CN104165774A - Experimental system for studying hinge joint steering vehicle roll stability and operation method thereof - Google Patents
Experimental system for studying hinge joint steering vehicle roll stability and operation method thereof Download PDFInfo
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- CN104165774A CN104165774A CN201410453269.5A CN201410453269A CN104165774A CN 104165774 A CN104165774 A CN 104165774A CN 201410453269 A CN201410453269 A CN 201410453269A CN 104165774 A CN104165774 A CN 104165774A
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Abstract
The invention discloses an experimental system for studying hinge joint steering vehicle roll stability and an operation method thereof. The experimental system comprises a detection module, a data processing module (IV), a wireless driving control module (V), a detected vehicle (VI) and a test field (VII). Structural parameters of the detected vehicle (VI) can be adjusted, the detection module is connected with the detected vehicle (VI), and the roll angle speed, the roll angle and the lateral acceleration of the vehicle under different structural parameters are measured. According to the experimental system and method, the influences on the roll stability of the hinge joint vehicle by the structural parameters of the hinge joint vehicle can be studied, the set simulation practical working conditions of the test field (VII) can be changed, and the experimental system is simple in structure and convenient to detach, the experimental method is simple and easy to conduct, and obtained data are true and reliable.
Description
Technical field
The invention belongs to engineering truck experiment measuring technical field, be specifically related to experimental system and the method for a kind of research structure parameter to articulation steering vehicle roll stability influence.This experimental system can pass through to change the structural parameters of tested vehicle, and different tests field is set, and studies under various working the impact of articulated vehicle structural parameters on its roll stability.
Background technology
Articulation steering Vehicle Driving Cycle ground is complicated, work under bad environment, and vehicle structure poor stability, especially vehicle, when carrying, move in center of gravity, and overturn accident takes place frequently, and causes the safety of human pilot to be subject to serious threat.Meanwhile, have scholar to point out, the overturn accident number of times of articulation steering vehicle on bend accounts for 30% of various total number of accident, illustrates that its roll stability is poor.In order to improve the roll stability of articulation steering vehicle, significant to the research of inclination stability influence to articulation steering vehicle roll stability especially its structural parameters.
Existing articulated vehicle structural parameters are mainly to set up mathematical model or kinetic model solves emulation to rolling the research method of stability influence, although this research method is saved cost, the minimizing cycle, but simulated environment with differ too large really, solving result can not be convincing.Because true car experimental cost is too high, dangerous large, for the impact of more convenient, the true articulated vehicle of research fully structural parameters on roll stability, be necessary to develop a kind of economical rationality and can meet the pilot system of experimental study requirement completely and provide its method of operating.
Summary of the invention
The object of this invention is to provide a kind of for studying pilot system and the method for articulation steering vehicle roll stability, this experimental system and method can detect the impact of Different structural parameters on vehicle roll stability, and the roll stability of studying articulation steering vehicle in the operating mode of different road surfaces.
In order to realize above-mentioned purpose of the present invention, technical scheme of the present invention is as follows:
A kind of experimental system of studying articulation steering vehicle roll stability, comprise: detection module, data processing module IV, wireless Driving control module V, tested vehicle VI and testing field VII, it is characterized in that, the structural parameters of described tested vehicle VI need to be adjusted according to experiment, comprise center of gravity, wheel base, wheel base and back axle angle of oscillation; Described detection module comprises the side rake angle detection module I of side rake angle for measuring tested vehicle VI back axle 23, roll velocity, for measuring the inertia detection module II of side rake angle, roll velocity and the side acceleration of vehicle frame 27 after tested vehicle VI and for measuring the articulation steering angle detection module III of tested vehicle VI articulation steering angle, it is connected with tested vehicle VI respectively, records the experimental data under Different structural parameters.
