SU1544627A1 - Method of steering long-wheelbase articulated vehicle - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in a control system for a long-wheelbase multi-link vehicle. The purpose of the invention is to improve the controllability of the vehicle by reducing the divergence of the link paths during its curvilinear motion. First, the angles of rotation of the carts of links 1 and 2 are measured and compared in size and sign, and if there is an opposite sign of the angles, they turn the wheels of link 2 by an angle α, and if there are one sign of the angles of rotation of the carts of links 1 and 2, the angle of rotation of the wheels is additionally determined link 2 to the angle of rotation of the cart link 2 relative to the frame 3, and turn the wheels of link 2 to the angle β, which ensures that the condition of the presence of the opposite sign of the angles of rotation of the carts links 1 and 2 relative to the frame 3. 2 Il.

Description

The invention relates to mechanical engineering and can be used in a control system for a long-wheelbase multi-link vehicle.

The aim of the invention is to improve manageability by diverging the paths of the links during its curvilinear motion.

FIG. 1 shows a vehicle entering a turn, a general view, FIG. 2nd, at the exit of the turn.

The vehicle contains the previous link 1, the next link 2 and the connecting frame 3 Print) and the rotation angle of link 1 relative to frame 3, and the angle of rotation of link 2 relative to frame 3, L is the length of frame 3 (the distance between the hinges of the frame 3 to link m 1 and 2), O is the kinematic center of rotation of link 2, F is the distance from the projection of the kinematic center of rotation O on the longitudinal axis of link 2 to the axis of the controlled wheels of link 2.

Control by method) is carried out as follows.

The values of heights y and u are measured and compared (Figs. 1 and 2). rotation of the links relative to the connecting frame in size and sign and in the presence of the opposite sign of the angles v and u turn the wheels of link 2 to the angle

a -arctd (1 rlin-u),

smJY-) with | y | | and |; sin cosu to

2 at |

.4L-l npnUKJuJ, Lsm in sin uK

and if there are one sign of the angles y and u, then the coefficient K1 is determined and stored.

Where

cl

О Ј О About ND 1

to Ј1.

where, respectively, the angle of rotation of the controlled wheels of the link 2 and the angle of rotation of the link 2 relative to the frame 3, at which the condition of the presence of the opposite angle of the angles of rotation of the links 1 and 2 relative to the frame 3 ceased to hold.

and rotate under the frame of link 2, turning the wheels of link 2 at an angle p - K and until the condition of the opposite sign of the angles of rotation of links 1 and 2 relative to frame 3 is met again.

The device for controlling the proposed method 7 consists of angular displacement sensors measuring the angles Y and and, the comparison unit, the computing unit and the actuating mechanism for turning the controlled wheels of the link 2.

The device works as follows.

Signals corresponding to the magnitude and sign of the angles y and u are fed to the inputs of the comparison unit and the computing unit. In the comparison block, the sensor signals are compared in sign and size and send information about the comparison to the input of the computing unit, where, depending on this information, the required angle of rotation of the wheels of link 2 is determined. A signal corresponding to the angle of rotation of the wheels of link 2 is fed to the actuating mechanism of controlled drives. link wheels 2

When the vehicle enters the gate (Fig 1)

 sin u;

Cn-BD.KU-R jn;

. BD l.-R sin u;

CD AD

sin y p sin y eos u cos ycos y

siir u sin Y n SU1 V ° os u

K-L J - K J - 1

co u cos ycos y

S 1PU SI FlUCOSU

sinjf with os, y

R

S LTIJ COSU

s i nu s i n (y + u)

moreover, the magnitudes of the angles Y and u are taken in absolute value. Including signs

R

L sin Y cos u sin LI sin (Y u)

When the vehicle exits from the turn (Fig. 2)

I. sin u 1. sin u

 sm f8 () -V) sin (Y + U)

L sin / sin (+

u)

CB CD;

 AD AC-CB;

A p L (si pi-sury)

sin (Y + U)

AD L (sin u-sin Y)

COZY COZY sin (Y + U)

RF Rsm (YJ-UJ (Y + u).

 sin (90 ° -Y) COZY

AE + BE L;

- i sinJJir5irU 4-R

cos Y sin (Y + U) cos Y

R kcos Y.

sin (Y + U)

sin u - sm Y

1 cos Y sin (Y + U)

L COZY sin (Y + U) + sinY j in u + u)

L (sinYcosYcosn + cosJYsinu + sinY-sinu)

1 - cosr (Y + u)

 siiiY (cosYCosu + 1) + sinu (COS JY-)

l - cros7 (7 + u)

 L

siriYfcosYcosu - sinysinu + l) T + cosr (YTu G T1 -COSIY + u)

five

five

0

0

- - at

0

L sin Y 1 -cos (Y + U)

moreover, the magnitudes of the angles Y and u are taken in absolute value. Including signs

R ..

cos (Y - u) - G

According to the known value of R angle

R

a arctg (-).

A device for controlling the proposed method can be created on the basis of existing microcomputers.

Claims (1)

Invention Formula The method of controlling a long wheelbase multi-link vehicle consisting of two articulated links of the connecting frame with steered wheels, which consists in measuring the angles of rotation of the links relative to the connecting frame and turning the wheels of the subsequent link in proportion to the angle of rotation of the subsequent link relative to the connecting frame , characterized in that, in order to improve the controllability of the vehicle by reducing the divergence of the paths of links with its curvilinear Mr. Movement, compared to each other by the sign of the angles of rotation links relative to the connecting frame and with opposite signs of these angles turn the wheels of the subsequent link at an angle To sin u, and -arctg (- j-), sin (7-u). , where with f-y uj, siny cosu 2 with Jv | u |; .cosfr-u) - with „| 5m | ul V, u are the angles of rotation of the previous and subsequent links, respectively, relative to the connecting frame; L is the length of the connecting frame; Distance from the projection of the kinematic center of rotation blowing link on its longitudinal axis to the axis of the controlled wheels of the subsequent link, and with the same signs of the angles of rotation of the links relative to the connecting frame, turn the wheels of the subsequent rail to -H p - K and, whereK K |; and but and - respectively, the angle of rotation of the controlled wheels of the subsequent link and the angle of rotation of the subsequent link relative to the connecting frame, at the moment when the presence of identical signs of the angles is detected, and the wheels of the next link are turned until the turning angles of the links with respect to the connecting frame have the same sign.  R Fig 2