基于图解法的三轴车辆操纵稳定性分析

摘要

A three-axis vehicle has a long length body,a high axial load and complex driving conditions,these make its lateral stability be poor relatively.When the tire slip angle is more than five degrees,the tire reveals stronger nonlinear characteristics.The operating stability of the vehicle was analyzed in a linear domain and a nonlinear domain, respectively.The vehicle model,linear tire model and nonlinear tire model were built.In linear domain,based on the root locus method,the changes of the vehicle's transient steering characteristics were analyzed with the change of the vehicle structural and state parameters.In nonlinear domain,based on the phase plane method,the relationship between the vehicle operating stability and driving conditions was analyzed.At the end,the control mechanism and operating stability of the all-wheel steering vehicle were analyzed.They provided a theoretical support for the design and control of the three-axis vehicle.%三轴车辆车身长、轴载大、行驶工况复杂，这使得三轴车辆的操纵稳定性相对较差。考虑轮胎侧偏角超过5°后，轮胎呈现出较强的非线性特性，分别在线性域和非线性域内对车辆操纵稳定性进行分析。建立整车模型以及线性和非线性轮胎模型；在线性域内，基于根轨迹法研究某三轴车辆结构和状态参数对其操纵稳定性的影响；在非线性域内，基于相平面法分析三轴车辆操纵稳定性与其行驶工况的关系；最后，分析三轴全轮转向车辆的控制机理及其操纵稳定性，为三轴全轮转向车辆的设计和控制提供参考。