CN105711644B - A kind of analytic method for the multi-axial cord vehicle all-wheel steering that front/rear frame is hinged - Google Patents
A kind of analytic method for the multi-axial cord vehicle all-wheel steering that front/rear frame is hinged Download PDFInfo
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
- B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
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Abstract
A kind of analytical algorithm for the multi-axial cord vehicle all-wheel steering that front/rear frame is hinged, includes the following steps：Step 1: cutting with scissors hinged multiple-axle vehicle for point front and back vehicle and front/rear frame with spherical, each axis horizontal face projection arrangement figure is constructed；Full vehicle shares i axis, each axis be denoted as successively respectively first axle, second axis, third axis ... the i-th axis；Using each axis midpoint line of rear car as X-axis, rectangular coordinate system is established using the i-th axis as Y-axis；I-th axis is perpendicular to each axis midpoint line of rear car；The main hinge of vehicle frame is located at B points；The analytical algorithm of the present invention constructs each axis horizontal plane perspective view of vehicle and establishes rectangular coordinate system, according to according to vehicle Ackermann steering principle, it obtains the angle relation between front and back vehicle is respectively taken turns when multi-axial cord turns to, establishes each wheel corner and wheelbase, wheelspan, the relational expression of the parameters such as angles δ.
Description
Technical field
The present invention is to be related to Vehicular turn control field, more particularly, to the analytical algorithm of multi-axial cord vehicle all-wheel steering.
Background technology
It shortened the construction period to meet engineering, improve efficiency and reduce the needs of cost, engineering machinery is increasingly enlarged, uses
Family is higher and higher to its performance requirement.Since steering behaviour directly affects mobility, flexibility and the riding stability of vehicle,
Therefore to the steering of oversize vehicle, more stringent requirements are proposed.
The wheeled frame hinging base plate of multi-axial cord is applied to the engineering machinery such as integration of transporting and building machine, lifting beam machine more and more widely.Many institutes
Known, multi-axial cord vehicle all has all-wheel steering, and needs to determine steering angle according to the requirement of steering pattern under different operating modes,
By taking integration of transporting and building machine transports beam driving cycle as an example.In order to make vehicle be intended to straight-line travelling according to the manipulation of driver
Or turn to, steering wheel rotation is needed to adjust vehicle heading, the i.e. steering angle of wheel.As shown in Figure 1, the figure shows
The steering procedure of the hinged multi-axial cord vehicle all-wheel steering of front/rear frame.
Multi-axial cord Vehicular turn generally uses all-wheel steering technology, and principle is that each wheel must be around the same turning center
Rotation；Each deflecting roller is set to be rolled along the different concentric circular tracks of radius in steering procedure, that is to say, that the tyre revolution on each axis
To angle difference, it just can guarantee that tire only does PURE ROLLING in steering procedure.It avoids sliding between tire and ground
Friction.Obviously this is a kind of ideal steering state, and all intersecting at any in the axis of all deflecting rollers of vehicle can be achieved with.
It is well known that when multiple-axle vehicle turns to, the corner of each axis wheel has certain angle relation, in the more of rigid-frame
In axis vehicle, according to the Ackerman principle of motor turning, angle relation when obtaining multi-axle steering between front and back wheel establishes each wheel
The relational expression of corner and wheelbase, wheelspan, with electric-controlled hydraulic power-assisted machinery drag link mechanism, electric-controlled hydraulic mechanism realizes.
And in the hinged multi-shaft vehicle full-wheel steering of front/rear frame, it is clear that if certain reasons make front truck central axes and rear car
Central axes generate angle δ, and each relationship for taking turns corner and wheelbase, wheelspan just no longer meets Ackerman principle.Either front truck draws
It leads or rear car guides, at this moment the absolute deflection angle γ of each axis lubrication groove of front trucki, the absolute deflection angle theta of foreign steameriWith lubrication groove relative rotation
αi, foreign steamer relative rotation βiBetween just difference δ angles.If at this moment making again by each steering wheel angle of Ackerman principle analytical Calculation
The axis of each deflecting roller will no longer be met on a bit, and each deflecting roller will be along the different respective center of circle rail of radius in steering procedure
Mark rolls, while necessarily also having sideslip, to cause the inordinate wear of tire.Direct presentation is to make front truck central axes
The angle δ generated with rear car central axes is increasing in Turning travel.Vehicle is set to be difficult to be intended to row according to the manipulation of driver
It sails or turns to.The use cost for not only increasing vehicle will also result in serious adverse effect to safety traffic.
