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为研究九轴全地面起重机各转向轴车轮转角之间的关系,建立了九轴全地面起重机二自由度全轮转向模型;采用零质心侧偏角控制策略,推导九轴全地面起重机在不同车速工况下的转向特性、各转向轴转向比和转向中心到前轴的距离随车速变化的计算公式;运用MATLAB/SIMULINK软件进行对比分析不同车速工况下的转向特性。结果表明:九轴全地面起重机采用零质心侧偏角控制可使质心侧偏角和横摆角速度快速达到稳态响应状态。为九轴全地面起重机多轴转向设计提供参考。
In order to study the relationship between the turning angles of the steering shafts of nine-axis all-terrain cranes, a two-degree-of-freedom all-wheel steering model of a nine-axis all terrain crane was established. By adopting the zero center of gravity decoupling control strategy, Steering characteristics under different working conditions, the steering ratio of each steering shaft and the distance from the steering center to the front axle as a function of vehicle speed. By using MATLAB / SIMULINK software, the steering characteristics under different vehicle speed conditions were compared and analyzed. The results show that the center of mass declination and the yaw rate can reach the steady-state response quickly with the nine-axis all-terrain crane with zero center of mass declination control. It provides a reference for multi-axis steering design of nine-axis all-terrain crane.