Apparatus and method for simulating movement of a tracked vehicle over uneven terrain

Abstract

The application provides a device and method for simulating the movement of a tracked vehicle on an undulating road surface. The simulated vehicle body of the tracked vehicle simulation unit is vertically sliding freely arranged on a base frame. A plurality of driving wheels and guide wheels are arranged on the outer side of the simulated vehicle body in a transverse direction. The simulated track is arranged in a longitudinal direction and supported by the driving wheels and guide wheels. The road surface simulation unit is arranged below the tracked vehicle simulation unit. Each road surface undulation unit is provided with a road surface block with dynamic height and inclination angle adjustment. The road surface block supports the bottom surface of the simulated track. The simulated control unit controls the driving wheels to drive the simulated track to move, and controls the dynamic height and inclination angle adjustment of the road surface block of each road surface undulation unit, to dynamically simulate the working condition of the tracked vehicle driving on the undulating road surface, improve the fitting of the simulation process and the actual driving process, reduce the operation difficulty of the simulation device, and provide technical parameters for subsequent design and development of the tracked vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of simulation test technology of tracked vehicle, and provides a device and method for simulating the movement of tracked vehicle on undulating road surface. BACKGROUND

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

[0003] At present, a large simulation bench is usually built, and the produced tracked vehicle is placed on the simulation platform to perform a series of simulation operations. The above-mentioned technology not only needs a complete set of manufactured tracked vehicle, but also needs a large-sized simulation bench with high operation difficulty, and the simulation process cannot simulate the running conditions of tracked vehicles on undulating road surface. It cannot meet the technical needs of the model test on undulating road surface in the process of vehicle development, design and model, and cannot dynamically simulate the running conditions of tracked vehicles on undulating road surface. Therefore, there is an urgent need for a simulation device for the design and development of tracked vehicles, which can simulate the running test of tracked vehicle model on undulating road surface, and provide technical parameters for the subsequent design of the whole vehicle. SUMMARY

[0004] Based on this, the present application provides a device and method for simulating the movement of tracked vehicle on undulating road surface, which dynamically simulates the running conditions of tracked vehicle on undulating road surface, improves the fitting of the simulation process and the actual running process, reduces the operation difficulty of the simulation device, and provides technical parameters for the subsequent design and development of tracked vehicles.

[0005] In order to achieve the above-mentioned purpose, in the first aspect, the present application provides a device for simulating the movement of tracked vehicle on undulating road surface, which comprises a tracked vehicle simulation unit and a road condition simulation unit. The tracked vehicle simulation unit comprises a simulation vehicle body and a simulation track. The simulation vehicle body is vertically and freely arranged on a base frame. A plurality of driving wheels and guide wheels are arranged on the outer side of the simulation vehicle body in a transverse direction. The simulation track is arranged in a longitudinal direction and supported by the driving wheels and the guide wheels. The road condition simulation unit is arranged below the tracked vehicle simulation unit and comprises a plurality of road surface undulating units arranged on the base frame in a longitudinal direction. Each road surface undulating unit is provided with a road surface block with dynamically adjustable height and inclination angle. The road surface block supports the bottom surface of the simulation track. A simulation control unit is connected with the tracked vehicle simulation unit and the road condition simulation unit for controlling the driving wheels to drive the simulation track to move, and dynamically adjusting the height and inclination angle of the road surface block of each road surface undulating unit, so as to dynamically simulate the running conditions of tracked vehicle on undulating road surface.

[0006] Further, the simulation track is a double strand chain, the simulation vehicle body is provided with a driving sprocket simulating a driving wheel, a driven sprocket simulating a guide wheel, a first tensioner simulating a supporting roller, and a second tensioner simulating a load wheel, and the double strand chain is supported by the driving sprocket, the driven sprocket, the first tensioner, and the second tensioner.

[0007] Further, the simulation vehicle body is provided with a traveling motor connected with the driving sprocket, and is further provided with a magnetic damper connected with the driven sprocket, the magnetic damper being configured to simulate damping in the process of traveling of the tracked vehicle.

[0008] Further, the first tensioner includes a plurality of first tensioners arranged longitudinally and spaced apart on the simulation vehicle body, the output ends of the first tensioners respectively extending upward and being supported to the lower surface of the upper simulation track to tension the upper simulation track; and the second tensioner includes a plurality of second tensioners arranged longitudinally and spaced apart on the simulation vehicle body, the output ends of the second tensioners respectively extending downward and being supported to the upper surface of the lower simulation track to tension the lower simulation track.

