摘要
针对三轴重型汽车低速机动性差,高速稳定性不好的特点,对三轴汽车多轴转向技术进行了分析,建立了三轴汽车全轮转向的二自由度模型和运动微分方程,采用实用的基于零质心侧偏角前后轮转角成比例的控制策略,推导了各轴的转角比例系数及相关的状态空间矩阵及传递函数,对不同转向模式下的操纵稳定性进行了仿真分析比较。结果表明,三轴汽车采用多轴转向技术,具有低速灵活性高、高速稳定性好的特点。
Because the three-axle heavy-vehicle with front-wheel-steering has the big radius at low speed and bad stability at high speed,the multi-axle steering technology of three-axle vehicle is analyzed. The 2DOF model and differential equation of three-axle vehicle with all-wheel steering are established. Based on zero side-slip angle of mass center and proportional control strategy, the steering angle ratios of wheel, state condition matrix, transfer functions are obtained. Using MATLAB software, the handling stability of the three-axle vehicle with different steering models are simulated and compared in the domains of time and frequency. The result shows that multi-axle steering can decrease the steering radius at low speed and improve vehicle stability at high speed, and three-axle vehicle with all-wheel steering has the best handling stability.
出处
《拖拉机与农用运输车》
北大核心
2008年第6期15-18,共4页
Tractor & Farm Transporter
基金
山东省自然科学基金资助项目(Q2006F06)
关键词
三轴汽车
多轴转向
操纵稳定性
Three-axle vehicle
Multi-axle steering
Handling stability