Described side rake angle detection module is comprised of side rake angle sensor 1, angular-rate sensor 29 and A/D converter 2, wherein, side rake angle sensor 1 and angular-rate sensor 29 are arranged on the back axle 23 of tested vehicle VI, and are connected by data line with A/D converter 2 respectively;
Described inertia detection module II comprises Inertial Measurement Unit 4, and Inertial Measurement Unit 4 is fixed on rear vehicle frame, be positioned at tested vehicle VI front/rear frame pin joint under, described Inertial Measurement Unit 4 is directly connected with data processing module IV;
Described articulation steering angle detection module III is comprised of displacement transducer 6 and A/D converter 7, and displacement transducer 6 two ends are articulated and connected with tested vehicle VI front/rear frame respectively, and is connected by data line with A/D converter 7.
Described data processing module IV is comprised of data collecting card 3, computing machine 5, display 9 and shell 10, by computing machine 5, directly reads the data that Inertial Measurement Unit 4 is carried, and carries out analyzing and processing and preserves; And the displacement data that displacement transducer 6 is measured converts articulation steering angular data to.
Described wireless Driving control module V is comprised of joystick 11 and wireless controller 8, wherein, joystick 11 and by wireless mode to wireless controller 8 emissioning controling signals, wireless controller 8 is connected with turn to electric cylinder 26 and the motor of tested vehicle VI by optical cable, by the button control of handling on joystick 11, turn to electric cylinder 26 and motor, and then control articulation steering angle and the speed of tested vehicle VI.
Described testing field VII mainly consists of road surface 13, and the experimental requirement in described road surface 13 is placed obstacles or changes the gradient.
Described a kind of method of operating of studying the experimental system experimental system of articulation steering vehicle roll stability comprises the following steps:
The first step: each ingredient in described experimental system is installed and connected;
Second step: log-on data processing module IV, wireless Driving control module V and tested vehicle VI guarantee that each ingredient normally works;
The 3rd step: to rolling stability influence research experiment working condition requirement, testing field VII is set according to articulation steering vehicle structure parameter, simulation actual condition;
The 4th step: adjust tested vehicle VI structural parameters;
The 5th step: regulate wireless Driving control module V, control speed and the direction of tested vehicle VI, complete experiment action in the VII of testing field;
The 6th step: by side rake angle detection module I, inertia detection module II, articulation steering angle detection module III and data processing module IV, side rake angle, roll velocity, the side acceleration of vehicle frame 27 after detecting and obtain side rake angle, the roll velocity of tested vehicle VI back axle 23 and measuring tested vehicle VI;
The 7th step: utilize the roll velocity, side rake angle and the side acceleration data that obtain, its numerical value is larger, and roll stability is poorer, and then obtains the impact of each structural parameters on articulation steering vehicle roll stability.
The actual condition of simulating in described the 3rd step comprises level road turning operating mode, straight-line travelling obstacle detouring operating mode, Steering on ramp obstacle detouring operating mode.
The structural parameters of adjusting tested vehicle VI in described the 4th step comprise wheelbase, center of gravity, wheelspan and swing axle pendulum angle.
In described the 5th step, control speed and the direction of tested vehicle VI, when detecting same structural parameters, should guarantee that the speed of tested vehicle VI is identical.
