为了准确描述履带车辆振动特性，在考虑履带环影响的条件下研究分析了履带车辆的振动响应。通过分析履带模型的约束关系和行驶系统拓扑结构，建立完整的履带车辆行驶系统动力学模型。建立基于弹性连续体履带的履带环模型，采用特征值分析的方法计算履带环的固有振动特性；采用功率谱方法对比分析了柔性履带模型与刚性履带模型仿真结果，验证履带对车辆振动特性的影响；采用实车试验方法对所建模型的准确性进行了验证。结果表明：履带对车辆振动的影响主要包括履带环的低阶固有振动和与履带板节距相关的高频振动；一般工况下履带的振动能量占车辆系统整体振动能量的10％~25％。

The way for accurately describing the vehicle vibration response affected by the track was studied by fully considering the influence of track circuit.Through analysing the constraint relation of the track and the topological structure of the driving system, a complete dynamic model of the tracked vehicle was established.The track circuit model was established based on the assumption of continuous elastic track, and its inherent vibration characteristics were analysed by the eigenvalue method.The power spectrum method was used to compare the results by the dynamic models of flexible track and rigid track and to verify the effect of track on the vehicle vibration.Real vehicle tests were carried out to verify the accuracy of the model.The results show that the effect of track on the vehicle vibration mainly includes the inherent vibration of the track circuit and the high frequency vibration related to the track pitch.The track vibration energy holds ten to twenty-five percent of total vehicle vibration energy in general condition.