铰接轮式装载机的横向动力学建模分析  

Lateral dynamic modeling of articulated wheeled loader

作　　者：王顺桀 刘前结 李晨阳 叶军君[1] 祝青园[1] WANG Shun-jie;LIU Qian-jie;LI Chen-yang;YE Jun-jun;ZHU Qing-yuan(Department of Mechanical and Electrical Engineering,Xiamen University,Xiamen 361102,China)

机构地区：[1]厦门大学机电工程系,福建厦门361102

出　　处：《机电工程》2021年第12期1529-1537,共9页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(52075461);科技部创新方法专项资助项目(2020IM010100);厦门市科技计划项目(3502Z20201015)。

摘　　要：铰接轮式装载机存在变结构、变质心与变载荷等强非线性问题,为此,以典型的铰接轮式装载机为例,在考虑其液压转向系统与稳定性约束的基础上,对其横向动力学建模进行了分析研究。首先,分析了装载机液压转向系统的工作原理,然后通过铰接轮式装载机坐标系和全局坐标系的转换,建立了车辆前后车体运动学模型;进一步结合简化的轮胎模型,推导出了在斜坡倾角下的铰接装载机动力学模型,并在动力学特点下,分析了铰接轮式装载机动力学模型的约束条件;最后,在搭建的1∶4比例样机上进行了铰接轮式装载机侧翻约束实验和曲线行驶实验,并对实验数据进行了对比分析。研究结果表明:装载机液压转向系统的转向角、横向加速度、行驶曲率、行驶轨迹均方根误差分别为1.71°、0.89 m/s^(2)、0.05 m^(-1)、0.13 m,该横向动力学模型能够对铰接轮式装载机的真实横向动力学特性进行仿真,可准确描述非结构环境行驶过程中,铰接轮式工程车辆的动力学变化特性。Articulated wheeled engineering vehicles were characterized by the strong non-linear properties,such as variable structure,variable center of gravity and variable loads.Aiming at the problems above,taking a typical articulated wheeled engineering vehicle as an example,the lateral dynamics model considering the hydraulic steering system and stability constraints was developed and analyzed.Firstly,the working principle of the hydraulic steering system was analyzed.Then,the kinematic model of front and rear body for the articulated wheeled engineering vehicles was established through the conversion of its own coordinate system and global coordinate system.Furthermore,combining with the simplified tire model,the dynamics model of the articulated engineering vehicle on slope was derived,and the constraints on the dynamic's characteristics of the vehicle dynamics model were analyzed.Finally,the steering driving experiments were carried out on the 1∶4 scale prototype,and the experiments data were analyzed.The results indicate that the root mean square errors of articulated angle,lateral acceleration,curvature and vehicle driving trajectory are respectively 1.71°,0.89 m/s^(2),0.05 m^(-1),0.13 m.The established dynamics model is able to simulate the lateral dynamics characteristics of the articulated wheeled engineering vehicle,and it can achieve an accurate description of the variable characteristics of vehicle dynamics while driving in unstructured environments.

关 键 词：铰接轮式装载机 横向稳定性 运动学模型 动力学模型 

分 类 号：TH243[机械工程—机械制造及自动化] TH113.25