摘要
针对三轴重型汽车建立了二自由度非线性人-车-路闭环模型,考虑驾驶员控制和路面方向扰动,推导了系统动力学方程.在运用Hopf分岔理论进行分析的基础上,以临界车速为评价指标,通过数值模拟研究了轴距、预瞄距离、载重量、驾驶员控制时滞和轮胎侧偏刚度对转向稳定性的影响,并确定了转向系统的数值稳定范围.另外,还通过分岔图、时程曲线、相轨线、功率谱、Poincaré图和Lyapunov指数研究了不同车速下汽车的非线性动力学响应.结果表明,随着车速的增加汽车可能发生周期运动、拟周期运动及混沌运动,汽车的横向稳定性与车辆和驾驶员参数密切相关.
A closed-loop driver-vehicle-road model with two degrees of freedom （DOF） for a three-axle heavy vehicle was set up. With the influence of the road directional disturbance and driver control considered, the vehicle ordinary differential equations of motion were estab- fished. The influences of system parameters including wheelbase, preview distance, loading, time delay of driver control and tire lateral stiffness on steering stability were studied by numer- ical simulations, based on the Hopf bifurcation theory. The range of numerical stability of the steering system was also determined. Moreover, the nonlinear dynamics of this closed-loop driver-vehicle-road system at different vehicle running speeds were investigated by numerical methods, such as bifurcation, time history curve, phase trajectory, power spectrum, Poincar~ section and Lyapunov exponent. It is shown that periodic, quasi-periodic and chaotic motions may take place with the increase of running speed, and the lateral stability of the vehicle mainly depends on the vehicle and driver model parameters.
出处
《应用数学和力学》
CSCD
北大核心
2013年第9期891-899,共9页
Applied Mathematics and Mechanics
基金
国家自然科学基金资助项目(10932006
11072159)
河北省自然科学基金资助项目(E2012210025)
河北省自然基金资助项目(A2012210018)~~
