摘要
为了提高九轴全地面起重机转向时的低速机动性和高速稳定性,在多轴转向技术的基础上,提出了多种转向模式,建立了九轴车辆的二自由度模型及其运动微分方程,并根据阿克曼原理,推导出了各轴之间的转角比例系数以及车辆质心侧偏角、横摆角速度和侧向加速度的传递函数;利用MATALAB/Simulink软件对不同转向模式下车辆的转向性能进行仿真分析,并对车辆的稳态响应和瞬态响应进行了比较。结果表明:合理选择车辆的转向模式有利于提高车辆低速转向时的机动性和高速转向的稳定性。
In order to improve the low-speed maneuverability and stability of nine-axis all ground crane under high speed,a variety of steering modes are proposed and nine-axle steering vehicle with two degrees of freedom model are established. The proportional coefficient of the rotation angle of each axis and vehicle sideslip angle,yaw angularvelocity and lateral acceleration of the transfer function are derived based on ackerman principle. The vehicle steady-state response and transient response under different steering modes are analyzed and compared using MATALAB/Simulink. The results show that the reasonable selection of vehicle steering mode can effectively improve the low speed and stability of the vehicle.
出处
《太原科技大学学报》
2017年第4期283-288,共6页
Journal of Taiyuan University of Science and Technology
基金
山西省重点学科建设项目(晋教财[2012]145号)
关键词
全地面起重机
九轴
转向模式
full terrain crane,nine axis, steering mode
