Method, system and equipment for analyzing dynamic load of loading wheel of tracked vehicle and medium

Abstract

The invention discloses a tracked vehicle loading wheel dynamic load analysis method, system and device and a medium, and relates to the field of tracked vehicle dynamics, and the method comprises the steps: constructing a road surface unevenness time domain model considering front and rear wheel input variable time difference correlation and left and right wheel input coherence, and outputting a road surface excitation input signal; establishing a parameterized kinetic model of the tracked vehicle suspension system and further determining a state-space equation; according to the road surface excitation input signal and the state-space equation, obtaining a dynamic load and a dynamic load coefficient of each loading wheel; establishing a tracked vehicle action system simulation model, performing dynamic load simulation based on different driving speeds, different road surface grades and different track shoe parameters by adopting a multi-body dynamics simulation method, and determining a change rule of a dynamic load of a loading wheel; the structure of the tracked vehicle loading wheel is optimized according to the change rule of the loading wheel dynamic load, the loading wheel dynamic load can be accurately analyzed, and a reliable basis is provided for design optimization of the tracked vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tracked vehicle dynamics, in particular to a tracked vehicle road wheel dynamic load analysis method, system, device and medium. BACKGROUND

[0002] Tracked vehicles are widely used in military, engineering and other fields, and the road wheel dynamic load has a significant impact on vehicle performance. The ups and downs of the road will cause the road wheel to be subjected to random dynamic load. When the vertical dynamic load acting on the road wheel exceeds the gravity load of the vehicle acting on the road wheel, the road wheel will be separated from the ground, causing the adhesion performance of the vehicle to decrease, and causing skidding and side slipping.

[0003] In the existing research, when analyzing the dynamic load of the road wheel, a tracked vehicle 8-degree-of-freedom planar half-car parameterized model and a multi-body dynamics model are established to study the influence of vehicle speed on the dynamic displacement of the road wheel and to study the dynamic characteristics of the road wheel by using multi-body dynamics simulation method. However, in actual situations, the left and right wheel ruts of the road are not consistent, which will cause a large deviation between the analysis results and the actual situation, and cannot provide accurate basis for vehicle design optimization.

[0004] Therefore, in order to solve the above technical problems, it is urgent to provide a tracked vehicle road wheel dynamic load analysis method to accurately analyze the dynamic load of the road wheel and provide reliable basis for tracked vehicle design optimization. SUMMARY

[0005] The purpose of the present application is to provide a tracked vehicle road wheel dynamic load analysis method, system, device and medium, which can accurately analyze the dynamic load of the road wheel and provide reliable basis for tracked vehicle design optimization.

[0006] To achieve the above purpose, the present application provides the following solutions: In a first aspect, the present application provides a tracked vehicle road wheel dynamic load analysis method, comprising: constructing a road roughness time domain model considering the correlation of the input variable time difference of the front and rear wheels and the coherence of the input of the left and right wheels; the road roughness time domain model is used to generate a road excitation input signal; based on Newton's second law, a parameterized dynamics model of the suspension system of the tracked vehicle is established; and a state space equation of the suspension system of the tracked vehicle is constructed according to the parameterized dynamics model; the parameterized dynamics model includes: a vehicle body vertical vibration equation, a vehicle body pitch vibration equation, a vehicle body roll vibration equation and a vertical vibration equation of each road wheel; obtaining the dynamic load and dynamic load coefficient of each road wheel according to the road excitation input signal output by the road roughness time domain model and the state space equation; and establishing a tracked vehicle motion system simulation model; Based on the tracked vehicle action system simulation model, multi-body dynamics simulation method is adopted to carry out dynamic load simulation analysis under different driving speeds, different road levels and different track plate parameters, and the variation law of the load of the road wheel is determined; According to the variation law of the load of the road wheel, the structure of the road wheel of the tracked vehicle is optimized.

[0007] Optionally, the road roughness time domain model considering the time difference correlation of front and rear wheel input and the coherence of left and right wheel input specifically comprises: A single-track road roughness time domain signal is generated by using a filtered white noise method; According to the wheelbase between the front and rear road wheels and the single-track road roughness time domain signal, the time delay relationship of the rear road wheel relative to each road wheel is determined, and a variable time difference correlation model of front and rear wheel road input is established; Based on the spatial coherence function between the left and right road wheels, a coherence model of left and right wheel road input is constructed; According to the variable time difference correlation model of front and rear wheel road input and the coherence model of left and right wheel road input, a road roughness time domain model is constructed.

