车辆转向的稳定性非线性分析方法

NONLINEAR ANALYSIS METHODS OF VEHICLE CORNERING STABILITY

根据协同学和非线性动力学原理,通过对车辆—轮胎系统非线性模型的分析,利用轮胎魔术公式的逐点一阶Taylor展开式,建立车辆转向系统势能函数方程。通过对势能函数曲面的分析,发现车辆转向系统的稳定区域是由车身侧偏角和横摆角速度确定的极限环,并揭示出车辆转向失稳的机理。最后,利用李亚普诺夫函数对势能函数方程进行能量变化趋势验证,进而证实所建立转向系统势能函数方程的有效性和正确性。

Based on the theory of the synergetic theory and nonlinear dynamics, the nonlinear model of vehicle-tire system and the one-rank Taylor expansion are analyzed, and the potential energy function of vehicle steering system is constructed. Through the analyse of potential energy function surface, the stable region of vehicle cornering system is a limit cycle expressed by the body slip angle and the yaw angular velocity, and the essential reasons of vehicle losing control is explained. Finally, the energy variation tendency of the potential energy function is validated by using the Lyapunov function. And the correctness and the validity of the potential energy function constructed are also proved.