[0009] Further, the road surface blocks of the road surface fluctuation units are arranged respectively directly below the second tensioners, and provide support force to the simulation track supported by the second tensioners to simulate the support force received by the simulation track at the ground contact point of the load wheel.

[0010] Further, the road surface fluctuation unit includes a front vertical linear cylinder, a rear vertical linear cylinder, and a road surface block, the front vertical linear cylinder and the rear vertical linear cylinder are arranged longitudinally and spaced apart on the ground, the road surface block is provided with a slide rail extending along the longitudinal direction at the bottom, the slide rail is provided with an upper slide block, the movable end of the front vertical linear cylinder is hinged to the front end of the road surface block, and the movable end of the rear vertical linear cylinder is hinged to the upper slide block.

[0011] Further, the front vertical linear cylinder includes a front vertical lead screw, a front nut, and a front motor, the front motor is drivingly connected with 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 block, the rear vertical linear cylinder includes a rear vertical lead screw, a rear nut, and a rear motor, the rear motor is drivingly connected with 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 slide block at the bottom of the road surface block, and the up-and-down movement of the front nut and the rear nut drives the road surface block to rise and fall and adjust the inclination angle to simulate the change of the road surface height and the inclination angle.

[0012] Further, the road surface fluctuation unit is a five-link mechanism, and the movement mode of the five-link mechanism is as follows:

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

[0014]

[0015] The speed of the upper linear slider Expression:

[0016]

[0017] The inclination angle φ and the angular velocity ω of the road panel are calculated, and the expression is:

[0018]

[0019] The upper linear slider is arranged on a linear guide rail, the distances from the centers of the front linear slider and the rear linear slider to 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 and the vertical distance from the hinge at the front end of the road panel to the front linear slider are d and H respectively, the horizontal distance and the vertical distance from the hinge of the upper linear slider to the rear linear slider are d and H respectively.

[0020] In order to achieve the above-mentioned purpose, in a second aspect, the application provides a method for simulating the movement of a tracked vehicle on a road with ups and downs, wherein a simulation tracked vehicle unit is in contact with a road panel of a road condition simulation unit, a simulation control unit controls a driving wheel to drive the simulation tracked vehicle to move, and controls the ups and downs of the road panel, and the simulation tracked vehicle unit moves up and down with the road panel to dynamically simulate the running conditions of the tracked vehicle on different ups and downs of the road.

[0021] Further, the method for simulating the movement of a tracked vehicle on a road with ups and downs comprises the following steps:

[0022] S100. The simulation control unit controls the running motor of the simulation tracked vehicle unit to drive the driving wheel to rotate, and the driving wheel drives the simulation tracked vehicle to move to simulate the forward running 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 rod to rotate, and controls the rear motor to drive the rear vertical screw rod to rotate, so as to drive the front nut and the rear sliding nut to move up and down, drive the road panel to rise and fall and adjust the inclination angle, realize the control of the height and the inclination angle of the road, and drive the simulation vehicle body to vertically rise and fall with the ups and downs of the road.

[0024] S300. In the simulation process, a sensor arranged on the simulation vehicle body detects the movement parameters of the simulation vehicle body.

[0025] The technical advantages of the device and method for simulating the movement of a tracked vehicle on a road with ups and downs are at least embodied in:

[0026] 1. The device for simulating the motion of a tracked vehicle on a rough road surface comprises a tracked vehicle simulation unit and a rough road surface simulation unit, the tracked vehicle simulation unit is vertically slidably arranged on a base frame, and the outer side of the simulation vehicle body is spaced apart from the simulation tracked supported by driving wheels and guide wheels; each rough road surface unit is provided with a road surface block with adjustable height and inclination angle, and the road surface block is supported on the bottom surface of the simulation tracked.

