| Research on maneuverability simulation of tank is one of essential works of Virtual Reality(VR). Analyzing forces acting on tank when tank drives straight ahead and steers in detail,and considering the backgroud,ie VR,this paper has developed a tank model of maneuverability simulation,and has implemented the dynamic simulation.Analyzing kinematics of tank,the article discusses the law of track and the vehicle separately. Because the terrain is various,a lot of movments of tank on various terrain are analyzed.Analyzing forces acting on tank,track and the vehicle slip angle are taked into account. Based on the theory of Bekker,this paper also analyzes the process of steering on flat ground and on a slope. This paper also considers the centrifugal force and the air resistance when tank is driving at middle or high speed.This paper analyzes vibration of a tank when a tank runs on a rough road and analyzes the ability of passing obstacle. Because of the constrain of suspension constitution,Vibration on four degree of freedom can be neglected. So we only analyzes line vibration on perpendicular and pitching vibration.At the 6th chapter of this paper,a tank model of maneuverability simulation has been developed. The ground state information and manipulation components state information are as the input of the model,and the output is the velocity and position of the tank. |
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