铰接式车辆对扰动的瞬态和稳态响应(下)

Transient and Steady Responses of Articulated Vehicles to Disturbance Moment (Ⅱ)

将铰接式车辆简化为三个自由度的动力学系统,建立了铰接式车辆高速沿直线或大曲率半径曲线行驶动态数学模型该模型可用于分析、研究不同车速下铰接式车辆的使用参数、结构参数、液压转向系统参数及轮胎特性等对动态行驶特性的影响。利用该数学模型讨论了铰接式车辆对扰动力矩阶跃输入的稳态响应特性,应用MATLAB软件对某ZL30型装载机的瞬态响应进行仿真计算和分析。初步探讨了折叠现象和横摆力偶矩调节原理,给出了稳定性因数表达式和临界车速计算方法和公式。

An articulated vehicle is simplified to a dynamic system with three degrees of freedom, and a dynamic mathematical model of the articulated vehicle moving along a straight or a curve with a large curvature radius is established. This model can be used to investigate and analyze the influences on the dynamic driving characteristics and in different vehicle speed of operational and structural parameters , hydraulic-steering-unit parameters and tyre characteristics. By applying this mathematical model, the steady response performances of the articulated vehicle to the step input of disturbing moment are discussed. The transient response of ZL30 loader is simulated and analyzed with MATLAB software. The jack knifing phenomenon and the adjusting principle of the moment couple of yaw is carried out. The expressions of stability factor and critical vehicle speed calculation are derived.