转向系参数对汽车拖车组合系统稳定性的影响

doi:10.3969/j.issn.1004-132X.2020.21.001

摘要/Abstract

摘要： 车身摆振是汽车拖车组合系统中一种复杂的动力学失稳现象，它常常表现为车身折叠、侧滑、侧倾等行为，给道路交通安全带来了巨大的隐患。针对此问题，应用拉格朗日方程建立了考虑牵引车转向系统的汽车拖车组合系统6自由度非线性综合模型，并通过非线性分析方法研究了转向系惯性参数和各个结构刚度、阻尼对汽车拖车组合系统稳定性的影响。结果表明，转向系结构参数对系统稳定性存在不同影响，合理选择转向系结构参数可以有效提高汽车拖车组合系统的动态稳定性。

关键词: 汽车拖车组合系统, 动态稳定性, 车身摆振, 转向系统, 非线性动力学

Abstract: Body sway was a complicated dynamic instability phenomenon in car-trailer combinations. It was often manifested as Jackknifing, sideslip, rolling etc., which brought great hidden troubles to road traffic safety. Aiming at this problem, a 6-DOFs system model of car-trailer combinations was established considering steering system of the towing car and applying the Lagrange equation herein. The influences of steering system inertial parameters, steering system stiffness and steering system damping on the stability of system were studied through the nonlinear analysis method. The results show that the influences of different steering system characteristics on the system stability are not the same. Reasonable selection of steering system characteristics may effectively improve the dynamic stability of car-trailer combinations.

Key words: car-trailer combination, dynamic stability, body sway, steering system, nonlinear dynamics

中图分类号:

U461

张宁;李田;殷国栋;吴建华;赵子乾. 转向系参数对汽车拖车组合系统稳定性的影响[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.21.001.

ZHANG Ning;LI Tian;YIN Guodong;WU Jianhua;ZHAO Ziqian. Stability Investigation of Car-trailer Combinations Considering Steering System Parameters[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.21.001.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2020.21.001

http://www.cmemo.org.cn/CN/Y2020/V31/I21/2521

参考文献

［1］张宁,李田,马健,等.拖车系统车身摆振的非线性动力学分析［J］. 机械工程学报, 2019, 55(24): 127-136.

ZHANG Ning, LI Tian, MA Jian, et al. Nonlinear Dynamics Analysis of the Body Sway of Car-trailer Combinations［J］. Journal of Mechanical Engineering, 2019, 55(24): 127-136.

［2］KELLER A. Jackknife Control for Tractor-trailer［J］. SAE Paper，1973: 730643.

［3］郭正康. 汽车列车制动力分配和制动稳定性分析(上、下)［J］. 汽车技术，1981(2/3)：8-11.

GUO Zhengkang. An Analysis of Braking Force Distribution and Braking Stability of Automobile Train［J］. Automobile Technology，1981(2/3)：8-11.

［4］WU Dehe. A Theoretical Study of The Yaw/Roll Motions of a Multiple Steering Articulated Vehicle［J］. Proc. IMechE D: J. Automobile Engineering, 2009, 215(12): 1257-1265.

［5］DARLING J, TILLEY D, GAO B. An Experimental Investigation of Car-trailer High-speed Stability［J］. Journal of Automobile Engineering, 2009, 223 (4): 471-484.

［6］黄朝胜，隗海林，吴振昕. 牵引车半挂车列车动力学仿真研究［J］. 汽车工程，2005，27(6)：744-750.

HUANG Chaosheng， KUI Hailin ， WU Zhenxin. A Simulation Study on the Dynamics of Tractor-semitrailer Combination［J］. Automotive Engineering，2005，27(6)：744-750.

［7］DENG Weiwen, KANG Xiaodi. Parametric Study on Vehicle-trailer Dynamics for Stability Control［J］. SAE Paper, 2003-01-1321.

［8］BEREGI S, TAKCS D, STPN G. Tire Induced Vibrations of The Car-trailer System［J］. Journal of Sound & Vibration, 2016, 362:214-227.

［9］KHARRAZI S, LIDBERG M, ROEBUCK R, et al. Implementation of Active Steering on Longer Combination Vehicles for Enhanced Lateral Performance［J］. Vehicle System Dynamics, 2012, 50(12):22.

［10］陆永华. 拖挂式房车制动控制策略的研究［D］. 镇江：江苏大学，2005.

LU Yonghua. Study on Braking Control Strategy of Caravan-trailer［D］. Zhenjiang：Jiangsu University，2005.

