【作者】 刘昕晖； 陈伟；

【Author】 LIU Xin-hui CHEN Wei (Institute of Mechanical Science and Engineering,Jilin University,Changchun 130022,China)

【机构】 吉林大学机械科学与工程学院；

【摘要】 针对液压同步驱动车辆在复杂路况下牵引效率较低的问题,设计了可在复杂越野路面条件下实现牵引力均衡驱动的新型车辆。通过应用液压主动悬架来保证轮胎接地性的同时,对单侧轮边液压驱动马达应用液阻控制技术,实现车辆驱动系统的牵引力均衡。运用简单的基于车载传感器估算移动式机器人车轮—地面接触角的方法和泵控马达原理建立半轨车辆的驱动系统数学模型,并进行相应仿真分析。仿真结果表明,在保证轮胎接地性的前提下,液阻控制技术能够提高车辆在不同路况下驱动系统的牵引效率,从而提高车辆的越野性能。更多还原

【Abstract】 A new traction-balanced driving vehicle steering in complicated cross country terrains was developed to improve the synchronous driving vehicle steering in complicated terrains low traction efficiency.The vehicle driving system traction-balanced was achieved through hydraulic-resistance control technology applied to the single-side wheel-side hydraulic driving motor and securing the tyro grounding by hydraulic active suspension.The semi-rail vehicle driving system model was set up based on the methods of estimating wheel-terrain contact angles of mobile robots using simple on-board sensors and principle of the pump-control-motor.The simulation showed that when the wheel grounding was secured, the vehicle traction efficiency was improved with the hydraulic-resistance control in different complicated terrains and the vehicle cross-country performance was improved further.更多还原