三轴转向车辆侧向稳定性控制策略分析

摘要

According to the established linear 2 - DOF dynamics model of three - axle steering vehicle, the relationships between dynamic parameters and longitudinal displacement of vehicle turning center were deduced based on zero vehicle sideslip angle control. By considering the conditions of lateral stability of whole vehicles and analyzing the influences of longitudinal displacement of turning center on the lateral stability and turning mobility of whole vehicles , the formulas of the critical value of longitudinal displacement of vehicle turning center and transition angle of first axle were obtained. On the basis of the conditions of lateral stability and the conditions of applicable vehicle sideslip angle, zero vehicle sideslip angle dispatching control strategy was proposed. The main characteristic parameters of the two control methods were compared by quantitative analysis using MATLAB, and the results demonstrate the consistency with that of the theoretical analysis.%关于汽车转向稳定性能优化问题,根据三轴转向车辆线性二自由度动力学模型,推导了基于质心零侧偏角控制策略的三轴转向车辆各动力学参数与转向中心纵向位移的关系；结合整车侧向稳定性条件,通过分析转向中心纵向位移对整车侧向稳定性和转向灵活性的影响,得出了转向中心纵向位移临界值和前轮过渡角的表示公式；根据整车侧向稳定性条件和适度质心侧偏角条件,提出了质心零侧偏角调度控制策略；利用MATLAB对质心零侧偏角控制策略和质心零侧偏角调度控制策略进行了定量对比分析,结果证明理论分析的一致性.