摘要
根据汽车起重机多桥转向系统的动力学方程普适公式,建立了MATLAB/Simulink仿真模型,分析了多桥转向各桥的转向比关系,并以三桥转向为例,对前轮转向和多桥转向在时域比较分析,其中多桥转向采用零侧偏角比例控制策略。分析结果表明,采用零侧偏角比例控制多桥转向,可以使系统在任意速度下的侧偏角稳态值为零,转向过程更平稳;并且使横摆角速度的稳态值变化范围减小,驾驶员操作更舒适,显著改善了系统的操纵稳定性。
The MATLAB/Simulink simulation model is established according to dynamic equations of two DOF multi - axle steering vehicle model, and the relationship of different axles is deduced. The comparison analysis in time domain between front wheel steering and multi - axle wheel steering （based on zero sideslip angle proportional control） is done. The result indicates that with multi - axle wheel steering, the steady value of sideslip angle can be ensured to be zero under different running velocities and the range of yaw velocity is reduced, so steering could be stable and drivers may feel more comfortable, and the system handling stability is improved prominently.
出处
《起重运输机械》
北大核心
2006年第11期49-52,共4页
Hoisting and Conveying Machinery
基金
吉林大学创新基金(2004CX021)
关键词
全路面起重机
多桥转向
操纵稳定性
all terrain crane
multi- axle steering
handling stability
