针对铰接式车辆的铰接式转向系统长时间工作导致零件之间配合宽松,而在行驶过程中存在着“振摆现象”,对车辆转向行驶轨迹进行分析.对车辆转向行驶过程的轨迹进行数学建模,以行驶的速度为输入量,转向角度为变化量,得到其在不同工况下的行驶轨迹的数学方程,方程中加入了由差速器等对速度造成的影响.基于ADAMS对铰接式车辆的行驶轨迹进行虚拟样机模拟仿真分析,建立了模拟路面模型以及轮胎模型.通过分析可知:车辆的安全转向行驶速度范围在(3-6)mn/s,在这个速度范围内,车辆转向行驶的安全性更高,稳定性良好;仿真轨迹曲线和实际工况下轨迹吻合度相对较高,仿真结果可以作为设计参考.%In the view that the long working time of articulated steering system of articulated vehicle,which is easy to lead loose fitting of the parts,so there is a phenomenon of vibration in the driving process.Mathematical model of the steering driving process of the articulated vehicle was established.The speed of the truck was used as an input,the steering angle as a variation,and got the mathematical trajectory equation in different driving conditions.By adding the impact on the speed equation of the differential,finally got the trajectory equation and the trajectory curves which were relatively agreed with actual situation.The steering driving track curves was got based on model in ADAMS,which were more similar to the actual working conditions.The results show that vehicle safety steering speed range is (3-6)m/s,the safety of vehicle steering is higher and the stability is better.The simulation curve and the actual working condition of the vehicle are in good agreement.The simulation results can be used as reference in design.
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