| Mechanical parking system is an effective tool to solve the problems of city parking and widely used in various occasions. Roller-path parking system is a new kind of parking device. On the hoisting carrier and parking area of this system, free rollers are arranged continuously and longitudinally. Vehicles are carried by the rollers and transported by the position mechanism which is located between the front and rear wheels.With a dipped roller-path, the roller-path parking system in this study is characterized by the V-shaped roller which is designed to position vehicles vertically. Based on this structural feature, lateral adhesion between the vehicle wheels and the free rollers is very small, which will cause the potential lateral slip of vehicle while accessing or leaving the parking system. This problem is a challenge for the designing of the parking device and should be verified before its manufacturing.This thesis firstly analyzes and calculates the equivalent lateral adhesion between the vehicle wheels and the free rollers, which is an important prerequisite for the establishment of the force dynamic model to study the lateral slip.Based on the above analysis, the vehicle dynamics model of two free degrees is introduced. The model is simplified according to the actual working conditions and the effect of initial deviating angle is also considered. Therewith, two evaluation indicators are inducted: vehicle deviating angle and lateral velocity.Finally, the force model and kinemics model are built for vehicles with different driving types, in the condition of vehicles'accessing or leaving the parking system. The parameters, deviating angle and lateral velocity, which represent the gesture change of vehicles, are calculated. And according to the response of deviating angle and lateral velocity of vehicles, analysis results show that the vehicle lateral slip has little effect on the vehicle while accessing or leaving the parking system. |
PDF Full Text Request