摘要
根据某运煤车辆空间连杆转向机构的工作原理,将空间连杆转向机构分解为空间RSSR机构和平面连杆机构进行数学建模,依据车辆转向阻力矩计算公式Magic Formula以及空间旋转变换矩阵获得了机构运动学及力学传递几何关系。据此数学模型分析了车辆转向机构传动性能,得到了不同结构尺寸下转向系角传动比以及转矩传动比的变化规律。对转向机构铰接点位置进行优化,获得了角传动比减小5.0%的最优结构方案。通过计算机仿真与实车路面试验结果相比,角位移误差为8.7%,驱动力误差为7.4%。转向系统模型的建立为机构传动性能的改善以及其他矿用车辆对此转向系统提供了借鉴。
According to the operation principle of the steering system of a mine transportation vehicle based on spatial linkages,those were separated into the RSSR mechanism and the plan 4-R linkages mechanism in order to establish the mathematic model.The kinematics and dynamics transfer geometry relations of the mechanism were acquired by use of spatial displacement matrix and the steering resistance torque formula,namely the Magic Formula.The transmission performances of the steering mechanism were analyzed in terms of the math model.The variation of the angle transmission ratio and the torque transmission ratio of the steering mechanism were obtained under the circumstances of the different structure dimension.The joints coordinates of the mechanism were optimized and the angle transmission ratio was reduced about 5.0%.The results of simulation and real vehicle on road experiment show that：the angle displacement error between simulation value and testing value is less than 8.7% and the driven force one is 7.4%.The theoretical basis could be established due to the mathematical model of the vehicle steering mechanism for the improvement of the transmission performance and the use for reference to the other mine vehicle.
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2012年第A02期489-493,共5页
Journal of China Coal Society
基金
山西省青年科技研究基金资助项目(2011021019)
关键词
运煤车
空间连杆机构
转向系传动比
mine transportation vehicle
spatial linkages
transmission ratio of steering system
