考虑侧偏特性时的修正阿克曼原理转角研究
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摘要
针对四轴双前桥转向系统车辆,建立了二自由度转向模型,研究了车轮转向角度与轮胎侧偏角之间的关系。在大转角低车速工况下,阿克曼原理能够满足设计要求,而在小转角高车速下,阿克曼原理具有一定的局限性,应对其进行修正。为避免轮胎异常磨损,应使得各车轮侧偏角尽量小且相等,在此目标基础上进行仿真。仿真结果表明,选择相对较低的修正系数能够减少轮胎的异常磨损,通过实车试验验证了修正阿克曼原理转角的正确性。
A 2-DOF steering model is established for the four-axle with double front axle steering system, and the relationship between the wheel steering angle and the tire slip angle is studied. In the big wheel steering angle with low speed conditions, ackerman principle could meet the design requirements,but in small wheel steering angle with high speed conditions, the Ackerman principle has some limitations and should be amended. In order to avoid the occurrence of abnormal tire wear, it should make the wheel side angle as small and equal as possible, simulation has been performed on that basis. The simulation results show that choosing a relatively low correction coefficient can reduce the abnormal wear of the tire. The real vehicle experiment validated the correctness of the amended Ackerman law.
A 2-DOF steering model is established for the four-axle with double front axle steering system, and the relationship between the wheel steering angle and the tire slip angle is studied. In the big wheel steering angle with low speed conditions, ackerman principle could meet the design requirements,but in small wheel steering angle with high speed conditions, the Ackerman principle has some limitations and should be amended. In order to avoid the occurrence of abnormal tire wear, it should make the wheel side angle as small and equal as possible, simulation has been performed on that basis. The simulation results show that choosing a relatively low correction coefficient can reduce the abnormal wear of the tire. The real vehicle experiment validated the correctness of the amended Ackerman law.
引文
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[2]余志生.汽车理论(第5版)[M].北京:机械工业出版社,2009.Yu Zhisheng.Automotive theory(5th edition)[M].Beijing:China Machine Press,2009.
[3]刘昭度.汽车学[M].北京:高等教育出版社,2012.Liu Zhaodu.Automotive science[M].Beijing:Higher Education Press,2012.
[4]宗长富,孙浩,陈国迎.分布式独立转向车辆的转角分配方法[J].华南理工大学学报(自然科学版),2017,45(2):16-22.Zong Changfu,Sun Hao,Chen Guoying.Steering angle allocation method for distributed independent steering vehicles[J].Journal of South China University of Technology(Natural Science Edition),2017,45(2):16-22.
[5]覃刚,孙营.考虑侧偏角影响的双前桥转向角匹配研究[J].华中科技大学学报(自然科学版),2011,39(12):18-21.Qin Gang,Sun Ying.Research on steer angle for double front axles steering systems considering with slip angle[J].Journal of Huazhong University of Science and Technology(Natural Science Edition),2011,39(12):18-21.
[6]王霄锋.汽车底盘设计[M].北京:清华大学出版社,2010.Wang Xiaofeng.Automotive chassis design[M].Beijing:Tsinghua University Press,2010.