基于Simulink铰接车双转向液压缸系统特性分析  

Characteristics Analysis of Double Steering Hydraulic Cylinder System of Articulated Vehicle Based on Simulink

作　　者：王芬琴 WANG Fenqin(Gansu Institute of Mechanical and Electrical Engineering,Gansu Tianshui 741000,China)

机构地区：[1]甘肃机电职业技术学院,甘肃天水741000

出　　处：《机械设计与制造》2025年第4期141-144,共4页Machinery Design & Manufacture

基　　金：甘肃省基础研究计划项目(2021A-200)。

摘　　要：转向缸是全液压转向系统的机械执行部分,双转向液压缸是铰接车转向系统的重要组成部分。根据双转向液压缸布置的结构特点,对转向系统的几何特性和运动特征进行分析,获取各个车轮的转向轨迹模型,基于Simulink搭建液压转向系统的特性分析模型,并嵌入整体多体动力学模型;选取满载转向制动转向工况进行轨迹分析,获取速度、加速度及车轮、前后车体等的运动轨迹,分析系统的转向特性;采用实际铰接车辆开展转向特性测试,与仿真分析工况相同,获取轨迹、侧偏角和侧偏力的变化曲线,将结果与理论分析、模型仿真等的结果进行对比,验证模型和分析结果的准确性。结果可知:满载高速转向时,转弯半径和侧偏力较大;车体的纵向角速度保持一致;前后车体铰接点位置影响轨迹变化;实车测试与仿真分析轨迹变化基本一致,侧偏角和侧偏力曲线基本一致,最大误差未超过5%,所搭建模型是可靠的,为此类分析和设计提供模型参考。The steering cylinder is the mechanical executive part of the full hydraulic steering system,and the double steering hy⁃draulic cylinder is an important part of the steering system of articulated vehicle.According to the structural characteristics of the dual steering hydraulic cylinder arrangement,the geometric characteristics and motion characteristics of the steering system were analyzed,the steering trajectory model of each wheel was obtained.The characteristic analysis model of the hydraulic steering system was built based on Simulink,and the overall multi-body dynamics model was embedded.The speed,acceleration and the motion trajectories of wheels,front and rear bodies were obtained,and the steering characteristics of the system was analyzed.The actual articulated vehicle was used to carry out the steering characteristic test,which was the same as the simulation analysis working condition,and the change curves of trajectory,side deflection angle and side deflection force were obtained.The accura⁃cy of the model and analysis results are verified by comparison with theoretical analysis and model simulation.The results show that when steering at high speed with full load,the turning radius and side deflection force are large.The longitudinal angular velocity of the vehicle body shall be consistent.The position of hinge joint of front and rear car body affects the track change.The track change of real vehicle test and simulation analysis is basically the same,and the side deflection angle and side deflection force curve basically have no significant change,maintaining the consistent characteristics,and the maximum error is less than 5%,indicating the accuracy and reliability of the analysis model and analysis results,which provides a model reference for such analysis and design.

关 键 词：铰接车 转向系统 运动特性 转向缸 轨迹 模型 实车 

分 类 号：TH16[机械工程—机械制造及自动化] TP391.7[自动化与计算机技术—计算机应用技术] U463.41[自动化与计算机技术—计算机科学与技术]