In practical applications, to make front and back vehicle run on the same line, it generally can all be embedded in correction in a control program
Program, once the big Mr. Yu's permissible value in the angles δ, correction program will operate rear car and surround the front and back anti-δ of workshop hinge with itself eight word pattern
Angle turns to, until the angles δ tend to 0 °, is run on the same line with vehicle before and after guarantee.But it should be noted that correction program at present only
It can play a role when straight line is run.When turning to when the big Mr. Yu's value in the angles δ, the deflection direction of vehicle is with driver's
It manipulates intention travel direction to greatly differ from each other, has to exit on vehicle being redirected into straight-line travelling at this time, carry out correction until the angles δ
It is turned to again after tending to 0 °.Its practical Turning travel track is not smooth curve but the combination of curve, straight line.This is just
Actual steering radius is caused to be much larger than theoretical steering radius.And Vehicular turn manipulation technology requirement is very high.
If just think superposition correction program, rear car each deflecting roller axis in steering procedure when turning to intersect at a point
It does not know where to begin.And the rectifying effect after being superimposed and lubrication groove relative rotation αi, foreign steamer relative rotation βiCorrelation, also with skid force phase
It closes, uncertain state will be presented in steering procedure.Can not also it implement in reality.It also needs go deep into theoretical research and scene is tried
It tests.
Realize all steered wheels is the target of multi-axial cord pivotally connected frame steering design without rotation of breakking away, for this purpose,
After angle δ must having been generated to front truck central axes and rear car central axes, each relationship progress for taking turns corner and wheelbase, wheelspan, the angles δ
Research, the axis for finding out all deflecting rollers for meeting vehicle all intersect at the theory relation and analytical algorithm of a bit.
Invention content
Technical problem to be solved by the invention is to provide a kind of analytical algorithm of multi-axial cord pivotally connected frame steering, profits
It can be calculated each under various steering patterns, after front truck central axes and rear car central axes have generated angle δ with this analytical algorithm
It takes turns corner and ensures multi-axial cord pivotally connected frame vehicle in steering, each wheel corner and the relationship at wheelbase, wheelspan, the angles δ meet each steering
Wheel axis intersects at a point.The handling of multi-axial cord pivotally connected frame vehicle is effectively improved, the abrasion of tire in vehicle traveling is reduced.
The technical scheme is that：
A kind of analytic method for the multi-axial cord vehicle all-wheel steering that front/rear frame is hinged, includes the following steps：
Step 1: cutting with scissors hinged multiple-axle vehicle for point front and back vehicle and front/rear frame with spherical, each axis horizontal face is constructed
Projection arrangement figure；Full vehicle shares i axis, each axis be denoted as successively respectively first axle, second axis, third axis ...
I-th axis；Using each axis midpoint line of rear car as X-axis, rectangular coordinate system is established using the i-th axis as Y-axis；I-th axis perpendicular to
Each axis midpoint line of rear car；The main hinge of vehicle frame is located at B points；
Each axis wheelspan of front truck is K1, each axis wheelspan of rear car is K2, each axis wheelbase of front truck is L1, each axis wheelbase of rear car is L2, preceding
Axle line number is n1, back axle line number is n2；Front car and rear car is point articulated in B, and the i-th axis of front truck is with the main hinge B points distance of vehicle frame
Lxi, rear car n-th2Axis is p away from B point distances；The Vehicular turn central track trace of setting is L with Y-axis distancezx；Each axis of front truck
Midpoint line and the angle of X-axis are δ；According to Vehicular turn principle, all deflecting rollers of vehicle in the instantaneous steering procedure of vehicle
Axis all intersects at the M points in the path line of turning center；If each axis lubrication groove relative rotation (wheel and the front vehicle wheel group line of centres