Beneficial effect of the present invention:
The present invention has set up and a set ofly can analyze separately and study articulation steering vehicle structure parameter to rolling experimental system and the method for stability influence, and it is safer, study truly the impact of articulation steering vehicle structure parameter on its roll stability.Meanwhile, the present invention, can detect roll stability by the needed system combination of roll stability together.And tested vehicle VI is simple and practical, convenient disassembly, experiment safety data are reliably true.In addition, the present invention can complete by changing ground parameter the roll stable Journal of Sex Research of articulation steering vehicle under different test conditions, and visible highly versatile of the present invention, saves cost, simple to operate, has good application prospect.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of experimental system of the present invention
Fig. 2 is experimental system block diagram of the present invention
Fig. 3 is experimental system flow chart of the present invention
Fig. 4 is tested vehicle structural representation in experimental system of the present invention
Fig. 5 is the level road turning working condition experimenting schematic diagram of experimental system of the present invention
Fig. 6 is the straight-line travelling obstacle detouring working condition experimenting schematic diagram of experimental system of the present invention
Fig. 7 is the Steering on ramp obstacle detouring working condition experimenting schematic diagram of experimental system of the present invention
In figure:
I-side rake angle detection module, II-Inertial Measurement Unit module, III-articulation steering angle detection module, IV-data processing module, V-wireless Driving control module, VI-tested vehicle, VII-testing field
1-side rake angle sensor, 2-A/D converter, 3-data collecting card, 4-Inertial Measurement Unit, 5-computing machine, 6-displacement transducer, 7-A/D converter, 8-wireless controller, 9-display, 10-shell, 11-joystick, 12-road surface, 13-tire, 14-upper bracket, 15-swing axle fixed head, 16-balancing weight, 17-ballast box, 18-aftercarriage, 19-position limiting slide block, 20-limit sliding chutes, the upper swing axle of 21-, 22-lower swing bridge, 23-back axle, 24-front frame, 25-counterweight, 26-turns to electric cylinder, vehicle frame after 27-, 28-structure is adjustable articulation steering instruction carriage, 29-angular-rate sensor
Embodiment
Below, by reference to the accompanying drawings the enforcement of technical scheme in the present invention is described in detail.
As depicted in figs. 1 and 2, articulation steering vehicle structure parameter of the present invention is comprised of side rake angle detection module I, Inertial Measurement Unit module II, articulation steering angle detection module III, data processing module IV, wireless Driving control module V, tested vehicle VI and testing field VII rolling stability influence research experiment system.Described side rake angle detection module I, Inertial Measurement Unit module II, articulation steering angle detection module III are connected with data processing module IV by cable, wherein, side rake angle detection module I is placed on the back axle of tested vehicle VI, Inertial Measurement Unit module II is placed under rear vehicle frame 27 front end pin joints, articulation steering angle detection module III and forward and backward vehicle frame are articulated and connected, and data processing module IV is placed on rear vehicle frame 27 front positions.
Described side rake angle detection module I is comprised of side rake angle sensor 1, angular-rate sensor 29 and A/D converter 2.Side rake angle sensor 1 and angular-rate sensor 29 are arranged on rear vehicle frame 27 back axles of tested vehicle VI by swing axle fixed head 15.Side rake angle detection module I angular-rate sensor 29 is in order to measure side rake angle and the roll velocity of tested vehicle VI back axle 23, and be converted to digital signal by A/D converter 2, be connected with data collecting card 3, be conveyed in data processing module IV and process and preserve.
Described Inertial Measurement Unit module II is comprised of Inertial Measurement Unit 4, can measure side rake angle, roll velocity, side acceleration of tested vehicle VI aftercarriage 18 etc., it is placed under the pin joint of tested vehicle VI and is fixedly linked with aftercarriage 18, by data line, be directly connected with computing machine 5, due to data acquisition software being installed in computing machine, the data that receive by data line directly can be read and Treatment Analysis by data acquisition software, and data do not need conversion can be directly inputted to data processing module IV to analyze and preserve.
Described articulation steering angle detection module III is comprised of displacement transducer 6 and A/D converter 7.Displacement transducer 6 two ends are articulated and connected with the front/rear frame of tested vehicle VI respectively, and are connected by data line with the data collecting card 3 of data processing module IV.Articulation steering angle detection module III is by measuring the displacement between displacement transducer 6 two ends pin joints in tested vehicle VI steering procedure, by A/D converter 7, be converted to digital signal, be connected with data collecting card 3, be conveyed into data processing module IV, by the calculation procedure of finishing, displacement converted to the hinge angle that turns to of tested vehicle VI in computing machine 5.
