Study 9-axis Steering Characteristic Of Large Mobile Cranes

With the rapid development of the national economy and the progress ofthe society, large all-terrain crane has been widely used in nuclear power, bridges,high-speed rail and other major engineering projects, and all-terrain crane hasbeen gradually developing in the intelligent direction. It has the advantages ofmultiple axes, great carrying capacity, higher transport efficiency, but anincrease in the number of axes have brought difficulties to the all-terrain cranesin steering stability and steering maneuverability, furthermore the performanceof the steering system would affect fuel economy and driving safety, Therefore,studying the performance of multi-axis steering on all terrain crane has realisticsignificance.Firstly, this paper selects mechanical steering system as the front steeringgroup (pre-axis) and electronically controlled hydraulic steering system as therear steering group (the axis) by comparing the advantages and disadvantages ofmulti-axis steering way, composition structure and the steering mode to beachieved，such steering way can guarantee the reliability and flexible.Secondly, according to the simplified model of all-terrain crane steering,this paper deduced equations of motion and analyzed the steering dynamiccharacteristics through Matlab programming and Simulink module under theconditions of zero slip angle control tactics and analyzed the impact of theposition of the center of mass and the change of tire side cornering stiffness tothe steering characteristics.Then, this paper used the empirical formulas to calculate the steeringresistance moment, and preliminarily selected the main parameters of thehydraulic cylinder.Finally, a simplified mathematical model of the steering actuator is derived,and the stability of the single hydraulic power steering axle is analyzed by Bodediagram, And the dynamic response characteristics of a single steering axle issimulated by using Matlab/Simulink and AMESim under the conditions of anangle step input signal. The fast response characteristics and stability of the single axle hydraulic steering system is simulated, which laid the foundation forthe establishment of multi-axle steering system simulation analysis.