关键词: 多轴车；制动；动力学模型；抱死顺序；制动性能

Abstract:

Through discussing the problems of calculation for the braking of multi-axle vehicle, which was based on the classical model and described the general dynamics models for the line braking of multi-axle vehicle. The models reserved the constrain of the suspension and introduced the suspension distortion harmonizing equations. Based on the models, it deduced the general formulas for calculating the vertical counterforce from road. Then it put forward a method for getting the lock sequence of multi-axle vehicle, which is easy to be implemented with computer language, and deduced the general calculation formulas for the brake power，braking acceleration and braking distance of the line braking.

Key words: multi-axle vehicle；braking；dynamics model；lock sequence；braking performance