摘要：With more axles for multi-axle vehicles, conventional steering trapeziums are unable to let every tire fit Ackermann steering which cause tire wear increasingly more serious. To alleviate this problem, an original mechanic-hydraulic servo steering system with a controllable tie rod is designed. By controlling the angle of one wheel and the length of tie rod, both wheels can be controlled as per default trajectory which implemented Ackermann steering. This article utilized mechanic-hydraulic servo feedback to design a mechanic-hydraulic servo valve which controlled the tie rod accurately. It ensured dynamic characteristics of steering wheels and driving force. To understand inherent characteristics of system, the mathematical model was established. The transfer function was derived, and this high-order system was reduced by Routh approximation. Analyzed natural frequency and the main parameter (the gain coefficient of displacement) which influences the dynamic characteristics had been found out. Analysis shows that the lower the gain coefficient, the higher the speed of response. Moreover, the accurate simulation model of servo system is built on AMESim. Contrasting five groups of simulation results, it is obtained that the influence rule of the gain coefficient is consistent with theoretical analysis. This research provides a useful reference for future nonlinear control.
关键词：Multi-axle steering; pure rolling; mechanic-hydraulic servo control; Routh approximation; nonlinear
