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In this paper, the plane model is reduced to a space model. Considering the spatial angle of each component and the inclination angle of the kingpin, according to the conclusion of the plane mathematical model, the relationship between the rack displacement and the steering angle of the inner and outer steering wheels is obtained by the projection analysis method.
1 Planar Mathematical Model 2 Space Mathematical Model 2.1 Definition of Steering Angle of Space Mechanism When the back angle of the kingpin is not considered, the angle of the wheel plane is also the angle between the start and end of the steering wheel.
When considering the caster inner caster angle, the wheel plane rotates around the kingpin axis to tilt the wheel plane. At this time, the steering angle is not the plane angle when the steering wheel is in different states, nor the space angle at which the steering wheel rotates. The angle of rotation after the rotation of the horizontal plane (ground). It is well known that the direction in which the car advances is perpendicular to the axis of rotation of the steering wheel. Assuming that the kingpin has only a reclining angle and is a limit of 90°, the wheel rotates around the axis of the kingpin. When turning, the wheel only leans inward or outward, and there is no left or right corner. At this point, the steering wheel has been rotated through a space. Angle, but the direction in which the car is moving has not changed, which means that the steering angle is the corner of the horizontal projection of the rotary axis, not the space angle.
Here, the definition of the steering angle of the space model is given: the angle formed by the projection of the wheel's rotary axis on the horizontal plane and the projection of the wheel's rotary axis on the horizontal plane at the zero steering angle is the steering angle, or the intersection of the wheel plane and the horizontal plane with zero The angle between the wheel plane and the horizontal plane at the steering angle.
When the zero-steering is set, the caster angles of the kingpins are δ and ε, respectively, ignoring the jump of the steering wheel caused by the inclination of the kingpin and the change of the inclination of the kingpin during the steering.
2.2 Steering angle and rack displacement relationship According to the plane model conclusion, as long as the projection of each component on the vertical plane of the kingpin axis is known, the rotation angle of the wheel plane in the space model can be calculated, and then according to the plane between the wheel plane angle and the steering angle Relationship, get the law of change of steering angle.
3 Conclusions The parameters of the space angle of the steering mechanism and the inclination angle of the main pin are taken into account, and the steering angle of the space state and the displacement relationship of the rack are obtained. The model is simplified in the calculation process, ignoring the inclination of the kingpin during the steering process. Changes, the steering angle law needs to be further developed considering the changes in the kingpin inclination and the wheel jump.
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