摘要
针对轮边驱动式电动拖拉机差速转向问题,建立了三自由度动力学模型,导出了滑转率-车速求解模型和转向轨迹模型。通过构建驾驶员输入模型,建立了系统仿真模型,分析差速率对横摆角速度、侧倾角、滑转率和转向半径的影响。研究结果表明:重载低速工况差速率的推荐范围为21%~23%,其转向半径为4.57~5.01 m;轻载高速工况差速率的推荐范围为6%~8%,其转向半径为13.13~17.50 m。
According to the characteristics of differential steering problem of wheel drive electric tractor,the three degree of freedom dynamic model was established,and the slip rate-speed solving model and steering trajectory model were derived.By constructing the driver input model,the system simulation model was established.The effects of differential speed on yaw rate,roll angle,slip rate and steering radius was analyzed.The results show that the recommended range of differential speed rate under heavy load and low speed condition is 21%~23%,and the turning radius is 4.57~5.01 m.The range of differential speed rate under light load and high speed condition is 6%~8%,and the turning radius is 13.13~17.50 m.
作者
韩冰
刘孟楠
徐立友
HAN Bing;LIU Mengnan;XU Liyou(Vehicle&Traffic Engineering School,Henan University of Science&Technology,Luoyang 471003,China;School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Xi’an 710048,China)
出处
《河南科技大学学报（自然科学版）》
CAS
北大核心
2021年第2期38-45,M0004,共9页
Journal of Henan University of Science And Technology:Natural Science
基金
国家重点研发计划基金项目(2016YFD0701002)
河南省产学研合作项目(182107000010)。
关键词
轮边驱动式
电动拖拉机
差速率
转向轨迹
仿真分析
wheel-drive
electric tractor
differential speed rate
steering track
simulation analysis