[0027] 2. During the test, the simulation control unit is in control connection with the tracked vehicle simulation unit and the rough road surface simulation unit, and is configured to control the driving wheels to drive the simulation tracked to move, and to control the road surface blocks of each rough road surface unit to dynamically adjust the height and inclination angle, so as to dynamically simulate the working condition of the tracked vehicle moving on the rough road surface, has the height-adjustable rough road surface simulation function, can simulate the motion state of the tracked vehicle on the complex terrain, reduces the operation difficulty of the simulation device, provides technical parameters for the subsequent design and development of the tracked vehicle, and has wide application prospect. BRIEF DESCRIPTION OF DRAWINGS

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

[0029] Figure 1 is a perspective view of the device for simulating the motion of a tracked vehicle on a rough road surface;

[0030] Figure 2 is a front view of the device for simulating the motion of a tracked vehicle on a rough road surface;

[0031] Figure 3 is a side view of the device for simulating the motion of a tracked vehicle on a rough road surface;

[0032] Figure 4 is a plan view of the tracked vehicle simulation unit;

[0033] Figure 5 is a plan view of the rough road surface simulation unit;

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

[0035] Figure 7 is a mathematical model of the rough road surface unit.

[0036] Figure 8 is a control system block diagram of the device for simulating the motion of a tracked vehicle on a rough road surface

[0037] Figure 9 is a flow chart of the method of moving the simulated tracked vehicle on the undulating road surface

[0038] Brief Description of the Drawings

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

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

[0041] 3 - simulation control unit

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

[0043] The content of the present application and the difference between the present application and the prior art can be understood below with reference to the accompanying drawings and the text. The technical solutions of the present application (including the preferred technical solutions) are described in further detail below by means of the accompanying drawings and by listing some optional embodiments of the present application. It should be noted that any technical feature or any technical solution in the present embodiment is one or several of a plurality of optional technical features or optional technical solutions. In order to describe simply, all the alternative technical features and alternative technical solutions of the present application cannot be listed in the present document, and it is not convenient to emphasize that each embodiment of the technical feature is one of a plurality of optional embodiments. Therefore, the person skilled in the art should know that any technical means provided by the present application can be replaced or any two or more technical means or technical features provided by the present application can be combined to obtain a new technical solution.

[0044] As Figures 1 to 5 , Figure 8As shown, the device for simulating the movement of a tracked vehicle on an undulating road surface provided by the present application comprises a tracked vehicle simulation unit 1 and a road surface simulation unit 2. The tracked vehicle simulation unit 1 comprises a simulation vehicle body 11 and a simulation track 12. The simulation vehicle body 11 is vertically freely arranged on a base frame. A plurality of driving wheels 13 and guide wheels 14 are arranged on the lateral side of the simulation vehicle body 11. The simulation track 12 is arranged longitudinally and supported by the driving wheels 13 and the guide wheels 14. The road surface simulation unit 2 is arranged below the tracked vehicle simulation unit 1. The road surface simulation unit 2 comprises a plurality of road surface undulating units 21 arranged longitudinally on the base frame. Each road surface undulating unit 21 is provided with a road surface plate 211 with dynamic height and inclination angle adjustment. The road surface plate 211 supports the bottom surface of the simulation track 12. A simulation control unit 3 is connected to the tracked vehicle simulation unit 1 and the road surface simulation unit 2. The simulation control unit 3 is configured to control the driving wheels 13 to drive the simulation track 12 to move, and to control the road surface plate 211 of each road surface undulating unit 21 to dynamically adjust the height and inclination angle, so as to dynamically simulate the working condition of the tracked vehicle 12 driving on an undulating road surface.

[0045] In some embodiments, the simulation track 12 is a double-stranded chain. The simulation vehicle body 11 is provided with a driving sprocket for simulating the driving wheel 13, a driven sprocket for simulating the guide wheel 14, a first tensioner 15 for simulating the track roller, and a second tensioner 16 for simulating the idler wheel. The double-stranded chain is supported by the driving sprocket, the driven sprocket, the first tensioner 15, and the second tensioner 16. The simulation vehicle body 11 is provided with a traveling motor connected to the driving sprocket, and a magnetic damper connected to the driven sprocket. The magnetic damper is configured to simulate the damping during the driving of the simulation track 12. The first tensioner 15 comprises a plurality of tensioners arranged longitudinally on the simulation vehicle body 11. The output end of each first tensioner 15 extends upward and supports the lower surface of the upper simulation track 12, so as to tension the upper simulation track 12. The second tensioner 16 comprises a plurality of tensioners arranged longitudinally on the simulation vehicle body 11. The output end of each second tensioner 16 extends downward and supports the upper surface of the lower simulation track 12, so as to tension the lower simulation track 12 below the driving wheel 13 / guide wheel 14.

