一种新的汽车列车动力学建模方法

A New Method of Dynamic Model Building of Combination Vehicles

提出了一种建立汽车列车动力学模型的新方法,即利用Newton定律和Lagrangian方法分别建立车辆系统的平动和横摆微分方程,模型建立过程中不考虑车辆之间的约束力,从而大大降低了模型建立的复杂程度.以牵引车-半挂车辆组合形式为例,用该方法建立了其侧向动力学模型,并利用该模型对某型号半挂汽车列车进行了仿真试验.该方法同样适用于其他组合形式的汽车列车动力学模型的建立.

This paper presented a new method of building the dynamic model, which is used to combination vehicles. The Newtonian approach is applied in deriving differential equations for planar motion, and the Lagrangian approach is used to derive the model equations for the yaw motion of each unit. In both cases, internal constraint forces do not appear in the model equations. The amount of work is reduced significantly. And this method is used to build the lateral dynamic model of tractor-semitrailer. This model is used to simulate transient responses of the tractor-semitrailer, which is under step-input of the front tires. The method presented in the paper is also applied for modeling the other styles of combination vehicles.