基于车轮纯滚动的多轴汽车动态全轮转向转角研究及控制-research and control of dynamic all-wheel steering angle of multi-axle vehicle based on pure wheel rolling.docxVIP

山东理工大学硕士学位论文AbstractTheelectronicsystemaboutelectriccontrolhydraulicsteeringsystemofthemulti-axisvehicleisdesigned.Thecommunicationsnetworks oftheelectronicsystemaboutelectriccontrolhydraulicsteeringsystem basedonCAN-Busisdesigned.AccordingtoFreescale’sMC9S12XD128microcontroller,apartofhardwareschematicsandsoftwareflowchartsabouttheelectriccontrolhydraulicsteeringsystemofthemulti-axisvehicleispresented.Inordertorealizethesteeringfunctionoftheelectriccontrolhydraulicsteeringsystem,thispaperestablishesthemathematicalmodelofthe steeringexecutive mechanism.According to transfer function of the steering executivemechanism，the simulation model of valve controlledcylinder system aboutelectro-hydraulicsteeringexecutivemechanismis built in MATLAB/Simulink.TheincrementalPIDisusedto controlthevoltagesignalwhich issent totheproportionalamplifier.Thesimulationanalysisiscarriedoutonthevalvecontrolledasymmetricalhydrauliccylinder.Simulationresultsshowthattheelectro-hydraulicsteeringsystemisofgoodstability,accuracyandrapidity.Keywords: multi-axis vehicle;wheelpure rolling;dynamicall-wheelsteering;electriccontrolhydraulicsteeringsystem目录摘要............................................................................................................. IAbstract .........................................................................................................II第一章绪论.................................................................................................11.1课题的研究背景及意义......................................................................11.2国内外研究现状及发展趋势...............................................................21.2.1多轴车辆建模...........................................................................31.2.2多轴转向控制方法....................................................................31.2.3多轴车辆电液转向控制系统.....................................................51.2.4发展趋势..................................................................................61.3主要研究内容..................