[0008] Optionally, the single-track road roughness time domain signal is generated by using a filtered white noise method, specifically comprising: The single-track road roughness time domain signal is determined by using the formula ; Wherein, is a road excitation input signal; is a lower cut-off frequency; is a vehicle driving speed; is a reference spatial frequency, is a road roughness coefficient; represents an ideal unit white noise with a mean value of 0 and a power spectral density of 1.

[0009] Optionally, the spatial coherence function between the left and right road wheels is used to construct the coherence model of left and right wheel road input, specifically comprising: The coherence model of left and right wheel road input is determined by using the formula ; Wherein, is the mutual power spectral density between the left and right wheel tracks of the tracked vehicle, is the road displacement power spectral density of the left wheel track of the tracked vehicle, is the road displacement power spectral density of the right wheel track of the tracked vehicle.

[0010] ​​Optionally, the parameterized dynamic model of the tracked vehicle suspension system is established based on Newton's second law; and a state space equation of the tracked vehicle suspension system is constructed according to the parameterized dynamic model, specifically comprising: determine the vertical vibration equation of the vehicle body by using the formula wherein, is the mass of the tracked vehicle, is the vertical displacement of the mass center of the tracked vehicle ， is the suspension stiffness of the left side first i loaded wheel of the tracked vehicle, is the suspension stiffness of the right side first loaded wheel of the tracked vehicle, is the pitch angle of the tracked vehicle, and are the vertical distances from the left and right loaded wheels of the tracked vehicle to the mass center of the tracked vehicle respectively, is the roll angle of the tracked vehicle, is the vertical displacement of the left side first loaded wheel of the tracked vehicle, is the vertical displacement of the right side first loaded wheel of the tracked vehicle, is the vertical velocity of the left side first loaded wheel of the tracked vehicle, is the vertical velocity of the right side first loaded wheel of the tracked vehicle, is the vertical acceleration of the mass center of the tracked vehicle, is the vertical velocity of the mass center of the tracked vehicle, is the roll angular velocity of the tracked vehicle, is the pitch angular velocity of the tracked vehicle, is the horizontal distance from the mass center of the left side first loaded wheel of the tracked vehicle to the mass center of the tracked vehicle, is the horizontal distance from the mass center of the right side first loaded wheel of the tracked vehicle to the mass center of the tracked vehicle, is the suspension damping of the left side first i loaded wheel of the tracked vehicle, is the suspension damping of the right side first i loaded wheel of the tracked vehicle; determine the roll vibration equation of the vehicle body by using the formula wherein, is the roll moment of inertia of the vehicle body, is the roll angular acceleration of the tracked vehicle; determine the pitch vibration equation of the vehicle body by using the formula ​​​in, Let the pitch moment of inertia of the vehicle body be... For the pitch acceleration of the tracked vehicle; Using formula and formula Determine the vertical vibration equations for each load-bearing wheel; in, The left side The mass of each road wheel For the right side The mass of each road wheel The left side The stiffness of each load-bearing wheel tire. The left side Damping of each load-bearing wheel tire The left side Input of road surface unevenness under each load-bearing wheel For the left side of the tracked vehicle The vertical acceleration of each road wheel, The left side The speed of the vertical movement of each road wheel relative to the vehicle body. For the right side of the tracked vehicle The vertical acceleration of each road wheel, For the right side The speed of the vertical movement of each road wheel relative to the vehicle body. For the right side i The stiffness of each load-bearing wheel tire. For the right side i Damping of each load-bearing wheel tire For the right side Input of road surface unevenness under each load-bearing wheel; Based on the vertical vibration equations of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equations of each road wheel, a parameterized dynamic model of the tracked vehicle suspension system is obtained. Using formula Construct the state-space equations of the tracked vehicle suspension system and ; in, , , and This is the coefficient matrix of the dynamic equation. and It is a state variable.

[0011] Optionally, obtaining the dynamic load and dynamic load coefficient of each load-bearing wheel based on the road excitation input signal output from the road surface unevenness time-domain model and the parameterized dynamic model specifically includes: Using formula and formula Determine the dynamic load on the left road wheel respectively. and the dynamic load of the right road wheel ; Using formula and formula Determine the dynamic load coefficient of the left road wheel respectively. Dynamic load coefficient of the right road wheel ; in, This represents the root mean square value of the dynamic load on the left-side load wheel. This is the root mean square value of the dynamic load on the right-side load wheel. This refers to the static load on the load-bearing wheel.