Deflection angle) be αi, foreign steamer relative rotation is βi, (wheel is inclined with the rear wheel group line of centres for each absolute deflection angle of axis lubrication groove
Corner) it is γi, the absolute deflection angle of foreign steamer is θi；
Step 2: by the geometrical relationship of rectangular coordinate system, defines intermediate parameters, obtains its calculation formula：
2-1) the horizontal displacement that e-the i-th axis vehicle wheel centres of gyration are formed due to the angles δ,
E=(K1)/2×sin(δ) (1.2-1)
2-2) the horizontal distance of g-vehicle frame hinge joint B points and setting turning center,
G=Lzx-p (1.2-2)
2-3) the projector distance in vertical direction that half wheelspan of the i-th axis of f-is formed due to the angles δ,
F=(K1)/2×cos(δ) (1.2-3)
2-4)biThe floor projection distance at the-the i-th axis midpoint and the main hinge distance of vehicle frame,
bi=Lx1-(i-1)×L1×cos(δ) (1.2-4)
2-5)aiThe horizontal distance of-the i-th axis inboard wheel centre of gyration and setting turning center,
ai=bi-g-e (1.2-5)
2-6)ciThe vertical range of-the i-th axis inboard wheel centre of gyration and setting turning center,
ci=ci-1+(i-1)×L1× sin (δ) (i ＞ 1) (1.2-6)
2-7)diThe horizontal distance of-the i-th axis outboard wheels centre of gyration and setting turning center,
di=bi-g+e (1.2-7)
2-8)miThe vertical range of-the i-th axis outboard wheels centre of gyration and setting turning center,
mi=ci+(2×f) (1.2-8)
2-9)chThe vertical range of-rear car center line and setting turning center,
When current vehicle guides, ch=c1+Lx1×sin(δ)+f； (1.2-9.1)
When rear car guides, ch=Lzx/tan(α(n1+n2))+K2/2； (1.2-9.1)
Step 3: according to vehicle traffic direction, the c of first axle is determined1、chValue：
3-1) when being guiding with front truck：
c1=a1/tan(α1+δ) (1.3-1)
ch=c1+Lx1×sin(δ)+f (1.3-2)
3-2) when being guiding with rear car：
ch=Lzx/tan(α(n1+n2))+K2/2 (1.3-3)
c1=ch-Lx1×sin(δ)-f (1.3-4)
Step 4: according to vehicle traffic direction, and according to Vehicular turn principle, show that each axis lubrication groove relative rotation is
αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θiAnalytical Calculation it is public
Formula：
4-1) when being guiding with front truck：
4-1-a) each axis lubrication groove relative rotation α of front trucki
αi=arctg (ai/ci)-δ(1≤i≤n1) (1.4-1)
4-1-b) each axis foreign steamer relative rotation β of front trucki
βi=arctg (di/mi)-δ(1≤i≤n1) (1.4-2)
4-1-c) each absolute deflection angle of axis lubrication groove of front truck is γi
γi=arctg (ai/ci)(1≤i≤n1) (1.4-3)
4-1-d) each absolute deflection angle theta of axis foreign steamer of front trucki
θi=arctg (di/mi)(1≤i≤n1) (1.4-4)
4-1-e) each axis lubrication groove relative rotation α of rear cari
αi=arctg (- (Lzx-(n2-1)×L2)/(ch-K2/2))-δ(n1≤i≤n2) (1.4-5)
4-1-f) each axis foreign steamer relative rotation β of rear cari
βi=arctg (- (Lzx-(n2-1)×L2)/(ch+K2/2))-δ(n1≤i≤n2) (1.4-6)
For rear car, the influence at the angles δ is not present, interior foreign steamer relative rotation is equal to absolute deflection angle；
4-2) when being guiding with rear car：
Each axis lubrication groove relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, foreign steamer
Absolute deflection angle is θiAnalytic sensitivity and front truck consistent, α when front truck guides when being guiding1Angle is to determine parameter, by driver
It is inputted by steering wheel, and α when rear car guiding(n1+n2)Angle is to determine parameter；It is inputted by steering wheel by driver, calculates the areas Shi Xu
Successively bring calculating into.
It is L by the Vehicular turn central track trace and Y-axis distance of settingzx, so that it may it is calculated under different steering patterns
Each axis lubrication groove relative rotation be αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, foreign steamer is absolutely inclined
Corner is θi；
Pattern one, either front truck guiding or rear car guiding, work as Lzx=(Lx1+ p)/2 when, i.e., so-called eight word turns to mould
Each axis lubrication groove relative rotation α under this steering pattern can be calculated with the step 1 to step 4 for formulai, foreign steamer phase
To corner βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi；It can get in first axle under this pattern
Lubrication groove relative rotation is same α1Minimum turning radius when angle.
