应用TruckSim自卸车操纵稳定性在环仿真平台研究  

Study on Handling and Stability in the Loop Simulation Platform of Dump Truck Based on TruckSim

作　　者：王晓晶[1] 王丙军[1] WANG Xiao-jing;WANG Bing-jun(School of Mechanical Engineering,Anyang Institute of Technology,Henan Anyang 455000,China)

机构地区：[1]安阳工学院机械工程学院,河南安阳455000

出　　处：《机械设计与制造》2018年第10期20-23,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51105002);河南省教育厅科学技术研究重点项目(13A460002)

摘　　要：自卸车良好的操纵稳定性既保证整车正常运行,也保证矿山正常生产运营。根据自卸车整车结构特点和设计参数,基于TruckSim搭建所研究自卸车整车动力学模型,包括电传动系统、悬架系统、转向系统和轮胎等。将悬架系统K&C特性作为整车模型唯一可变输入。基于动力学模型进行操纵稳定性开环仿真,包括方向盘角阶跃、角脉冲和稳态回转仿真。基于TruckSim整车模型,结合PXI实时硬件和Labview搭建整车操纵稳定性驾驶员在环仿真平台,对整车进行双移线工况下闭环试验,对整车操纵稳定性进行分析。分析结果表明:总体上能够很好响应驾驶员操纵并沿着目标路径行驶,且转向轻便;但行驶路径与期望路径存在一定差异,驾驶员需要多次调整转向盘转角才能完成双移线;研究内容和研究结论为进一步实车测试提供参考依据。The good handling and stability of the dump truck is the foundation to guarantee the vehicle normal running,but also to ensure the normal production and operation of mines.According to the structure characteristics and design parameters of dump truck,the dynamic model of the vehicle is built based on TruckSim,including electric drive system,suspension system,steering system and tire etc.The K&C characteristic of the suspension system was the only variable input of the whole vehicle model.Open loop simulation of handling stability was taken based on dynamic model,including steering wheel angle step,angle pulse and steady state rotation simulation.Based on Trucksim vehicle model,combined with PXI hardware and Labview,the vehicle handling stability with the driver in the loop simulation platform was built,the double lane change under the condition of the closed-loop test of the vehicle and the effect on vehicle handling stability was analyzed.The results show that:the system can be very good in response to the driver’s manipulation and along the target path driving and steering portability;but the motion path and the desired path there are some differences,the driver needs to repeatedly adjust the steering wheel angle to complete the double lane change;the further optimization of the design space is needed;for further real vehicle test and optimization design provides reference.

关 键 词：自卸车 操纵稳定性 动力学模型 在环仿真 试验平台 

分 类 号：TH16[机械工程—机械制造及自动化] U461.6[机械工程—车辆工程]