四轮转向半挂汽车列车行驶稳定性仿真研究

Steering Stability Simulation of 4WS Tractor-Semitrailer

通过分析四轮转向(4WS)半挂汽车列车行驶性能,为在牵引车上采用4WS技术能提高整个汽车列车行驶稳定性提供依据。建立4WS半挂汽车列车简化三自由度单轨动力学模型,在小角度转向和直线行驶两种行驶工况下对操纵稳定性能进行时域仿真研究。理论分析和基于MATLAB的仿真研究表明,4WS技术能使车辆的横摆角速度等状态量保持较小数值,稳定性好。最后,与只有前轮转向(FWS)牵引车列车的稳定性能作对比分析,验证出4WS对列车的高速稳定性和低速机动性有明显的好处。

The purpose of this paper is to prove that the tractor adopting the four - wheel steering （4WS） can improve the tractor - semitrailer handling and stability through analyzing the performance of steering. A simplified single track model with 3 DOF for 4WS tractor - semitrailer has been constructed for the simulation of time domain under the conditions of small angle steering and longitudinal driving. The analysis and the simulation based on MATLAB show that this technique can keep the vehicle yawing velocity in a little scale. At last, the effect of 4WS is analyzed by comparing with front -wheel steering （FWS）, and the study verifies that 4WS is beneficial to both the high -speed stability and low - speed flexibility of tractor - semitrailer.