大型工程车辆多轴转向控制策略研究与分析

白鑫　王军　侯芊荷　吴楚　王健　田李凡

摘 要：随着汽车运输业和特种行业的发展，重型载货车和专用作业车的吨位逐渐增大，多轴运输车辆得到快速发展。为提高多轴运输车辆的转向性和操控性，针对前后轴转向结构式的平板运动车，进行其转向机构的控制策略研究，建立了多轴转向系统的运动学模型，并对纵向转向机构进行优化设计;通过设定目标函数对纵向转向机构布置方案進行参数优化，在各轮在行驶转向过程中作纯滚动的条件下，减小车辆的转弯半径。在此基础上，还深入的探讨了在车辆转弯时四个主动轮作纯滚动之间的转速联系。

关键词：多轴汽车机构 运动学 优化 四轮差速转向

Research and Analysis of Multi-axle Steering Control Strategy for Large Construction Vehicles

Bai Xin Wang Jun Hou Qianhe Wu Chu Wang Jian Tian Lifan

Abstract：With the development of automobile transportation and special industries， the tonnage of heavy-duty trucks and special operating vehicles has gradually increased， and multi-axle transportation vehicles have developed rapidly. To improve the steering and maneuverability of the multi-axle transport vehicle， the control strategy of the steering mechanism of the flatbed sports car with the front and rear axle steering structure was studied， the kinematics model of the multi-axle steering system was established， and the longitudinal steering mechanism was optimized. The article optimizes the parameters of the longitudinal steering mechanism layout scheme by setting the objective function， and reduces the turning radius of the vehicle under the condition of pure rolling of each wheel in the driving and steering process. On this basis， the rotation speed relationship between the four active wheels as pure rolling when the vehicle is turning is also discussed in depth.

Key words：multi-axle automobile mechanism， kinematics， optimization， four-wheel differential steering