When pattern two, front truck guiding, work as LzxWhen=0；When rear car guides, work as Lzx=(Lx1+ p) when, that is, so-called half eight words turn
To pattern, each axis lubrication groove relative rotation under this steering pattern can be calculated as α with the step 1 to step 4i,
Foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi。
When all deflecting rollers of vehicle all turn to same direction, i.e. crab row mode (crab)；Under crab row steering pattern
Each axis lubrication groove relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, foreign steamer absolutely deflects
Angle is θi；Analytical Calculation includes the following steps：
Using the step four：Each axis midpoint line of front truck and the angle of X-axis are δ, and either front truck guides still
Rear car guiding analytical Calculation on the basis of rear car first axle wheel,
A) the inside and outside wheel relative rotation α of each axis of rear cari、βi,
α(n2+n1)=α(n2+n1-1)...=α(n2)=β(n2+n1)=β(n2+n1-1)...=β(n2) (3.1-1)
For rear car, the influence at the angles δ is not present, interior foreign steamer relative rotation is equal to absolute deflection angle；
B) the inside and outside wheel relative rotation α of each axis of front trucki、βi,
α(n2+n1)- δ=α(n1)=α(n1-1)=...=α1=β(n1)=β(n1-1)...=β1 (3.1-2)
C) the inside and outside absolute deflection angle of wheel of each axis of front truck is γi、θi,
α(n2+n1)=γ(n1)=γ(n1-1)=...=γ1=θ(n1)=θ(n1-1)...=θ1 (3.1-3)。
The analytical algorithm of the present invention constructs each axis horizontal plane perspective view of vehicle and establishes rectangular coordinate system, according to according to vehicle
Ackermann steering principle obtains the angle relation between front and back vehicle is respectively taken turns when multi-axial cord turns to, and establishes each wheel corner and wheelbase, wheel
Away from the relational expression of the parameters such as angles δ；According to planar structure founding mathematical models, calculate in each axis under different steering patterns
Wheel relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi。
This analytical algorithm respectively takes turns corner accurate positionin when can guarantee the multi-axial cord vehicle all-wheel steering of pivotally connected frame, complete with ideal corner
Unanimously.Can substantially reduced tire wear, while improving Vehicle handling property, improve vehicle stress, the traveling for increasing vehicle is steady
It is qualitative.
Description of the drawings
Fig. 1 is the hinged each axis horizontal face projection arrangement figure of multi-axial cord vehicle of the front/rear frame of the present invention；
Fig. 2 is hinged 19 axis vehicle, the eight word pattern steering procedure schematic diagram of front/rear frame；
Fig. 3 is 19 hinged axis vehicle crab row mode steering procedure schematic diagrames of front/rear frame；
Fig. 4 is the partial enlarged view S of Fig. 11。
Fig. 5 is the partial enlarged view S of Fig. 3.
Specific implementation mode
It is of the invention to reach the technological means and effect that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Accompanying drawings and embodiments, the specific implementation of the multi-axial cord vehicle all-wheel steering control method hinged to the vehicle frame proposed according to the present invention
Mode, structure, feature and its effect, detailed description are as follows：
For the present invention aforementioned and other technology contents, feature and effect, in following cooperation with reference to the preferable reality of schema
Applying in the detailed description of example can clearly appear from.By the explanation of specific implementation mode, when predetermined mesh can be reached to the present invention
The technological means taken and effect be able to more deeply and it is specific understand, however institute's accompanying drawings are only to provide with reference to and say
It is bright to be used, it is not intended to limit the present invention.
Attached drawing 1 show 19 axis articulated vehicles and turns to schematic diagram, and left side is rear car in Fig. 1, and right side is front truck, full rotating wheel
To analytical algorithm include the following steps：
Step 1: cutting with scissors hinged multiple-axle vehicle for point front and back vehicle and front/rear frame with spherical, each axis horizontal face is constructed
Projection arrangement figure.Full vehicle shares i axis, each axis be denoted as successively respectively first axle, second axis, third axis ...
I-th axis.Using each axis midpoint line of rear car as X-axis, rectangular coordinate system is established using the i-th axis as Y-axis.I-th axis perpendicular to
Each axis midpoint line of rear car.The main hinge of vehicle frame is located at B points.
