柔性底盘的转向运动模型

Divertical Motion Model of Flexible Chassis

为了给现代设施农业作业车辆提供一种灵巧的车辆底盘,设计了一种基于偏置轴的四轮独立驱动和四轮转向的柔性底盘;针对电动轮的加速过程建立受力平衡方程,在不同的运动形式下构建运动模型的状态方程,利用仿真软件进行过程模拟仿真,分析转向角对运动参数的影响。结果表明,所构建的柔性底盘运动模型能够反映其运动特性,为研究柔性底盘的运动特性和中央控制器控制策略及算法的设计提供了依据。

A kind of flexible chassis was designed on the basis of 4WD and 4WS utilizing electric wheels, which were installed on biasing shafts, to provide a kind of dexterous vehicle＇ s chassis for working vehicles of modem facilities farming. The equilibrium equation of forces was established in the accelerating process of electric wheels, in addition, equations of states were built in the light of different forms of motion. Simulation software was utilized to simulate the process of motion to analyze the effect of parameters of motion from steering angle. The result of simulation manifested that the motion model of flexible chassis enabled to reflect its motion properties, in order to lay the foundation for further researching motion properties and designing control strategy and algorithm for central controller for flexible chassis.