In this paper, a coupling longitudinal-vertical dynamic model of a wheeled vehicle under off-road conditions is established. In the present model, the vehicle’s travelling velocity changes as the vehicle heaves under ground excitations. The relative movements between the vehicle body and the wheels in both longitudinal and vertical directions are taken into account. From this model, the vehicle’s vertical and pitch motions as well as the longitudinal dynamics are studied. For validation purposes, an experiment was carried out on a wheeled vehicle as travelling through a single speed bump. Through comparisons, it indicates that the proposed model performs well in predicting the dynamic characteristics of the vehicle on an uneven road. Thus, the model is further applied to quantitatively investigate the energy consumption of a vehicle under off-road conditions. It has been found that the energy consumption distribution is strongly affected by the vehicle speed and the road conditions. Both a higher vehicle speed and a larger road roughness coefficient lead to a lower drive power efficiency and a greater power loss.

本文建立了轮式车辆在越野条件下的纵向-垂直耦合动力学模型。在本模型中，车辆的行驶速度随着车辆在地面激励下的起伏而变化。考虑了车身和车轮在纵向和垂直方向上的相对运动。从该模型中，研究了车辆的垂直和俯仰运动以及纵向动力学。出于验证目的，在轮式车辆上进行了一项实验，该车辆通过单个减速带行驶。通过比较，表明所提出的模型在预测车辆在不平坦道路上的动态特性方面表现良好。因此，该模型进一步应用于定量研究越野条件下车辆的能耗。已经发现，能量消耗分布受车速和路况的强烈影响。较高的车速和较大的路面不平度系数都会导致较低的驱动功率效率和较大的功率损失。