摘要
考虑前后车体质心侧偏角、车轮的侧偏角、后车体的侧向和横摆运动以及前车体的横摆运动建立了铰接车体三自由度转向动力学方程,并推导出转向角输入和车体绝对横摆角速度输出的传递函数。通过对前后车体横摆角速度增益的分析,总结出前后车体不同转向类型组合对整车的稳态转向特性的影响。稳态回转和阶跃响应试验获得的实测数据与仿真结果趋势一致,验证了运动数学模型的合理性。
A 3 DoF dynamic equation was derived for the articulated vehicle taking into account the body mass-center sideslip angle, the wheel sideslip angle, the lateral motion of rear body and front body. The transfer function was derived with the steering angle as the input and the body absolute yaw rate as the output. The effects 6f different combinations of the front ＇and rear body steering types on the vehicle steady steering characteristic were achieved from the yaw rate gain analysis. The steady steering test and the step response test results were in similar trends with the simulated results, proving the reasonableness of the proposed dynamic equation.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2012年第2期266-271,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
'863'国家高技术研究发展计划项目(2007AA04Z208)
关键词
汽车工程
转向动力学
牛顿欧拉法
铰接车体
质心侧偏角
横摆稳定性
vehicle engineering
steering dynamics
Newton-Euler equation method
articulatedvehicle
sideslip angle
yaw stability
