Analysis of Steering Trajectory Characteristics of Articulated Vehicle Based on PXI Real Time Platform
According to the structural characteristics of the steering system of the underground mining articulated vehicle with double cylinder"front cylinder"arrangement,which obtains the relationship between cylinder stroke and vehicle steering angle,the coordinate position of the front and rear wheels in the steering process was analyzed,and the mathematical model was ob-tained.Based on Simulink,an analysis model was built to obtain the steering trajectory at different speeds.Based on ADAMS,a multi degree of freedom analysis model of an articulated vehicle was established.Combined with the steering trajectory model,PXI driver in the loop test real time platform was embedded to analyze the steering trajectory of the vehicle.Based on the real vehi-cle test,the double lane shift steering condition is selected,and the simulation results are verified according to the results.The analysis shows that:when the vehicle running speed is lower than 6m/s,the driving stability is good and the steering process is rel-atively gentle.When the speed is higher than 6m/s,the driving stability is good.When the vehicle reaches the speed suitable for steering,the driver should decelerate first,and then implement the steering action,which reaches the speed suitable for steering.The steering trajectory obtained by driver in the loop real-time test simulation,mathematical model and real vehicle test has high coincidence degree,and the error of steering angle is less than 3%,which further illustrates the accuracy of steering trajectory analysis and provides reference for actual design.
Articulated VehicleSteering SystemTrajectoryReal Time PlatformModelActual Vehicle
NETL
NSTL
万方数据