[0012] Optionally, based on the simulation model of the tracked vehicle's motion system, a multibody dynamics simulation method is used to perform dynamic load simulation analysis under different travel speeds, different road surface grades, and different track plate parameters to determine the variation law of the dynamic load on the road wheels, specifically including: Based on different driving speeds, different road surface grades, and different track plate parameters, multibody dynamics simulation method is used to simulate and obtain the vertical force curves of each load wheel; Based on the vertical force curves of each road wheel, the variation law of the dynamic load of the road wheel is obtained.

[0013] Secondly, this application provides a dynamic load analysis system for the road wheels of tracked vehicles, applied to the aforementioned dynamic load analysis method for the road wheels of tracked vehicles, comprising: The road surface roughness time-domain model construction module is used to construct a road surface roughness time-domain model that considers the correlation of variable time difference between front and rear wheel inputs and the coherence of left and right wheel inputs; the road surface roughness time-domain model is used to generate road surface excitation input signals; The state-space equation construction module for the tracked vehicle suspension system is used to establish a parameterized dynamic model of the tracked vehicle suspension system based on Newton's second law; and to construct the state-space equation of the tracked vehicle suspension system based on the parameterized dynamic model; the parameterized dynamic model includes: the vertical vibration equation of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equation of each road wheel. The module for obtaining the dynamic load and dynamic load coefficient of each road wheel is used to obtain the dynamic load and dynamic load coefficient of each road wheel based on the road excitation input signal output by the road surface roughness time domain model and the state space equation; and to establish a simulation model of the tracked vehicle motion system. The module for obtaining the variation law of dynamic load on the road wheel is used to perform dynamic load simulation analysis based on the simulation model of the tracked vehicle motion system, using the multibody dynamics simulation method, under different driving speeds, different road surface grades and different track plate parameters, to determine the variation law of dynamic load on the road wheel. The structural optimization module for tracked vehicle road wheels is used to optimize the structure of tracked vehicle road wheels based on the variation law of dynamic load on the road wheels.

[0014] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the tracked vehicle road wheel dynamic load analysis method.

[0015] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the dynamic load analysis method for the tracked vehicle's road wheels.

[0016] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a method, system, device, and medium for analyzing the dynamic load of the road wheels of tracked vehicles. By constructing a time-domain model of road surface roughness that considers the time-varying correlation of the inputs of the front and rear wheels and the coherence of the inputs of the left and right wheels, it can overcome the problem of inconsistent road surface conditions between the left and right wheel tracks and provide accurate road excitation input signals. Based on Newton's second law, a parameterized dynamic model of the tracked vehicle's suspension system is established. Furthermore, the state-space equation of the tracked vehicle's suspension system is constructed, which can more accurately simulate the dynamic changes of the vehicle's suspension system during actual use. The road surface roughness is analyzed based on the road surface roughness time-domain model. Using the excitation input signal and the state-space equations, the dynamic load and dynamic load coefficient of each road wheel are obtained. A simulation model of the tracked vehicle's motion system is established, and based on this model, a multibody dynamics simulation method is used to perform dynamic load simulation analysis under different driving speeds, road surface grades, and track plate parameters. This determines the variation law of the road wheel's dynamic load, enabling accurate analysis of the road wheel's dynamic load and providing a reliable basis for tracked vehicle design optimization. By optimizing the structure of the tracked vehicle's road wheels according to the variation law of the road wheel's dynamic load, the dynamic performance and overall performance of the tracked vehicle can be improved. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a method for dynamic load analysis of road wheels of a tracked vehicle, provided in one embodiment of this application; Figure 2 A schematic diagram of a parametric dynamic model of a tracked vehicle suspension system provided in one embodiment of this application; Figure 3 A schematic diagram of a simulation model of a tracked vehicle mobility system provided in one embodiment of this application; Figure 4 A vertical force curve of the first road wheel at a travel speed of 50 km / h is provided in one embodiment of this application; Figure 5 A vertical force curve of the first road wheel at a travel speed of 80 km / h is provided in one embodiment of this application; Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] In one exemplary embodiment, such as Figure 1 As shown, a method for dynamic load analysis of road wheels of tracked vehicles is provided, including: S1: Construct a road surface roughness time-domain model that considers the correlation of the time difference between the front and rear wheel inputs and the coherence of the left and right wheel inputs, accurately analyze the dynamic load of the load wheels, and provide a reliable basis for the design optimization of tracked vehicles; the road surface roughness time-domain model is used to generate road surface excitation input signals.

