关于考虑悬架影响的汽车操纵稳定性闭环系统Hopf分岔特性.pdfVIP

学兔兔 汽 车 工 程 2016年(第38卷)第2期 Automotive Engineering 2016(Vo1．38)No．2 2016023 考虑悬架影响的汽车操纵稳定性闭环系统nopf分岔特性 魏道高 ，李莉莉 ，王 鹏 ，蒋亦斌 ，潘之杰 (1．合肥工业大学机械与汽车工程学院，舍肥 230009；2．浙江吉利汽车研究院有限公司，杭州 310052) [摘要] 四轮转向增加了汽车高速转向行驶的稳定性，改善了低速时的转向操纵灵敏性。为了揭示悬置参数 对四轮转向汽车转向行驶Hopf分岔特性的影响，为某型四轮转向汽车建立了考虑悬架影响的人一车一路闭环的汽车 转向行驶系统动力学模型和运动微分方程，分析了车辆质心位置和悬架参数对系统分岔特性的影响。结果表明，随 着质心的后移，汽车侧向速度、横摆角速度和车身侧倾角的自激振动幅值增大；随着悬架侧倾中心高度的减小，车身 侧倾角自激振动幅值增大，而侧向速度和横摆角速度的振幅减小；悬架刚度增加能抑制系统发生自激侧倾振动。 关键词：操纵稳定性；闭环系统；Hopf分岔；极限环 Hopf Bifurcation Characteristics of Closed—loop System for Vehicle Handling Stability Considering the Effects of Suspension Wei Daogao ，Li Lili ，Wang Peng ，Jiang Yibin Pan Zhijie 1．School ofMechanical and Automotive Engineeri， ，Hefei University of Technology，Hefei 230009； 2．Zhejiang Geely Automobile Institute Co．，Ltd．，Hangzhou 3 10052 [Abstract] Four-wheel—steering(4WS)system can improve the driving stability of vehicle in high speed cornering and ensure the easy handling of steering in low speed．For revealing the influence of suspension parame— ters on the Hopf bifurcation characteristics of 4WS vehicle in cornering driving，a driver-vehicle—road closed-loop dynamics model and a set of kinematic differential equations for a 4WS vehicle are established with consideration of the effects of suspension，and the effects of the location of vehicle mass center and the parameters of suspension on Hopf bifurcation characteristics are analyzed．The results show that as the mass center move rearward，the lateral speed and yaw rate of vehicle and the amplitudes of the sel