高精度地下铰接式车辆全液压转向动力学建模  

High-precision dynamic modeling of fully-hydraulic steering for articulated underground vehicles

作　　者：邱林宾 曹鑫[2] 金纯[1] QIN Linbin;CAO Xin;JIN Chun(Beijing University of Science&Technology,Beijing 100083,China;Shandong Gold Group Yantai Design&Research Engineering Co.,Ltd.,Yantai 264006,Shandong,China)

机构地区：[1]北京科技大学,北京100083 [2]山东黄金集团烟台设计研究工程有限公司,山东烟台264006

出　　处：《矿山机械》2021年第4期18-24,共7页Mining & Processing Equipment

摘　　要：地下铰接式车辆转向模型的建立主要考虑轮胎动力学,忽略了转向过程中油液体积弹性模量的变化对转向特性的影响。以地下铲运机为研究对象,考虑液压传动介质的可压缩性,建立了包含全液压转向系统的铰接式车辆动力学模型,并分别在时域和频域上对模型进行了实车验证。结果表明,油液体积弹性模量为常数的动力学模型在转向响应上的计算误差明显,而考虑液压传动介质压缩性的模型能够较为准确地给出转向响应。该研究对地下铲运机无人驾驶中的路径跟踪精准控制具有一定参考价值。The establishment of the steering model of articulated underground vehicles mainly considers tire dynamics,ignoring the influence of the variation of oil volume elastic modulus on steering characteristics during steering operation.Taking the underground LHD(load-haul-dumper)as the research object,considering the compressibility of the hydraulic transmission medium,the paper established the dynamic model of the articulated vehicle including fully-hydraulic steering system,and conducted model verification by test in time domain and frequency domain.The results showed the dynamic model with constant volume elastic modulus of oil had obvious error in calculating the steering response,while the model considering the compressibility of the hydraulic transmission medium accurately produced the steering response.The research was of some reference for the precise control of path tracing for the unmanned underground LHD.

关 键 词：铰接式车辆 动力学模型 地下铲运机 全液压转向 转向特性 体积弹性模量 

分 类 号：TD525[矿业工程—矿山机电]