Each axis wheelspan of front truck is K1, each axis wheelspan of rear car is K2, each axis wheelbase of front truck is L1, each axis wheelbase of rear car is L2, preceding
Axle line number is n1, back axle line number is n2.Front car and rear car is point articulated in B, and the i-th axis of front truck is with the main hinge B points distance of vehicle frame
Lxi, rear car n-th(n1+n2)Axis is p away from B point distances.The Vehicular turn central track trace of setting is L with Y-axis distancezx.Front truck is each
Axis midpoint line and the angle of X-axis are δ.According to Vehicular turn principle, all steerings of vehicle in the instantaneous steering procedure of vehicle
The axis of wheel all intersects at the M points (turning center of setting) in the path line of turning center.If each axis lubrication groove relative rotation is
αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi。
Step 2: by the geometrical relationship of rectangular coordinate system, defines intermediate parameters, obtains its calculation formula：
2-1) the horizontal displacement that e-the i-th axis vehicle wheel centres of gyration are formed due to the angles δ,
E=(K1)/2×sin(δ) (1.2-1)
2-2) the horizontal distance of g-vehicle frame hinge joint B points and setting turning center (M points),
G=Lzx-p (1.2-2)
2-3) the projector distance in vertical direction that half wheelspan of the i-th axis of f-is formed due to the angles δ,
F=(K1)/2×cos(δ) (1.2-3)
2-4)biThe floor projection distance at the-the i-th axis midpoint and main hinge (B points) distance of vehicle frame,
bi=Lx1-(i-1)×L1×cos(δ) (1.2-4)
2-5)aiThe horizontal distance of-the i-th axis inboard wheel centre of gyration and setting turning center (M points),
ai=bi-g-e (1.2-5)
2-6)ciThe vertical range of-the i-th axis inboard wheel centre of gyration and setting turning center (M points),
ci=ci-1+(i-1)×L1× sin (δ) (i ＞ 1) (1.2-6)
2-7)diThe horizontal distance of-the i-th axis outboard wheels centre of gyration and setting turning center (M points),
di=bi-g+e (1.2-7)
2-8)miThe vertical range of-the i-th axis outboard wheels centre of gyration and setting turning center (M points),
mi=ci+(2×f) (1.2-8)
2-9)chThe vertical range of-rear car center line and setting turning center (M points),
When current vehicle guides, ch=c1+Lx1× sin (δ)+f,
When rear car guides, ch=Lzx/tan(α(n1+n2))+K2/ 2,
Step 3: according to vehicle traffic direction, the c of first axle is determined1、chValue；
3-1) when being guiding with front truck：
c1=a1/tan(α1+δ) (1.3-1)
ch=c1+Lx1×sin(δ)+f (1.3-2)
3-2) when being guiding with rear car：
ch=Lzx/tan(α(n1+n2))+K2/2 (1.3-3)
c1=ch-Lx1×sin(δ)-f (1.3-4)
Step 4: according to vehicle traffic direction, and according to Vehicular turn principle, show that each axis lubrication groove relative rotation is
αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θiAnalytic sensitivity
4-1) when being guiding with front truck：
4-1-a) each axis lubrication groove relative rotation α of front trucki
αi=arctg (ai/ci)-δ(1≤i≤n1) (1.4-1)
4-1-b) each axis foreign steamer relative rotation β of front trucki
βi=arctg (di/mi)-δ(1≤i≤n1) (1.4-2)
4-1-c) each absolute deflection angle of axis lubrication groove of front truck is γi
γi=arctg (ai/ci)(1≤i≤n1) (1.4-3)
4-1-d) each absolute deflection angle theta of axis foreign steamer of front trucki
θi=arctg (di/mi)(1≤i≤n1) (1.4-4)
4-1-e) each axis lubrication groove relative rotation α of rear cari
αi=arctg (- (Lzx-(n2-1)×L2)/(ch-K2/2))-δ
(n1≤i≤n2) (1.4-5)
4-1-f) each axis foreign steamer relative rotation β of rear cari
βi=arctg (- (Lzx-(n2-1)×L2)/(ch+K2/2))-δ
(n1≤i≤n2) (1.4-6)
For rear car, the influence at the angles δ is not present, interior foreign steamer relative rotation is equal to absolute deflection angle.
