中文摘要：

采用面向对象思想建立履带车辆动力学实时仿真模型．建立了发动机一发电机组和电池组电功率耦合特性模型和混合动力驱动系统及其控制策略模型．依托RT—LAB环境实现混合动力驱动系统和控制策略模型实时化．通过CAN实现车辆动力学模型与混合动力驱动系统及其控制模型的实时通信，建立了混合动力履带车辆驾驶员在环的全系统实时仿真软硬件环境，仿真实例验证其可行性及有效性．

英文摘要：

The real-time model of tracked vehicle dynamics was built based on the object-oriented methodology. The model of electric coupling between engine-generator and battery pack was put forward. Moreover, the model of hybrid power train and its control strategy was established and, on the basis of RT-LAB environment, it could be transformed to a real-time executable model. Through CAN interface, the communication between the vehicle dynamics model and hybrid power train and its control model could be realized in real time. All were integrated as the driver-in-loop system-level real-time simulation environment for the hybrid tracked vehicles. Simulation results have demonstrated the feasibility and effectiveness of the work presented in this article.