以凸轮机构控制转向的无碳自行小车研究.pdfVIP

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以凸轮机构控制转向的无碳自行小车研究

张芷瑞，胡旭林，梁馨月，唐新星

（长春工业大学机电工程学院，长春130012）

摘要：根据无碳小车自动变距绕桩行走要求，采用凸轮机构控制转向，建立了小车转向机构的数学模型。利用Matlab软件计

算并优化其相关参数，通过仿真分析了转向机构各参数变化对小车行驶轨迹的影响，得到了转向机构各参数与小车行驶轨迹

之间的关系。基于优化后的参数值，制作了实车，通过实车调试验证了参数优化后转向机构设计的合理性和可靠性。

关键词：无碳小车；凸轮转向机构；重力势能；自主行走

中图分类号:TH122文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园22）05原园039原园3

ResearchonCarbon-freeSelf-propelledCarwithCamControlSteeringMechanism

ZHANGZhirui,HUXulin,LIANGXinyue,TANGXinxing

(SchoolofMechanicalandElectricalEngineering,ChangchunUniversityofTechnology,Changchun130012,China)

Abstract:Accordingtotherequirementsoftheautomaticvariabledistancewalkingaroundthepileforthecarbon-free

car,thecammechanismisusedtocontrolthesteering,andthenthemathematicalmodelofthecamsteeringmechanismis

established.TherelevantparametersarecalculatedandoptimizedbyMatlab,theinfluenceofthesteeringmechanism

parameterschangesonthecartraveltrajectoryisanalyzedbysimulation,andtherelationshipbetweentheparametersof

thesteeringmechanismandthecartraveltrajectoryisobtained.Basedontheoptimizedparametervalues,thecarismade,

andtherationalityandreliabilityofthesteeringmechanismdesignafterparameteroptimizationareverifiedbyreal

vehicledebugging.