4-2) when being guiding with rear car：
Each axis lubrication groove relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, foreign steamer
Absolute deflection angle is θiAnalytic sensitivity and front truck it is consistent when being guiding, should be noted and that understands is α when front truck guides1Angle
It is to determine parameter, is inputted by steering wheel by driver.And α when rear car guiding(n1+n2)Angle is to determine parameter, passes through direction by driver
Disk inputs.It need to be distinguished when calculating and successively bring calculating into.
According to the analytical algorithm of the hinged multi-shaft vehicle full-wheel steering of above-mentioned front/rear frame, pass through the Vehicular turn of setting
Central track trace is L with Y-axis distancezx, so that it may each axis lubrication groove relative rotation being calculated under different steering patterns is αi, outside
Wheel relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi。
Pattern one, either front truck guiding or rear car guiding, work as Lzx=(Lx1+ p)/2 when, as shown in Fig. 2, i.e. so-called
It is opposite that each axis lubrication groove under herewith steering pattern can be calculated not with above-mentioned step 1 to step 4 in eight word steering patterns
Corner is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi.This pattern
Under can get first axle lubrication groove relative rotation be same α1Minimum turning radius when angle.
Pattern two, front truck guiding, work as LzxWhen=0.Rear car guides, and works as Lzx=(Lx1+ p) when, that is, so-called half eight words turn to mould
Each axis lubrication groove relative rotation under this steering pattern can be calculated as α with above-mentioned step 1 to step 4 in formulai, foreign steamer
Relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi。
As shown in Figure 3,4, when all deflecting rollers of vehicle all turn to same direction, i.e. crab row mode (crab).Crab row
Each axis lubrication groove relative rotation under steering pattern is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi,
The absolute deflection angle of foreign steamer is θi.Analytical Calculation includes the following steps；
Using step 4：Each axis midpoint line of front truck and the angle of X-axis are δ, and either front truck guiding or rear car are drawn
The analytical Calculation on the basis of rear car first axle wheel is led,
Using the step four：Each axis midpoint line of front truck and the angle of X-axis are δ, and either front truck guides still
Rear car guiding analytical Calculation on the basis of rear car first axle wheel,
The inside and outside wheel relative rotation α of each axis of rear cari、βi,
a)α(n2+n1)=α(n2+n1-1)...=α(n2)=β(n2+n1)=β(n2+n1-1)...=β(n2) (3.1-1)
For rear car, the influence at the angles δ is not present, interior foreign steamer relative rotation is equal to absolute deflection angle；Each axis of front truck
Inside and outside wheel relative rotation αi、βi,
b)α(n2+n1)- δ=α(n1)=α(n1-1)=...=α1=β(n1)=β(n1-1)...=β1 (3.1-2)
The inside and outside absolute deflection angle of wheel of each axis of front truck is γi、θi,
c)α(n2+n1)=γ(n1)=γ(n1-1)=...=γ1=θ(n1)=θ(n1-1)...=θ1 (3.1-3)
This analytical algorithm can be applied in the large-scale multi-axial cord multi-wheeled vehicle such as hinged multi-axial cord vehicle of front/rear frame take turns entirely
Each calculating for turning to wheel angle turned to, it can also be used to the all-wheel steering after the combination of multimode multi-axial cord tablet vehicle soft strength
Each calculating for turning to wheel angle.In specific implementation, steering wheel angle sensor sends out steering angle instruction to controller.Hinge
Angular transducer or axis attitude transducer are connect to controller input axis angle δ values, it is defeated that each deflecting roller installs oriented controller
Enter the angular transducer of feedback signal.Controller calculates the correct deflection angle of each deflecting roller by the analytical algorithm of the present invention, controls
Output signal controls steering cylinder realization steering to device processed by solenoid-operated proportional valve group accordingly.With the development of computer, this parsing
It can be solved by preparing a computer program in algorithm, while entire analytical algorithm also can be automatic by preparing a computer program
Execute completion.
A kind of pivotally connected frame multi-axial cord vehicle all-wheel steering control system, be suitable for for point front and back vehicle and front/rear frame with
Spherical shape cuts with scissors hinged multi-axial cord vehicle, and the multi-axial cord vehicle all-wheel steering control system includes ECU, several is installed on steering pivot
The angular transducer of the frame centre of gyration；It is installed on the angular transducer of the vehicle frame hinged place centre of gyration and several electric-controlled hydraulics
Executing agency is turned to, the multi-axial cord vehicle all-wheel steering control system is for executing such as above-mentioned multi-axial cord vehicle all-wheel steering
Control method.
