摘要
平板车是现代钢铁和船舶企业的一种专用重型运输车辆,本文的四轴重载平板车主要用于运输液态高温铁水。其尺寸特殊、惯性积大、且装载的是液态铁水,在转向行驶时会出现车身侧倾运动,容易发生倾翻事故,造成人员伤亡和财产损失。因此,研究车辆侧倾振动,增强其运输安全性和高效性具有重大意义。本文从实际工程出发,以230T四轴重载平板车为研究对象,根据其特有的车身转动惯量矩阵建立了非线性动力学转向模型,并结合多轴转向技术对车身侧倾振动性能进行分析,得出了合理的转向模式。重点研究内容如下：
1)以传统的车辆转向模型对230T四轴重载平板车进行横向稳定性分析,结果表明传统模型不适合本文车辆满载后的横向稳定性分析,模型需要进一步完善。
2)针对本文车辆车身惯性积大的特点,考虑纵向、横向、横摆、侧倾四个自由度,分别采用牛顿-欧拉力学和拉格朗日方程建立其连续转向的非线性动力学模型。通过计算和分析,揭示了四轴重载平板车特有的侧倾振动性能,即车身惯性积增大了侧倾振动振幅,车辆更容易发生倾翻安全事故。
3)以车身侧倾角响应为评价指标,对四轴重载平板车的多轴转向模式进行研究,发现全轮转向为最佳转向模式,此时车身侧倾振动最平缓,安全性高。
4)以230T四轴重载平板车为实验研究对象,测量车辆在连续转向模式下不同车速、不同转向半径时的车身侧倾角响应,实验数据验证了理论模型的有效性。
研究结果表明：转向时车身转动惯量矩阵中特有的惯性积降低了车辆转向稳定性和平衡性；采用全轮转向模式(AWS)能提高四轴重载平板车转向安全性。
Platform truck is a kind of special heavy transporting vehicle used in iron and steel mills. The four-axle heavy load platform truck (FHLPT) in this article is used to transport high-temperature liquid iron.The essential difference between FHLPT and common heavy vehicle is the former has huge products of inertia because of its special shape. The serious roll motin of the vehicle's body when turning is easy to result in FHLPT' rollover,then the disaster would kill many people and make property loss.Therefore, how to improve the FHLPT's safety and efficiency plays an important role.In view of a FHLPT weighting 230 tons,the multi-axle steering dynamic model is built while the body's products of inertia are taken into accounted, then the roll vibration performance and the best steering method are got.The main contents of the thesis are as follows:
1) The lateral balance of FHLPT is analysed using traditional model. The results show that the existing turning model of conventional vehicle can not be used directly.
2) Based on the Newton-Euler's method and Lagrange equation, the nonlinear dynamic turning model of a FHLPT which contains four freedoms is built while the body's products of inertia are concerned. Then the special roll vibration performance of the vehicle's body is obtained by model calculation and numeric simulation. The amplitude of roll angle is increased because of the product of inertia, which makes the FHLPT easier to roll over while turning.
3) Combined with the tire's dynamic of multi-axle steering, the roll vibration character of a four-axle FHLPT is analysed. The The result shows that the all-wheel steering(AWS) is the optimal mode of turning.
4) Taking a kind of FHLPT weighting 230 tons for the experimental study, the responses of roll angle are measured when the vehicle turning in all kinds of velocity and steering radius.the The results were consistent with the actual value.
Research results show that The typical inertia matrix reduces the stability of the nonlinear dynamics turning model, so the maximal velocity is limited when turning. And the all-wheel steering method will raise the safety of the vehicle when turning.
引文
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