偏置转向轴原地转向轮胎力学特性研究  被引量:2

Mechanical Properties of Tire during Static Steering Based on Offset Steering Shaft

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作  者:周福阳[1] 郭康权[1] 李岩[1] 党小选[1] ZHOU Fuyang;GUO Kangquan;LI Yan;DANG Xiaoxuan(College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, Shaanxi 712100, China)

机构地区:[1]西北农林科技大学机械与电子工程学院,陕西杨凌712100

出  处:《农业机械学报》2021年第1期385-392,417,共9页Transactions of the Chinese Society for Agricultural Machinery

基  金:国家自然科学基金项目(51375401)。

摘  要:农用柔性底盘原地姿态切换时车轮绕偏置转向轴原地滚动转向,为探明该过程的轮胎力学特性,对接地区域的滑移速度进行了运动学分析,据此将现有轮胎纵滑LuGre模型扩展成纵滑横滑联合的偏置转向轴原地转向LuGre模型;设计了相应测试装置,通过双因素试验测试了偏置距离和载荷对轮胎横向与纵向摩擦力的影响;根据实测结果对模型参数进行了辨识,利用辨识值对柔性底盘原地姿态切换过程中的轮胎摩擦力进行了仿真。结果表明:柔性底盘原地姿态切换时,轮胎受到阻碍滚动的纵向摩擦力和指向外侧的横向摩擦力,纵向摩擦力与载荷的1.82次方成正比,与偏置距离的1.61次方成反比;随着偏置距离的增加,横向摩擦力先增大、后减小,但变化较为平缓。轮胎横向与纵向摩擦力的实测结果和仿真结果吻合程度较高。本研究可为柔性底盘转向驱动力矩的估算和装置参数的优化提供依据。The agricultural flexible chassis(FC)is a four wheel hub motor independent drive,four wheel omni-directional independent steering chassis.Its structure is very simple,even the steering motors used in the ordinary steer-by-wire system are cancelled.It steers through an offset steering shaft mechanism.It is very flexible and can realize special movements such as four-wheel steering,in-situ turning and lateral driving.When the vehicle body is stationary and the offset arm is not locked,the rotating electric wheel will steer around the offset steering shaft to switch the vehicle form for in-situ rotation or lateral driving.The study on tire mechanics performance of static steering based on offset steering shaft(SSBOSS)is the key and foundation for in-situ rotation and lateral driving control of FC.The tire patch kinematics was analyzed to study the longitudinal and lateral slip.Then,the existing tire longitudinal slip LuGre model was extended to the longitudinal slip-lateral slip combined SSBOSS LuGre model.The SSBOSS tire mechanical characteristics test device was designed.A two-factor test was used to test the effect of offset distance and load on the lateral and longitudinal friction of the tire.The parameters of LuGre tire model were identified based on the measured results,and the tire friction during the static form switching of the FC was simulated based on the identified results.The results showed that the measured and simulated results of the lateral and longitudinal frictional forces had a good consistency.The tire was subjected to a longitudinal frictional force that hindered rolling and a lateral frictional force that pointed to the outside during FC static form switching.And the magnitude of the longitudinal frictional force was proportional to the 1.82th power of the load and inversely proportional to the 1.61th power of the offset distance.And as the offset distance was increased,the lateral frictional force was firstly increased and then decreased,but the change was relatively flat.The research result

关 键 词:农用柔性底盘 偏置转向轴 原地转向 LuGre轮胎模型 力学特性 

分 类 号:U463.341[机械工程—车辆工程] S229.1[交通运输工程—载运工具运用工程]

 

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