履带式车辆斜坡转向稳定性研究

根据履带式车辆的运动特点，运用数力学中矢量分析理论和方法，推导了接地比压为线性分布时履带式车辆在斜坡上转向时，瞬时转向中心偏移量与车辆重心位置、转向半径、行进速度、加速度、车辆方位相互关系的计算公式。在此基础上，分析了瞬时转向中心偏移量的变化规律及影响因素，指出了导致转向不稳定的因素。

Study on Steering Stability of Tracked Vehicles on Ramp

According to the moving characteristics of tracklayer,when the vehicle is on ramp and the ground's vertical pressure is linear,the calculating formulas of relationship between the deviation of the instantaneous steering center,the position of vehicle's gravity,steering radius,moving velocity,moving acceleration,and vehicle's orientation,were obtained by the theory and method of vector analysis in mathematics and mechanics.Based on the formulas,the cause and rules of the deviation of the instantaneous steering center were analyzed,and the factors of causing instability of steering were indicated.