[0022] Specifically, S1 includes: S101: The time-domain signal of single-wheel rut road surface unevenness is generated using the filtered white noise method.

[0023] Specifically, using formulas Determine the time-domain signal of single-wheel rut road surface roughness ;in, Provide the road surface excitation input signal; The lower cutoff frequency; The vehicle's speed; For reference spatial frequency, This refers to the road surface roughness coefficient. This represents ideal unit white noise with a mean of 0 and a power spectral density of 1.

[0024] S102: Based on the wheelbase between the front and rear load-bearing wheels and the time-domain signal of road surface unevenness of a single wheel rut, determine the time delay relationship between the rear load-bearing wheel and each load-bearing wheel, and establish a variable time difference correlation model of the road surface input between the front and rear wheels.

[0025] S103: Based on the spatial coherence function between the left and right road surface inputs, construct a coherence model for the left and right road surface inputs.

[0026] Specifically, using formulas Determine the coherence model of road surface input for left and right wheels ;in, The power spectral density between the left and right wheels of a tracked vehicle is given. The power spectral density of the road surface displacement in the left wheel rut of the tracked vehicle. The power spectral density of the right wheel rut road surface displacement of the tracked vehicle.

[0027] S104: Construct a time-domain model of road surface unevenness based on the variable time-difference correlation model of the road surface inputs of the front and rear wheels and the coherence model of the road surface inputs of the left and right wheels.

[0028] In an exemplary embodiment, a filtered white noise method is used to generate a single-rut road surface roughness time-domain signal. Considering the wheelbase between the front and rear load-bearing wheels and the spatial coherence between the ruts of the left and right load-bearing wheels, a road surface roughness time-domain model is derived. This includes the determination process of the variable time-difference correlation model of the road surface inputs of the front and rear wheels and the coherence model of the road surface inputs of the left and right wheels, providing accurate road surface excitation input signals for subsequent dynamic load analysis of the load-bearing wheels. Using the variable time-difference correlation model of the road surface inputs of the front and rear wheels, based on the wheelbase between the front and rear load-bearing wheels, the formula is used... Calculate the road excitation input signal of each subsequent road wheel relative to the first road wheel. Based on the coherence model of the road surface input of the left and right wheels, the road surface excitation input signals of the left and right wheels are determined, the state equations of the road surface input of the 12 wheels are obtained and transformed into matrix form, and the road surface roughness time domain model is obtained. in, This is the wheelbase between each subsequent road wheel relative to the first road wheel. The road excitation input signal is provided for the first road wheel on the left side of the tracked vehicle. For the left side of the tracked vehicle The road surface excitation input signal for the road wheel.

[0029] S2: Based on Newton's second law, establish a parameterized dynamic model of the tracked vehicle suspension system; and construct the state-space equations of the tracked vehicle suspension system based on the parameterized dynamic model; the parameterized dynamic model includes: the vertical vibration equation of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equations of each road wheel.

[0030] The above S2 is replaced by the following S201~S206: S201: Utilize the formula Determine the equation for the vertical vibration of the vehicle body; in, For the quality of tracked vehicles, Vertical displacement of the center of gravity of the tracked vehicle ， For the left side of the tracked vehicle i The suspension stiffness of each road wheel For the right side of the tracked vehicle The suspension stiffness of each road wheel The pitch angle of a tracked vehicle. and These represent the vertical distances from the left and right road wheels of a tracked vehicle to the vehicle's center of gravity, respectively. The side tilt angle of a tracked vehicle. For the left side of the tracked vehicle Vertical displacement of each load-bearing wheel For the right side of the tracked vehicle Vertical displacement of each load-bearing wheel For the left side of the tracked vehicle The vertical velocity of each road wheel, For the right side of the tracked vehicle The vertical velocity of each road wheel, The vertical acceleration of the center of gravity of the tracked vehicle. The vertical velocity of the tracked vehicle's center of gravity. Let be the roll rate of the tracked vehicle. For the pitch angular velocity of the tracked vehicle, For the left side of the tracked vehicle The horizontal distance between the center of gravity of each road wheel and the center of gravity of the tracked vehicle. For the right side of the tracked vehicle The horizontal distance between the center of gravity of each road wheel and the center of gravity of the tracked vehicle. For the left side of the tracked vehicle i Each load-bearing wheel suspension damping For the right side of the tracked vehicle i The road wheel suspension damping.

