前桥摆转转向式液压四驱底盘的转向控制研究

Research on Steering Control of Front Axle Rotary Steering Hydraulic Four-wheel Drive Chassis

为使前桥摆转转向式液压四驱底盘在行走过程中能够平顺转向,设计了利用行走轮驱动马达的背压变化来减速驱动轮实现最小转向角度控制的转向方式。行走驱动系统由4个同型号的液压马达并联而成,4个液压马达直接与4个轮子相连,背压由安装在前轮两侧回路的溢流阀提供。同时,利用AMESim进行液压转向控制系统的建模仿真,探讨了底盘的转向半径与背压的关系,转向半径的大小与背压的大小成正比。样机转向性能试验结果表明:背压越大,转向半径越小,背压控制转向可行;由背压导致的两侧回油压差范围在0~0.5MPa之间,转向半径由无限大到原地转向。

In order to realize the smoothing of the front axle swinging hydraulic four-wheel drive chassis,this paper designs the steering mode to minimize the steering angle of the drive wheel by using the back pressure change of the traveling wheel drive motor. The travel drive system is made up of four hydraulic motors of the same type. Four hydraulic motors are connected directly to the four wheels,and the back pressure is provided by a relief valve mounted on both sides of the front wheel. The modeling and simulation of the hydraulic steering control system using AMESim is discussed,and the relationship between the turning radius and the back pressure of the chassis is discussed. The size of the steering radius is proportional to the size of the back pressure. The results show that the smaller the back pressure is,the smaller the steering radius is,the back pressure control is feasible. The back pressure difference between the two sides is from 0 to0. 5 MPa,to turn in place.