Skid-steering Wheeled Vehicle Model Coupled with HydraulicDrive system and Its Dynamic Characteristics

doi:10.12382/bgxb.2024.0061

Abstract

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

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.

Figures/Tables 17

Fig.1 Schematic diagram of transmission system

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

Fig.3 Simulation model coupled with hydraulic driving system

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

Fig.4 Appearance of test vehicle

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

Fig.5 Displacement signal during uniform driving

Fig.6 Vehicle speed during uniform driving

Fig.7 Engine speed during uniform driving

Fig.8 Driving pressure during uniform driving

Fig.9 Vehicle speed during acceleration condition

Fig.10 Vehicle speed during steering

Fig.11 Yaw rate of steering condition

Fig.12 Pressure of right steering

Fig.13 Pressure of left steering

Fig.14 Pressure of pivotal steering

Fig.15 Yaw rate of pivotal steering

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