摘要
为解决双体铰接式履带车辆转向时因双缸伸缩协调不均而产生的转向不稳定问题,设计一种通过闭环控制双缸协调同步的液压转向系统,以达到减小伸缩量误差、保证车辆转向稳定的目的。建立包含转向液压缸、液压泵、比例换向阀等的数学模型,作为双缸协调控制的理论支撑;搭建液压转向系统AMESim仿真模型,通过控制转向油缸的协同伸缩,实现车辆平稳精准的转向过程;最后,基于RecurDyn虚拟样机技术进行联合仿真,分析车辆转向的工作性能。仿真结果表明:所建立的理论模型准确可靠,车辆能够完成极端工况下的转向过程且双缸伸缩误差不超过0.93%,能够实现不同转向角度下转向半径的精确控制,直径误差不超过0.81%。此外,当车辆转向时,适度降低车速能够显著提升转向过程中的横向稳定性。
To address the steering instability of articulated tracked vehicles caused by uneven double-cylinder extension/retraction during steering,a hydraulic steering system with closed-loop control for double-cylinder synchronization was proposed to reduce the extension/retraction errors and ensure the stability of vehicle steering.A mathematical model including steering hydraulic cylinders,hydraulic pumps and proportional reversing valves was established as a theoretical support for the coordinated control of the two cylinders.An AMESim simulation model of the hydraulic steering system was constructed,and a smooth and accurate steering process was realized by controlling the coordinated expansion and contraction of the steering cylinders.Finally,a co-simulation was carried out based on the RecurDyn virtual prototype technology to analyze the working performance of the vehicle steering.The simulation results show that:the established theoretical model is accurate and reliable,the vehicle is able to complete the steering process under extreme working conditions and the double-cylinder expansion and contraction error is not more than 0.93%,and it can realize the precise control of the steering radius under different steering angles,and the diameter error is not more than 0.81%.In addition,when the vehicle is steering,the lateral stability of the steering process can be significantly improved by moderately reducing the vehicle speed.
作者
穆绍猛
刘志奇
高山铁
墨海波
姜稳稳
杜锐
贺志伟
贾鹏飞
MU Shaomeng;LIU Zhiqi;GAO Shantie;MO Haibo;JIANG Wenwen;DU Rui;HE Zhiwei;JIA Pengfei(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;Guizhou Jonyang Kinetics Co.,Ltd.,Guiyang Guizhou 550006,China;School of Mechanical Engineering,Shanxi Vocational University of Engineering Science and Technology,Taiyuan Shanxi 030013,China)
出处
《机床与液压》
北大核心
2025年第18期200-205,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金项目(52272401)
山西省专利转化专项计划项目(202202060)
山西省基础研究计划项目(202203021211185)
贵州省科技计划项目-科技创新人才团队(黔科合平台人才-CXTD[2022]015)。
关键词
双体铰接式履带车
转向系统
联合仿真
转向性能
double-body articulated tracked vehicle
steering system
co-simulation
steering performance
