千吨级全路面起重机转向特性研究

Research on the steering character for kiloton all terrain crane

通过建立千吨级(九轴)全路面起重机多桥转向车辆线性二自由度模型,研究多轴转向系统中各轮偏转角之间的关系对转向半径的影响;建立MATLAB/Simulink仿真模型,分析了多桥转向中各桥的转向比关系,并对最小转向半径进行优化。结果表明:千吨级全路面起重机采用全轮转向,以5m/s速度行驶的情况下,且前轮转角为32.3°时,与优化前相比转向半径减少了33%,改善了车辆在复杂弯道的通过能力,增加了车辆的转向灵活性。

Based on the two degree of freedom model of kiloton all terrain crane,the effects of relationship of deflection angle on turning radius were investigated in multi-axle steering system.MATLAB/Simulink was used to simulate and analyze the relationship of every axle in multiaxle steering,then the general expression for turning radius was worked out.The studies show that in the medium and low speed driving conditions,the kiloton all terrain crane adapt all-wheel steering,when the front wheel angle was 32.3°,as compared to pure rolling radius before optimization,the turning radius in all wheel turnaround reduced by 33% on average,which improved the vehicle capacity through the complex curve and increased the vehicle steering flexibility.