摘要
建立了多轴转向车辆的二自由度操纵动力学模型,并得到多桥转向车辆横摆角速度,质心侧偏角及侧向加速度与前轮转角之间的传递函数的通用公式。在此基础上,得到车辆采用零侧偏角控制策略时,车辆转向中心到质心的距离,横摆角速度增益及侧向加速度增益的表达式。以某五轴转向车辆为例,对其转向性能进行了分析,结果说明:零侧偏角控制策略能适用于工程车辆,且能使车辆转向更平稳,在高速运行时,能显著提高车辆的稳定性。
A two degrees of freedom multi-axle vehicle steering model was established. The universal transfer function from frontwheel angle to centroid angle, yaw angular velocity and lateral acceleration are gained. Based on a zero sideslip angle proportional control, we get the gain of the distance from the centroid to the steering center position, yaw angular velocity and lateral acceleration. The results of a five-axle steering vehicle indicate that the zero sideslip angle proportional control adapts to the construction vehicle and that under the control, the vehicle steers smoothly and its handling stability is improved prominently.
出处
《农业装备与车辆工程》
2008年第6期13-15,63,共4页
Agricultural Equipment & Vehicle Engineering
基金
江苏省科技成果转化专项基金项目(BA2007038)
吉林大学创新基金(2004CX021)
关键词
多桥转向
零侧偏角控制策略
操纵动力学模型
multi-axle steering
zero sideslip angle proportional control
steering model
