基于闭环非线性系统的半挂汽车列车行驶稳定性分析  

Analysis of Tractor-semitrailer Driving Stability Based on Closed Loop Nonlinear System

作　　者：关志伟 许洪国[2] 刘宏飞[2] 任有[2] 

机构地区：[1]天津工程师范学院汽车工程系,天津300222 [2]吉林大学交通学院,长春130022

出　　处：《吉林大学学报（工学版）》2005年第6期587-591,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金资助项目(50475008)

摘　　要：为了分析半挂汽车列车非线性系统的行驶稳定性,以单点预瞄驾驶员模型与半挂汽车列车三自由度非线性模型的耦合系统为研究对象,应用李雅普诺夫一次近似定理,在线性范围内分析了系统参数的特征根轨迹以及驾驶员预瞄时间和轮胎侧偏刚度对临界车速的影响。分析结果表明:轮胎侧偏刚度对半挂汽车列车临界车速影响很大,随侧偏刚度增加,临界车速呈上升趋势,并且轮胎侧偏刚度与临界车速呈非线性关系;不同的预瞄时间对应不同的临界车速,并且存在一个最佳的预瞄时间。To analyze the driving stability of the tractor-semitrailer, a coupled system composed of single point preview driver model and 3-degree-of-freedom nonlinear model was suggested to simulate it. By applying Lyapunov linear approximation theorem, the characteristic root locus of system parameters and the effects of driver preview time and cornering stiffness on the critical vehicle speed were linearly analyzed. Analytical results show that the tire cornering stiffness significantly affects the critical vehicle speed of tractor-semitrailer, the speed goes up with the increase of cornering stiffness, showing a nonlinear relationship between them. Different preview times correspond to different critical vehicle speeds, and there is an optimal preview time.

关 键 词：车辆工程 李雅普诺夫方法 行驶稳定性 半挂汽车列车 闭环系统 非线性系统 

分 类 号：U491.5[交通运输工程—交通运输规划与管理]