广义车辆系统动力学：理论框架与总体概述

doi:10.3901/JME.2025.18.190

摘要/Abstract

摘要： 车辆动力学理论是汽车设计和控制的基础。随着汽车电动化与智能化快速发展，分布式、模块化与多冗余的新型底盘结构打破了传统车辆运动功能边界，车载、路测与网联等智能信息的引入也使车辆系统逐渐向物理信息系统演变。现有以“刚体-轮胎-路面”三要素为核心的车辆动力学理论体系难以统一化表征多运动形态的底盘动力学，更无法阐述多源外部环境信息与车辆之间的力学交互本质，其理论内涵与辐射范围凸显出模型构建通用性弱和环境信息包容性差两大局限。针对上述问题，提出一种广义车辆系统动力学理论架构，将底盘约束、车间作用与信息交互统一抽象为广义车辆系统内部的广义作用力，建立了涵盖机械、电子与信息多物理场耦合作用的动力学体系，丰富了传统“建模-估计-控制”理论内涵，形成了可指导高性能车辆底盘设计与协同控制的统一理论框架。

关键词: 广义车辆系统动力学, 多运动形态底盘, 建模-估计-控制, 物理信息系统, 多域耦合动力学

Abstract: Vehicle dynamics theory is fundamental to automotive design and control. With the rapid development of automotive electrification and intelligence, novel chassis configurations characterized by distribution, modularity, and redundancy have disrupted traditional boundaries of vehicle motion functions. The integration of onboard, roadside, and connected intelligent sensing information has transformed vehicle systems into cyber-physical systems. Existing vehicle dynamics theories, however, struggle to uniformly characterize the dynamics of multi-mode chassis structures and fail to elucidate the mechanical interactions between vehicles and multi-source external environmental information, highlighting critical limitations in model generality and environmental information integration. To address these issues, a generalized vehicle system dynamics framework is proposed. This framework abstracts chassis constraints, inter-vehicle interactions, and information exchange as generalized internal forces within the vehicle system, thereby constructing a coupled dynamics system encompassing mechanical, electronic, and informational multiphysics interactions. Furthermore, it enriches the traditional “modeling-estimation-control” theoretical paradigm, forming a unified theoretical framework to guide the chassis design and coordinated dynamic control of high-performance vehicles.

Key words: generalized vehicle system dynamics, multi-functionality chassis, modeling-estimation-control, cyber-physical systems, multi-domain coupling dynamics

中图分类号:

U461

殷国栋. 广义车辆系统动力学：理论框架与总体概述[J]. 机械工程学报, 2025, 61(18): 190-203.

YIN Guodong. Generalized Vehicle System Dynamics: Theoretical Framework and Comprehensive Overview[J]. Journal of Mechanical Engineering, 2025, 61(18): 190-203.

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