转向主销定位参数和接地点偏距的解析研究

An Analytical Study of Alignment Parameters and Ground Intersection Offset of Steering Kingpin

本文中提出一种新的车轮转向主销参数及其接地点偏置距的解析方法,适合于不同车型,包含车轮定轴转动的悬架和虚拟主销悬架的车辆。首先分析了车轮微小转动前后的车轮定位矢量,然后根据空间旋转的变换矩阵,并通过误差修正迭代求解出满足误差阈值的主销定位参数。最后选取某两汽车厂家不同悬架型式的车辆进行验证,实车的数据与解析计算结果基本吻合,表明了推导的车轮转向主销参数及其接地点偏置距解析法的准确性。此外该解析法还可连续表达各转向角度下的主销参数。

In this paper,an analytical method for the steering kingpin parameters and the offsets of its in⁃tersection point with ground surface is proposed,which is suitable for both the suspension with physical kingpin and that with virtual one.First of all,the wheel alignment vectors before and after a micro⁃rotation are analyzed.Then ac⁃cording to the transforming matrix of spatial rotation and through error correction iteration,the kingpin alignment pa⁃rameters meeting the requirement of error threshold are solved out.Finally,two vehicles with different types of sus⁃pension are analyzed for verification.The well agreement between the real vehicle data and analytical results demon⁃strates the correctness of the derived analytical method for the steering kingpin parameters and its offsets.Besides,the analytical method can also continuously express the kingpin parameters at different steering angles.