[0031] S202: Using formulas Determine the equation for the roll vibration of the vehicle body; in, The moment of inertia of the vehicle body during tilting. This refers to the roll angle acceleration of a tracked vehicle.

[0032] S203: Use formula Determine the equation for the pitch vibration of the vehicle body.

[0033] in, Let the pitch moment of inertia of the vehicle body be... This refers to the pitch acceleration of the tracked vehicle.

[0034] S204: Use formula and formula Determine the vertical vibration equations for each load-bearing wheel.

[0035] in, The left side The mass of each road wheel For the right side The mass of each road wheel The left side The stiffness of each load-bearing wheel tire. The left side Damping of each load-bearing wheel tire The left side Input of road surface unevenness under each load-bearing wheel For the left side of the tracked vehicle The vertical acceleration of each road wheel, The left side The speed of the vertical movement of each road wheel relative to the vehicle body. For the right side of the tracked vehicle The vertical acceleration of each road wheel, For the right side The speed of the vertical movement of each road wheel relative to the vehicle body. For the right side i The stiffness of each load-bearing wheel tire. For the right side i Damping of each load-bearing wheel tire For the right side Input of road surface unevenness under the load-bearing wheels.

[0036] S205: Based on the vertical vibration equation of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equation of each road wheel, a parametric dynamic model of the tracked vehicle suspension system is obtained.

[0037] S206: Utilize formula Construct the state-space equations of the tracked vehicle suspension system and ; in, , , and This is the coefficient matrix of the dynamic equation. and It is a state variable.

[0038] In one exemplary embodiment, such as Figure 2 As shown, based on the reasonable assumption method, a parametric dynamic model of the tracked vehicle suspension system is established, and the structure and parameters of the parametric dynamic model of the tracked vehicle suspension system are determined. According to Newton's second law, the vertical vibration equations of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equations of the left and right road wheels are listed. State variables are selected, and then the state-space equations of the tracked vehicle suspension system are derived. The dynamic loads of the road wheels are solved using Matlab / Simulink. Thus, a theoretical calculation model of the dynamic loads of the entire tracked vehicle's road wheels is established.

[0039] S3: Based on the road excitation input signal output by the road surface unevenness time-domain model and the parameterized dynamic model, obtain the dynamic load and dynamic load coefficient of each load wheel; and establish a simulation model of the tracked vehicle motion system.

[0040] In one exemplary embodiment, a simulation model of the tracked vehicle's motion system is established using the multibody dynamics software RecurDyn; the simulation model of the tracked vehicle's motion system is as follows: Figure 3 As shown, the parametric dynamic model of the tracked vehicle suspension system and the track tensioning device are reasonably simplified. Different driving speeds, different road surface grades and different track plate parameters are set to conduct typical obstacle simulation tests. The vehicle body acceleration frequency domain curves are collected, and the natural frequency is compared with empirical values ​​to verify the correctness of the model and ensure the credibility of the simulation results.

[0041] Specifically, S3 includes the following S301~S302: S301: Utilize formula and formula Determine the dynamic load on the left road wheel respectively. and the dynamic load of the right road wheel .

[0042] S302: Utilize formula and formula Determine the dynamic load coefficient of the left road wheel respectively. Dynamic load coefficient of the right road wheel ; in, This represents the root mean square value of the dynamic load on the left-side load wheel. This is the root mean square value of the dynamic load on the right-side load wheel. This refers to the static load on the load-bearing wheel.

[0043] S4: Based on the simulation model of the tracked vehicle motion system, the multibody dynamics simulation method is used to perform dynamic load simulation analysis under different driving speeds, different road surface grades and different track plate parameters to determine the variation law of dynamic load on the road wheel.

[0044] Based on the different road excitation input signals output by the above-mentioned road unevenness time-domain model, theoretical calculations and multibody dynamics simulations were performed to obtain the dynamic load of the load-bearing wheel under different speeds and different road grades (C, D, and E grade roads). Compared with the calculation results under the condition of not considering the time difference correlation of the road input of the front and rear wheels and the spatial coherence between the wheel ruts of the left and right load-bearing wheels, the method provided in this application can more accurately and realistically reflect the actual dynamic load of the load-bearing wheel.