Claims (4)
1. a kind of analytic method for the multi-axial cord vehicle all-wheel steering that front/rear frame is hinged, it is characterised in that：Include the following steps：
Step 1: cutting with scissors hinged multiple-axle vehicle for point front and back vehicle and front/rear frame with spherical, each axis horizontal face projection is constructed
Layout drawing；Full vehicle shares i axis, each axis be denoted as successively respectively first axle, second axis, third axis ... the i-th axis
Line；Using each axis midpoint line of rear car as X-axis, rectangular coordinate system is established using the i-th axis as Y-axis；I-th axis is each perpendicular to rear car
Axis midpoint line；The main hinge of vehicle frame is located at B points；
Each axis wheelspan of front truck is K1, each axis wheelspan of rear car is K2, each axis wheelbase of front truck is L1, each axis wheelbase of rear car is L2, front axle
Line number is n1, back axle line number is n2；Front car and rear car is point articulated in B, and the i-th axis of front truck is L with the main hinge B points distance of vehicle framexi,
Rear car n-th2Axis is p away from B point distances；The Vehicular turn central track trace of setting is L with Y-axis distancezx；Each axis midpoint of front truck
Line and the angle of X-axis are δ；According to Vehicular turn principle, the axis of all deflecting rollers of vehicle in the instantaneous steering procedure of vehicle
All intersect at the M points in the path line of turning center；If each axis lubrication groove relative rotation is αi, foreign steamer relative rotation is βi, lubrication groove phase
It is the deflection angle of wheel and the front vehicle wheel group line of centres to corner, each absolute deflection angle of axis lubrication groove is γi, foreign steamer absolutely deflects
Angle is θi, the absolute deflection angle of lubrication groove is the deflection angle of wheel and the rear wheel group line of centres；
Step 2: by the geometrical relationship of rectangular coordinate system, defines intermediate parameters, obtains its calculation formula：
2-1) the horizontal displacement that e-the i-th axis vehicle wheel centres of gyration are formed due to the angles δ,
E=(K1)/2×sin(δ) (1.2-1)
2-2) the horizontal distance of g-vehicle frame hinge joint B points and setting turning center,
G=Lzx-p (1.2-2)
2-3) the projector distance in vertical direction that half wheelspan of the i-th axis of f-is formed due to the angles δ,
F=(K1)/2×cos(δ) (1.2-3)
2-4)biThe floor projection distance at the-the i-th axis midpoint and the main hinge distance of vehicle frame,
bi=Lx1-(i-1)L1×cos(δ) (1.2-4)
2-5)aiThe horizontal distance of-the i-th axis inboard wheel centre of gyration and setting turning center,
ai=bi-g-e (1.2-5)
2-6)ciThe vertical range of-the i-th axis inboard wheel centre of gyration and setting turning center,
ci=ci-1+(i-1)×L1× sin (δ) (i ＞ 1) (1.2-6)
2-7)diThe horizontal distance of-the i-th axis outboard wheels centre of gyration and setting turning center,
di=bi-g+e (1.2-7)
2-8)miThe vertical range of-the i-th axis outboard wheels centre of gyration and setting turning center,
mi=ci+(2×f) (1.2-8)
2-9)chThe vertical range of-rear car center line and setting turning center,
When current vehicle guides, ch=c1+Lx1×sin(δ)+f； (1.2-9.1)
When rear car guides, ch=Lzx/tan(α(n1+n2))+K2/2； (1.2-9.1)
Step 3: according to vehicle traffic direction, the c of first axle is determined1、chValue：
3-1) when being guiding with front truck：
c1=a1/tan(α1+δ) (1.3-1)
ch=c1+Lx1×sin(δ)+f (1.3-2)
3-2) when being guiding with rear car：
ch=Lzx/tan(α(n1+n2))+K2/2 (1.3-3)
c1=ch-Lx1×sin(δ)-f (1.3-4)
Step 4: according to vehicle traffic direction, and according to Vehicular turn principle, show that each axis lubrication groove relative rotation is αi, foreign steamer
Relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θiAnalytic sensitivity：
4-1) when being guiding with front truck：
4-1-a) each axis lubrication groove relative rotation α of front trucki
αi=arctg (ai/ci)-δ(1≤i≤n1) (1.4-1)
4-1-b) each axis foreign steamer relative rotation β of front trucki