［11］SUN T, HE Y. Phase-plane Analysis for Evaluating the Lateral Stability of Articulated Vehicles［J］. SAE Technical Paper, 2015:7148-7191.

［12］SORGE F. On the Sway Stability Improvement of Car-caravan Systems by Articulated Connections［J］. Vehicle System Dynamics, 2015, 53(9): 1349-1372.

［13］张义花, 许洪国, 刘宏飞, 等. 双挂汽车列车高速阶跃横向失稳能量分析［J］. 吉林大学学报(工学版), 2017, 47(1): 71-75.

ZHANG Yihua, XU Hongguo, LIU Hongfei, et al. Energy Analysis of Lateral Instability in Vehicle Combinations at High-speed Step Response［J］. Journal of Jilin University (Engineering and Technology Edition), 2017, 47(1): 71-75.

［14］杨秀建. 极限工况下汽车转向失稳的非线性动力学特性与主动控制研究［D］. 济南：山东大学, 2009.

YANG Xiujian. Research on the Nonlinear Dynamics and Active Control for Vehicle Cornering Destabilization in Critical Situations［D］. Jinan：Shandong University, 2009.

［15］ISIDORI A. Nonlinear Control Systems［M］. London:Springer Science & Business Media, 2013.

［16］ZHANG Ning. Stability Investigation of Car-trailer Combinations Based on Time-frequency Analysis［D］. Darmstadt: Technische Universitt Darmstadt, 2015.

[1]	汪军水, 贾翔宇, 张剀, 徐旸. 磁轴承转子跌落在保护轴承上的动力学研究[J]. 中国机械工程, 2022, 33(20): 2403-2413，2419.
[2]	刘俊, 石朝欢, 林贝清, 黄鹤. 多轴车辆线控液压转向系统设计及转角控制[J]. 中国机械工程, 2022, 33(14): 1741-1750.
[3]	孙友刚1,2;董达善1;强海燕1,2;王冉1. 深海张力腿平台非线性涡激振动响应特性分析[J]. 中国机械工程, 2018, 29(14): 1666-1673.
[4]	王俊国;肖遥;杨旭峰;赵永翔;方修洋. 牵引电机扭矩激扰的机车齿轮传动系统非线性特性[J]. 中国机械工程, 2018, 29(11): 1296-1302.
[5]	张永顺1,2;姜万录1;苏晓1;雷亚飞1. 二通插装阀非线性动力学行为[J]. 中国机械工程, 2018, 29(10): 1159-1165.
[6]	艾青林;徐冬;张立彬. 基于阻抗特性的六足机器人动态稳定性[J]. 中国机械工程, 2017, 28(24): 2981-2989.
[7]	熊璐1,2;付志强2;李增良2;章仁燮1. 无人车的线控转向系统故障诊断[J]. 中国机械工程, 2017, 28(22): 2689-2694,2700.
[8]	陈剑;戎芳明. 货车转向系统结构振动特性测试与优化[J]. 中国机械工程, 2017, 28(20): 2463-2466,2492.
[9]	毛君, 张瑜, 张坤, 陈洪月, 徐健博. 采煤机截割部传动系统的非线性动力学建模及仿真[J]. 中国机械工程, 2017, 28(01): 27-34.
[10]	赵韩, 赵福民, 黄康, 邵可, 孙浩. 液压马达式汽车主动稳定杆系统建模与控制[J]. 中国机械工程, 2016, 27(14): 1976-1981.
[11]	张荣芸, 赵林峰, 陈无畏, 黄鹤. 基于LPV/H∞控制的EPS系统及其硬件在环研究[J]. 中国机械工程, 2015, 26(4): 545-552.
[12]	钱立军, 胡伟龙, 邱利宏, 刘少君. 多轴车辆第三轴电控液压转向系统及其PID控制[J]. 中国机械工程, 2015, 26(22): 3008-3013.
[13]	黑棣, 吕延军, 张永芳. 有限长轴承支撑的转子系统非线性动力学分析[J]. 中国机械工程, 2015, 26(19): 2633-2640.
[14]	李晟, 吴庆鸣, 张志强, 陈冲明. 两级行星轮系分岔与混沌特性研究[J]. 中国机械工程, 2014, 25(7): 931-937.
[15]	苟向锋, 吕小红, 陈代林. 单级齿轮传动系统的Hopf分岔与混沌研究[J]. 中国机械工程, 2014, 25(5): 679-683,691.