铰接转向工程车辆侧倾稳定性研究
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摘要
铰接转向工程车辆行驶路面复杂，工作环境恶劣，并且转弯时车辆重心会发生横向偏移，导致翻车事故发生几率较高。本文结合国家自然科学基金项目“非公路车辆防翻车主动安全技术研究”（NO.51175216）和高等学校博士学科点专项科研基金项目“工程车辆主动防倾翻系统设计理论与控制技术”（NO.20100061110014），对铰接转向工程车辆的侧倾稳定性进行系统研究，以轮式装载机为研究对象，提出了适用于铰接转向工程车辆的侧倾稳定性指标，并建立了7自由度非线性侧倾动力学模型，利用物理样机试验和虚拟样机仿真对所建立的动力学模型进行了验证，提出了改进铰接转向工程车辆的侧倾稳定性的措施。
在综述国内外铰接转向工程车辆侧倾稳定性研究成果的基础上，结合铰接转向工程车辆的特性以及侧倾失稳原因，分析了铰接转向角、侧向加速度以及侧倾角等因素对现有指标的影响，讨论了现有各稳定性评价指标在铰接转向工程车辆上应用的不足，提出了适用于铰接转向工程车辆的侧倾稳定性指标。
基于拉格朗日方程及虚功原理，建立了轮式装载机的7自由度非线性侧倾动力学模型，该模型全面考虑了车辆横摆、侧倾、俯仰等3个转动自由度以及纵向、横向、垂向3个平动自由度和后桥摆动自由度。模型以车辆的结构参数、铰接转向角、坡度角以及车速等作为输入，以车辆的动力学和运动学特性如侧倾角、侧倾角速度、侧向加速度、横向载荷转移率等作为输出。采用后向差分法对所建立的模型进行了数值求解。为验证所建立的动力学模型的可靠性，设计并制造了某型号铰接转向装载机的物理样机模型，进行了平面转弯，斜坡转弯以及越障等工况的试验；建立了铰接转向装载机虚拟样机模型，进行了对应工况下的虚拟样机仿真。通过对比侧倾动力学模型仿真结果、试验结果以及虚拟样机仿真结果，发现三者吻合程度较高，从而验证了所建立的动力学模型的正确性。
利用7自由度非线性侧倾动力学模型，对某轮式装载机的侧倾稳定性进行了详尽的分析。所分析的参数中包括转弯速度、转弯半径、铰接转向角速度、坡度角、前桥到铰接轴线的距离、后桥到铰接轴线的距离、轮距以及摆动桥等。结果显示，摆动桥的存在对车辆在水平路面上的侧倾稳定性影响不大但对其在坡路上的侧倾稳定性影响非常大。分析结果对改进车辆的侧倾稳定性设计有一定的参考价值。
根据铰接转向工程车辆侧倾稳定性分析结果，提出了基于摆动桥的改进方案。该方案中在现有的被动式摆动桥基础上增加检测组件、控制组件以及液压组件，使其成为主动式摆动桥；当车辆在水平路面上行驶时，该主动式摆动桥所实现的功能与被动式摆动桥基本一致，不会影响到车辆的越障性能；当车辆在坡路行驶时，该主动式摆动桥将会限制后桥的摆动以增强其侧倾稳定性。对改进后的车辆进行了仿真分析，结果显示该方案可以提高铰接转向工程车辆的侧倾稳定性。
本文建立了全面分析铰接转向工程车辆特性的侧倾动力学模型，提出了适用于铰接转向工程车辆的侧倾稳定性指标，并将被动式摆动桥改进为主动式摆动桥以提高车辆侧倾稳定性。论文的研究工作为铰接转向工程车辆的安全性设计及主动防倾翻安全技术的开发提供了依据，对于提高铰接转向工程车辆作业的安全性和保护司机的生命安全具有重要意义。
Articulated steer engineering vehicle travels on complex road, its working condition isbad, and when steering, the center of gravity will offset laterally which will lead a higherprobability of rollover accident. By the financial support of National Natural ScienceFoundation of China (NO.51175216) and Ministry of Education Fund for the Doctoral(NO.20100061110014). This paper aims at the rollover stability of articulated steerengineering vehicle systematically, suitable indicators for the dynamic rollover stability ofthe articulated engineering vehicle were proposed and a7DOFs nonlinear dynamics modelwas established. Then the dynamics model was validated by the physical prototype test andvirtual prototype simulation. Finally, measures for improving the rollover stability of thearticulated engineering vehicle were presented.
