三轴汽车二十六自由度模型的建模与仿真

摘要

以多刚体动力学为基础,考虑悬架K＆C特性,应用达朗贝尔惯性力原理,建立具有较高精度的面向特性的中后桥双胎三轴汽车二十六自由度的非线性动力学模型.采用改进的欧拉迭代方法对汽车动力学微分方程组进行求解,并利用MATLAB软件编制三轴汽车仿真系统程序.与ADAMS和TruckSim模型在角阶跃工况和稳态回转工况下进行仿真对比,使模型的准确性得到验证.经过比较,与业界较为广泛应用的ADAMS模型的误差小于5％,在可接受范围之内,证明所建模型具有较高的精度.%Based on multi-body dynamics and considering the K&C characteristics of suspension,a 26-DOF nonlinear dynamics model of three-axle vehicle with dual rear tire was established using D'Alembert's inertial force theory,which has the properties of object oriented.The modified Euler iterative method is used to solve the differential equations of vehicle dynamics,and the program of three-axle vehicle simulation system is compiled by MATLAB.The simulation results are compared with the ADAMS and TruckSim models under conditions of the angular step and the steady state rotation,which verifies the accuracy of the model.By comparison,the accuracy of the model is less than 5％ within the acceptable range,the model is proved to have high precision.