Rigid-Flexible Coupling And Test Research Of Watt-Ⅱ Steering Mechanism Of Multi-Axle Vehicle

Heavy-duty vehicles are widely used in various industries and their steering performance needs to be improved.It is necessary to study the steering mechanism of new heavy-duty vehicles.This paper focuses on the multi-axle steering system of heavy-duty vehicle composed of central arm Watt-II steering mechanism.The dynamic analysis of the steering mechanism,the rigid-flexible coupling simulation considering the bar deformation and the experimental study of multi-axls steering mechanism are carried out as follows:Firstly,the plane force system model of four-axle steering mechanism has been established.Four-axle steering mechanism was divided into four groups of Watt-Ⅱ six-rod steering mechanism.Then each group of six-rod steering mechanism was divided into several basic groups.Matrix mathematical model has been derived based on complex vector and corresponding M function has been compiled.The dynamic model of the entire four-axle steering mechanism has been established based on MATLAB/Simulink,and kinematic and dynamic output parameters of the mechanism have been obtained.The mechanism operates smoothly and has no great impact,kinematic and dynamic performance of the mechanism is good,which provides reference basis for subsequent strength design of bar.Secondly,the steering mechanism model has been established in UG,the rigid body model and the rigid flexible coupling model of the steering mechanism have been established with ANSYS and ADAMS.Combined with the semi-empirical formula of steering resistance moment and the resistance moment curve of real vehicle test,the ideal steering resistance moments have been applied to the simulation model,and the output angles of each knuckle arms in the two groups of models have been obtained.Compared with Ackermann ideal angle relationship,the maximum angle error of both models is within reasonable range.It proves the rationality of the rod length design and the feasibility of the steering mechanism considering the deformation.The strength of the components is checked to meet the strength requirements.Finally,on the basis of existing test conditions,the equipment configuration was further improved,and two sets of rotary encoders and matching PLC digital input ports were added,so that the steering test bench could synchronously collect the data of knuckle arm angles date of three axles.The test of knuckle arm rotation angle and the test of axial force and driving force considering the friction of quick installing load device have been carried out.After eliminating all kind of friction force,the test results are basically consistent with the simulation results.Through the rigid-flexible coupling simulation and experimental research in this paper,the feasibility of steering mechanism considering deformation and the actual operating performance of steering mechanism are verified,which provides certain reference value for the follow-up research work.