, and the three second tensioners 16 simulating road wheels are evenly distributed at the bottom to tension the lower crawler track. After the device is started, the motor drives the driving wheel 13 to rotate, and the driving wheel 13 drives the crawler track to move, simulating the state of the crawler vehicle moving forward. The entire crawler track and wheel train are fixed on the simulated vehicle body 11, and the vehicle body is connected to the base frame through two sets of guide rail sliders to ensure that the vehicle body can move in the vertical direction with the ups and downs of the road surface.

[0052] The road condition simulation unit 2 is composed of three independent road surface undulation units 21. Because the contact point between the crawler vehicle and the ground is mainly located at the tangent point between the road wheel and the ground, the crawler receives a vertical upward support force perpendicular to the tangent line at this point. Therefore, in order to simulate the support force as much as possible, the three independent road surface undulation units are respectively arranged directly below the second tensioners 16 of the three simulated road wheels of the crawler vehicle body. Each unit adopts a five-link mechanism 4 design to achieve two-degree-of-freedom control of the road surface height and the inclination angle.

[0053] Each road surface undulation unit 21 includes a road surface plate 211, a front vertical linear cylinder 212, a rear vertical linear cylinder 213 and a base frame. The left side of the road surface plate 211 is connected to the front vertical linear cylinder 212 through a hinge, and the slider below is connected to the rear vertical linear cylinder 213 through a hinge. The front vertical linear cylinder 212 and the rear vertical linear cylinder 213 are each composed of a vertically arranged screw rod and a motor connected to its end. Each screw rod is connected to the lifting rod through its screw rod nut. When the motor drives the screw rod to rotate, the left and right sliding nuts move up and down to drive the road surface to rise and fall, adjust the tilt angle, and thus realize the control of the height and tilt angle of the road surface plate 211 with two degrees of freedom.

[0054] Working principle: The chain of the crawler vehicle is in direct contact with the undulating road surface, and the road condition simulation unit 2 is controlled to simulate the undulating road surface, and the crawler vehicle moves up and down accordingly, realizing the dynamic simulation of the crawler vehicle under different undulating terrain conditions. This design has a highly adjustable road condition simulation function, which can simulate the movement state of the crawler vehicle on complex terrain and has broad application prospects.

[0055] like Figure 6 and Figure 7 As shown, during the implementation, the road undulation unit 21 is a five-link mechanism 4, and its motion mode is:

[0056] The position of the center of the upper linear slider 44 relative to the coordinate system O of the ground 41 is The expression is:

[0057]

[0058] The speed of the upper linear slide 44 expression:

[0059]

[0060] The inclination angle φ and angular velocity ω of the pavement slab 211 are calculated as follows:

[0061]

[0062] The upper linear slider 44 is slidably mounted on the linear guide rail 43. The distances between the centers of the front linear slider 42 and the rear linear slider 45 and the ground 41 are h1 and h2 respectively, and the movement speeds are v1 and v2 respectively. The longitudinal distance between the front linear slider 42 and the rear linear slider 45 is D. The horizontal distance d and the vertical distance H between the hinge at the front end of the pavement block 211 and the front linear slider 42 are; the horizontal distance d and the vertical distance H between the hinge of the upper linear slider 43 and the rear linear slider 45 are;

[0063] Among them, 41 is the ground, 42 is the front linear slider connected to the front vertical linear cylinder 212, 43 is the linear guide rail set at the bottom of the pavement block 211, 44 is the upper linear slider slid on the bottom of the pavement block 211, and 45 is the rear linear slider driven by the rear vertical linear cylinder 213.

[0064] Based on the provided device, a method for simulating the movement of a tracked vehicle on an undulating road surface is also provided, wherein the simulated track 12 of the tracked vehicle simulation unit 1 is in contact with the road surface slab 211 of the road condition simulation unit 2, and the simulation control unit 3 controls the driving wheel 13 to drive the simulated track 12 to move, and controls the undulating movement of the road surface slab 211, and the tracked vehicle simulation unit 1 moves up and down with the road surface slab 211 to dynamically simulate the traveling condition of the tracked vehicle 12 under different undulating road conditions.

