双拖挂汽车列车模型比较研究

Comparative Study of Double Trailer Articulated Vehicle Models

基于车辆运动学与动力学理论推导了双拖挂汽车列车线性四自由度(4-DOF)模型和线性七自由度(7-DOF)模型,并在Simulink环境中搭建了相应的仿真模型,最后通过鱼钩工况和双移线工况仿真,与TruckSim中的复杂非线性进行了对比分析,结果表明:4-DOF模型、7-DOF模型与TruckSim模型仿真数据均有较好的吻合度;4-DOF模型和7-DOF模型可用来设计横摆稳定性控制器,7-DOF模型还可用于设计侧倾稳定性控制器。

Based on the theory of vehicle kinematics and dynamics, linear four degrees of freedom（4-DOF） model and linear seven degrees of freedom（7-DOF） model of double trailer articulated vehicle were derived, and the corresponding models were established in Simulink environment. Through the simulation of hook condition and double-line displacement condition, the models were compared with the complex non-linear vehicle in TruckSim. The results show that 4-DOF model and 7-DOF model have good agreement with the vehicle model in TruckSim, 4-DOF model and 7-DOF model can be used in the design of yaw stability controllers, 7-DOF model can be used in the design of roll stability controllers.