视景仿真中履带车辆模拟

驾驶模拟训练系统采用经典的Bekker车辆地面力学理论和Wong J Y提出的履带动力学模型，推导了视景仿真中土壤的接地压力与沉陷深度关系、剪切应力与剪切位移关系、行驶阻力等，建立了视景仿真中的履带与地形的动态交互模型。采用ROAM算法和多点匹配法，实现了地形三角形网格分辨率的动态改变。在优秀的多体动力学实时仿真软件Vortex中实现了高速履带和低速履带与地形的动态交互效果，满足了实时仿真的要求，真实感强，具有极佳的交互性。

Simulation of Tracked Vehicle in Visual Simulation

Driving simulation training system using classical Bekker ground mechanics theory and Wong J Y proposed track dynamic model, the formula for the visual simulation of soil ground pressure and settlement depth relations, shear stress and shear displacement relationship, driving resistance and so on, established the visual simulation of the track and the terrain of the dynamic interaction model. The ROAM algorithm and multipoint matching method, realize the terrain triangle mesh resolution of dynamic change. In good multibody dynamics real-time simulation software in the Vortex achieving fast track and low speed track and topography and the dynamic interaction effect, sense of reality is strong, has good interactivity.