考虑空气力的车辆三自由度转向模型与状态方程-交通运输工程学报.PDFVIP

第9 卷　第1 期 交 通 运 输 工 程 学 报 Vol.9　No.1 2009 年2 月 Journal of T raffic and Transportation Engineering Feb.2009 :1671-16 7(2009)01-0029-06 1 2 2 2 周玉财,何　仁 , 陈士安,顾彬彬 (1. , 　81000 ; 2. , 　21201 ) 　:为了减小空气力的 响,简化车辆多自由度转向动力学方程, 考虑了空气力的 响,建立了 车辆三自度转向运动的动力学模型。以质心侧偏角、横摆角、横摆角速度、侧倾角、侧倾角速度为状 态变量,以前轴转角及侧风作用力为输入,以质心侧偏角、横摆角、横摆角速度、侧倾角为输出,推导 了车辆三自度转向运动的动力学模型的状态方程。以前轴主动转角脉冲为输入, 对状态方程的可 信度进行了验证。与利用线性二自由度转向模型的仿真结果相比, 利用三自由度转向模型与其状 态方程得到车辆质心侧偏角与横摆角速度的绝对值均较小,在高速情况下, 空气力会增强车辆的不 足转向特性。采用两种模型得到的车身侧向偏移均大于试验值,但三自由度模型的仿真曲线非常 接近试验曲线。可见,三自由度状态方程可信度高。 :车辆工程;三自由度转向模型;转向状态方程;空气力 :U461.6　　　:A 3-DOF vehicle steering model and state equations based on considering air forces 1 2 2 2 ZHO U Yu-cai , HE Ren , CHEN Shi-an , G U Bin-bin (1.Department of Automobile Engineering, Qinghai Communications Technical College, Xining 81000 , Qinghai, China;2.School of Automobile and Traffic Engineering, Jiangsu University, Zhenjiang 21201 , Jiangsu, China) Abstract:In oder to decrease the influence of air forces, predigest the multiple-DOF steering dynamics equations of vehicle, air forces were considered, a -DOF steering dynamics model w as proposed.The state equations of the model w as induced, sideslip angle in mass vehicle center, yaw angle, yaw velocity, roll angle and roll velocity w ere state variables, steering angle in front axle and crossw ind force w ere input variables, sideslip angle in vehicle mass center, yaw angle, yaw velocity, roll angle were output variables.The simulation