[0046] In some embodiments, the road surface blocks 211 of each road surface fluctuation unit 21 are arranged directly below different second tensioners 16, respectively, to provide support force to the simulated track 12 supported by each second tensioner 16, so as to simulate the support force received by the simulated track 12 at the contact point between the track and the ground 41. Each road surface fluctuation unit 21 comprises a front vertical linear cylinder 212, a rear vertical linear cylinder 213, and a road surface block 211. The front vertical linear cylinder 212 and the rear vertical linear cylinder 213 are longitudinally spaced apart and arranged on the ground 41. The road surface block 211 is provided with a slide rail extending along the longitudinal direction at the bottom thereof. An upper slide block is arranged on the slide rail. The movable end of the front vertical linear cylinder 212 is hingedly connected to the front end of the road surface block 211. The movable end of the rear vertical linear cylinder 213 is hingedly connected to the upper slide block.

[0047] In the implementation process, 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 hingedly connected to the front end of the road surface block 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 hingedly connected to the upper slide block at the bottom of the road surface block 211. The up-and-down movement of the front nut and the rear nut drives the road surface block 211 to rise and fall and adjust the inclination angle, so as to simulate the change of the road surface height and the inclination angle.

[0048] Based on the above embodiments, the device and method for simulating the movement of a tracked vehicle on a fluctuating road surface are provided. The vertically-sliding free simulated vehicle body of the tracked vehicle simulation unit is arranged on the base frame. The outer side of the simulated vehicle body is spaced apart to support the simulated track through the driving wheel and the guide wheel. Each road surface fluctuation unit of the road condition simulation unit is provided with a road surface block with dynamic height and inclination angle adjustment. The road surface block supports the bottom surface of the simulated track. The device has a simple structure. During the test process, a large platform and a prototype of the tracked vehicle do not need to be configured. The test cost is reduced, and the test efficiency is improved.

[0049] The device will be introduced in combination with specific embodiments below to make the structure principle clearer:

[0050] In the implementation process, the device for simulating the movement of a tracked vehicle on a fluctuating road surface mainly comprises a tracked vehicle simulation unit 1 and a road condition simulation unit 2. The tracked vehicle simulation unit 1 comprises a simulated track 12, a plurality of simulated wheels, a simulated vehicle body 11, and a base frame. The road condition simulation unit 2 comprises three independent road surface fluctuation units 21. Each unit is designed by using a five-link mechanism 4.

[0051] The tracked vehicle simulation unit 1 comprises a driving sprocket 13 simulating the driving wheel, a driven sprocket 14 simulating the guide wheel, a double chain 12 simulating the track, a first tensioner 15 simulating the track tensioner, three second tensioners 16 simulating the track rollers, a vehicle body 11 and a base frame. The driving sprocket is driven by a servo motor, and the driven sprocket is connected to a magnetic damper to provide damping during the tracked vehicle driving. The first tensioner 15 is arranged above to tension the upper track, and the three second tensioners 16 are arranged below to tension the lower track. After the device is started, the motor drives the driving wheel 13 to rotate, and the driving wheel 13 drives the track to move, simulating the state of the tracked vehicle advancing. The entire track and wheel system is fixed on the simulation 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 road surface.

[0052] The road condition simulation unit 2 is composed of three independent road surface fluctuation units 21. Because the contact points between the tracked vehicle and the ground are mainly located at the tangent points of the track rollers and the ground, and the track is supported by a vertical upward force perpendicular to the tangent line at the tangent points, in order to simulate the support force as much as possible, the three independent road surface fluctuation units are arranged directly below the three second tensioners 16 of the tracked vehicle body. Each unit is designed with a five-bar linkage mechanism 4 to realize two-degree-of-freedom control of the road surface height and the inclination angle.

[0053] Each road surface fluctuation unit 21 comprises a road surface block 211, a front vertical linear cylinder 212, a rear vertical linear cylinder 213 and a base frame. The road surface block 211 is connected to the front vertical linear cylinder 212 through a hinge on the left side, and the lower slider 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 each comprise a vertical arranged lead screw and a motor connected to the end of the lead screw, and each lead screw is connected to a lifting rod through its lead screw nut. When the motor drives the lead screw to rotate, the left and right sliding nuts move up and down to drive the road surface to rise and fall, adjusting the inclination angle, thereby realizing two-degree-of-freedom control of the road surface block 211 height and the inclination angle.

