四轴重载无人车辆电液全轮转向系统设计与路径跟踪方法研究

doi:10.19562/j.chinasae.qcgc.2025.08.012

Abstract

Abstract:

Four-axle heavy-duty unmanned vehicles （FHUVs） is a new type of special engineering vehicle characterized by multiple axles， high load bearing and large turning radii； thus， research on all-wheel steering system （AWSS） has become challenging. In this paper， an electrohydraulic AWSS for a new type of FHUV is designed， and path-tracking methods are researched. Firstly， a two-degree-of-freedom model （2-DOF） of a FHUV is constructed， and a new type of electrohydraulic AWSS is designed on the basis of analysis of the steering resistance and axle structure. Then， a path tracking method based on a preview control sliding mode controller （PSMC） is proposed to achieve precise control of the four-axle wheel angle of the vehicle. Finally， on the basis of different working conditions， the research content of this study is verified via a joint simulation model. In order to verify the stability and feasibility of the electrohydraulic steering system， an experimental platform is built， which demonstrates the good dynamic performance of the system.

Key words: four-axle heavy-duty vehicle, unmanned driving, electrohydraulic AWSS, path tracking

Yi Chen,Xiangyu He,Xiliang Zhou,Houlu Fan,Zhuoyu Wu. Design and Path Tracking Method of Electrohydraulic All-Wheel Steering Systems for Four-Axle Heavy-Duty Unmanned Vehicles[J].Automotive Engineering, 2025, 47(8): 1559-1572.

Figures/Tables 41

参数符号	参数名称	数值	单位
$m$	整机质量	20 560	$k g$
$b$	轮胎宽度	375	$m m$
$R d$	轮胎滚动半径	510	$m m$
$I z$	绕z轴转动惯量	400 000	$k g · m 2$
$C 1$	第1轴侧偏刚度	-420 000	$N / r a d$
$C 2$	第2轴侧偏刚度	-420 000	$N / r a d$
$C 3$	第3轴侧偏刚度	-450 000	$N / r a d$
$C 4$	第4轴侧偏刚度	-450 000	$N / r a d$
$h$	质心高度	1 175	$m m$
$l 1$	质心到第1轴的距离	4 600	$m m$
$l 2$	质心到第2轴的距离	2 950	$m m$
$l 3$	质心到第3轴的距离	3 050	$m m$
$l 4$	质心到第4轴的距离	4 700	$m m$
$l 12$	第1轴到第2轴的距离	1 650	$m m$
$l 23$	第2轴到第3轴的距离	6 000	$m m$
$l 34$	第3轴到第4轴的距离	1 650	$m m$

参数符号	参数名称	数值	单位
$B$	轮距	2 334	$m m$
$J$	左右液压缸与车桥轴连接宽度	350	$m m$
$E$	液压缸与车桥轴连接高度	200	$m m$
$T$	左右转向力臂间距	1 676	$m m$
$Q$	转向力臂高度	250	$m m$
$S$	液压缸位于中位长度	665	$m m$

参数符号	参数名称	数值	单位
$D$	双杆液压缸缸径	80	$m m$
$d$	双杆液压缸活塞杆径	50	$m m$
$L h$	双杆液压缸行程	$± 126$	$m m$
$V$	液压泵排量	39	$m L / r$
$n$	液压泵转速	2 000	r/min
$p 0$	蓄能器充气压力	12.5	$M P a$
$v$	蓄能器公称容积	10	$L$
$p e$	蓄能器额定压力	33	$M P a$
$p n$	溢流阀开口压力	25	$M P a$
$m s$	质量模块	1 060	$k g$
$k m$	机械弹簧的弹簧刚度	$5 × 105$	$N / m$
$ζ$	阻尼器的阻尼率	30 000	$N / (m · s - 1)$
$k 1$	线性弹簧的弹簧刚度	$5 × 106$	$N / m$

道路名称	PSMC	预瞄控制	性能提升
Double lane change	0.107 4	0.011 86	$9.44 %$
Handing course	0.017 05	0.031 38	$45.67 %$

参数名称	PSMC	预瞄控制	优化结果
最大质心侧偏角	$0.145 ? 9 °$	$0.175 ? 8 °$	$17.01 %$
第2轴最大转角	$- 3.543 °$	$- 3.816 °$	$7.15 %$
第3轴最大转角	$1.650 °$	$1.778 °$	$7.20 %$
第4轴最大转角	$3.079 °$	$3.317 °$	$7.18 %$

参数名称	PSMC	预瞄控制	优化结果
最大质心侧偏角	$- 0.196 ? 7 °$	$- 1.280 ? 0 °$	$84.63 %$
第2轴最大转角	$9.67 °$	$11.73 °$	$17.56 %$
第3轴最大转角	$- 4.65 °$	$- 5.65 °$	$17.70 %$
第4轴最大转角	$- 8.59 °$	$- 10.43 °$	$17.64 %$

References 20

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Design and Path Tracking Method of Electrohydraulic All-Wheel Steering Systems for Four-Axle Heavy-Duty Unmanned Vehicles

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