三轴车辆全轮转向操纵稳定性仿真分析

Analysis and Simulation of Handling Stability for Three-Axle Vehicle with All Wheel Steering

建立并分析了某三轴车辆全轮转向二自由度模型及其运动微分方程,分析了整车在质心零侧偏角比例控制策略下的转向中心位置以及2、3轴转角比例系数与车速的关系,分析了整车的稳态横摆角速度增益。建立了三轴车动力学仿真模型,结合控制策略对比仿真了2WS车和6WS车在不同车速下的瞬态响应。分析结果表明,采用质心零侧偏角比例控制策略有利于提高三轴车低速转向时的机动性和高速转向时的操纵稳定性。

The 2DOF model and differential equation of a three-axle vehicle with all wheel steering were built and analyzed. The yaw velocity gains of the vehicle and the relationship among the steering center position,the 2th and 3rd axle steering angle ratio and vehicle＇s speed are analyzed based on the zero side-slip proportional control strategy of mass center. The three-axle vehicle＇s dynamic simulation model was built, based on the model, the transient response of 2WS vehicle and 6WS vehicle were simulated under the different speed. The recorded simulation data and curve demonstrated that the zero side-slip angle proportional control strategy of mass center take advantage to improve the three-axle vehicle＇s mobility at low speed and handling stability at high speed.