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针对无法检测双前轴转向汽车轴间侧滑的问题,建立了前后转向轴轴间侧滑的模型。根据该模型得出前后转向轴的轴间侧滑量方向相反且轴间侧滑量之比等于轴距之比的结论。分析了测量轮间侧滑与轴间侧滑时滑板反向移动的矛盾,提出了采用摇臂轴平移机构与等摇臂杠杆机构相结合,并分离布置传感器的检测策略。试验结果表明:根据侧滑模型进行系统精度反向验证的相对误差为2%,该检测策略实现了对双前轴转向汽车轮间及轴间侧滑量的一体化快速检测。
Aiming at the problem that it is impossible to detect the side-slippage between two front axle steering axles, a model of the front and rear steering shaft sideways sliding is established. According to this model, the conclusion is drawn that the ratio of the axial slip between the front and the rear steering shafts is opposite and the ratio of the side slip between the shafts is equal to the ratio of wheelbase. This paper analyzes the contradiction between measuring the reverse movement of skateboard when the side skid and the side skid and proposes the detecting strategy of combining the rocker arm translation mechanism with the rocker arm lever mechanism and disposing the sensor separately. The test results show that the relative error of the system verification based on the side-slip model is 2%. This test method can realize the integrated and rapid detection of the side slip between two wheels.