考虑悬架影响的汽车操纵稳定性闭环系统Hopf分岔特性  

Hopf Bifurcation Characteristics of Closed-loop System for Vehicle Handling Stability Considering the Effects of Suspension

作　　者：魏道高[1] 李莉莉[1] 王鹏[1] 蒋亦斌[1] 潘之杰[2] 

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009 [2]浙江吉利汽车研究院有限公司,杭州310052

出　　处：《汽车工程》2016年第2期141-148,共8页Automotive Engineering

基　　金：国家自然科学基金(51375130和51050002)资助

摘　　要：四轮转向增加了汽车高速转向行驶的稳定性,改善了低速时的转向操纵灵敏性。为了揭示悬置参数对四轮转向汽车转向行驶Hopf分岔特性的影响,为某型四轮转向汽车建立了考虑悬架影响的人-车-路闭环的汽车转向行驶系统动力学模型和运动微分方程,分析了车辆质心位置和悬架参数对系统分岔特性的影响。结果表明,随着质心的后移,汽车侧向速度、横摆角速度和车身侧倾角的自激振动幅值增大;随着悬架侧倾中心高度的减小,车身侧倾角自激振动幅值增大,而侧向速度和横摆角速度的振幅减小;悬架刚度增加能抑制系统发生自激侧倾振动。Four-wheel-steering（ 4WS） system can improve the driving stability of vehicle in high speed cornering and ensure the easy handling of steering in low speed. For revealing the influence of suspension parameters on the Hopf bifurcation characteristics of 4WS vehicle in cornering driving,a driver-vehicle-road closed-loop dynamics model and a set of kinematic differential equations for a 4WS vehicle are established with consideration of the effects of suspension,and the effects of the location of vehicle mass center and the parameters of suspension on Hopf bifurcation characteristics are analyzed. The results show that as the mass center move rearward,the lateral speed and yaw rate of vehicle and the amplitudes of the self-excited roll vibration of vehicle body tend to increase.As the height of suspension roll center reduces,the amplitudes of self-excited roll vibration increase while the vibration amplitudes of lateral speed and yaw rate decrease. The increase of suspension stiffness can restrain self-excited roll vibration.

关 键 词：操纵稳定性 闭环系统 HOPF分岔 极限环 

分 类 号：U461.6[机械工程—车辆工程]