βi=arctg (di/mi)-δ(1≤i≤n1) (1.4-2)
4-1-c) each absolute deflection angle of axis lubrication groove of front truck is γi
γi=arctg (ai/ci)(1≤i≤n1) (1.4-3)
4-1-d) each absolute deflection angle theta of axis foreign steamer of front trucki
θi=arctg (di/mi)(1≤i≤n1) (1.4-4)
4-1-e) each axis lubrication groove relative rotation α of rear cari
αi=arctg (- (Lzx-(n2-1)×L2)/(ch-K2/2))-δ(n1≤i≤n2) (1.4-5)
4-1-f) each axis foreign steamer relative rotation β of rear cari
βi=arctg (- (Lzx-(n2-1)×L2)/(ch+K2/2))-δ(n1≤i≤n2) (1.4-6)
For rear car, the influence at the angles δ is not present, interior foreign steamer relative rotation is equal to absolute deflection angle；
4-2) when being guiding with rear car：
Each axis lubrication groove relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, foreign steamer is absolute
Deflection angle is θiAnalytic sensitivity and front truck consistent, α when front truck guides when being guiding1Angle is to determine parameter, is passed through by driver
Steering wheel inputs, and α when rear car guiding(n1+n2)Angle is to determine parameter；It is inputted by steering wheel by driver, when calculating need to distinguish elder generation
After bring into the correct deflection angle of each deflecting roller be calculated, output signal control turns to controller accordingly.
2. the analytic method of the hinged multi-axial cord vehicle all-wheel steering of front/rear frame according to claim 1, feature exist
In：
It is L by the Vehicular turn central track trace and Y-axis distance of settingzx, so that it may it is calculated each under different steering patterns
Axis lubrication groove relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer
For θi；
Pattern one, either front truck guiding or rear car guiding, work as Lzx=(Lx1+ p)/2 when, i.e., so-called eight words steering pattern, with
Each axis lubrication groove relative rotation α under this steering pattern can be calculated to step 4 for the step 1i, foreign steamer relative rotation
βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi；It is can get under this pattern in first axle lubrication groove phase
It is same α to corner1Minimum turning radius when angle.
3. the analytic method of the hinged multi-axial cord vehicle all-wheel steering of front/rear frame according to claim 1, feature exist
In：
When pattern two, front truck guiding, work as LzxWhen=0；When rear car guides, work as Lzx=(Lx1+ p) when, that is, so-called half eight words turn to mould
Each axis lubrication groove relative rotation under this steering pattern can be calculated as α with the step 1 to step 4 in formulai, foreign steamer
Relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi。
4. the analytic method of the hinged multi-axial cord vehicle all-wheel steering of front/rear frame according to claim 1, feature exist
In：
When all deflecting rollers of vehicle all turn to same direction, i.e. crab row mode；Each axis lubrication groove under crab row steering pattern
Relative rotation is αi, foreign steamer relative rotation is βi, each absolute deflection angle of axis lubrication groove is γi, the absolute deflection angle of foreign steamer is θi；Solution
Analysis, which calculates, to be included the following steps：
Using the step four：Each axis midpoint line of front truck and the angle of X-axis are δ, either front truck guiding or rear car
Guiding analytical Calculation on the basis of rear car first axle wheel,
A) the inside and outside wheel relative rotation α of each axis of rear cari、βi,
α(n2+n1)=α(n2+n1-1)...=α(n2)=β(n2+n1)=β(n2+n1-1)...=β(n2) (3.1-1)
For rear car, the influence at the angles δ is not present, interior foreign steamer relative rotation is equal to absolute deflection angle；
B) the inside and outside wheel relative rotation α of each axis of front trucki、βi,
α(n2+n1)- δ=α(n1)=α(n1-1)=...=α1=β(n1)=β(n1-1)...=β1 (3.1-2)
C) the inside and outside absolute deflection angle of wheel of each axis of front truck is γi、θi,
α(n2+n1)=γ(n1)=γ(n1-1)=...=γ1=θ(n1)=θ(n1-1)...=θ1 (3.1-3)。
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