In this paper, a longitudinal-vertical coupling dynamic model of a tracked vehicle under uneven road conditions is established. The torsion suspension forces and torques generated by the torsion bar springs and torsion shock absorbers are considered in the present model. The tracked vehicle’s longitudinal acceleration and velocity change at the same time as the vehicle heaves under the excitation of uneven road terrain. The vehicle’s longitudinal-vertical coupling dynamics are explained elementarily by analysing the longitudinal and vertical dynamics of a road wheel based on the road wheel force model. From the coupling tracked vehicle model, the dynamic responses of the vehicle in the vertical and pitch directions as well as the longitudinal direction are investigated. The vehicle dynamics characteristics are compared with those obtained by Recurdyn simulation. The results indicate that the proposed dynamic model performs well in predicting the dynamic characteristics of the tracked vehicle on uneven roads. By means of the coupling dynamic model, the influences of vehicle speed and road conditions on the vehicle’s longitudinal dynamics are further studied. It has been found that both a higher velocity and a larger roughness coefficient will lead to a negative longitudinal acceleration with larger absolute value.

本文建立了不平整路况下履带车辆的纵-竖耦合动力学模型。本模型考虑了扭杆弹簧和扭力减震器产生的扭力悬架力和扭矩。履带车辆的纵向加速度和速度在不平坦路面的激励下与车辆的起伏同时发生变化。基于车轮力模型分析车轮的纵向和纵向动力学，对车辆纵向-纵向耦合动力学进行了初步解释。从耦合履带车辆模型中，研究了车辆在垂直和俯仰方向以及纵向方向上的动态响应。将车辆动力学特性与通过 Recurdyn 仿真获得的特性进行比较。结果表明，所提出的动态模型在预测履带车辆在不平坦道路上的动态特性方面表现良好。通过耦合动力学模型，进一步研究了车速和路况对车辆纵向动力学的影响。已经发现，较高的速度和较大的粗糙度系数都会导致具有较大绝对值的负纵向加速度。进一步研究了车速和路况对车辆纵向动力学的影响。已经发现，较高的速度和较大的粗糙度系数都会导致具有较大绝对值的负纵向加速度。进一步研究了车速和路况对车辆纵向动力学的影响。已经发现，较高的速度和较大的粗糙度系数都会导致具有较大绝对值的负纵向加速度。