阀控全液压折腰转向系统建模及随动性能分析  

Modeling and servo performance analysis of valve controlled full hydraulic bending steering system

作　　者：石琴 任志勇 赵远 闫凯 SHI Qin;REN Zhiyong;ZHAO Yuan;YAN Kai(School of Automobile and Traffic Engineering,Hefei University of Technology,Hefei 230009,China;Engineering Research Center for Intelligent Transportation and Cooperative Vehicle-Infrastructure of Anhui Province,Hefei 230009,China;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]合肥工业大学汽车与交通工程学院,安徽合肥230009 [2]安徽省智慧交通车路协同工程研究中心,安徽合肥230009 [3]中国煤炭科工集团太原研究院有限公司,山西太原030006 [4]煤矿采掘机械装备国家工程实验室,山西太原030006

出　　处：《合肥工业大学学报(自然科学版)》2025年第3期310-319,共10页Journal of Hefei University of Technology:Natural Science

基　　金：国家自然科学基金资助项目(52204173);山西省基础研究计划资助项目(20210302124118)和山西省科技成果转换成果专项基金资助项目(202104021301067)。

摘　　要：针对当前主流阀控全液压折腰转向系统,文章首先对其机理进行阐述和分析,并利用模块化思想建立包含转向动力模块、转向控制模块和转向执行模块在内的阀控全液压转向系统数学模型,搭建阀控全液压折腰转向系统AMESim-ADAMS/View联合仿真平台,对折腰随动性能进行仿真分析。结果表明:阀控全液压折腰转向系统一旦存在泄露,则在整个动态转向过程中都是不稳定的,且随着泄露系数的增加,临界速度逐渐减少,车辆运动状态会越来越不稳定,相反,在蛇形运动模式时,随着泄露系数的增加,稳定裕度不断增加,稳定性会得到提高;降低阀控全液压折腰转向系统油压,能够减弱系统振荡,但会导致车辆横向刚度变弱,抵抗外部干扰变弱,转向响应变差,滞后严重,车辆转向过程中容易出现转向不足、失稳和蛇形运动加剧等问题,影响铰接车辆的转向稳定性和驾驶安全性。This paper first elaborates and analyzes the mechanism of the current mainstream valve controlled full hydraulic bending steering system,and uses modular thinking to establish a mathematical model of the valve controlled full hydraulic steering system,including the steering power module,steering control module,and steering execution module.Then,an AMESim-ADAMS/View joint simulation platform for the valve controlled full hydraulic bending steering system is built to simulate and analyze the bending servo performance.The results show that once there is a leakage in the valve controlled full hydraulic bending steering system,it is unstable throughout the entire dynamic steering process,and as the leakage coefficient increases,the critical speed gradually decreases,and the motion state of the vehicle becomes increasingly unstable;on the contrary,in the serpentine motion mode,as the leakage coefficient increases,the stability margin continues to increase,and the stability will be improved.Reducing the oil pressure of the valve controlled full hydraulic bending steering system can reduce system oscillation,but it will lead to weakened lateral stiffness of the vehicle,weakened resistance to external interference,poor steering response,severe lag,and problems such as understeer,instability,and increased serpentine motion during vehicle steering,which affects the steering stability and driving safety of articulated vehicles.

关 键 词：铰接车辆 阀控 全液压 折腰转向 响应 稳定性 

分 类 号：TD525[矿业工程—矿山机电]