摘要
车辆发生转向时,由于离心力的作用而产生侧倾运动,空载高速转向时该部分作用将更为明显,进而影响车辆平稳运输。根据悬挂系统的特性差异,对所研究矿用汽车前后悬挂的侧倾中心和侧倾轴进行分析;基于以上分析,对转向时的侧倾运动进行分析,获取关键参数的变化模型;根据理论分析结果,基于Matlab/Simulink建立车辆转向工况表征侧倾运动的分析模型;根据悬挂特性和转向特性,分别建立分析模型,与车辆多体动力学模型联合,基于TruckSim建立整车转向特征分析模型;分析在固定转向盘稳态回转试验时,车辆的行驶轨迹;对空载高速转向工况下,车辆内外轮转角特征曲线,悬挂刚度、位移、侧倾刚度等参数变化进行分析;对比分析考虑转向侧倾与否的转角特征及偏差与理论分析之间的差异,以验证分析的可靠性。结果可知:车辆内外侧悬挂缸出现伸缩跳动,此时出现了附加转向效应叠加在车轮上;车轮需要较大的侧偏角,满足侧向力的需要;此时,整车的转向角关系不单单满足Ackerman定理,还增加了轮胎的侧偏角;未考虑转向侧倾时,转角偏差值随着转角的增加而不断增大,最大偏差达到了0.4223°,而考虑时,转角偏差的目标值为0.3618°。因此表明,所建立的分析模型具有较好的分析结果,能够更精确的反应车辆转向过程中,侧倾运动各部分参数的变化,为此类研究提供参考。
When the vehicle turns,the roll motion is generated due to the action of centrifugal force.This part will be more obvious when the vehicle turns at no-load high speed,which will affect the smooth transportation of the vehicle.According to the characteristic difference of the suspension system,the roll center and roll axis of the front and rear suspension of the mining truck were analyzed.Based on the above analysis,the roll motion during steering was analyzed to obtain the change model of key parameters.According to the theoretical analysis results,the analysis model of vehicle steering condition to characterize roll motion was established based on MATLAB/Simulink.According to the suspension characteristics and steering characteristics,the analysis models were established respectively.Combined with the vehicle multi-body dynamics model,the vehicle steering characteristic analysis model was established based on TruckSim.The running track of the vehicle during the steady-state rotation test of the fixed steering wheel was analyzed.Under the condition of no-load high-speed steering,the changes of parameters such as angle characteristic curve of inner and outer wheels,suspension stiffness,displacement and roll stiffness were analyzed.Comparative analysis considered the angle characteristics of steering roll and the difference between deviation and theoretical analysis,so as to verify the reliability of the analysis.The results show that:the inner and outer suspension cylinders of the vehicle stretch and jump,and the additional steering effect is superimposed on the wheels.The wheel has lateral force,and in order to meet the lateral force,the sideslip angle of the tire is large.At this time,the steering angle relationship of the whole vehicle not only meets Ackerman’s theorem,but also increases the sideslip angle of the tire.When steering roll is not considered,the angle deviation increases with the increase of angle,and the maximum deviation reaches 0.4223°.When considering,the target value of angle deviation is 0.3618°.Therefore,it shows that the established analysis model has better analysis results and can more accurately reflect the changes of parameters of various parts of roll motion in the process of vehicle steering,so as to provide reference for such research.
作者
王旭斌
徐珂
WANG Xu-bin;XU Ke(Automotive Department,He’nan College of Transportation,He’nan Zhengzhou 450005,China;He’nan University of Technology,Engineering Technology Education Center,He’nan Xinxiang 453000,China)
出处
《机械设计与制造》
北大核心
2023年第6期193-196,共4页
Machinery Design & Manufacture
基金
河南省高等学校重点科研项目计划(20B470003)。
关键词
矿用汽车
油气悬挂
刚度
侧倾运动
转向工况
模型
Mining Truck
Hydro-Pneumatic Suspension
Rigidity
Roll Motion
Steering Condition
Model