[0045] Specifically, S4 includes: S401: Based on different driving speeds, different road surface grades, and different track plate parameters, multibody dynamics simulation method is used to simulate and obtain the vertical force curves of each road wheel. Figure 4 The graph shows the vertical force curve of the first road wheel at a travel speed of 50 km / h. Figure 5 The graph shows the vertical force curve of the first road wheel at a speed of 80 km / h. Figure 4 and Figure 5 It can be seen that as the speed of tracked vehicles increases, the dynamic load and dynamic load coefficient of the road wheels also increase.

[0046] S402: Based on the vertical force curves of each road wheel, the variation law of the dynamic load of the road wheel is obtained.

[0047] In one exemplary embodiment, theoretical calculation and multibody dynamics simulation methods were used respectively, with different travel speeds, road surface grades, and track parameters. The dynamic load and dynamic load coefficient of the road wheel under different working conditions were calculated and compared, and the influence of travel speed, road surface unevenness, and track parameters on the dynamic load was analyzed.

[0048] S5: Optimize the structure of the road wheels of tracked vehicles based on the variation law of dynamic load on the road wheels.

[0049] In one exemplary embodiment, the structural parameters of the tracked vehicle's road wheels can be adjusted according to the variation law of the dynamic load of the road wheels, thereby optimizing the structure of the tracked vehicle's road wheels; the parameters of the tracked vehicle's road wheels include: suspension type, drive wheel parameters, track pitch, track width, and track tension.

[0050] In another exemplary embodiment, this application provides a dynamic load analysis system for tracked vehicle road wheels, including: a road surface unevenness time-domain model construction module, a tracked vehicle suspension system state-space equation construction module, a dynamic load and dynamic load coefficient acquisition module for each road wheel, a dynamic load variation law acquisition module for road wheel, and a tracked vehicle road wheel structure optimization module.

[0051] The road surface roughness time-domain model construction module is used to construct a road surface roughness time-domain model that considers the correlation of time difference between front and rear wheel inputs and the coherence of left and right wheel inputs; the road surface roughness time-domain model is used to generate road surface excitation input signals.

[0052] The state-space equation construction module for the tracked vehicle suspension system is used to establish a parametric dynamic model of the tracked vehicle suspension system based on Newton's second law; and to construct the state-space equation of the tracked vehicle suspension system based on the parametric dynamic model; the parametric dynamic model includes: the vertical vibration equation of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equation of each road wheel.

[0053] The module for obtaining the dynamic load and dynamic load coefficient of each road wheel is used to obtain the dynamic load and dynamic load coefficient of each road wheel based on the road excitation input signal output by the road surface unevenness time domain model and the state space equation; and to establish a simulation model of the tracked vehicle motion system.

[0054] The module for obtaining the variation law of dynamic load on the road wheel is used to perform dynamic load simulation analysis based on the simulation model of the tracked vehicle motion system, using the multibody dynamics simulation method, under different driving speeds, different road surface grades, and different track plate parameters, to determine the variation law of dynamic load on the road wheel.

[0055] The structural optimization module for tracked vehicle road wheels is used to optimize the structure of tracked vehicle road wheels based on the variation law of dynamic load on the road wheels.

[0056] This application considers the time-varying correlation of front and rear wheel inputs and the coherence of left and right wheel inputs, making the road surface unevenness time-domain model more realistic and improving the accuracy of dynamic load analysis of load-bearing wheels. By establishing a parametric dynamic model of the tracked vehicle suspension system and a simulation model of the tracked vehicle motion system, and conducting comparative analysis, a more comprehensive and reliable theoretical basis is provided for the design optimization of tracked vehicles, which helps to improve the dynamic performance and overall performance of tracked vehicles.

[0057] The above provides a detailed description of the dynamic load analysis method and system for tracked vehicle road wheels in this application. Through the above steps and modules, accurate analysis of the dynamic load on tracked vehicle road wheels can be effectively achieved, providing strong support for tracked vehicle design optimization.

[0058] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 6 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database is used to analyze the dynamic loads of the tracked vehicle's road wheels. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for analyzing the dynamic loads of the tracked vehicle's road wheels.

