Abstract: In order to meet the demands of real time monitoring of load characteristics and the demands of health management of the special vehicle integrated transmission system under actual complex conditions， by using the matrix analysis method and numerical solution method of planetary transmission mechanisms， and taking the real vehicle sensor data as the model input， a dynamic model of integrated transmission system was established to rapidly and continuously solve the transmission output speed and torque under time-varying conditions. The kinematic matrix， differential equation and torque balance equation of the planetary transmission mechanisms were constructed. The fast continuous solution method of the dynamic model under time-varying conditions and the method for solving road load under the conditions of missing road load information were proposed. The calculated transmission output speed and torque were compared with the bench test results under the three typical conditions of launching， shifting and acceleration. The results show that the dynamic model may realize the dynamic simulation calculation of the output characteristic of the integrated transmission under the conditions of missing road load information. It provides support for real-time monitoring， dynamic control and intelligent operation and maintenance of special vehicle integrated transmission systems. 

Key words: special vehicle, transmission system, planetary transmission, dynamic modeling, time-varying condition

摘要： 为满足特种车辆综合传动系统在实际复杂工况下负载特性实时监测与健康管理的需求，采用行星变速机构矩阵分析方法和数值求解方法，以实车传感器数据作为输入，建立了可实现时变工况下快速连续求解传动输出转速和扭矩的综合传动系统动力学模型，构建了行星变速机构运动学矩阵、运动微分方程与力矩平衡方程，提出了时变工况下动力学模型的快速连续求解方法以及在道路负载信息缺失的条件下进行道路负载求解的方法，并将计算所得的传动输出转速和扭矩在起步、换挡和加速三种典型工况下与台架试验结果进行了对比分析。结果表明，构建的动力学模型在道路负载信息缺失的条件下，可实现对综合传动输出特性的动态仿真计算，为特种车辆综合传动系统服役状态实时监测、动态控制和智能运维提供了支撑。

关键词: 特种车辆, 传动系统, 行星变速, 动态建模, 时变工况