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建立了铰接式车辆原地转向阻力矩计算模型,推导了原地转向阻力矩计算公式,分析了原地转向阻力矩的变化规律和主要影响因素。与试验结果比较表明,理论分析与仿真计算正确。对现有相关力学模型中存在的疑义进行了辨析,在转向过程中,滚动阻力的方向是否发生变化取决于车辆的结构参数,存在着侧滑现象和轮胎侧向力并影响转向阻力矩。可用曲柄摇块机构运动学模型描述铰接式车辆原地转向,在建立力学模型时要相应地引进约束力。
The calculation model of on-site steering resistance torque of articulated vehicle was established. The calculation formula of on-site steering resistance torque was deduced. The variation regularity and main influencing factors of on-site steering resistance torque were analyzed. Compared with the experimental results show that the theoretical analysis and simulation calculation is correct. The existing problems in the existing mechanics model are analyzed. Whether the direction of rolling resistance changes during steering depends on the structural parameters of the vehicle, and there are side-slip phenomenon and tire lateral force and affect the steering resistance moment. Available crank crank mechanism kinematics model articulated vehicle in situ steering, the establishment of the mechanical model to be the corresponding introduction of binding.