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摘要: 为了减小空气力的影响, 简化车辆多自由度转向动力学方程, 考虑了空气力的影响, 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。Abstract: In oder to decrease the influence of air forces, predigest the multiple-DOF steering dynamics equations of vehicle, air forces were considered, a 3-DOF steering dynamics model was proposed. The state equations of the model was induced, sideslip angle in mass vehicle center, yaw angle, yaw velocity, roll angle and roll velocity were state variables, steering angle in front axle and crosswind force were input variables, sideslip angle in vehicle mass center, yaw angle, yaw velocity, roll angle were output variables. The simulation credibility of the equations was validated by using a test vehicle with an active steering angle pulse. The simulation result with the 3-DOF model and equations was compared with that from 2-DOF steering dynamics model. Comparison result shows that the Absolute values of sideslip angle and yaw velocity from the 3-DOF model and equations are less, which indicates that air forces strengthen the lacking steering property of vehicle. The sideslip values gained by the tow models are larger than the test value, but the value gained by the 3-DOF model is closer to the test value. Obviously, the credibility of the 3-DOF equations is higher.
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Key words:
- vehicle engineering /
- 3-DOF steering model /
- steering state equation /
- air force
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图 3 质心侧偏角与横摆角速度仿真曲线
Figure 3. Simulation curves of sideslip angle in mass center and yaw velocity
图 4 车身侧向偏移仿真与试验结果对比
Figure 4. Comparison of simulation curves and experimental curve of lateral displacement
表 1 商用车仿真参数
Table 1. Simulation parameters of commercial vehicle
参数 数值 参数 数值 m/kg 7 600 ηV 2 mU/kg 6 200 ηH 4 Imz/(kg·m2) 23 222 c1 -4.612 6 ImUx/(kg·m2) 12 946 c2 -0.584 5 ImUxz/(kg·m2) 993.2 hLx/m 1.6 l/m 3.8 hPU/m 0.916 4 lV/m 2.692 5 SV/m 0.87 v/(m·s-1) 27.78 SH/m 1.04 FzXenn/N 18 620 kV/(N·m-1) 162 100 A/m2 6.99 kH/(N·m-1) 384 200 CDx 0.64 cV/(N·s·m-1) 5 384.6 CLzV 0.18 cH/(N·s·m-1) 7 692.1 CLzH 0.23 kψV/(N·m·rad-1) 132 300 kψH/(N·m·rad-1) 44 688 
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