关键词: 原地转向阻力矩, LuGre模型, 车轮转角, 车轮滚动速度, 载荷变化

Abstract: Through building the full load articulated rubber-tyred vehicle’ mechanics model at static turn, analyzing the resistance torque caused by the interaction between tire and road，and the transmission parts’ wring of the double axle. Considering the effects for resistance torque from the friction coefficient, the load variation of wheel, the rolling velocity of wheel and the wheel steering angle and so on, introducing the LuGre dynamic friction model, building the relational model between the resistant torque and wheel steering angle of articulated rubber-tyred vehicle at static turn. By MATLAB simulation results show that with the wheel steering angle increasing the resistant torque of articulated rubber-tyred vehicle at static turn have a overall upward trend, and the greater the wheel rolling velocity the greater the maximum moment of resistant torque. The simulation and experimental results have preferably coherence, so it can provides a more appropriate theory for the designing of the articulated steering system.