Simulation Researches On All Terrain Crane Coupling System Of Hydro-pneumatic Suspension And Multi-axis Steering

All terrain crane is superior to other wheel crane because of its special chassis systems. Both hydro-pneumatic suspension system and multi-axis steering system all belong to the special chassis system of all terrain crane, and determine its main performance. Only alone study of hydro-pneumatic suspension system or multi-axis steering system is not enough to obtain much comprehensive performance of its chassis system. The research on coupling system of suspension and steering is imminent.In this paper, nine-axis all terrain crane coupling system of hydro-pneumatic suspension and multi-axis steering is took as the research object, and coupling system mathematical model is established based on Newton's laws of momentum and moment of momentum. The nonlinear stiffness and damping of hydro-pneumatic suspension cylinder are described in MATLAB/SIMULINK, and the time domain response of all vehicle hydro-pneumatic suspension system is simulated under half sine wave function or road pavement random incentive.Mathematical model of 2 DOF multi-axis steering system is established based on the relationship between tire vertical force and tire lateral force. Affects of damping diameter, the accumulator initial gas volume, accumulator initial gas pressure and cylinder effective area on its steering system performance are simulated and analyzed. The simulations show that moderate damping diameter, larger cylinder effective area, bigger accumulator initial gas pressure and volume is better when it only considers steering system.Simulated and compared to two coupling modes of suspension and steering, it is concluded that appropriating coupling of suspension and steering call acquire better roll performance and slightly better other performance of coupling system. Proved that interaction between suspension and steering system, and mainly reflected in tire vertical force and tire lateral force.