基于线性二自由度模型的多轴车辆转向特性仿真

doi:10.3976/j.issn.1002-4026.2022.01.013

Abstract

Abstract:

With the development of intelligent and unmanned heavy-duty multi-axle vehicles, it is necessary to conduct research on vehicle lateral dynamics. By establishing a linear two-degree-of-freedom model of a multi-axle vehicle, the steady-state and transient analyses of the steering characteristics of a six-axle vehicle are performed. Simulation results qualitatively show that the use of multi-axle steering technology can effectively improve the steering maneuverability of the vehicle and provide theoretical support for controller design in the future.

Key words: multi-axle vehicle, steering, linear two-degree-of-freedom, simulation

CLC Number:

U462

LI Zheng,LIU Xiang-xin,LI Lan. Simulation of the steering characteristics of multi-axle vehicles based on a linear two-degree-of-freedom model[J].Shandong Science, 2022, 35(1): 99-106.

Figures/Tables 9

Fig.1

Table 1

Fig.2

Table 2

Wheel coordinate system parameters and their meanings"

符号	含义	符号	含义
x	车轮平面与地平面的交线为x轴,指向车轮前进方向	$T x$	翻转力矩,方向按右手定则
y	指向车轮左方(从后往前看)	$T y$	俯仰力矩,方向按右手定则
z	指向车轮上方	$T z$	回正力矩,方向按右手定则
$F x$	地面切向反作用力,以x轴正向为正	α	侧偏角,是轮胎接地印迹中心(即坐标原点)实际位移方向与x轴正方向的夹角,图中方向为正
$F y$	地面侧向反作用力,以y轴正向为正	γ	外倾角,垂直平面(xOz平面)与车轮平面夹角,图中方向为正
$F z$	地面法向反作用力,以z轴正向为正	ω	车轮转速

Table 2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

References 11

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符号	含义
x	指向车辆前方
y	指向车辆左方(从后往前看)
z	指向车辆上方

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Simulation of the steering characteristics of multi-axle vehicles based on a linear two-degree-of-freedom model

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