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为了预先掌握多轴轮式工程机械制动性能,指导制动系统设计,以某四轴轮式工程机械为对象,考虑了地面附着条件、质心位置、制动产生的轴荷转移等因素,进行了制动性能仿真研究。通过车轮坐标系与整车坐标系映射关系,对悬挂和车轮的小变形作线性假设,建立了整机在制动稳定极限状态下的动力学模型,利用MATLAB/Simulink分析附着系数、质心相对位置、制动初速度对制动距离的影响,并将仿真结果与试验结果进行了对比。结果表明:仿真结果与试验结果吻合良好;随地面附着系数和质心距离第Ⅰ轴中心线位置的增加,整车制动距离减小;随制动初速度和质心距离地面高度的提高,整车制动距离增加;相对静止状态,制动过程中第Ⅰ轴和第Ⅳ轴轴荷变化最显著。
In order to master the braking performance of multi-axle wheeled construction machinery in advance and to guide the design of braking system, taking the four-axle wheeled construction machinery as an example, taking into consideration such factors as the ground adhesion condition, the center of mass position and the axle load transfer caused by braking The braking performance simulation research. Based on the mapping relationship between the wheel coordinate system and the vehicle coordinate system, a linear assumption is made on the small deformation of the suspension and the wheel, and the dynamic model of the complete machine under the braking stability limit state is established. The relative coefficients of the attachment coefficient, , The effect of brake initial speed on braking distance, and the simulation results and test results were compared. The results show that the simulation results are in good agreement with the experimental results. The braking distance of the vehicle decreases with the increase of the ground attachment coefficient and the centroid distance from the centerline of the first axis. With the increase of the braking initial velocity and the centroid distance, The braking distance increased; relative static state, the first axle and the fourth axle during the braking process the most significant changes in axle load.