电驱动铰接车本身质量偏置对转向操稳性的影响-中南大学学报.PDFVIP

第 48 卷第 10 期 中南大学学报( 自然科学版) Vol.48 No.10 2017 年 10 月 Journal of Central South University (Science and Technology) Oct. 2017 DOI: 10.11817/j.issn.1672−7207.2017.08.014 电驱动铰接车本身质量偏置对转向操稳性的影响 黄夏旭，司吉祥，杨珏，张文明，申焱华 (北京科技大学 机械工程学院，北京，100083) 摘要：根据电驱动铰接式自卸车的结构特点，提出一种考虑车身侧倾和质心偏置情况下的车辆运动模型，通过计 算其稳态转向过程中的横摆角速度增益、侧倾角增益以及不足转向系数来建立横摆角速度与侧倾角的理论关系， 论述前、后车体质心偏置对车辆操纵稳定性的影响。研究结果表明：分析计算和试验验证的结果基本吻合；铰接 式车辆以不同车速稳态转向时横摆角速度与侧倾角呈现出一种抛物线关系，且前、后车体质心偏置对车辆转向过 程中的操纵稳定性有着不同的影响规律，该研究可为铰接式车辆操纵稳定性的综合控制提供理论参考。 关键词：铰接式车辆；横摆角速度；侧倾角；质心偏置 中图分类号：U461.6 文献标志码：A 文章编号：1672−7207(2017)10−2657−08 Effects of mass offset on steering handing stability for electric-driven articulated truck HUANG Xiaxu, SI Jixiang, YANG Jue, ZHANG Wenming, SHEN Yanhua (School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China) Abstract: A roll and centroid offset steering kinematics model was presented according to the electric-driven articulated vehicle structural characteristics. The theoretic relationship between the yaw rate and roll angle steady-state value was established and the centroid position offset to the handling stability effects in steering conditions was discussed by calculating the yaw rate gain, roll angle gain and understeer parameter. The results show that analysis and test results are basically consistent when the articulated vehicle is steering at different speeds; the relationship between the yaw rate and roll angle is a complex nonlinear. And the centroid offset has different influence on the articulated vehicle handling