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为分析6×6铰接车后轮转向稳态响应特性,在考虑了车体质心侧偏角、车轮侧偏角以及整车的侧向和横摆运动的基础上,建立了2自由度转向动力学模型,分析得到了表征铰接车转向稳态响应的重要参数——稳定性因数K,其综合反映了铰接车质量、整车结构与轮胎特性对铰接车体转向运动特性的影响,通过调整模型中的参数,可优化整车的稳态转向响应特性,提高整车的行驶稳定性。仿真计算得到了铰接车后轮角阶跃信号输入下车体质心横摆角速度随时间的变化曲线,以及铰接车行驶过程的临界车速,为深入研究铰接车动态转向过程奠定了基础。
In order to analyze the steering response characteristics of 6 × 6 hinged rear wheels, a 2-DOF steering force was established based on the lateral and yaw angles of vehicle body, The stability factor K, which is an important parameter to characterize the steering steady response of the articulated vehicle, is obtained by analysis. The effect of the articulated vehicle mass, the structure of the vehicle and the tire characteristics on the steering characteristics of the hinged body is analyzed. Through adjusting the model In the parameters, can optimize the vehicle’s steady-state steering response characteristics, improve vehicle driving stability. The curve of the yaw rate of the center of mass of the hindquarters with the input signal of the hind corner of the hitch of the articulated vehicle is obtained by simulation and the critical speed of the hitch during the homing process is established.