基于转向轨迹承重变化对铰接车运行影响分析  

Analysis on the Influence of Load-Bearing Change on Articulated Vehicle Operation Based on Steering Trajectory

作　　者：郭丽娟 和柯 田晓光 GUO Lijuan;HE Ke;TIAN Xiaoguang(College of Information&Bussiess,Huanghe Jiaotong University,He’nan Jiaozuo 454950,China)

机构地区：[1]黄河交通学院,河南焦作454950

出　　处：《机械设计与制造》2024年第12期253-257,共5页Machinery Design & Manufacture

基　　金：河南省科技计划支撑项目(212102210340)。

摘　　要：铰接车因其转向半径小而被广泛应用于巷道运输,而后车体货箱承重变化对车辆的运行产生重要影响。根据铰接车结构特点和运行特点,对前后车体的受力情况进行分析;根据前后车体铰接点的作用特点,对车辆转向系统进行分析,并对各轮的转向轨迹进行分析,获得不同时刻的分析模型;基于Simulink搭建转向控制系统模型;根据车辆结构,搭建多体动力学分析模型;综合建立可操控的联合分析模型;改变后车体承重的质心位置,前后进行移动变化,获取各个轮胎的运行速度、受力及转向轨迹的变化规律;结合实际车辆,选取双移线工况,对车辆的转向轨迹、转向角误差及侧倾角等进行对比分析,验证模型的准确性。结果可知:承重质心变化时,各个车轮的垂向力波动较大,对车辆运行影响较大;承重质心位于车体中间位置时,车体承受的纵向、横向力均较小;质心位置前后移动时,力均增大,且质心先车尾移动时,变化更为剧烈,装载时,需避免此种情况发生;实车测试与仿真分析获取的侧倾角、转角误差等的变化趋势基本一致,最大误差控制在6.2%以内,表明控制模型和整车模型的准确性,可以作为此类车辆设计分析的依据。Articulated vehicles are widely used in roadway transportation because of their small turning radius.Then the change of body and container load has an important impact on the operation of vehicles.According to the structure and operation characteristics of articulated vehicle,the stress of front and rear vehicle body was analyzed.According to the action characteristics of the front and rear body hinge points,the vehicle steering system was analyzed,and the steering trajectory of each wheel was analyzed to obtain the analysis model at different times.The steering control system model based on Simulink was built.According to the vehicle structure,the multi-body dynamics analysis model was built.Comprehensively a controllable joint analysis model was established.By changing the center of mass position of the rear vehicle body and moving back and forth,the change laws of the running speed,force and steering track of each tire were obtained.Using the actual vehicle and selecting the double line shifting condition,the steering track,steering angle error and roll angle of the vehicle were compared and analyzed to verify the accuracy of the model.The results show that:when the load-bearing center of mass changes,the vertical force of each wheel fluctuates greatly,which has a great impact on vehicle operation.When the load-bearing mass center is located in the middle of the vehicle body,the longitudinal and transverse forces borne by the vehicle body are small.When the center of mass moves forward and backward,the force increases,and the change is more intense when the center of mass moves first at the rear of the vehicle.This situation should be avoided during loading.The change trend of roll angle and angle error obtained from real vehicle test and simulation analysis is basically the same,and the maximum error is controlled within 6.2%,indicating that the accuracy of control model and whole vehicle model can be used as the basis for design and analysis of such vehicles.

关 键 词：铰接车 转向 轨迹 承重 模型 实车 

分 类 号：TH16[机械工程—机械制造及自动化] U464.138.2[机械工程—车辆工程]