摘要
为增强全挂汽车列车的行驶机动性,在狭窄的路况下应适当减小其转弯半径和偏移距。设计了液压式双杆连接装置全挂汽车列车,实现每节列车行驶轨迹的跟随。由全挂汽车列车弯路转向理论,在Adams/View中对列车整体建模,推导的转向控制数学模型在MATLAB中仿真,两者联合得到运动轨迹,验证提出的控制方案的可行性,优越性。
In order to enhance the driving maneuverability of the tractor - trailer, turning radius and offset distance of train should be reduced appropriately on narrow roads. A hydraulic two - bar connection device of the full trailer was designed to carry out the certain traveling trace of each train. According to the heory of detour steering of tractor - trailer, motion trajectory was obtained combining train model set up n Adams/View and the deduced turning control mathematical model in Matlab, which primly verified the easibility and superiority of the control scheme proposed in this paper.
出处
《机械与电子》
2017年第4期27-30,共4页
Machinery & Electronics
关键词
全挂汽车列车
主动式转向
轨迹跟随
联合仿真
tractor - trailer
controlled - steering
trajectory following
joint simulation