[0054] Working principle: The chain of the tracked vehicle directly contacts with the fluctuating road surface, the road condition simulation unit 2 simulates the fluctuating road surface, and the tracked vehicle moves up and down accordingly, realizing dynamic simulation of the tracked vehicle under different fluctuating terrain conditions. This design has the function of adjustable road condition simulation, can simulate the motion state of the tracked vehicle on complex terrain, and has wide application prospect.

[0055] As shown in Figure 6 and Figure 7 in the implementation process, the road surface fluctuation unit 21 is a five-bar linkage mechanism 4, and the movement 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 slider 44 The expression is:

[0059]

[0060] The inclination angle φ and the angular velocity ω of the road surface block 211 are calculated, and the expression is:

[0061]

[0062] Wherein, the upper linear slider 44 is slidably arranged on the linear guide rail 43, the distances from the centers of the front linear slider 42 and the rear linear slider 45 to 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 and the vertical distance between the hinge at the front end of the road surface block 211 and the front linear slider 42 are d and H respectively, the horizontal distance and the vertical distance between the hinge of the upper linear slider 43 and the rear linear slider 45 are d and H respectively.

[0063] Wherein, 41 is the ground, 42 is the front linear slider driven and connected with the front vertical linear cylinder 212, 43 is the linear guide rail arranged at the bottom of the road surface block 211, 44 is the upper linear slider slidably arranged at the bottom of the road surface block 211, and 45 is the rear linear slider driven by the rear vertical linear cylinder 213.

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

[0065] As Figure 9 shown, in some preferred embodiments, the provided 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 driving motor of the simulation tracked vehicle 1 to drive the driving wheel 13 to rotate, and the driving wheel 13 drives the simulation tracked vehicle 12 to move, to simulate the forward driving state of the simulation tracked vehicle 12;

[0067] S200. The simulation control unit 3 controls the front motor to drive the front vertical screw rod to rotate, and controls the rear motor to drive the rear vertical screw rod to rotate, so as to drive the front nut and the rear sliding nut to move up and down, drive the road surface block 211 to lift and adjust the inclination angle, so as to control the height and the inclination angle of the road surface, and drive the simulation vehicle body 11 to vertically lift with the road surface.

[0068] S300. In the simulation process, the sensor arranged on the simulation vehicle body 11 detects the motion parameters of the simulation vehicle body.

[0069] In the simulation test process, the simulation control unit is in control connection with the tracked vehicle simulation unit and the road condition simulation unit, is configured to control the driving wheel to drive the simulation tracked vehicle to move, and control the height and the inclination angle of the road surface block of each road surface fluctuation unit to be dynamically adjusted, so as to dynamically simulate the working condition of the tracked vehicle running on the fluctuating road surface, has the height-adjustable road condition simulation function, can simulate the motion state of the tracked vehicle on the complex terrain, reduces the operation difficulty of the simulation device, and provides the technical parameters for the subsequent design and development of the tracked vehicle.

[0070] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present application.

