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五軸重型全輪轉(zhuǎn)向汽車(chē)操縱穩(wěn)定性分析
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    摘要:

    針對(duì)五軸重型汽車(chē)低速機(jī)動(dòng)性差、高速穩(wěn)定性不好的問(wèn)題，建立了五軸汽車(chē)全輪轉(zhuǎn)向的二自由度模型和運(yùn)動(dòng)微分方程，采用零質(zhì)心側(cè)偏角的控制策略，推導(dǎo)了各軸的轉(zhuǎn)角比例系數(shù)及相關(guān)的狀態(tài)空間矩陣及傳遞函數(shù)，對(duì)全輪轉(zhuǎn)向、前兩軸轉(zhuǎn)向、第一軸轉(zhuǎn)向3種轉(zhuǎn)向模式下的操縱穩(wěn)定性進(jìn)行了分析比較。結(jié)果表明，五軸重型汽車(chē)采用全輪轉(zhuǎn)向有利于提高低速轉(zhuǎn)向時(shí)的機(jī)動(dòng)性和高速轉(zhuǎn)向時(shí)的穩(wěn)定性。

    Abstract:

    Aimed at the big radius at low speed and bad stability at high speed of five-axle heavy-vehicle with front-wheel-steering, the multi-axle steering technology of five-axle heavy-vehicle was analyzed. A 2-DOF (2-degree of freedom) model and differential equations of five-axle vehicle with all-wheel steering were established. The steering angle ratios of different axles, state condition matrix, transfer functions were obtained based on zero side-slip angle of mass center control strategy. Finally, the handling stability performance of the five-axle vehicle with three steering models were simulated and compared. The results prove that multi-axle steering can decrease the steering radius at low speed and improve vehicle stability at high speed, and five-axle vehicle with all-wheel steering has the best handling stability.  

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張俊友,王樹(shù)鳳,李華師.五軸重型全輪轉(zhuǎn)向汽車(chē)操縱穩(wěn)定性分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(9):30-34.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(9):30-34.

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