Simulation Research On The Stability Of Three-degree-of-freedom Articulated Forest Chassis

Traditionally the equipment used in forest machinery is the tractor articulated chassis,or the crawler chassis.Compared the chassis and the chassis of the same type are indeed the road for the woods,but due to the intrinsic characteristics of articulated chassis,driving on rough road surface operations,stability is not assured,tilting easily caused loss of life and property.This article is mainly aimed at the design of three degrees of freedom articulated Lin use chassis for stability analysis,this paper studies three degrees of freedom with the chassis,Lin USES six wheel and four wheel frame after the leg with adjustable height of the hydraulic cylinder wheel leg,for chassis shun sex pay more attention to the stability of peace.Similar articulated in this paper,on the contrast research at home and abroad after the study of stability of engineering vehicles,chassis structure characteristics,the research of the combination of use of a specific type,the stability of the secondary discriminant method.The content of the research mainly divided into the following several aspects,the first is to three degrees of freedom articulated Lin has carried on the mathematical modeling with chassis,here is mainly to the whole body based on the screw theory to establish under the same base coordinate system;Secondly,the parameters of vehicle stability are analyzed,and the control strategy of vehicle stability is put forward according to these factors.After using the simulation software of the control strategy of unilateral linear obstacle-navigation simulation analysis,longitudinal slope straight simulation verification analysis,contrast the results verify the validity of the mathematical model and the effectiveness of the proposed control strategy.