Claims

1. An apparatus for simulating the motion of a tracked vehicle over a rough terrain, characterized in that, The application relates to a crawler simulation unit (1) comprising a simulation vehicle body (11) vertically sliding freely arranged on a base frame, a plurality of driving wheels (13) and guide wheels (14) arranged on the outer side of the simulation vehicle body (11) and extending transversely, and a simulation track (12) arranged longitudinally and supported by the driving wheels (13) and the guide wheels (14); a road condition simulation unit (2) arranged below the crawler simulation unit (1) and comprising a plurality of road surface fluctuation units (21) arranged longitudinally on the base frame, each of the road surface fluctuation units (21) being provided with a road surface block (211) with dynamic height and inclination angle adjustment, and the road surface block (211) being supported on the bottom surface of the simulation track (12); and a simulation control unit (3) connected with the crawler simulation unit (1) and the road condition simulation unit (2) and configured to control the driving wheels (13) to drive the simulation track (12) to move, and to control the road surface block (211) of each road surface fluctuation unit (21) to dynamically adjust the height and the inclination angle, so as to dynamically simulate the working condition of the crawler (12) on the fluctuating road surface. The simulation track (12) is a double-chain track, the simulation vehicle body (11) is provided with a driving sprocket simulating the driving wheel (13), a driven sprocket simulating the guide wheel (14), a first tensioner (15) simulating a track roller and a second tensioner (16) simulating a load wheel, and the double-chain track is supported by the driving sprocket, the driven sprocket, the first tensioner (15) and the second tensioner (16); the road surface block (211) of each road surface fluctuation unit (21) is arranged directly below the corresponding second tensioner (16) and provides support force to the simulation track (12) supported by the second tensioner (16), so as to simulate the support force of the simulation track (12) at the contact point between the load wheel and the ground (41). Each road surface fluctuation unit (21) comprises a front vertical linear cylinder (212), a rear vertical linear cylinder (213) and a road surface block (211), the front vertical linear cylinder (212) and the rear vertical linear cylinder (213) are longitudinally arranged on the ground (41), the road surface block (211) is provided with a slide rail extending longitudinally on the bottom, an upper slide block is arranged on the slide rail, the movable end of the front vertical linear cylinder (212) is hinged to the front end of the road surface block (211), and the movable end of the rear vertical linear cylinder (213) is hinged to the upper slide block. The simulation vehicle body (11) is provided with a traveling motor connected with the driving sprocket and a magnetic damper connected with the driven sprocket, and the magnetic damper is configured to simulate the damping during the traveling of the crawler (12). ​ ​ 2. The apparatus of claim 1, wherein, ​ 3. The device for moving a tracked vehicle over uneven terrain according to claim 1 or 2, wherein, The first tensioner (15) comprises a plurality of and longitudinally spaced arranged on the simulation vehicle body (11), the output end of each first tensioner (15) extends upward and is supported to the lower surface of the upper simulation track (12) respectively, to tension the upper simulation track (12); the second tensioner (16) comprises a plurality of and longitudinally spaced arranged on the simulation vehicle body (11), the output end of each second tensioner (16) extends downward and is supported to the upper surface of the lower simulation track (12) respectively, to tension the lower simulation track (12) of the driving wheel (13) / guide wheel (14).

4. The apparatus of claim 1, wherein, 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 with 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 hingedly connected with the front end of the road surface block (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 with 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 hingedly connected with the upper sliding block of the bottom of the road surface block (211), the up-down movement of the front nut and the rear nut drives the road surface block (211) to rise and fall and adjust the inclination angle, so as to simulate the height and inclination angle changes of the road surface.

5. The apparatus of claim 4, wherein, The road surface undulating unit (21) is a five-link mechanism (4), and the movement 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: Speed of the upper linear slider (44) Expression: The inclination angle of the road surface block (211) is calculated and the angular velocity ω, the expression: Wherein, the upper linear sliding block (44) is slidably arranged on the linear guide rail (43), the distances from the centers of the front linear sliding block (42) and the rear linear sliding block (45) to the ground (41) are h1 and h2 respectively, the movement speeds are v1 and v2 respectively, the longitudinal distance between the front linear sliding block (42) and the rear linear sliding block (45) is D, the horizontal distance and the vertical distance between the hinge of the front end of the road surface block (211) and the front linear sliding block (42) are d and H respectively, the horizontal distance and the vertical distance between the hinge of the upper linear sliding block (44) and the rear linear sliding block (45) are d and H respectively.

6. A method of simulating movement of a tracked vehicle over a rough terrain using the apparatus for simulating movement of a tracked vehicle over a rough terrain as claimed in claim 1, wherein, The simulation track (12) of the track vehicle simulation unit (1) is in contact with the road surface block (211) of the road condition simulation unit (2), the simulation control unit (3) controls the driving wheel (13) to drive the simulation track (12) to move, and controls the road surface block (211) to undulate, the track vehicle simulation unit (1) moves up and down with the road surface block (211), so as to dynamically simulate the running conditions of the track vehicle (12) on different undulating road surfaces.

7. The method for simulating the track vehicle to move on the undulating road surface according to claim 6, wherein, S100. The simulation control unit (3) controls the driving motor of the track vehicle simulation unit (1) to drive the driving wheel (13) to rotate, and the driving wheel (13) drives the simulation track (12) to move, so as to simulate the forward movement of the track vehicle (12). S200. The simulation control unit (3) controls the front motor to drive the front vertical lead screw to rotate, and controls the rear motor to drive the rear vertical lead screw to rotate, so as to drive the front nut and the rear sliding nut to move up and down, drive the road surface block (211) to lift and adjust the inclination angle, so as to control the height and inclination angle of the road surface, and drive the simulation vehicle body (11) to vertically lift with the road surface. S300. In the simulation process, the sensor arranged on the simulation vehicle body (11) detects the motion parameters of the simulation vehicle body.

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