大型工程車輛多軸轉(zhuǎn)向控制策略研究與分析

白鑫　王軍　侯芊荷　吳楚　王健　田李凡

摘 要：隨著汽車運(yùn)輸業(yè)和特種行業(yè)的發(fā)展，重型載貨車和專用作業(yè)車的噸位逐漸增大，多軸運(yùn)輸車輛得到快速發(fā)展。為提高多軸運(yùn)輸車輛的轉(zhuǎn)向性和操控性，針對(duì)前后軸轉(zhuǎn)向結(jié)構(gòu)式的平板運(yùn)動(dòng)車，進(jìn)行其轉(zhuǎn)向機(jī)構(gòu)的控制策略研究，建立了多軸轉(zhuǎn)向系統(tǒng)的運(yùn)動(dòng)學(xué)模型，并對(duì)縱向轉(zhuǎn)向機(jī)構(gòu)進(jìn)行優(yōu)化設(shè)計(jì);通過(guò)設(shè)定目標(biāo)函數(shù)對(duì)縱向轉(zhuǎn)向機(jī)構(gòu)布置方案進(jìn)行參數(shù)優(yōu)化，在各輪在行駛轉(zhuǎn)向過(guò)程中作純滾動(dòng)的條件下，減小車輛的轉(zhuǎn)彎半徑。在此基礎(chǔ)上，還深入的探討了在車輛轉(zhuǎn)彎時(shí)四個(gè)主動(dòng)輪作純滾動(dòng)之間的轉(zhuǎn)速聯(lián)系。

關(guān)鍵詞：多軸汽車機(jī)構(gòu) 運(yùn)動(dòng)學(xué) 優(yōu)化 四輪差速轉(zhuǎn)向

Research and Analysis of Multi-axle Steering Control Strategy for Large Construction Vehicles

Bai Xin Wang Jun Hou Qianhe Wu Chu Wang Jian Tian Lifan

Abstract：With the development of automobile transportation and special industries， the tonnage of heavy-duty trucks and special operating vehicles has gradually increased， and multi-axle transportation vehicles have developed rapidly. To improve the steering and maneuverability of the multi-axle transport vehicle， the control strategy of the steering mechanism of the flatbed sports car with the front and rear axle steering structure was studied， the kinematics model of the multi-axle steering system was established， and the longitudinal steering mechanism was optimized. The article optimizes the parameters of the longitudinal steering mechanism layout scheme by setting the objective function， and reduces the turning radius of the vehicle under the condition of pure rolling of each wheel in the driving and steering process. On this basis， the rotation speed relationship between the four active wheels as pure rolling when the vehicle is turning is also discussed in depth.

Key words：multi-axle automobile mechanism， kinematics， optimization， four-wheel differential steering