通过引入悬架导向作用、轮胎侧偏效应及有效路形概念，建立了15自由度整车振动模型。
By introducing guiding effect of suspension, side-slip of tires, and the concept of effective road input, a vehicle vibration model of 15 DOFs is set up.
怠速工况试验表明，优化后的挂钩不仅降低了车内驾驶员右耳侧噪声，而且减小了排气系统传到车身地板的振动。
Test result shows that vibration from exhaust system to floor and sound pressure to driver's right ear on idle running are reduced with the optimized hanger systems.
齿轮侧传动行走，液压振动，液压转向，三挡速度，转场方便；
Mechanical travel drive of side transmission, hydraulic vibration and steering with three-gears travel speed for convenient transport between construction sites.
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