摘要
根据拉格朗日法建立了多轴全轮转向车辆的三自由度动力学模型和运动微分方程,采用零质心侧偏角控制策略,研究了车辆作稳态转向时,其转向中心位置、横摆角速度增益及侧倾角增益如何随车速而变化,并且给出了稳态圆周行驶的评价指标。在零质心侧偏角控制策略下,讨论了多轴全轮转向车辆的转向特性,分析了影响转向性能的因素。为多轴全地面起重机的转向设计提供了理论依据。
A 3-DOF multi-axle steering vehicle model is established by using Lagrange analysis method. Based on mass center zero-slip-angle control strategy,the equations of the distance between the mass center and the turning center,the yaw angular velocity gain and the roll angle gain can be obtained. Evaluation indicators are also shown.This study discusses the turning characters of multi-axle vehicles and analyzes the parameters that influence the turning characters,which can provide useful information for the design of multi-axle all terrain cranes.
出处
《太原科技大学学报》
2015年第1期49-53,共5页
Journal of Taiyuan University of Science and Technology
关键词
全地面起重机
多轴转向
横摆角速度增益
all terrain crane
multi-axle steering
yaw angular velocity gain
