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为了探究螺旋推进器在湿软地面的推进力特性,建立了螺旋滚筒三维运动学模型和动力学模型,利用Matlab/Simulink软件对动力学模型进行了仿真,分析计算了螺旋滚筒与地面之间的推进力随滑转率的变化规律,综合考虑了地面条件对推进力的影响。结果表明:随着滑转率、沉陷量、螺旋出土角的增大,推进力均会增大;螺旋滚筒与地面的接触条件会影响推进力的变化规律。研究结果为下一步分析整车行驶特性奠定了基础。
In order to investigate the propeller propulsion characteristics on wet and soft ground, a three-dimensional kinematic model and a dynamic model of the spiral drum were established. The dynamic model was simulated by Matlab / Simulink software. The relationship between the spiral drum and the ground Propulsive force with the slip rate changes, taking into account the impact of ground conditions on the propulsion. The results show that the propulsive force will increase with the increase of slip rate, settlement and screw exit angle. The contact conditions between the spiral drum and the ground will affect the variation of the propulsive force. The results of the study laid the foundation for further analysis of vehicle driving characteristics.