[0059] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0060] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0061] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0062] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0063] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0064] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0065] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] This application uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. In summary, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for analyzing the dynamic load on the road wheels of a tracked vehicle, characterized in that, The method for analyzing the dynamic load on the road wheels of tracked vehicles includes: A road surface roughness time-domain model is constructed that considers the correlation between the time difference of the front and rear wheel inputs and the coherence of the left and right wheel inputs; the road surface roughness time-domain model is used to generate the road surface excitation input signal; Based on Newton's second law, a parameterized dynamic model of the tracked vehicle suspension system is established; and the state-space equations of the tracked vehicle suspension system are constructed based on the parameterized dynamic model; the parameterized dynamic model includes: the vertical vibration equation of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equations of each road wheel. Based on the road excitation input signal output by the road surface unevenness time-domain model and the state-space equation, the dynamic load and dynamic load coefficient of each load wheel are obtained; and a simulation model of the tracked vehicle motion system is established. Based on the simulation model of the tracked vehicle motion system, the multibody dynamics simulation method is used to conduct dynamic load simulation analysis under different driving speeds, different road surface grades and different track plate parameters to determine the variation law of the dynamic load of the road wheel. Optimize the structure of the road wheels of tracked vehicles based on the variation law of dynamic load on the road wheels.

2. The method for analyzing the dynamic load on the road wheels of tracked vehicles according to claim 1, characterized in that, The construction of the road roughness time-domain model, which considers the correlation between the time differences of the front and rear wheel inputs and the coherence of the left and right wheel inputs, specifically includes: A time-domain signal of single-wheel-rut road surface roughness was generated using the filtered white noise method. Based on the wheelbase between the front and rear road wheels and the time-domain signal of road surface roughness of a single wheel rut, the time delay relationship between the rear road wheel and each road wheel is determined, and a time-difference correlation model of the road surface input between the front and rear wheels is established. Based on the spatial coherence function between the left and right road wheel ruts, a coherence model of the road surface input of the left and right wheels is constructed. A time-domain model of road surface roughness is constructed based on the variable time-difference correlation model of the road surface inputs of the front and rear wheels and the coherence model of the road surface inputs of the left and right wheels.

3. The method for analyzing the dynamic load on the road wheels of tracked vehicles according to claim 2, characterized in that, The method of generating time-domain signals of single-wheel-rut road surface roughness using filtered white noise specifically includes: Using formula Determine the time-domain signal of single-wheel rut road surface roughness ; in, Provide the road surface excitation input signal; The lower cutoff frequency; The vehicle's speed; For reference spatial frequency, This refers to the road surface roughness coefficient. This represents ideal unit white noise with a mean of 0 and a power spectral density of 1.

4. The method for analyzing the dynamic load on the road wheels of tracked vehicles according to claim 2, characterized in that, The construction of a coherence model for the road surface input of the left and right wheels based on the spatial coherence function between the wheel ruts of the left and right load-bearing wheels specifically includes: Using formula Determine the coherence model of road surface input for left and right wheels ; in, The power spectral density between the left and right wheels of a tracked vehicle is given. The power spectral density of the road surface displacement in the left wheel rut of the tracked vehicle. The power spectral density of the right wheel rut road surface displacement of the tracked vehicle.

5. The method for analyzing the dynamic load on the road wheels of tracked vehicles according to claim 1, characterized in that, The parametric dynamic model of the tracked vehicle suspension system is established based on Newton's second law; and the state-space equations of the tracked vehicle suspension system are constructed based on the parametric dynamic model, specifically including: Using formula Determine the equation for the vertical vibration of the vehicle body; in, For the quality of tracked vehicles, Vertical displacement of the center of gravity of the tracked vehicle ， For the left side of the tracked vehicle i The suspension stiffness of each road wheel For the right side of the tracked vehicle The suspension stiffness of each road wheel The pitch angle of a tracked vehicle. and These represent the vertical distances from the left and right road wheels of a tracked vehicle to the vehicle's center of gravity, respectively. The side tilt angle of a tracked vehicle. For the left side of the tracked vehicle Vertical displacement of each load-bearing wheel For the right side of the tracked vehicle Vertical displacement of each load-bearing wheel For the left side of the tracked vehicle The vertical velocity of each road wheel For the right side of the tracked vehicle The vertical velocity of each road wheel, The vertical acceleration of the center of gravity of the tracked vehicle. The vertical velocity of the tracked vehicle's center of gravity. Let be the roll rate of the tracked vehicle. For the pitch angular velocity of the tracked vehicle, For the left side of the tracked vehicle The horizontal distance between the center of gravity of each road wheel and the center of gravity of the tracked vehicle. For the right side of the tracked vehicle The horizontal distance between the center of gravity of each road wheel and the center of gravity of the tracked vehicle. For the left side of the tracked vehicle i Each load-bearing wheel suspension damping For the right side of the tracked vehicle i Each load-bearing wheel suspension damping; Using formula Determine the equation for the roll vibration of the vehicle body; in, The moment of inertia of the vehicle body during tilting. For tracked vehicles, the roll angle acceleration; Using formula Determine the equation for the vehicle body's pitch vibration; in, Let the pitch moment of inertia of the vehicle body be... For the pitch acceleration of the tracked vehicle; Using formula and formula Determine the vertical vibration equations for each load-bearing wheel; in, The left side The mass of each road wheel The right side The mass of each road wheel The left side The stiffness of each load-bearing wheel tire. The left side Damping of each load-bearing wheel tire The left side Input of road surface unevenness under each load-bearing wheel For the left side of the tracked vehicle The vertical acceleration of each road wheel, The left side The speed of the vertical movement of each road wheel relative to the vehicle body. For the right side of the tracked vehicle The vertical acceleration of each road wheel, The right side The speed of the vertical movement of each road wheel relative to the vehicle body. The right side i The stiffness of each load-bearing wheel tire. For the right side i Damping of each load-bearing wheel tire The right side Input of road surface unevenness under each load-bearing wheel; Based on the vertical vibration equations of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equations of each road wheel, a parameterized dynamic model of the tracked vehicle suspension system is obtained. Using formula Construct the state-space equations of the tracked vehicle suspension system and ; in, , , and This is the coefficient matrix of the dynamic equation. and It is a state variable.

