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通过对九轴全地面起重机转向系统电液执行机构进行工作原理分析,建立转向系统的电液控制转向模型。该九轴机型采用机械转向机构和电液转向系统共同实现整车转向控制,其中前五轴为机械转向,后四轴为电液转向。利用MATLAB/S im u lin k软件对后四轴的电液转向控制进行动态特性仿真。结果表明,采用电液控制转向系统,可以使系统质心侧偏角和横摆角速度快速达到稳态响应,其转向性能可达到七轴车辆的转向效果。
By analyzing the working principle of electro-hydraulic actuator of nine-axle all-terrain crane steering system, the electro-hydraulic control steering model of the steering system is established. The nine-axis model uses a mechanical steering mechanism and electro-hydraulic steering system to achieve vehicle steering control, of which the first five axes for mechanical steering, the latter four axes for the electro-hydraulic steering. The dynamic characteristics of the electro-hydraulic steering control of the rear four-axis are simulated by MATLAB / Slimit software. The results show that the electro-hydraulic steering system can make the center of mass system yaw angle and yaw rate quickly reach the steady state response, and its steering performance can achieve the steering effect of seven-axle vehicle.