Study of skid steering method for distributed-drive articulated heavy vehicle based on the co-simulation model 2020-01-0761
Distributed-driver articulated steering vehicles (DASVs), the particular engineering equipment, have good maneuverability and tractability in poor road and narrow space conditions. They are always used in the mining, construction, forest, and agricultural industry. Its structure comprise front and rear frame connected by an articulation joint and two hydraulic struts. In the steering process, these two struts are driven by pump of hydraulic system, and the vehicle will turn following the control of steering wheel with the coupling effects of articulation joint and struts. But due to the high load of the DASVs, the influence of pressure of outlet chamber, and the compressible of the oil, it is easy to cause the high pressure level, the low energy efficiency, and poor stability in hydraulic steering process. This is not conducive to improving the security, economy, and stability of DASVs.
Therefore, in order to solve these problems, this paper will make the DASVs as the objective vehicle, and take full advantage of its independent driving method to study the novel skid steering mode. Combining with the discussions of the optimal distribution of differential driving forces in the front and rear parts of the vehicle, the DASVs can work more efficient and intelligentized than before. Meanwhile, in order to verify this novel steering method, a co-simulation model will be built by MATLAB/Simulink, ADAMS, and AMESim, which can lay a foundation for the application of skid steering method in DASVs.
Tao Xu, Xuewu Ji, Cong Fei, Yanhua Liu, Yahui Shen
Tsinghua University, University of Science and Technology Beijing