关键词: 垂直障碍, 通过性, 传动系载荷, 统一模型, 悬架参数

Abstract:

To predict  vertical  step  passability  of  wheeled vehicle and  get driveline torque,this  paper presented  a unified obstacle crossing model.The  model could simulate  climbing  process of any given axle of a vehicle with any axles.Factors such as adhesion coefficient difference between climbing wheel and rolling wheel,suspension bound and rebound limits,wheel liftoff were  considered.Passability criteria of simulation results was discussed.The model was  validated through tests.Influence of suspension bound limits on driveline torque was analyzed.

Key words: vertical , step;passability;driveline torque;unified model;suspension parameter