Authors

Abstract

To meet the maneuverability and terrain-adaptability requirements of agricultural machinery operating in hilly and mountainous areas, an electronically controlled tracked chassis was designed and developed. Based on a theoretical analysis of chassis terrain-crossing capability and stability, a multibody dynamic model was established using RecurDyn to simulate the dynamic response of the chassis under typical operating conditions. The chassis trajectory and variations in dynamic stability were analyzed. A physical prototype was then manufactured and tested under multiple operating conditions on actual road surfaces. The chassis achieved a maximum straight-line travel speed of 4 km/h on level ground, a maximum uphill and downhill travel speed of 2 km/h, a maximum climbing angle of 18°, a maximum trench-crossing width of 500 mm, and a turning radius not exceeding 675 mm. The simulation and experimental results were in close agreement, with a maximum relative error of 11%, demonstrating the predictive accuracy of the multibody dynamic model. The developed chassis exhibited good terrain-crossing capability and operational stability. This study provides a theoretical basis and technical support for the development and application of small agricultural machinery in hilly and mountainous areas.

Abstract in Chinese

针对丘陵山地复杂地形对农机装备机动性与适应性的要求，本文设计开发了一款小型履带式电控底盘。基于多体动力学底盘通过性及稳定性理论分析，运用 RecurDyn仿真软件构建底盘动力学模型，模拟底盘在典型工况下的动态响应特性，并对其运动轨迹及系统稳定性变化规律进行仿真分析。对研制样机进行实际路况条件下多工况性能测试，当平地直行最大速度为4km/h，上下坡最大速度为2km/h时，最大坡度角为18°，跨越壕沟最大宽度为500mm，最小转向半径小于675mm。仿真与试验结果表明, 构建的多体动力学模型具有较高的预测精度，底盘在复杂地形下具有良好的通过性与稳定性，相对误差均≤11%。研究为丘陵山地小型农机装备研发提供了可靠的理论依据与技术支撑。