CAJ | 학술논문

研究前桥摆转转向式四驱底盘的行走轮在转向过程中角速度的变化规律，设计出合适的驱动方式可为该类底盘的应用设计提供参考。通过ADAMS软件对不同长宽比下行走轮角速度变化分析，得出长宽比越小，底盘后内外两侧行走轮之间的角速度变化趋势越大。为了满足底盘在转向过程中各行走轮的驱动要求，分析比较了机械式、电动式、液压式3种驱动方式，选择了液压驱动方式的方案。液压驱动系统采用4个液压马达分别驱动1个行走轮，第5个马达用做动力输出轴。系统采用一轴两液压油泵分别驱动4个行走轮马达和动力输出轴，利于动力输出轴与行走速度参数的匹配。两前轮液压马达采用串联形式并与两后轮液压马达并联连接。转向时，通过控制前内侧液压马达停转，后内侧液压马达随动，实现了前桥摆转转向，满足内侧后轮在转向过程中随着前桥摆转时的角速度与角速度方向的变化。通过物理样机试验验证，在无方向盘的操作下前桥摆转转向式底盘采用本设计的液压驱动系统，可实现良好的直线行走性能和任意角度摆转转向。
연구전교파전전향식사구저반적행주륜재전향과정중각속도적변화규률，설계출합괄적구동방식가위해류저반적응용설계제공삼고。통과ADAMS연건대불동장관비하행주륜각속도변화분석，득출장관비월소，저반후내외량측행주륜지간적각속도변화추세월대。위료만족저반재전향과정중각행주륜적구동요구，분석비교료궤계식、전동식、액압식3충구동방식，선택료액압구동방식적방안。액압구동계통채용4개액압마체분별구동1개행주륜，제5개마체용주동력수출축。계통채용일축량액압유빙분별구동4개행주륜마체화동력수출축，리우동력수출축여행주속도삼수적필배。량전륜액압마체채용천련형식병여량후륜액압마체병련련접。전향시，통과공제전내측액압마체정전，후내측액압마체수동，실현료전교파전전향，만족내측후륜재전향과정중수착전교파전시적각속도여각속도방향적변화。통과물리양궤시험험증，재무방향반적조작하전교파전전향식저반채용본설계적액압구동계통，가실현량호적직선행주성능화임의각도파전전향。
Research on the front axle swing type of all-wheel-drive chassis when turning, angular velocity of the road round’ change regulation.and design a suitable driving mode can provide reference for the application of the chassis de-sign.ADAMS software can analysis walking wheel angular velocity under the different length-width ratio, it is concluded that the smaller the length-width ratio, the greater the change trend between both inner side and outside of the chassis af-ter walking wheel angular velocity.In order to satisfy the chassis’ requirements when turning process, analysis and com-parison the mechanical, electric, hydraulic drive mode, chooses the hydraulic drive mode.Hydraulic drive system driven by four hydraulic motors, each motor drive a walking wheel, the fifth motor is to be power output shaft .Hydraulic drive system adopt a shaft of two hydraulic oil pump which driven respectively four wheel motor and power output shaft, System driven increase power output shaft and the walking speed parameters matching.Two front wheel in the form of series hy-draulic motor and hydraulic motor with two rear wheels connected in parallel.When turning process, By controlling the former inside of the hydraulic motor stalling, the behind inside of the hydraulic motor follow-up.implements the front ax-le pendulum turning and satisfy the inside of the walking wheel the angular velocity and angular velocity direction will change when By physical prototype test, front axle swing chassis with hydraulic drive system can achieve good walk straight and arbitrary Angle place turning.