6×6铰接车后轮转向稳态响应分析

摘要

为分析6×6铰接车后轮转向稳态响应特性，在考虑了车体质心侧偏角、车轮侧偏角以及整车的侧向和横摆运动的基础上，建立了2自由度转向动力学模型，分析得到了表征铰接车转向稳态响应的重要参数———稳定性因数K，其综合反映了铰接车质量、整车结构与轮胎特性对铰接车体转向运动特性的影响，通过调整模型中的参数，可优化整车的稳态转向响应特性，提高整车的行驶稳定性。仿真计算得到了铰接车后轮角阶跃信号输入下车体质心横摆角速度随时间的变化曲线，以及铰接车行驶过程的临界车速，为深入研究铰接车动态转向过程奠定了基础。%To analyze the steady state response feature of rear-wheel steering for 6 ×6 articulated vehicle , a differential equation for the two-DOF motion is set up based on the vehicle sideslip angle , tire sideslip angle, lateral motion as well as yawing motion of the vehicle .By analyzing the above dynamical mo-del, the stability factor K which indicates the steady state response of articulated vehicle during steering is ob-tained.It comprehensively reflects the impacts of the articulated vehicle mass , vehicle structure and tire features on the steering characteristics of articulated vehicle .The steady state response of the vehicle can be optimized, and its stability during driving can be improved by adjusting the parameters of the above model.Via simulating calculation , this paper presents the curves of vehicle barycenter and yaw velocity changing with time and critical speed of articulated vehicle during driving under the step signal of the rear wheel slip angle of the articulated vehicle , which lays a good foundation for the in-depth analysis of the dynamic steering process of the articulated vehicle .