基于Bekker理论的新能源矿运车转向特性研究

摘要

针对矿运车转弯不灵活、转弯半径过大的缺点，对液压系统进行了改进。依据Bekker地面力学理论，建立了矿运车转向过程的运动学和动力学数学模型，借助 ADAMS 和 AMESim 软件建立矿运车动力学和液压系统联合仿真模型，分析了矿运车的转向特性。仿真结果和现场实验数据的对比分析表明，采用改进的液压系统方案能够形成稳定的内外侧车轮速度差，从而顺利实现车体转向。%Because the mining car did not swerve flexibly and turning radius was too large,the hy-draulic system needed to be improved.According to the Bekker terramechanics theory,the dynamics and kinematics model of steering characteristics were established.By ADAMS and AMESim,the co-simulation model of dynamics and the hydraulic system was built.Through the contrast analysis of simulation results and field experimental data,it proves that the hydraulic system can form stable speed difference between inside wheel and outside wheel,which realizes steering function smoothly.