6. The method for analyzing the dynamic load on the road wheels of tracked vehicles according to claim 5, characterized in that, The step of obtaining the dynamic load and dynamic load coefficient of each load-bearing wheel based on the road excitation input signal output from the road surface unevenness time-domain model and the state-space equation specifically includes: Using formula and formula Determine the dynamic load on the left road wheel respectively. and the dynamic load of the right road wheel ; Using formula and formula Determine the dynamic load coefficient of the left road wheel respectively. Dynamic load coefficient of the right road wheel ; in, This represents the root mean square value of the dynamic load on the left-side load wheel. This represents the root mean square value of the dynamic load on the right-side load wheel. This refers to the static load on the load-bearing wheel.

7. The method for analyzing the dynamic load on the road wheels of tracked vehicles according to claim 1, characterized in that, The simulation model of the tracked vehicle motion system, based on the aforementioned simulation model, employs multibody dynamics simulation to perform dynamic load simulation analysis under different travel speeds, road surface grades, and track plate parameters, determining the variation law of the dynamic load on the road wheels, specifically including: Based on different driving speeds, different road surface grades, and different track plate parameters, multibody dynamics simulation method is used to simulate and obtain the vertical force curves of each load wheel; Based on the vertical force curves of each road wheel, the variation law of the dynamic load of the road wheel is obtained.

8. A dynamic load analysis system for the road wheels of a tracked vehicle, characterized in that, The method for analyzing the dynamic load on the road wheels of tracked vehicles according to any one of claims 1-7, wherein the dynamic load analysis system for the road wheels of tracked vehicles comprises: The road surface roughness time-domain model construction module is used to construct a road surface roughness time-domain model that considers the correlation of variable time difference between front and rear wheel inputs and the coherence of left and right wheel inputs; the road surface roughness time-domain model is used to generate road surface excitation input signals; The state-space equation construction module for the tracked vehicle suspension system is used to establish a parameterized dynamic model of the tracked vehicle suspension system based on Newton's second law; and to construct the state-space equation of the tracked vehicle suspension system based on the parameterized dynamic model; the parameterized dynamic model includes: the vertical vibration equation of the vehicle body, the pitch vibration equation of the vehicle body, the roll vibration equation of the vehicle body, and the vertical vibration equation of each road wheel. The module for obtaining the dynamic load and dynamic load coefficient of each road wheel is used to obtain the dynamic load and dynamic load coefficient of each road wheel based on the road excitation input signal output by the road surface roughness time domain model and the state space equation; and to establish a simulation model of the tracked vehicle motion system. The module for obtaining the variation law of dynamic load on the road wheel is used to perform dynamic load simulation analysis based on the simulation model of the tracked vehicle motion system, using the multibody dynamics simulation method, under different driving speeds, different road surface grades and different track plate parameters, to determine the variation law of dynamic load on the road wheel. The structural optimization module for tracked vehicle road wheels is used to optimize the structure of tracked vehicle road wheels based on the variation law of dynamic load on the road wheels.

9. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method for dynamic load analysis of the road wheels of a tracked vehicle as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method for dynamic load analysis of the road wheels of tracked vehicles as described in any one of claims 1-7.

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