为了研究九轴车辆各转向桥车轮转角之间的关系,建立了九轴车辆全轮转向模型,推导了各转向桥内外侧车轮转角的计算公式,运用数值方法进行了可视化仿真.仿真结果表明,九轴车辆采用全轮转向时,第一转向轴到第五转向轴车轮转向与后四转向轴车轮的转向相反;当第一转向轴车轮转角变大时,后面八轴车轮转角线性增加,此时九轴车辆的转弯半径最小,同一转向轴内侧车轮转角比外侧车轮转角大.%In order to study the relationship of wheel turning angles of different steering axis,the all-wheel steering model of nine-axle vehicle was established.The calculation formulas of inside and outside wheel turning angles of different steering axis were deduced, and the visualization simulation was obtained by using the numerical method.The results showed that the turning direction of the front five and the back four steering wheels is opposite.With the increasing of the wheel turning angle of the first steering axis, the wheel turning angles of different steering axis increase linearly, while the turning radius decrease.The wheel turning angles increase with the increasing of distance to the turning center, and the inside wheel turning angle is bigger than the outside one at the same steering axis.
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