The derivation shows that the vehicle drive adopts the 4×2 form, the drive motor is the hydraulic motor as shown, and 2. the derivation process is all theoretical derivation without considering any operating condition coefficient. In addition, the articulated edge-driven vehicle chassis depicted is somewhat different from the chassis schematic of the automotive principle to illustrate the difference between the wheel-side drive and the axle drive, which is determined by the particularity of the driveline.

When the process is deduced, the stability is analyzed using Equations 式 4 . It can be seen from Fig. 2 that among the three types of cutting methods, the critical moments of inertia along the vertical axis are the smallest, which are 75.80kNm, 92.27kNm, and 96.00kNm, respectively. Therefore, the critical stability of the roadheader along the vertical axis is the excavation. The critical stability of the machine.

The calculation results of rotational torque in three directions are d, the radius of wheel 3 is r, and the turning radius of the wheel is R, R2, R3, R4; the distance between O and O2 is a, between O2 and O3. The distance is b, the distance between O and O is c, the steering angle is θ, the angle between the straight line OO and the straight line OO2 is α, and the angle between the straight line OO2 and the straight line OO3 is β. Since △OOO2 and △OO2O3 have a common circumcircle, according to the sine theorem

Asinα=bsinβ=2R=OO2 Steering principle Since the angle between OO2 and OO is a right angle, the angle between OO3 and O2O3 is a right angle, so θ=α+β2 is given by equation 2 and equation 2 is asθ-α=bsinα3 according to the triangle The functional relationship is finished asinθctgα=acosθ+b4 because c=actgα5 is given by Equation 4 and Equation 5 c=acosθ+bsinθ6. Set the instantaneous total flow of the two wheel motors and 2 to Q. The displacement of each motor is q. The instantaneous angular velocity at turning of the front compartment is ω. According to the geometrical relationship, the speed at point O is the sum of the two central speeds, which is/2, so the speed at point O is vO=Q/2.times.2.times.q.times.60.times.60r7 because the speed of the outer wheel is large and the speed of the inner wheel is small. , but for O point all have the same relative velocity Δv, also corresponding to a ΔQ, according to the geometric relationship Q/2+ΔQ×2πq×60c+d/2r=Q/2−ΔQ×2πq×60c-d/2r8 Equation 8 yields ΔQ=Qd4×sinθacosθ+d9 Since Equation 9 is the result of the integration of the flow rate change, the process function should be the derivative of Equation 9, ie, dQ=Qd4×a+dcosθacosθ+d2dθ0. Equation 0 is during vehicle turning. Medium flow rate curve equation. If the basic parameters and speed parameters of the frame are determined, this function image can easily be represented by a shape, and it is easy to implement the control.

Conclusion Although all of the above derivation is theoretical, in the engineering, it is appropriate to modify the coefficient and increase the control. Differences and steering can be well kneaded together. In other words, it is possible to ensure synchronization in the straight line and differential in cornering.

Paper Card

Paper Card,Cardstock Paper,White Cardstock,Coloured Card

Jiangmen Yingzhihui Electronic Commerce Co., LTD , https://www.yzhprint.com