林用六轮摆臂底盘转向稳定性分析与控制策略

Steering Stability Analysis and Control Strategy of the Six Wheel-legged Forestry Articulated Chassis

为了提高林用六轮摆臂底盘在林区斜坡路面的转向稳定度,基于旋量理论,建立六轮摆臂底盘稳定度模型。在极限倾角为30°的斜坡路面上,仿真计算六轮摆臂底盘最大折腰转向角为30°、最大行驶速度为9 m/s时的稳定度。针对临界倾翻状态,提出一种六轮摆臂底盘摆臂液压缸的反解模型,计算摆臂液压缸在临界倾翻状态下的响应函数。计算和实验结果表明,在实验车速大于8 m/s、转向角度大于25°时,底盘处于临界倾翻状态;通过调整液压缸作业,底盘在25°折腰转向角、前进速度9 m/s时,最低稳定度由-0.2提高为0.3;底盘在30°折腰转向角、前进速度9 m/s时,最低稳定度由-0.5提高为0.21。

In order to increase the steer stability of the six wheel-legged chassis on slopes in forest areas.The stability model of the six-wheel legged chassis using the spin theory was established in this paper.On a slope with the maximum inclination of 30°,the stability of the six-wheel legged chassis with the maximum steering angle of 30°and the maximum speed of 9 m/s were simulated and calculated.Aiming at the critical rollover state,a control model of the swing arm hydraulic cylinders of six-wheel legged chassis was proposed,and the response function of the swing arm hydraulic cylinders in the critical rollover state was calculated.The calculation and experiment result showed that when the speed was higher than 8 m/s and the steering angle was bigger than 25°,the chassis reached the critical rollover state.By adjusting the work of swing arm hydraulic cylinders,the stability was increased from-0.2 to 0.3 when the steering angle was 25°and the speed was 9 m/s and the stability was increased from-0.5 to 0.21 when the steering angle was 30°and the speed was 9 m/s.