二自由度四轮转向汽车的动力分析(Ⅱ)——非线性分析

A Dynamic Analysis of a Four-Wheel-Steering Vehicle with Two Degree-of-Freedom (II):Nonlinear Analysis

建立了一个四轮转向汽车系统的动力模型 ,给出了相应的动力方程 ,同时从理论上分析了这一系统的稳定性问题 .考虑到横向轮胎力非线性效应的影响 ,我们对此进行了相应的数值计算 ,并与传统的前轮转向系统进行了对比分析 ,从中得到了一些有益的结论 .

This paper presents a four_wheel_steering vehicle dynamic model. The corresponding dynamic equations of this model are established. The stability of this system is also analyzed. The nonlinear tyre forces are taken into account. The numerical computation is carried out. Through the comparison with the typical steering of front wheels, some beneficial conclusions are reached.