铰接式车辆行驶稳定性的理论分析与数值计算

吉林大学学报(工学版) ›› 2004, Vol. ›› Issue (3): 367-372.

铰接式车辆行驶稳定性的理论分析与数值计算

刘刚¹, 张子达²

1. 空军第二航空学院基础部, 吉林长春 130022;
2. 吉林大学机械科学与工程学院, 吉林长春 130022

收稿日期:2003-11-15 出版日期:2004-07-01
通讯作者: 张子达(1942- ),男,教授,博士生导师.E-mail:zidazhang99@sina.com.cn

Theoretical analysis and numerical calculation for driving stability of articulated-frame vehicles

LIU Gang¹, ZHANG Zi-da²

1. Department of Foundation, The Second Aeronautical Institute of the Airforce, Changchun 130022, China;
2. College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China

Received:2003-11-15 Online:2004-07-01

摘要/Abstract

摘要： 为了获得车辆稳定行驶的临界车速,对铰接式车辆沿直线或大曲率半径曲线行驶时的稳定性进行了研究。将铰接式车辆简化为前、后两车节组成的系统,考虑了轮胎侧偏特性和液压转向机构的弹性,建立了铰接式车辆行驶稳定性线性动力学方程。给出了铰接式车辆行驶稳定性的两种判别方法:特征值方法和时不变输入下稳态响应方法。给出了稳定性因数表达式和临界车速计算方法和公式。指出了铰接式车辆的两种失稳形式:由于轮胎侧偏导致的失稳和由于转向机构缺陷导致的失稳。初步讨论了铰接式车辆侧向运动的频率响应特性。给出了两种铰接式车辆的临界车速动力修改灵敏度分析方法:基于时不变输入下稳态响应方法的直接求导法和基于复特征值分析的特征值法。以ZL10装载机为例进行了实例数值计算,得到了该车的临界车速。

关键词: 车辆工程, 铰接式车辆, 行驶稳定性, 轮胎侧偏特性, 液压转向机构, 临界车速

Abstract: In order to obtain critical speed when articutaled-frame vehicles(AFV) drive stability, the driving stability of AFV with hydraulic steering system moving along a straight or a small curvature road was studied.Idealized into a model composed of a front and rear body,taking both the elastic characteristics of hydraulic steering system and tire ride slip behavior into account, a linear dynamic equation system for the driving stability of AFV was established.Two methods of judging the driving stability of AFV were presented:the eigenvalue method and the method of steady response under constant input,and the expressions of stability factor and critical vehicle speed were derived.Two forms of instability of AFV were shown.The frequency response characteristics were discussed preliminarily.Two methods on sensitivity analysis for dynamic correction of AFV critical speed were suggested,i.e. direct derivation method based on the steady response and eigenvalue method based on complex eigenvalue analysis.Finally,the critical speed of the ZL10 loader was calculated as an example.

Key words: vehicle engineering, articulated-frame vehicle, driving stability, tire side slip characteristics, hydraulic steering system, critical speed

中图分类号:

U467

刘刚, 张子达. 铰接式车辆行驶稳定性的理论分析与数值计算[J]. 吉林大学学报(工学版), 2004, (3): 367-372.

LIU Gang, ZHANG Zi-da. Theoretical analysis and numerical calculation for driving stability of articulated-frame vehicles[J]. 吉林大学学报(工学版), 2004, (3): 367-372.

参考文献

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[6] 刘刚.铰接车辆行驶稳定性的动力学建模［J］.工程机械,1996(8):5-8.LIU Gang. Dynamics model estabhshment for travel stability of articulated vehicles［J］. Construction Machinery and Equipment, 1996 (8):5-8.
[7] 刘刚.铰接车辆行驶动态特性的研究［D］.长春:吉林工业大学机械科学与工程学院,1997.LIU Gang. Research on driving dynamic characteristics of articulated--frame vehicles［D］. Changchun:College of Mechanical Science and Engineering,Jilin university of Technology, 1997.
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