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建立多轴转向车辆的二自由度非线性轮胎的整车动力学方程,分析多轴车辆转向性能评价参数与车速的关系。分析结果表明:多轴转向车辆的行驶稳定性主要取决于车身质心的位置、轴的分布、轴的质量及轮胎的侧偏刚度等因素。采用非线性轮胎模型对整车机械转向进行仿真分析,比线性轮胎模型更接近实际车辆的运动情况。仿真结果表明:车身的横摆角速度、质心偏离角、侧向加速度都随车速的提高而不断增大。全轮转向比前轮转向和前三轴转向的转向半径小,车辆具有更好的通过性。但随着车速的提高,全轮转向的车辆易出现甩尾现象,会降低车辆的行驶稳定性。
The vehicle dynamic equation of a two-degree-of-freedom nonlinear tire with multi-axle steering vehicle is established, and the relationship between the steering performance evaluation parameters and vehicle speed is analyzed. The analysis results show that the driving stability of multi-axle steering vehicle mainly depends on the position of the center of mass of the vehicle body, the distribution of the shaft, the quality of the shaft and the lateral stiffness of the tire. The non-linear tire model is used to simulate the mechanical steering of the vehicle, which is closer to the actual vehicle movement than the linear tire model. The simulation results show that the yaw rate, centroid deviation angle and lateral acceleration of the vehicle body increase with the increase of vehicle speed. The all-wheel steering has smaller turning radius than the front-wheel steering and the front three-axis steering, and the vehicle has better passing ability. However, as the speed increases, all-wheel-drive vehicles tend to drift-out phenomenon, will reduce the vehicle’s driving stability.