As shown in Figure 3, tested vehicle VI is the adjustable articulation steering instruction carriage of a kind of structure, by front frame 24, rear vehicle frame 27, turn to electric cylinder 26, counterweight 25 to form.Rear vehicle frame 27 is comprised of aftercarriage 18, upper swing axle 21, lower swing bridge 22, back axle 23 and tire 13.Between front frame 24 and rear vehicle frame 27, adopt rotation hinged, turn to electric cylinder 26 two ends to be articulated and connected with front frame 24 and rear vehicle frame 27 respectively.In ballast box 17 on forward and backward vehicle frame, be all placed with balancing weight 16.By turning to the elongation of electric cylinder 26 and shrinking and realize turning to of tested vehicle VI.This turns to electric cylinder 26 to be connected with the wireless controller 8 of wireless Driving control module V by cable, and the control signal that can accept wireless Driving control module V realizes controlled in wireless and turns to.Meanwhile, this vehicle can be studied the impact of each structural parameters on roll stability by changing respectively its centre of gravity place, wheelbase, wheelspan and swing axle pendulum angle.Wherein, by changing ballast box 17 positions, all around of front/rear frame, change the center of gravity of front/rear frame, and then change the center of gravity of tested vehicle; By change upper bracket 14 front frame 24 or on the lengthwise position of swing axle 21 in rear vehicle frame 27 can change front axle distance and rear axle distance, and then change wheelbase; By changing the wheelspan of propons and back axle and then changing wheelspan; Between upper swing axle 21 and lower swing bridge 22, be articulated and connected, can relatively rotate certain angle, by changing the relative position of position limiting slide block 19 in limit sliding chutes 20, decide the relative pendulum angle of upper and lower swing axle.Simultaneously, this vehicle rear axle is integrated motor and differential mechanism, rear wheel drive, motor is connected with the wireless controller 8 of wireless Driving control module V by cable, can receive the control signal of wireless Driving control module V, realize start and stop, the velocity magnitude of tested vehicle VI and control.
Described data processing module IV is comprised of data collecting card 3, computing machine 5, display 9 and shell 10.Described data collecting card 3 can be taken in signal to multiple sensor and carry out fast processing.Described computing machine 5 is furnished with analysis software, in time analysis data and access.Display 9 is observed the data of input data processing module IV for experimenter.Described shell 10 combines computing machine 5 and display 9 be installed on rear vehicle frame 27 front ends of tested vehicle VI, and data collecting card 3 is placed in the ballast box 17 of vehicle frame 27 after tested vehicle VI.
Described wireless Driving control module V is comprised of joystick 11 and wireless controller 8.Joystick 11 can be by wireless mode to wireless controller 8 emissioning controling signals.By handling on joystick 11 different buttons, control and turn to electric cylinder 26 and motor, can realize the control of the turning to of tested vehicle VI, start and stop and velocity magnitude.
Described ⅦYou road surface, testing field 12 forms.Can place obstacles in described road surface 12 or the change of the gradient meets the different condition requirement that articulation steering vehicle roll stability study is tested.As Figure 4-Figure 6, be respectively: plane turning operating mode, straight-line travelling obstacle detouring operating mode, Steering on ramp obstacle detouring operating mode.
A method of operating of studying articulation steering vehicle roll stability experiment system, concrete steps are as follows:
Due to straight-line travelling obstacle detouring operating mode in the process of moving, front-wheel leaves obstacle trailing wheel completely just can run into obstacle, has obvious stage to distinguish, and is convenient to deal with data; During Steering on ramp obstacle detouring working condition experimenting, first allow the tested vehicle VI certain distance that travels on level road, then on Po road, turn to obstacle detouring, be convenient to analyze data, so testing field VII is set to level road turning operating mode, straight-line travelling obstacle detouring operating mode, Steering on ramp obstacle detouring operating mode, as shown in Figs. 5 to 7, below, just dividing three groups of embodiment to simulate respectively above three kinds of operating modes is specifically described experimental technique.
