小型轮式车辆与松软沙地的相互作用会显著地影响车辆的稳定性与安全性,研究二者之间的承压关系对无人地面车辆的设计与应用具有重要意义.利用ABAQUS建立了小型轮式车辆与松软沙地的承压模型,通过自行开发的车轮-土壤相互作用测试系统进行试验,在综合考虑了轮胎和沙地的非线性变形后,建立了5种胎压下轮胎的整合径向静刚度,利用二元线性回归分析法拟合试验数据,确定胎压-负荷-下沉量三者之间的相互关系.针对轮胎在松软地面接地印迹难于提取问题,提出了利用逆向工程技术来完成接地印迹曲面重构设计,进一步验证了耦合模型的准确性,为无人地面车辆性能的改进及新型行走机构的设计制造提供了参考依据.%The interaction of small wheeled vehicles and soft sandy land will significantly affect the stability and security of the vehicle,and the research of the pressure-sinkage relationship is of great significance to the design and application of UGVs(unmanned ground vehicles).The finite element method is used to establish the pressure-sinkage model of the small wheeled vehicle and the soft sand,experiments are done by using the wheel-sand inter-action testing system developed for UGVs.In considering the nonlinear deformation of the tire and sand,establishes the integrated radial static stiffness of the tire under 5 kinds of tire pressure,uses binary linear regression analysis to fit test data,the relationship of pressure-load-settlement was determined.Aiming at the problem that the tire in the soft ground contact patch is difficult to be extracted,a reverse engineering technique is proposed to reconstruct the surface of the ground surface,which further verifies the accuracy of the coupled model.It provides a significant ref-erence for improving performance of the UGVs and designing and manufacturing of new travelling mechanism.
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