不同转向模式的多轴转向车辆性能分析

Analysis of Performance of Vehicle with Multi-axle Steering at Different Steering Modes

为解决重型车辆转向时的低速机动性和高速稳定性的问题,提出了多轴动态转向技术,并以三轴车辆为研究对象进行分析。首先建立多轴转向的二自由度车辆模型以及运动微分方程,为提高车辆的稳定性,以零质心侧偏角为目标,推导各轴间的转角比例系数及有关的状态空间矩阵、传递函数,使用MATLAB软件对不同转向模式下的操纵稳定性进行了稳态响应、瞬态响应以及频域响应的仿真。通过分析比较,说明采用多轴动态转向技术,车辆在转向时具有低速机动性高、高速稳定性好的特点。

Because heavy-duty vehicle with front-wheel steering has the big radius at low speed and bad stability at high speed, in order to improve heavy-duty vehicle steering performance at different speeds, the multi-axle steering technology was put forward. Taking the three-axle vehicle with multi-axle steering as the research object, the 2-DOF model and differential equation of vehicle with multi-axle steering were established. Based on zero side-slip angle of mass center and proportional control strategy, the steering angle ratios of wheel, state condition matrix, and transfer functions were obtained. Using MATLAB software, the handling stability of the three-axle vehicle with different steering models were simulated and compared, including stable response, transient response and frequency response. The result shows that multi-axle steering technology can decrease the steering radius at low speeds and improve vehicle stability at high speeds.