Embodiment mono-:
Level road steering situation, as shown in Figure 5
The first step: each ingredient in described experimental system is installed and connected, each detection module is arranged on the correct position of articulation steering tested vehicle, and connect and demarcate, with shell 10, computing machine 5 and display 9 are combined and are installed on rear vehicle frame 27 front ends of tested vehicle VI, data collecting card 3 and wireless controller 8 are placed in the ballast box 17 of vehicle frame 27 after tested vehicle, assurance system each form can normal co-ordination;
Second step: log-on data processing module IV, wireless Driving control module V and tested vehicle VI start computing machine 5, open each module checkout equipment, and can inspection normally work, and guarantees each ingredient normal operation;
The 3rd step: to rolling stability influence research experiment working condition requirement, testing field VII is set according to articulation steering vehicle structure parameter, simulates actual level road steering situation;
The 4th step: adjust tested vehicle VI structural parameters, adjust front axle distance, keep center of gravity, wheelspan and swing axle pendulum angle constant, rear axle is apart from constant;
The 5th step: regulate wireless Driving control module V, control speed and the direction of tested vehicle VI, complete experiment action in the VII of testing field.Tested vehicle VI turns to identical speed and identical radius of turn;
The 6th step: by side rake angle detection module I, inertia detection module II, articulation steering angle detection module III and data processing module IV, side rake angle, roll velocity, the side acceleration of vehicle frame 27 after detecting and obtain side rake angle, the roll velocity of tested vehicle VI back axle 23 and measuring tested vehicle VI;
Repeat the 4th step to the six steps, adjust tested vehicle VI front axle distance, make front axle apart from changing from small to large, obtain many group roll velocity, side rake angle and side acceleration data.
The 7th step: how observation analysis roll velocity, side rake angle and side acceleration change apart from changing with front axle, roll velocity, side rake angle and side acceleration are less, more steady, illustrate that vehicle roll stability is better, otherwise poorer, and then the front axle that obtains articulation steering vehicle is apart from the impact on articulation steering vehicle roll stability.
In above seven steps, adjust the 4th step: change respectively rear axle distance, center of gravity, wheelspan and swing axle pendulum angle, wherein, when adjusting one of them structural parameters, other structural parameters all remain unchanged.Other are suddenly constant, can obtain in level road steering situation the impact of Different structural parameters on articulation steering vehicle roll stability.
Embodiment bis-:
Straight-line travelling obstacle detouring operating mode, as shown in Figure 6
The first step: each ingredient in described experimental system is installed and connected, each detection module is arranged on the correct position of articulation steering tested vehicle, and connect and demarcate, with shell 10, computing machine 5 and display 9 are combined and are installed on rear vehicle frame 27 front ends of tested vehicle VI, data collecting card 3 and wireless controller 8 are placed in the ballast box 17 of vehicle frame 27 after tested vehicle, assurance system each form can normal co-ordination;
Second step: log-on data processing module IV, wireless Driving control module V and tested vehicle VI start computing machine 5, open each module checkout equipment, and can inspection normally work, and guarantees each ingredient normal operation;
The 3rd step: to rolling stability influence research experiment working condition requirement, testing field VII is set according to articulation steering vehicle structure parameter, simulates actual straight-line travelling obstacle detouring operating mode;
The 4th step: adjust tested vehicle VI structural parameters, adjust front axle distance, keep center of gravity, wheelspan and swing axle pendulum angle constant, rear axle is apart from constant;
The 5th step: regulate wireless Driving control module V, control speed and the direction of tested vehicle VI, complete experiment action in the VII of testing field.Tested vehicle VI is with identical speed straight-line travelling obstacle detouring;
The 6th step: by side rake angle detection module I, inertia detection module II, articulation steering angle detection module III and data processing module IV, side rake angle, roll velocity, the side acceleration of vehicle frame 27 after detecting and obtain side rake angle, the roll velocity of tested vehicle VI back axle 23 and measuring tested vehicle VI;
Repeat the 4th step to the six steps, adjust tested vehicle VI front axle distance, make front axle apart from changing from small to large, obtain many group roll velocity, side rake angle and side acceleration data.
The 7th step: how observation analysis roll velocity, side rake angle and side acceleration change apart from changing with front axle, roll velocity, side rake angle and side acceleration are less, more steady, illustrate that vehicle roll stability is better, otherwise poorer, and then the front axle that obtains articulation steering vehicle is apart from the impact on articulation steering vehicle roll stability.
