Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track, which can greatly improve the maneuverability of military construction machinery. However, there is almost no effective calculation model for the real-time static steering torque. When the relative sliding speed is greater than 0.01 m/s, the influence of friction heating can not be ignored. An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis. Firstly, the friction heating model between rubber and ground is established. Combined with the influence of temperature on the dynamic performance of rubber material, the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed, and the improved LuGre friction model is established. The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties, steering speed, pavement type, and ambient temperature. Compared with the original LuGre model, the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating. The error with the experimental data is small, which verifies the effectiveness of the improved LuGre model.

轮胎和橡胶履带互换底盘结合了轮胎和橡胶履带的优点，可以大大提高军用工程机械的机动性。然而，实时静态转向力矩几乎没有有效的计算模型。当相对滑动速度大于 0.01 m/s 时，摩擦发热的影响不容忽视。建立改进的LuGre模型，计算轮胎橡胶履带互换底盘的静态实时转向扭矩。首先，建立橡胶与地面的摩擦发热模型。结合温度对橡胶材料动态性能的影响，分析了摩擦发热对橡胶履带刚度和摩擦系数的影响，建立了改进的LuGre摩擦模型。轮胎和橡胶履带可互换底盘的转向扭矩受橡胶材料特性、转向速度、路面类型和环境温度的影响。与原来的 LuGre 模型相比，改进后的 LuGre 模型捕捉了在多次原地转弯过程中由于摩擦加热引起的摩擦扭矩变化。与实验数据的误差较小，验证了改进的LuGre模型的有效性。