基于AMESim和ADAMS铰接车全液压转向系统分析  

Analysis of Full Hydraulic Steering System in Articulated Vehicle Based on AMESim and ADAMS Co-simulation

作　　者：解继红[1,2] 杜勇[1] 

机构地区：[1]晋中学院机械学院,山西晋中030619 [2]山西农业大学工学院,山西太谷030600

出　　处：《液压与气动》2016年第5期13-20,共8页Chinese Hydraulics & Pneumatics

基　　金：山西省自然科学基金(2012011036)

摘　　要：铰接式车辆因其机动性好、适应性强且生产效率高而被广泛采用,而其不足之处在于转向时横向稳定性较差,翻车事故时有发生,为解决此问题,应用虚拟样机技术对此类车辆的转向过程进行分析。基于液压系统与多体动力学系统的联合仿真,在ADAMS中建立六轮电驱动铰接车的多体动力学模型,在AMESim中搭建其全液压转向系统模型,以实现铰接车的转向过程。通过PID控制转向油缸的油量使其铰接角维持一个定值,对铰接车的行驶转向进行分析,并考虑车速对铰接车稳态转向的影响。获得铰接车行驶转向下各个轮胎的运动轨迹,各个轮胎所受侧向力、纵向力及垂直力随时间的变化曲线和转向油缸中活塞杆的受力。结果表明:随着行驶速度的增大,铰接车的外侧各个轮胎的受力均明显的增大;且铰接车的转向半径也随着增大;全液压转向系统具有明显的不足转向特性。Articulated vehicle has been widely used because of its good maneuverability, strong adaptability and productivity, and its shortcoming is poor lateral stability and rollover accidents happen. To solve this problem, the steering process of such vehicle is analyzed by using virtual prototype technology. Based on the co-simulation of hydraulic system and multi-body dynamics system, the multi-body dynamics model of the six wheels electric drive articulated vehicle is built by using ADAMS, and the full hydraulic steering system model is built by using AMESim, to realize the steering process of articulated vehicle. The oil content of the steering cylinder is controlled by PID, and the joint angle of the steering cylinder is maintained for a certain value, and the steering of the articulated vehicle is analyzed, and the influence on the steering system stability of the vehicle speed is considered. To get the movement track of each tire, the lateral force, longitudinal force and vertical force of each tire, and the force of the piston rod of the cyl- inder are obtained. The results show that ： with the increase of driving speed, the outside side stress of the articulated vehicle is obviously increased, and the steering radius of the articulated vehicle increases with the increase of the steering radius. The characteristic of the full hydraulic steering system characteristic has obvious insufficiency.

关 键 词：铰接式车辆 全液压转向系统 联合仿真 PID控制 行驶转向 模型 

分 类 号：TH137[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]