On the basis of domestic and overseas researches on the index of the rollover stabilityof the articulated steer engineering vehicle, and considering the characters of articulatedsteer engineering vehicle and the reasons of lateral instability, the effects of steering angle,lateral acceleration and the roll angle were analyzed, and then the insufficient of eachindicator was discussed. Based on the above analysis, the indicators which are suitable forthe articulated steer engineering vehicle were proposed.
Basing on the Lagrange method and virtual work principle, and comprehensivelyconsidering three rotary motions, a7DOFs nonlinear dynamics wheel loader model wasestablished. The inputs of this model are structure parameters, articulated steer angle, angleof gradient, velocity and etc., and basing on the dynamics and kinematics characteristics ofthe articulated vehicle, the outputs are roll angle, roll angular velocity, lateral acceleration,lateral-load transfer ratio etc. Then the established model was analyzed by using thebackward difference method. In order to verify the reliability of the established dynamicsmodel, a scaled articulated loader was built and tested in different working conditions, suchas turning on the level ground, turning on the slope, moving through obstacles and etc. Acorresponding virtual prototype model was built, and relevant simulations about the modelswere carried out. By comparing the lateral dynamic model simulations, the test results, andthe virtual prototype simulation results, it shows that the degree of agreement is relativelyhigh, so the correctness of the established dynamics model is validated.
By using the established dynamics model, detailed analysis of the influencing parameters of a wheel loader’s dynamic rollover stability was carried out, and theparameters include corner velocity, turning radius, articulated steer angular velocity, angleof gradient, the distance between the front axle and the hinge axle, the distance between therear axle and the hinge axle, wheel tread, oscillating axle and etc. Through analysis, itshows that as for the vehicle on the level ground, the influence of the oscillating axle is notlarge, but if on the slope, its influence is very large. The analysis results have somereference values in improving the design of the rollover stability for articulated engineeringvehicle.
According to the conclusions from the analysis, an improving plan was proposedbasing on the oscillating axle. In this plan, by adding sensing, controlling and hydrauliccomponents, the passive oscillating axle was changed to be an active one; when the vehicleis moving on the level ground, there is almost no difference between the passive and theactive oscillating axle on the obstacle performance; but when travelling on the slope, theactive oscillating axle could strengthen the rollover stability by limiting the swinging of therear axle. Simulations of the improved vehicle were carried out. The analyzing results showthat, this plan could improve the rollover stability of the articulated steer engineeringvehicle.
A rollover dynamics model which more comprehensively considering the engineeringvehicle features was established; the indicators that are suitable for the rollover stability ofthe articulated steer engineering vehicle were proposed in this paper; and the passiveoscillating axle was replaced by the active oscillating axle which could improve theperformance of vehicle’s rollover stability. This research provides a basis for the design ofthe engineering vehicle safety and the development of active safety technology forarticulated steer engineering vehicle, and it has an important significance in improving theoperational safety and protecting the life of the driver of the articulated steer engineeringvehicle.
在综述国内外铰接转向工程车辆侧倾稳定性研究成果的基础上，结合铰接转向工程车辆的特性以及侧倾失稳原因，分析了铰接转向角、侧向加速度以及侧倾角等因素对现有指标的影响，讨论了现有各稳定性评价指标在铰接转向工程车辆上应用的不足，提出了适用于铰接转向工程车辆的侧倾稳定性指标。
基于拉格朗日方程及虚功原理，建立了轮式装载机的7自由度非线性侧倾动力学模型，该模型全面考虑了车辆横摆、侧倾、俯仰等3个转动自由度以及纵向、横向、垂向3个平动自由度和后桥摆动自由度。模型以车辆的结构参数、铰接转向角、坡度角以及车速等作为输入，以车辆的动力学和运动学特性如侧倾角、侧倾角速度、侧向加速度、横向载荷转移率等作为输出。采用后向差分法对所建立的模型进行了数值求解。为验证所建立的动力学模型的可靠性，设计并制造了某型号铰接转向装载机的物理样机模型，进行了平面转弯，斜坡转弯以及越障等工况的试验；建立了铰接转向装载机虚拟样机模型，进行了对应工况下的虚拟样机仿真。通过对比侧倾动力学模型仿真结果、试验结果以及虚拟样机仿真结果，发现三者吻合程度较高，从而验证了所建立的动力学模型的正确性。
利用7自由度非线性侧倾动力学模型，对某轮式装载机的侧倾稳定性进行了详尽的分析。所分析的参数中包括转弯速度、转弯半径、铰接转向角速度、坡度角、前桥到铰接轴线的距离、后桥到铰接轴线的距离、轮距以及摆动桥等。结果显示，摆动桥的存在对车辆在水平路面上的侧倾稳定性影响不大但对其在坡路上的侧倾稳定性影响非常大。分析结果对改进车辆的侧倾稳定性设计有一定的参考价值。
根据铰接转向工程车辆侧倾稳定性分析结果，提出了基于摆动桥的改进方案。该方案中在现有的被动式摆动桥基础上增加检测组件、控制组件以及液压组件，使其成为主动式摆动桥；当车辆在水平路面上行驶时，该主动式摆动桥所实现的功能与被动式摆动桥基本一致，不会影响到车辆的越障性能；当车辆在坡路行驶时，该主动式摆动桥将会限制后桥的摆动以增强其侧倾稳定性。对改进后的车辆进行了仿真分析，结果显示该方案可以提高铰接转向工程车辆的侧倾稳定性。
本文建立了全面分析铰接转向工程车辆特性的侧倾动力学模型，提出了适用于铰接转向工程车辆的侧倾稳定性指标，并将被动式摆动桥改进为主动式摆动桥以提高车辆侧倾稳定性。论文的研究工作为铰接转向工程车辆的安全性设计及主动防倾翻安全技术的开发提供了依据，对于提高铰接转向工程车辆作业的安全性和保护司机的生命安全具有重要意义。
