基于PXI实时平台铰接式车辆转向轨迹特性分析  

Analysis of Steering Trajectory Characteristics of Articulated Vehicle Based on PXI Real Time Platform

作　　者：胡兴志 刘伟佳 HU Xing-zhi;LIU Wei-jia(School of Mechanical and Electrical Engineering,North China Institute of Science and Technology,Beijing 101601,China;Graduate Department,North China Institute of Science and Technology,Beijing 101601,China;Hebei Key Laboratory of Safety Monitoring of Mining Equipment,Hebei Langfang 065201,China)

机构地区：[1]华北科技学院机电工程学院,北京101601 [2]华北科技学院研究生部,北京101601 [3]河北省矿山设备安全监测重点实验室,河北廊坊065201

出　　处：《机械设计与制造》2024年第8期272-275,共4页Machinery Design & Manufacture

基　　金：河北省省级科技计划项目(20555404K);河北省创新能力提升计划项目(20555404K)。

摘　　要：根据双油缸“缸体前置式”布置的地下矿用铰接车转向系统的结构特点,获取油缸行程和整车转向角度之间的关系,并对转向过程中前后轮的坐标位置进行分析,获得数学模型。基于Simulink搭建分析模型,获得不同运行速度时的转向轨迹。基于ADAMS建立某铰接车的多自由度分析模型,与转向轨迹模型结合,嵌入PXI驾驶员在环测试实时平台,对整车的转向轨迹进行分析;基于实车测试,选取双移线转向工况,根据结果对仿真结果进行验证。分析可知:车辆运行速度低于6m/s时,行驶稳定性良好,转向过程比较平缓;当速度高于6m/s时,应该先减速,当到达适合转向行驶的速度再实施转向动作;驾驶员在环实时测试模拟、数学模型与实车测试获得转向轨迹,具有较高的重合度,转向角的误差小于3%,进一步地说明转向轨迹分析的准确性,为实际设计提供参考。According to the structural characteristics of the steering system of the underground mining articulated vehicle with double cylinder“front cylinder”arrangement,which obtains the relationship between cylinder stroke and vehicle steering angle,the coordinate position of the front and rear wheels in the steering process was analyzed,and the mathematical model was obtained.Based on Simulink,an analysis model was built to obtain the steering trajectory at different speeds.Based on ADAMS,a multi degree of freedom analysis model of an articulated vehicle was established.Combined with the steering trajectory model,PXI driver in the loop test real time platform was embedded to analyze the steering trajectory of the vehicle.Based on the real vehicle test,the double lane shift steering condition is selected,and the simulation results are verified according to the results.The analysis shows that:when the vehicle running speed is lower than 6m/s,the driving stability is good and the steering process is relatively gentle.When the speed is higher than 6m/s,the driving stability is good.When the vehicle reaches the speed suitable for steering,the driver should decelerate first,and then implement the steering action,which reaches the speed suitable for steering.The steering trajectory obtained by driver in the loop real-time test simulation,mathematical model and real vehicle test has high coincidence degree,and the error of steering angle is less than 3%,which further illustrates the accuracy of steering trajectory analysis and provides reference for actual design.

关 键 词：铰接式车辆 转向系统 轨迹 实时平台 模型 实车 

分 类 号：TH16[机械工程—机械制造及自动化] U467.13[机械工程—车辆工程]