In above seven steps, adjust the 4th step: change respectively rear axle distance, center of gravity, wheelspan and swing axle pendulum angle, wherein, when adjusting one of them structural parameters, other structural parameters all remain unchanged.Other are suddenly constant, can obtain in straight-line travelling obstacle detouring operating mode the impact of Different structural parameters on articulation steering vehicle roll stability.
Embodiment tri-:
Steering on ramp obstacle detouring operating mode, as shown in Figure 7
The first step: each ingredient in described experimental system is installed and connected, each detection module is arranged on the correct position of articulation steering tested vehicle, and connect and demarcate, with shell 10, computing machine 5 and display 9 are combined and are installed on rear vehicle frame 27 front ends of tested vehicle VI, data collecting card 3 and wireless controller 8 are placed in the ballast box 17 of vehicle frame 27 after tested vehicle, assurance system each form can normal co-ordination;
Second step: log-on data processing module IV, wireless Driving control module V and tested vehicle VI start computing machine 5, open each module checkout equipment, and can inspection normally work, and guarantees each ingredient normal operation;
The 3rd step: to rolling stability influence research experiment working condition requirement, testing field VII is set according to articulation steering vehicle structure parameter, simulates actual straight-line travelling obstacle detouring operating mode;
The 4th step: adjust tested vehicle VI structural parameters, adjust front axle distance, keep center of gravity, wheelspan and swing axle pendulum angle constant, rear axle is apart from constant;
The 5th step: regulate wireless Driving control module V, control speed and the direction of tested vehicle VI, complete experiment action in the VII of testing field.Tested vehicle VI is straight-line travelling one segment distance on level road first, then travels on the slope and turns to identical speed and radius of turn;
The 6th step: by side rake angle detection module I, inertia detection module II, articulation steering angle detection module III and data processing module IV, detect and obtain roll velocity, side rake angle and the side acceleration of tested vehicle VI;
Repeat the 4th step to the six steps, adjust tested vehicle VI front axle distance, make front axle apart from changing from small to large, obtain many group roll velocity, side rake angle and side acceleration data.
The 7th step: how observation analysis roll velocity, side rake angle and side acceleration change apart from changing with front axle, roll velocity, side rake angle and side acceleration are less, more steady, illustrate that vehicle roll stability is better, otherwise poorer, and then the front axle that obtains articulation steering vehicle is apart from the impact on articulation steering vehicle roll stability.
In above seven steps, adjust the 4th step: change respectively rear axle distance, center of gravity, wheelspan and swing axle pendulum angle, wherein, when adjusting one of them structural parameters, other structural parameters all remain unchanged.Other are suddenly constant, can obtain in Steering on ramp obstacle detouring operating mode the impact of Different structural parameters on articulation steering vehicle roll stability.
In addition, if data measured curve is at a distance of being too closely difficult to process relatively, can select following preferred version to process: in level road steering situation, the 2-4 that can increase wheelbase, turning speed constant interval doubly or the 1/2-1/4 that reduces radius of turn constant interval doubly; In straight-line travelling obstacle detouring operating mode, can increase the 2-4 of wheelbase, obstacle height or speed of a motor vehicle constant interval doubly; In Steering on ramp operating mode, can increase the 2-4 of wheelbase, ramp slope angle or turning speed constant interval doubly.
Claims (9)
1. an experimental system of studying articulation steering vehicle roll stability, comprise: detection module, data processing module (IV), wireless Driving control module (V), tested vehicle (VI) and testing field (VII), it is characterized in that, the structural parameters of described tested vehicle (VI) need to be adjusted according to experiment, comprise center of gravity, wheel base, wheel base and back axle angle of oscillation; Described detection module comprises the side rake angle detection module (I) of side rake angle for measuring tested vehicle (VI) back axle (23), roll velocity, for measuring the inertia detection module (II) of side rake angle, roll velocity and the side acceleration of vehicle frame (27) after tested vehicle (VI) and for measuring the articulation steering angle detection module (III) of tested vehicle (VI) articulation steering angle, it is connected with tested vehicle (VI) respectively, records the experimental data under Different structural parameters.
