基于線性二自由度模型的多軸車輛轉(zhuǎn)向特性仿真

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摘要：在重型多軸車輛智能化、無人化的發(fā)展趨勢下，需要開展車輛橫向動力學(xué)研究。針對某六軸車輛，通過建立多軸車輛線性二自由度轉(zhuǎn)向模型，開展轉(zhuǎn)向特性穩(wěn)態(tài)分析和瞬態(tài)分析。仿真結(jié)果定性地表明采用多軸轉(zhuǎn)向技術(shù)能夠有效提升車輛轉(zhuǎn)向機(jī)動性，為后續(xù)轉(zhuǎn)向控制器設(shè)計(jì)提供了理論支撐。

關(guān)鍵詞：多軸車輛;轉(zhuǎn)向;線性二自由度;仿真

中圖分類號：U462文獻(xiàn)標(biāo)志碼：A文章編號：1002-4026（2022）01-0099-08

開放科學(xué)（資源服務(wù)）標(biāo)志碼 （OSID）：

Simulation of the steering characteristics of multi-axle vehicles based

on a linear two-degree-of-freedom model

LI Zheng，LIU Xiang-xin*，LI Lan

（Beijing Institute of Space Launch Technology， Beijing 100076）

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

重型多軸車輛一般是指軸數(shù)≥3的越野車輛，包括驅(qū)動形式為6×6、8×8、10×8、12×10、12×12、16×10、16×16等全輪或非全輪驅(qū)動車輛[ 1]。（剩余5285字）