北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (10): 1335-1340.doi: 10.13700/j.bh.1001-5965.2014.0104

• 论文 • 上一篇    下一篇

基于自适应差分进化的矿卡转向运动学仿真

姜立标, 程铖, 何家寿, 刘坚雄   

  1. 华南理工大学 机械与汽车工程学院, 广州 510640
  • 收稿日期:2014-03-11 出版日期:2014-10-20 发布日期:2014-10-29
  • 作者简介:姜立标(1965-),男,黑龙江绥化人,副教授,jlb620620@163.com.
  • 基金资助:

    国家自然科学基金资助项目(50975091);广东省自然科学基金资助项目(9451064101003049);广州市花都区科信局2013年重大科技攻关项目(HD132D-002)

Kinematical simulation analysis of steering system of mining dump truck based on adaptive differential evolution algorithm

Jiang Libiao, Cheng Cheng, He Jiashou, Liu Jianxiong   

  1. School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China
  • Received:2014-03-11 Online:2014-10-20 Published:2014-10-29

摘要:

以220 t矿卡自卸车转向系统为基础,建立转向梯形在空间坐标下的运动学方程,并考虑主销后倾角和内倾角的影响,在ADAMS软件中建立模型验证其正确性.重点利用MATLAB软件编制双审判自适应差分进化算法程序,针对变量梯形臂长K、底角Φ求解全局最优化转向特性,使220 t矿卡自卸车内外轮转角满足考虑轮胎侧偏特性的阿克曼转向几何关系,实现车轮在转向时作纯滚动.与ADAMS优化结果作对比分析,结果表明前者的优化效果更明显.实车轮胎对比性试验证明其转向设计更加合理,改善了矿卡自卸车较为严重的轮胎磨损现象,延长了轮胎工作寿命.

关键词: 矿卡自卸车, 转向梯形, 空间运动方程, 双审判自适应差分进化算法

Abstract:

Spatial kinematics formulations were built on the basis of the steering system of 220 ton mining dump truck, which were verified by the model built in ADAMS and referring to the kingpin caster angle and kingpin inclination angle. This research focused to use MATLAB to program the dual-trial adaptive differential evolution algorithm (DADEA) in order to work out the global optimal steering property. It made inner and outer wheel's corner of 220 ton mining dump truck meet to the Ackerman steering geometry of considering the wheel cornering characteristics to achieve pure rolling when turning. The design variables are the arm length of the steering trapezium (K) and its base angle (Φ). The results of the optimal steering property were analyzed and compared to the optimal results generated by ADAMS. It turns out the optimization results obtained by MATLAB are better than those obtained by ADAMS. It was proven by real car tire comparison test that the former can make the steering design more reasonable, improve the serious type wore situations of mining dump trucks, and extend the service life of the type.

Key words: mining dump truck, steering trapezium, spatial kinematics formulations, dual-trial adaptive differential evolution algorithm

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