Articulated steer engineering vehicle travels on complex road, its working condition isbad, and when steering, the center of gravity will offset laterally which will lead a higherprobability of rollover accident. By the financial support of National Natural ScienceFoundation of China (NO.51175216) and Ministry of Education Fund for the Doctoral(NO.20100061110014). This paper aims at the rollover stability of articulated steerengineering vehicle systematically, suitable indicators for the dynamic rollover stability ofthe articulated engineering vehicle were proposed and a7DOFs nonlinear dynamics modelwas established. Then the dynamics model was validated by the physical prototype test andvirtual prototype simulation. Finally, measures for improving the rollover stability of thearticulated engineering vehicle were presented.
On the basis of domestic and overseas researches on the index of the rollover stabilityof the articulated steer engineering vehicle, and considering the characters of articulatedsteer engineering vehicle and the reasons of lateral instability, the effects of steering angle,lateral acceleration and the roll angle were analyzed, and then the insufficient of eachindicator was discussed. Based on the above analysis, the indicators which are suitable forthe articulated steer engineering vehicle were proposed.
Basing on the Lagrange method and virtual work principle, and comprehensivelyconsidering three rotary motions, a7DOFs nonlinear dynamics wheel loader model wasestablished. The inputs of this model are structure parameters, articulated steer angle, angleof gradient, velocity and etc., and basing on the dynamics and kinematics characteristics ofthe articulated vehicle, the outputs are roll angle, roll angular velocity, lateral acceleration,lateral-load transfer ratio etc. Then the established model was analyzed by using thebackward difference method. In order to verify the reliability of the established dynamicsmodel, a scaled articulated loader was built and tested in different working conditions, suchas turning on the level ground, turning on the slope, moving through obstacles and etc. Acorresponding virtual prototype model was built, and relevant simulations about the modelswere carried out. By comparing the lateral dynamic model simulations, the test results, andthe virtual prototype simulation results, it shows that the degree of agreement is relativelyhigh, so the correctness of the established dynamics model is validated.
By using the established dynamics model, detailed analysis of the influencing parameters of a wheel loader’s dynamic rollover stability was carried out, and theparameters include corner velocity, turning radius, articulated steer angular velocity, angleof gradient, the distance between the front axle and the hinge axle, the distance between therear axle and the hinge axle, wheel tread, oscillating axle and etc. Through analysis, itshows that as for the vehicle on the level ground, the influence of the oscillating axle is notlarge, but if on the slope, its influence is very large. The analysis results have somereference values in improving the design of the rollover stability for articulated engineeringvehicle.
According to the conclusions from the analysis, an improving plan was proposedbasing on the oscillating axle. In this plan, by adding sensing, controlling and hydrauliccomponents, the passive oscillating axle was changed to be an active one; when the vehicleis moving on the level ground, there is almost no difference between the passive and theactive oscillating axle on the obstacle performance; but when travelling on the slope, theactive oscillating axle could strengthen the rollover stability by limiting the swinging of therear axle. Simulations of the improved vehicle were carried out. The analyzing results showthat, this plan could improve the rollover stability of the articulated steer engineeringvehicle.
A rollover dynamics model which more comprehensively considering the engineeringvehicle features was established; the indicators that are suitable for the rollover stability ofthe articulated steer engineering vehicle were proposed in this paper; and the passiveoscillating axle was replaced by the active oscillating axle which could improve theperformance of vehicle’s rollover stability. This research provides a basis for the design ofthe engineering vehicle safety and the development of active safety technology forarticulated steer engineering vehicle, and it has an important significance in improving theoperational safety and protecting the life of the driver of the articulated steer engineeringvehicle.
引文
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