[0065] like Fig. 9 As shown, in some preferred embodiments, the method for simulating the movement of a tracked vehicle on an undulating road surface comprises the steps of:

[0066] S100. The simulation control unit 3 controls the travel motor of the tracked vehicle simulation unit 1 to drive the drive wheel 13 to rotate, and the drive wheel 13 drives the simulated track 12 to move, so as to simulate the forward state of the tracked vehicle 12;

[0067] S200. The simulation control unit 3 controls the front motor of the road condition simulation unit 2 to drive the front vertical screw to rotate, controls the rear motor to drive the rear vertical screw to rotate, and drives the front nut and the rear sliding nut to move up and down respectively, drives the road surface plate 211 to rise and fall and adjust the tilt angle, so as to realize the control of the road surface height and tilt angle, and drives the simulated vehicle body 11 to rise and fall vertically with the ups and downs of the road surface;

[0068] S300. During the simulation process, the motion parameters of the simulated vehicle body are detected by sensors arranged on the simulated vehicle body 11.

[0069] During the simulation test, the simulation control unit is connected to the tracked vehicle simulation unit and the road condition simulation unit, and is configured to control the driving wheel to drive the simulated track movement while controlling the pavement panels of each road undulation unit to dynamically adjust the height and inclination angle to dynamically simulate the working conditions of the tracked vehicle moving on an undulating road surface. It has a highly adjustable road condition simulation function, can simulate the movement state of the tracked vehicle on complex terrain, reduce the operating difficulty of the simulation device, and provide technical parameters for the subsequent design and development of the tracked vehicle.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A device for simulating the movement of a tracked vehicle on an undulating road surface, characterized in that: include: A crawler vehicle simulation unit (1) comprises a simulation vehicle body (11) and a simulation crawler track (12), wherein the simulation vehicle body (11) is vertically slidably arranged on a base frame, a plurality of drive wheels (13) and guide wheels (14) with rotating shafts extending laterally are arranged at intervals on the outer side of the simulation vehicle body (11), and the simulation crawler track (12) is arranged longitudinally and supported by the drive wheels (13) and the guide wheels (14); A road condition simulation unit (2) is arranged below the tracked vehicle simulation unit (1), and comprises a plurality of road surface undulation units (21) arranged on a base frame at intervals in the longitudinal direction, each of the road surface undulation units (21) is provided with a road surface plate (211) with dynamically adjustable height and tilt angle, and the road surface plate (211) is supported on the bottom surface of the simulated track (12); and The simulation control unit (3) is connected to the tracked vehicle simulation unit (1) and the road condition simulation unit (2) and is configured to control the driving wheel (13) to drive the simulated track (12) to move, while controlling the road surface plates (211) of each road surface undulation unit (21) to dynamically adjust the height and tilt angle, so as to dynamically simulate the working condition of the tracked vehicle (12) moving on an undulating road surface.

2. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 1, characterized in that: The simulated crawler (12) is a double-strand chain, the simulated vehicle body (11) is provided with a driving sprocket simulating a driving wheel (13), a passive sprocket simulating a guide wheel (14), a first tensioner (15) simulating a support wheel and a second tensioner (16) simulating a road wheel, and the double-strand chain is supported by the driving sprocket, the passive sprocket, the first tensioner (15) and the second tensioner (16).

3. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 2, characterized in that: The simulated vehicle body (11) is provided with a traveling motor connected to the driving sprocket, and is also provided with a magnetic damper connected to the driven sprocket, wherein the magnetic damper is configured to simulate the damping of the crawler (12) vehicle during travel.

4. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 2 or 3, characterized in that: The first tensioner (15) includes a plurality of tensioners (15) which are longitudinally spaced apart and arranged on the simulated vehicle body (11), and the output end of each of the first tensioners (15) extends upward and is respectively supported on the lower surface of the upper simulated track (12) to tension the upper simulated track (12); the second tensioner (16) includes a plurality of tensioners (16) which are longitudinally spaced apart and arranged on the simulated vehicle body (11), and the output end of each of the second tensioners (16) extends downward and is respectively supported on the upper surface of the lower simulated track (12) to tension the simulated track (12) below the driving wheel (13) / guide wheel (14).

5. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 2 or 3, characterized in that: The road surface plates (211) of each of the road surface undulation units (21) are respectively arranged directly below different second tensioners (16) to provide support force to the simulated crawler track (12) supported by each second tensioner (16) to simulate the support force exerted on the simulated crawler track (12) at the tangent point between the road wheel and the ground (41).

6. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 5, characterized in that: Each of the road surface undulation units (21) comprises a front vertical linear cylinder (212), a rear vertical linear cylinder (213) and a road surface plate (211); the front vertical linear cylinder (212) and the rear vertical linear cylinder (213) are arranged on the ground (41) at intervals in the longitudinal direction; a slide rail extending in the longitudinal direction is arranged at the bottom of the road surface plate (211); an upper slide block is slidably arranged on the slide rail; a movable end of the front vertical linear cylinder (212) is hinged to a front end of the road surface plate (211); and a movable end of the rear vertical linear cylinder (213) is hinged to the upper slide block.

7. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 6, characterized in that: The front vertical linear cylinder (212) comprises a front vertical lead screw, a front nut and a front motor, the front motor is drivingly connected to the lower end of the front vertical lead screw, the front nut is meshingly connected near the upper end of the front vertical lead screw and is hinged to the front end of the road surface plate (211), the rear vertical linear cylinder (213) comprises a rear vertical lead screw, a rear nut and a rear motor, the rear motor is drivingly connected to the lower end of the rear vertical lead screw, the rear nut is meshingly connected near the upper end of the rear vertical lead screw and is hinged to the upper slider at the bottom of the road surface plate (211), and the up and down movement of the front nut and the rear nut drives the road surface plate (211) to rise and fall and adjust the tilt angle to simulate the change of road surface height and tilt angle.

8. The device for simulating the movement of a tracked vehicle on an undulating road surface according to claim 7, characterized in that: The road surface undulation unit (21) is a five-link mechanism (4), and its motion mode is: The position of the center of the upper linear slider (44) relative to the ground (41) coordinate system O is The expression is: The speed of the upper linear slide (44) expression: The inclination angle φ and angular velocity ω of the pavement slab (211) are calculated as follows: The upper linear slider (44) is slidably mounted on the linear guide rail (43), the distances between the centers of the front linear slider (42) and the rear linear slider (45) and the ground (41) are h1 and h2 respectively, the movement speeds are v1 and v2 respectively, the longitudinal distance between the front linear slider (42) and the rear linear slider (45) is D, the horizontal distance d and the vertical distance H between the hinge at the front end of the pavement plate (211) and the front linear slider (42) are; the horizontal distance d and the vertical distance H between the hinge of the upper linear slider (44) and the rear linear slider (45) are.

9. A method for simulating the movement of a tracked vehicle on an undulating road surface, using the device for simulating the movement of a tracked vehicle on an undulating road surface as claimed in claim 1 or 2, characterized in that: The simulated crawler track (12) of the crawler vehicle simulation unit (1) contacts the road surface plate (211) of the road condition simulation unit (2); the simulation control unit (3) controls the driving wheel (13) to drive the simulated crawler track (12) to move, and controls the ups and downs of the road surface plate (211); the crawler vehicle simulation unit (1) moves up and down with the road surface plate (211), so as to dynamically simulate the traveling conditions of the crawler vehicle (12) under different ups and downs road conditions.

10. The method for simulating the movement of a tracked vehicle on an undulating road surface according to claim 9, characterized in that: S100. The simulation control unit (3) controls the travel motor of the tracked vehicle simulation unit (1) to drive the drive wheel (13) to rotate, and the drive wheel (13) drives the simulated track (12) to move, so as to simulate the forward state of the tracked vehicle (12); S200. The simulation control unit (3) controls the front motor of the road condition simulation unit (2) to drive the front vertical screw to rotate, and controls the rear motor to drive the rear vertical screw to rotate, respectively driving the front nut and the rear sliding nut to move up and down, driving the road surface plate (211) to rise and fall and adjust the tilt angle, so as to achieve control of the road surface height and tilt angle, and driving the simulated vehicle body (11) to rise and fall vertically along with the ups and downs of the road surface; S300. During the simulation process, the motion parameters of the simulated vehicle body are detected by sensors arranged on the simulated vehicle body (11).

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