铰接式车辆原地转向阻力矩计算及力学模型讨论

Mechanical Model Discussion and In-Situ Steering Resistance Moment Computation of Articulated Vehicles

建立了铰接式车辆原地转向阻力矩计算模型,推导了原地转向阻力矩计算公式,分析了原地转向阻力矩的变化规律和主要影响因素。与试验结果比较表明,理论分析与仿真计算正确。对现有相关力学模型中存在的疑义进行了辨析,在转向过程中,滚动阻力的方向是否发生变化取决于车辆的结构参数,存在着侧滑现象和轮胎侧向力并影响转向阻力矩。可用曲柄摇块机构运动学模型描述铰接式车辆原地转向,在建立力学模型时要相应地引进约束力。

A computation model of in-situ steering resistance moment of articulated vehicles is established. The computation fbrmulas of in-situ steering resistance moment are derived. The change rules and main influencing factors of in-situ steering resistance moment are analyzed, and the correctness of the theoretical analysis and simulation computation is proved in comparison with the test results. Differentiation and analysis of doubtful points existing in the relative mechanical models are carried out. During in-situ steering, whether the direction of resistance to rolling change depends on the structure parameters of articulated vehicles, there exist tire side slippage and cornering force which exerts a certain influence on the computation of steering resistance moment. Kinematics model of in-situ steering of articulated vehicles can be described as a crank and rocker block mechanism, and the corresponding restraining forces must be introduced to establish the mechanical model.