耦合驱动的滑移转向轮式车辆模型与动态特性

doi:10.12382/bgxb.2024.0061

摘要/Abstract

摘要：

滑移转向轮式车辆应用领域广泛,掌握驱动系统对车辆直驶、转向性能的影响是实现其正向设计的基础。针对全液压驱动滑移转向车辆设计分析需求,基于全液压驱动滑移转向车辆系统原理,建立液压驱动系统和车辆动力学系统耦合仿真模型,结合具体车辆参数,仿真分析车辆直驶和转向工况特性,得到车辆行驶过程中液压系统的动态响应特性,并通过实车验证模型的仿真结果。研究结果表明:道路阻力、车速和驾驶员操作等时变参数对直驶液压驱动系统压力影响较大,转向液压驱动系统压力与动态转向阻力强相关;耦合驱动的车辆仿真模型能够实现车辆运动状态与驱动系统状态的耦合仿真,可用于驱动系统特性和车辆动力学特性的耦合分析。

关键词: 轮式车辆, 滑移转向, 耦合驱动, 耦合仿真, 动态特性

Abstract:

Skid-steering wheeled vehicle has a wide range of applications. Understanding the impact of drive system on the vehicle driving and steering performance is the basis for forward design. In response to the design and analysis requirements of hydraulically-driven skid-steering wheeled vehicle, a coupling simulation model of hydraulic drive system and vehicle dynamics system is established based on the principle of the hydraulically-driven skid-steering wheeled vehicle systems. Combined with the specific vehicle parameters, the characteristics of the vehicle driving and steering conditions are simulated and analyzed to obtain the dynamic response characteristics of hydraulic driving system during vehicle driving. The simulated results of the model are verified through the actual vehicle. The results show that time-varying parameters such as road resistance, vehicle speed and driver operation have a great impact on the pressure of hydraulic driving system, which is strongly related to the dynamic steering resistance. The coupled simulation model can be used for the coupled simulation of vehicle motion state and hydraulic driving system state and the coupled analysis of hydraulic driving system characteristics and vehicle dynamics characteristics.

Key words: wheeled vehicle, skid-steering, coupling drive, coupled simulation, dynamic characteristics

刘祺慧, 吴维, 潘丰. 耦合驱动的滑移转向轮式车辆模型与动态特性[J]. 兵工学报, 2024, 45(S2): 222-230.

LIU Qihui, WU Wei, PAN Feng. Skid-steering Wheeled Vehicle Model Coupled with HydraulicDrive system and Its Dynamic Characteristics[J]. Acta Armamentarii, 2024, 45(S2): 222-230.

图/表 17

图1 传动系统原理简图

Fig.1 Schematic diagram of transmission system

图2 滑移转向轮式车辆2自由度模型

Fig.2 2-DOF model of skid-steering wheeled vehicle

图3 耦合液压系统的仿真模型

Fig.3 Simulation model coupled with hydraulic driving system

表1 试验车辆主要参数

Table 1 Main parameters of test vehicle

参数	数值
整车总质量m/kg	2500
第一轴至质心距离L₁/m	1.4
第二轴至质心距离L₂/m	0.2
第三轴至质心距离L₃/m	1.0
车轮半径R/m	0.437
车辆横摆转动惯量I_z/(kg·m²)	3000
轮距B/mm	1495
直驶泵前传动传动比i_b1	1.27
转向泵前传动传动比i_b2	1.3
直驶马达至变速箱传动比i_d1	1.882
转向马达至变速箱传动比i_d2	5.27
轮边减速与链传动传动比i_w	4.66
发动机功率/kW	63
发动机最高转速/(r·min^-1)	4200
液压系统最高压力/MPa	30

图4 试验车辆外形

Fig.4 Appearance of test vehicle

表2 数据采集设备

Table 2 Data collection equipment

设备名称	型号	关键参数
压力传感器	MPM4842B-G-U4-401	测量范围:0~40MPa
组合导航	BYX36D	零偏稳定性1.8°/h
转速传感器	CZ400	测量范围:0~15kHz

图5 匀速直驶工况排量信号

Fig.5 Displacement signal during uniform driving

图6 匀速直驶工况行驶车速

Fig.6 Vehicle speed during uniform driving

图7 匀速直驶工况发动机转速

Fig.7 Engine speed during uniform driving

图8 匀速直驶工况直驶压力

Fig.8 Driving pressure during uniform driving

图9 加速工况车速

Fig.9 Vehicle speed during acceleration condition

图10 行驶转向车速

Fig.10 Vehicle speed during steering

图11 行驶转向横摆角速度

Fig.11 Yaw rate of steering condition

图12 行驶转向右转压力

Fig.12 Pressure of right steering

图13 行驶转向左转压力

Fig.13 Pressure of left steering

图14 原地转向压力

Fig.14 Pressure of pivotal steering

图15 原地转向横摆角速度

Fig.15 Yaw rate of pivotal steering

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