CAJ | 학술논문

基于三轴车辆全轮转向系统方案，设计相应的转向传动机构，建立了该机构的数学模型，并通过MATLAB软件中的非线性优化命令进行设计计算。计算结果表明，由该机构所决定的转向曲线与理论阿克曼曲线能较好吻合。且车轮理论与实际转角误差较小，有较高运动精度。同时，该机构能够很好地与转向液压系统配合，进而实现对车轮转角的实时精确控制。
기우삼축차량전륜전향계통방안，설계상응적전향전동궤구，건립료해궤구적수학모형，병통과MATLAB연건중적비선성우화명령진행설계계산。계산결과표명，유해궤구소결정적전향곡선여이론아극만곡선능교호문합。차차륜이론여실제전각오차교소，유교고운동정도。동시，해궤구능구흔호지여전향액압계통배합，진이실현대차륜전각적실시정학공제。
Based on the plan of all-wheel steering system for three-axle vehicles, the corresponding steering linkage mecha-nism is designed, the mathematic model ofthe mechanism is established, and design and calculation are also carried out by u-sing the nonlinear optimization command in MATLAB.The result shows that the mechanism′s steering curve can well fit the theoretical Ackermann curve, and the error between the wheels′theoretical and practical steering angles is relatively small, thus presenting a high precision.In addition, this mechanism can well cooperate with the hydraulic steering system and thus can help to realize the real-time accuracy control of wheels′steering angle.