摘要
讨论并建立了车载式火炮多桥转向二自由度模型动力学方程普适公式,分析了其固有属性,并在零侧偏角比例控制策略下分析了系统的转向中心位置、各桥转角比与车速的关系、最小转弯半径以及系统在时域和频域的响应。分析结果表明,多桥转向系统的稳定性取决于车辆的重心位置和轮胎的侧偏刚度参数,采用零侧偏角比例控制的方法控制多桥转向系统能够保证系统在任意速度下的侧偏角稳态值为零,侧向加速度稳态值也有大幅度的下降,并且横摆角速度在高速和低速下变化不大,系统反应更快捷,转向过程更平稳,显著地改善了车辆的操纵稳定性。
A two degrees of freedom multi-axle vehicle steering model was established and the steering center position, the relationship between the steering angle and the vehicle velocity, and the minimum turn radius were deduced based on a zero sideslip angle proportional control. The results indicate that the system stability is decided by the vehicle barycenter position and the lateral stiffness of the tire. Under this control, the steady lateral acceleration value is diminished obviously and the yaw angular velocity changes little under any vehicle velocity. The system responds rapidly, the vehicle steers smoothly, and its handling stability is improved prominently.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2006年第3期321-326,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
国防科研(军工)项目(CNK-B04018)
吉林大学创新基金资助项目(2004CX021)
关键词
车辆工程
车载式自行火炮
多桥转向
操纵稳定性
vehicle engineering
truck-howitzer
multi-axle steering
handling stability
