汽车操纵动力学三自由度模型与转向特性仿真

A 3-DOF Dynamical Model and Steering Simulation for a Rigid Vehicle

基于牛顿力学和欧拉刚体动力学原理,建立了考虑侧滑、横摆、侧倾三个自由度的汽车转向三自由度动力学模型,并推导出了四轮模型和两轮简化模型的状态空间运动方程。在此基础之上,分别对前轮转向、四轮转向在低速、高速两种不同行驶工况下转向角阶跃输入的侧向速度、质心侧偏角、横摆角速度和侧倾角速度响应进行了仿真分析,仿真结果表明:四轮转向比两轮转向具有更好的低速转向机动性和高速稳定性;两轮模型和四轮模型具有相近的稳定时间和稳态响应,但两轮模型的超调量要明显大于四轮模型。

Based on the Newton mechanics and Euler rigid body dynamics, 3-DOF dynamic models considering sideslip, yaw and roll of vehicle steering are built ,then deriving the state space equations of the 4-wheel model and 2--wheel model .On this basis, simulation and analysis of lateral velocity, side slip angle, yaw rate, and roll rate in two different running conditions of low and high velolcity about front-wheel steering and four--wheel steering are made separately. The results show that, 4-wheel steering has better steering maz^uverability at low speed and stability at high speed than 2-wheel steering; two- wheel model trod four-wheel model have close stabilization time and steady-state response, but the overshoot of 2--wheel model is greater than 4-wheel model.