CAJ | 학술논문

为了实现柔性底盘的刚性化，获取柔性底盘的协调控制系统参数，研究柔性底盘的运动学和动力学特性，设计了柔性底盘试验台及其测量系统。用 Pro/E 软件对试验台进行三维造型，用 adams/view 软件进行了仿真分析，得到水平转盘角速度随驱动轮转速和正压力变化的规律。该试验台能够测量柔性底盘驱动轮的转速、偏置轴转向角及刹车力，水平转盘的转速及柔性底盘的控制响应时间，为柔性底盘控制系统的开发奠定了基础。
위료실현유성저반적강성화，획취유성저반적협조공제계통삼수，연구유성저반적운동학화동역학특성，설계료유성저반시험태급기측량계통。용 Pro/E 연건대시험태진행삼유조형，용 adams/view 연건진행료방진분석，득도수평전반각속도수구동륜전속화정압력변화적규률。해시험태능구측량유성저반구동륜적전속、편치축전향각급찰차력，수평전반적전속급유성저반적공제향응시간，위유성저반공제계통적개발전정료기출。
In order to achieve flexible chassis rigid , get its coordinated control system parameters facilitate the kinematics and dynamics analysis of flexible chassis , flexible chassis test-bed was designed .Using pro/E software built three di-mensional modeling of test , applicating Adams/view software simulation analysis the change of angular velocity of flexible chassis wheel following the drive wheel speed and chassis wheel pressure on driving wheels .The test bench can measure the flexible chassis driving wheel speed , angle and braking force , horizontal rotary table speed , and flexible chassis con-trolling response time , which would lay a foundation for the development of flexible chassis control system .