摘要
分析了汽车各向运动的耦合作用规律，建立了23自由度的三向耦合重型汽车整车模型，并推导了系统运动微分方程。将非线性的Gim模型与垂向点接触轮胎模型相结合对三向非线性轮胎力进行描述，建立了六个一阶常微分方程，以实时计算各个车轮的转速，进而计算滑移率。通过数值积分计算了车辆在转向制动、匀速直线及方向盘角跃阶工况下的动态响应，将计算结果与传统的操纵稳定性模型、平顺性模型，及虚拟样机模型和试验数据相比较，验证了所建模型的有效性，并且分析了耦合作用对汽车响应的影响。结果表明，该耦合模型可以同时研究汽车在复杂工况下的平顺性、操纵稳定性和制动性。
Abstract
The coupling relationships of vehicle motions in different directions are analyzed first. A three-directional coupled heavy vehicle model with 23-DOF is built and the equations of motion of this vehicle are deduced. The nonlinear tire forces in different directions are calculated by the nonlinear Gim model and vertical single dot contact model. Six one-order ordinary differential equations are obtained to calculate wheel rotate speed at real time and slip ratios. Taking the turning-braking combined condition, the uniform straight running and the steering wheel angle step input as examples, the dynamic responses of the coupled vehicle are simulated by numerical integration. The validity of this new vehicle model is verified by comparing with the traditional handling and stability model, the traditional ride comfort model, the Functional Virtual Prototyping model and test data. The effects of coupling action on vehicle responses are also analyzed. The results show that the proposed three-directional coupled model is suitable to research the ride comfort, handling stability and brake properties of vehicles in complicated driving conditions simultaneously.
关键词
三向耦合 /
重型汽车 /
建模 /
非线性轮胎力 /
整车动力学
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Key words
three-directional coupled /
heavy vehicle /
modeling /
nonlinear tire forces /
full vehicle dynamics
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李韶华;杨绍普;陈立群.
三向耦合非线性重型汽车建模及动力学分析[J]. 振动与冲击, 2014, 33(22): 131-138
Li Shaohua;Yang Shaopu;Chen Liqun .
Modeling and dynamic analysis for a three-directional coupled no-linear heavy vehicle[J]. Journal of Vibration and Shock, 2014, 33(22): 131-138
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