2. a kind of experimental system of studying articulation steering vehicle roll stability as claimed in claim 1, is characterized in that,
Described side rake angle detection module is comprised of side rake angle sensor (1), angular-rate sensor (29) and A/D converter (2), wherein, side rake angle sensor (1) and angular-rate sensor (29) are arranged on the back axle (23) of tested vehicle (VI), and are connected by data line with A/D converter (2) respectively;
Described inertia detection module (II) comprises Inertial Measurement Unit (4), Inertial Measurement Unit (4) is fixed on rear vehicle frame, be positioned at tested vehicle (VI) front/rear frame pin joint under, described Inertial Measurement Unit (4) is directly connected with data processing module (IV);
Described articulation steering angle detection module (III) is comprised of displacement transducer (6) and A/D converter (7), displacement transducer (6) two ends are articulated and connected with tested vehicle (VI) front/rear frame respectively, and are connected by data line with A/D converter (7).
3. a kind of experimental system of studying articulation steering vehicle roll stability as claimed in claim 1 or 2, it is characterized in that, described data processing module (IV) is comprised of data collecting card (3), computing machine (5), display (9) and shell (10), by computing machine (5), directly read the data that Inertial Measurement Unit (4) is carried, carry out analyzing and processing and preserve; And the displacement data that displacement transducer (6) is measured converts articulation steering angular data to.
4. a kind of experimental system of studying articulation steering vehicle roll stability as claimed in claim 1 or 2, it is characterized in that, described wireless Driving control module (V) is comprised of joystick (11) and wireless controller (8), wherein, joystick (11) and by wireless mode to wireless controller (8) emissioning controling signal, wireless controller (8) is connected with turn to electric cylinder (26) and the motor of tested vehicle (VI) by optical cable, by the button control of handling on joystick (11), turn to electric cylinder (26) and motor, and then articulation steering angle and the speed of control tested vehicle (VI).
5. a kind of experimental system of studying articulation steering vehicle roll stability as claimed in claim 1 or 2, it is characterized in that, described testing field (VII) mainly consists of road surface (13), and the experimental requirement in described road surface (13) is placed obstacles or changes the gradient.
6. as described in claim 1-5 any one, the method for operating of experimental system comprises the following steps:
The first step: each ingredient in described experimental system is installed and connected;
Second step: log-on data processing module (IV), wireless Driving control module (V) and tested vehicle (VI) guarantee that each ingredient normally works;
The 3rd step: to rolling stability influence research experiment working condition requirement, testing field (VII) is set according to articulation steering vehicle structure parameter, simulation actual condition;
The 4th step: adjust tested vehicle (VI) structural parameters;
The 5th step: regulate wireless Driving control module (V), control speed and the direction of tested vehicle (VI), complete experiment action in testing field (VII);
The 6th step: by side rake angle detection module (I), inertia detection module (II), articulation steering angle detection module (III) and data processing module (IV), side rake angle, roll velocity and the side acceleration of vehicle frame (27) after detecting and obtain side rake angle, the roll velocity of tested vehicle (VI) back axle (23) and measuring tested vehicle (VI);
The 7th step: utilize the roll velocity, side rake angle and the side acceleration data that obtain, its numerical value is larger, and roll stability is poorer, and then obtains the impact of each structural parameters on articulation steering vehicle roll stability.
7. a kind of experimental system method of operating of studying articulation steering vehicle roll stability as claimed in claim 6, is characterized in that, the actual condition of simulating in described the 3rd step comprises level road turning operating mode, straight-line travelling obstacle detouring operating mode and Steering on ramp obstacle detouring operating mode.
8. a kind of experimental system method of operating of studying articulation steering vehicle roll stability as claimed in claim 6, is characterized in that, the structural parameters of adjusting tested vehicle (VI) in described the 4th step comprise wheelbase, center of gravity, wheelspan and swing axle pendulum angle.
9. a kind of experimental system method of operating of studying articulation steering vehicle roll stability as claimed in claim 6, it is characterized in that, in described the 5th step, control speed and the direction of tested vehicle (VI), when detecting same structural parameters, should guarantee that the speed of tested vehicle (VI) is identical.
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