不同转向模式的多轴转向车辆性能分析

为解决重型车辆转向时的低速机动性和高速稳定性的问题,提出了多轴动态转向技术,并以三轴车辆为研究对象进行分析。首先建立多轴转向的二自由度车辆模型以及运动微分方程,为提高车辆的稳定性,以零质心侧偏角为目标,推导各轴间的转角比例系数及有关的状态空间矩阵、传递函数,使用MATLAB软件对不同转向模式下的操纵稳定性进行了稳态响应、瞬态响应以及频域响应的仿真。通过分析比较,说明采用多轴动态转向技术,车辆在转向时具有低速机动性高、高速稳定性好的特点。

Analysis of Performance of Vehicle with Multi-axle Steering at Different Steering Modes

Because heavy-duty vehicle with front-wheel steering has the big radius at low speed and bad stability at high speed,in order to improve heavy-duty vehicle steering performance at different speeds,the multi-axle steering technology was put forward.Taking the three-axle vehicle with multi-axle steering as the research object,the 2-DOF model and differential equation of vehicle with multi-axle steering were established.Based on zero side-slip angle of mass center and proportional control strategy,the steering angle ratios of wheel,state condition matrix,and transfer functions were obtained.Using MATLAB software,the handling stability of the three-axle vehicle with different steering models were simulated and compared,including stable response,transient response and frequency response.The result shows that multi-axle steering technology can decrease the steering radius at low speeds and improve vehicle stability at high speeds.