Dynamitic Analysis of Skid Steering for Articulated Motor- driven Vehicle
نویسندگان
چکیده
The hydraulic steering mechanism can lead the vehicle’s hydraulic system more complex and the tire wear heavier in the process of steering, which is detrimental to the steering control of the articulated motordriven vehicle. Thus the skid steering mode is implemented in the articulated motor-driven vehicle in this paper. This mode can simplify the vehicle without steering cylinder and it is more flexible by controlling the velocity of each wheel when steering. According to the theory of traditional wheeled vehicle’s skid steering and based on the analysis of skid steering of articulated vehicle, a dynamic model is established to describe the mathematic relationships among the steering radius, body structure, velocity of front and rear wheels, longitudinal forces and lateral forces between each tire and the ground. With these analyses, the kinematic and dynamic simulations based on the model are applied according to the parameters of an underground mine articulated vehicle. And the results of the simulation can verify the model, which can provide references for designing and studying skid steering of articulated motor-driven vehicle.
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