From f43dc47fce6a80616d700a81d6faf96d776c75d9 Mon Sep 17 00:00:00 2001 From: donghaiwang <1402499358@qq.com> Date: Fri, 28 Jun 2024 15:15:11 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BD=AC=E5=90=91=E6=9C=BA=E6=9E=84=E6=A8=A1?= =?UTF-8?q?=E5=9E=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/chrono/manual_vehicle.md | 2 +- docs/chrono/wheeled_steering.md | 174 ++++++++++++++++++++++++ docs/img/chrono/PitmanArm_bodies.png | Bin 0 -> 159621 bytes docs/img/chrono/PitmanArm_points.png | Bin 0 -> 146048 bytes docs/img/chrono/PitmanArm_topology.png | Bin 0 -> 40760 bytes docs/img/chrono/RackPinion_bodies.png | Bin 0 -> 157056 bytes docs/img/chrono/RackPinion_points.png | Bin 0 -> 129742 bytes docs/img/chrono/RackPinion_topology.png | Bin 0 -> 17101 bytes docs/img/chrono/RotaryArm_bodies.png | Bin 0 -> 115579 bytes docs/img/chrono/RotaryArm_points.png | Bin 0 -> 101658 bytes docs/img/chrono/RotaryArm_topology.png | Bin 0 -> 28680 bytes 11 files changed, 175 insertions(+), 1 deletion(-) create mode 100644 docs/chrono/wheeled_steering.md create mode 100644 docs/img/chrono/PitmanArm_bodies.png create mode 100644 docs/img/chrono/PitmanArm_points.png create mode 100644 docs/img/chrono/PitmanArm_topology.png create mode 100644 docs/img/chrono/RackPinion_bodies.png create mode 100644 docs/img/chrono/RackPinion_points.png create mode 100644 docs/img/chrono/RackPinion_topology.png create mode 100644 docs/img/chrono/RotaryArm_bodies.png create mode 100644 docs/img/chrono/RotaryArm_points.png create mode 100644 docs/img/chrono/RotaryArm_topology.png diff --git a/docs/chrono/manual_vehicle.md b/docs/chrono/manual_vehicle.md index 3d0e5a992..a02ff1496 100644 --- a/docs/chrono/manual_vehicle.md +++ b/docs/chrono/manual_vehicle.md @@ -6,7 +6,7 @@ - [模拟循环](vehicle_overview.md#simulation_loop) - [__车辆底盘__](vehicle_chassis.md) - [__轮式车辆__](wheeled_vehicle.md) - - [悬挂模型](#create-your-own-behavior-type) + - [悬挂模型](wheeled_suspension.md) - [转向机构模型](#create-your-own-behavior-type) - [传动系统模型](#create-your-own-behavior-type) - [轮胎型号](#create-your-own-behavior-type) diff --git a/docs/chrono/wheeled_steering.md b/docs/chrono/wheeled_steering.md new file mode 100644 index 000000000..57135c3bb --- /dev/null +++ b/docs/chrono/wheeled_steering.md @@ -0,0 +1,174 @@ +# 转向机构模型 + +- [__转向臂__](#pitman_arm) +- [__齿条齿轮__](#rack_pinion) +- [__旋臂__](#rotary_arm) + +基类 [ChSteering](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_ch_steering.html) 规定任何派生的转向机构类(转向机构模板)都应提供一个转向连杆体,可转向悬架可以与其连接(通常通过悬架的转向连杆)。 + +派生转向机构类型定义特定类型的转向机构的主体、关节、力元素和拓扑。所有位置均假定相对于机构参考系提供(派生转向机构类型可以自由选择此框架的位置和方向)。 + +通过指定机构组件参考系相对于底盘参考系的位置和方向(参见 [ISO 参考系](https://api.projectchrono.org/vehicle_overview.html#vehicle_ISO_frame) 的定义),将转向机构组件安装到车辆底盘上。 + +轮式车辆可能有多个转向机构,每个转向机构与不同的转向车轴相关联。同样,单个转向机构可以连接到多个转向车轴。 + +## 转向臂 + +该转向机构为四连杆机构,转向连杆体通过转向臂和惰臂与底盘相连。转向臂体通过万向节与转向连杆相连,通过旋转关节与底盘相连。驾驶员转向输入用于控制旋转关节的角度。在 Chrono::Vehicle 转向臂模板中,惰臂采用复合旋转球关节建模。 + +参见 [ChPitmanArm](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_ch_pitman_arm.html) 和 [PitmanArm](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_pitman_arm.html) 。 + +![](../img/chrono/PitmanArm_bodies.png) + +本转向机构模板的拓扑结构为: + +![](../img/chrono/PitmanArm_topology.png) + +承力点如下: + +![](../img/chrono/PitmanArm_points.png) + +具有 PitmanArm 转向机构规范的示例 JSON 文件如下: + +```json +{ + "Name": "HMMWV Pitman Arm Steering", + "Type": "Steering", + "Template": "PitmanArm", + + "Vehicle-Frame Inertia": false, + + "Steering Link": + { + "Mass": 3.681, + "COM": [0.129, 0, 0], + "Moments of Inertia": [0.252, 0.00233, 0.254], + "Products of Inertia": [0, 0, 0], + "Radius": 0.03 + }, + + "Pitman Arm": + { + "Mass": 1.605, + "COM": [0.064, 0.249, 0], + "Moments of Inertia": [0.00638, 0.00756, 0.00150], + "Products of Inertia": [0, 0, 0], + "Radius": 0.02 + }, + + "Revolute Joint": + { + "Location": [0, 0.249, 0], + "Direction": [0, 0, 1], + "Maximum Angle (deg)": 30 + }, + + "Universal Joint": + { + "Location": [ 0.129, 0.249, 0], + "Direction Arm": [0, 0, 1], + "Direction Link": [1, 0, 0] + }, + + "Revolute-Spherical Joint": + { + "Location Chassis": [0, -0.325, 0], + "Location Link": [0.129, -0.325, 0], + "Direction": [0, 0, 1] + }, + + "Tierod Locations": + { + "Pitman Side": [0.195, 0.448, 0.035], + "Idler Side": [0.195, -0.448, 0.035] + } +} +``` + +## 齿条齿轮 +Chrono::Vehicle 齿条齿轮转向模板是齿条齿轮转向机构的运动学模型。转向连杆体通过棱柱关节连接到底盘。齿条位移计算如下: + +d= r (α最大限度s ) + +其中r是小齿轮半径,α最大限度 是最大小齿轮角,并且s ∈ [ − 1 , 1 ]是驾驶员的转向输入。该位移用于控制转向连杆的平移。 + +参见 [ChRackPinion](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_ch_rack_pinion.html) 和 [RackPinion](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_rack_pinion.html) 。 + +![](../img/chrono/RackPinion_bodies.png) + +本转向机构模板的拓扑结构为: + +![](../img/chrono/RackPinion_topology.png) + +受力点如下: + +![](../img/chrono/RackPinion_points.png) + +具有 RackPinion 转向机构规范的示例 JSON 文件如下: + +```json +{ + "Name": "HMMWV Rack-Pinion Steering", + "Type": "Steering", + "Template": "RackPinion", + + "Steering Link": + { + "Mass": 9.072, + "COM": 0, + "Inertia": [1, 1, 1], + "Radius": 0.03, + "Length": 0.896 + }, + + "Pinion": + { + "Radius": 0.1, + "Maximum Angle (deg)": 50 + } +} +``` + + +## 旋臂 +旋转臂转向是一种绕轴旋转的简单杠杆臂。它与实心摇臂轴和实心前束轴配合使用。它通常用作卡车、农用拖拉机和联合收割机的转向系统。 + +参见 [ChRotaryArm](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_ch_rotary_arm.html) 和 [RotaryArm](https://api.projectchrono.org/classchrono_1_1vehicle_1_1_rotary_arm.html) 。 + +![](../img/chrono/RotaryArm_bodies.png) + +本转向机构模板的拓扑结构为: + +![](../img/chrono/RotaryArm_topology.png) + +受力点如下: + +![](../img/chrono/RotaryArm_points.png) + +具有 RotaryArm 转向机构规范的示例 JSON 文件如下: + +```json +{ + "Name": "UAZBUS Rotary-Arm Steering", + "Type": "Steering", + "Template": "RotaryArm", + + "Pitman Arm": + { + "Mass": 5.0, + "Inertia": [0.00638, 0.00756, 0.00150], + "Inertia Products": [0, 0, 0], + "Radius": 0.03, + "Axis of Rotation": [0, 1, 0], // arm-chassis revolute joint + "Point of Rotation": [0.6, 0.5325, 0.4], // location of chassis connection + "Point to Draglink": [0.6, 0.5325, 0.2], // location of draglink connection + "Maximum Angle (deg)": 12.5 + } + +} +``` + + + + + diff --git a/docs/img/chrono/PitmanArm_bodies.png b/docs/img/chrono/PitmanArm_bodies.png new file mode 100644 index 0000000000000000000000000000000000000000..d09c9b2c47d4dd3fa608dd40fdaa2b0c36a44c01 GIT binary patch literal 159621 zcmeFZcQl)C{6DO;bkSY4yHt(PDz$2q)=JURQXx`RB{bBGJv!*LMQuu`T1AKvwAI## z5iwFEL5UR-JGSSJ_VfLn^ZV;L&pFTY&-3f~^n8-s<9grM^&YR+>wVpQecM=%cfa6% z4h{}p1N|GO92~nb92{J)_HqNiblmu~4*YMIhpC=6M^U@*B=BXo!*!$U92_N)2R3Z? z0N?jL)wlHE;NU;P{=2K?!h$9T$2QvF#`U{CHq#WI01<~oR$v-p8hpQr(NOBiDKo2e z(cmKf=t*s;{^`q;>c;2P-9Gy>QK06jT4bM;dHEZ0a4FgUwLh~~t%&3g%Mx(7rs9N> zq3hSXYLN8wy4q7zB(kmq53&+&CdI;%8+-#H z@$vD?ciCxS!Wu{l)$xD+{K1F5GPkx)QE%K{8YPWAt*^u3uK7!`&+(My1bw9qeS2;` zarnp)x1TS4pFaJPot@qEY|nvdaks+5j;l&6`Z)q8aPCv!+pdauX$zZ9=;x~M<+NhT zd}(Q^Y_P89cHks0lrPmT<7Ngsi4H-|5ICP8_LX5cV7S6HKWWzG)Bo!hVSF|-b%#k$ 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