通过对速差转向车辆进行简化,建立了其2自由度动力学单轴模型.在此基础上,考虑转向时轮荷的转移,给出整车的动力学微分方程,继而研究车辆参数对速差转向性能的影响.结果表明,速差转向轮式车辆的速度瞬心位于车辆几何中心之前,其内侧车轮仅在转向半径较小时吸收功率.%With some simplification made on skid-steering vehicle, a 2 DOFs single-axle dynamics model is established. On this basis and taking account of wheel load transfer, a dynamics differential equation is given and the effects of vehicle parameters on skid-steering performance are studied. The results show that the instantaneous velocity center of vehicle is in front of its geometric center, and only when steering radius is relatively small, will in ner wheels absorb power.
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