铰接式防爆胶轮车转向运动学动力学分析与试验

摘要

According to no available calculation method and a guidance formula during the design of the steering system of the flame proof rubber tyre articulated vehicle with double driving axles, with the pivot steering kinematics and dynamics model under the condition of a no-load and full load working established for the flame proof rubber tyre articulated vehicle with the double driving axles, a relationship between the wheel speed and the bending angle was derived and the tyre rolling, tyre deflection and steering resistance torque of the tight- ened driving parts were analyzed. The calculation formula of the pivot steering resistance torque under the no-load and full load conditions was provided with the nominal displacement principle. The results showed that the steering resistance torque calculated with the formula could meet the actual measured results with an error within 10% and could provide the reference basis to the design of other steering sys- tem for the articulated vehicle with double driving axles.%针对双桥驱动铰接式防爆胶轮车在转向系统的设计过程中,目前尚无比较成熟的计算方法和指导公式,利用所建立的双桥驱动铰接式防爆胶轮车在空载和满载2种工作状态下的原地转向运动学及动力学模型,推导了车轮速度与折腰角之间的关系,分析了轮胎滚动、轮胎偏转以及传动件扭紧产生的转向阻力矩,并利用虚位移原理给出了空载和满载状态下的原地转向阻力矩计算公式。结果表明,根据该公式所计算的转向阻力矩与实测结果基本吻合,误差在10%之内,为其他双桥驱动铰接车辆转向系统的设计提供参考依据。