拖车系统车身摆振的非线性动力学分析

doi:10.3901/JME.2019.24.127

机械工程学报 ›› 2019, Vol. 55 ›› Issue (24): 127-136.doi: 10.3901/JME.2019.24.127

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拖车系统车身摆振的非线性动力学分析

张宁¹, 李田¹, 马健¹, 殷国栋¹, 朱卫刚¹, 欧阳天成²

1. 东南大学机械工程学院车辆工程系南京 211189;
2. 广西大学机械工程学院南宁 530004

收稿日期:2018-12-24 修回日期:2019-06-25 出版日期:2019-12-20 发布日期:2020-02-18
通讯作者: 殷国栋(通信作者),男,1976年出生,博士,教授,博士研究生导师。主要研究方向为电动汽车控制、车辆动力学建模及控制。E-mail:ygd@seu.edu.cn
作者简介:张宁,男,1985年出生,博士,讲师。主要研究方向为车辆系统动力学及其控制、振动与噪声。E-mail:nzhang_cn@seu.edu.cn
基金资助:
国家自然科学基金（51605087，U1664258，51575103）、江苏省自然科学基金（BK20160671）、江苏省道路载运工具新技术应用重点实验室（BM20082061701）和江苏省研究生科研与实践创新计划（SJCX18_0020）资助项目。

Nonlinear Dynamics Analysis of the Body Sway of Car-trailer Combinations

ZHANG Ning¹, LI Tian¹, MA Jian¹, YIN Guodong¹, ZHU Weigang¹, OUYANG Tiancheng²

1. Department of Vehicle Engineering, School of Mechanical Engineering, Southeast University, Nanjing 211189;
2. College of Mechanical Engineering, Guangxi University, Nanning 530004

Received:2018-12-24 Revised:2019-06-25 Online:2019-12-20 Published:2020-02-18

摘要/Abstract

摘要： 考虑轮胎和悬架减振器的非线性特性，建立包含侧向、横摆、侧倾运动的5自由度拖车系统动力学模型。应用非线性动力学的相关理论，对拖车系统的多平衡点特性以及在各平衡点附近的时域响应进行分析。在此基础上结合不足转向梯度和系统阻尼比特性对系统失稳机制进行研究，并分析了拖车系统参数与路面附着系数对系统动态临界车速的影响。研究发现，由于轮胎和悬架减振器非线性特性的耦合，拖车系统存在多个平衡点。拖车系统的初始状态和各个平衡点共同决定了其失稳机制。结合拖车系统不足转向梯度的定义，当牵引车为过度转向时，牵引车的后轴侧滑导致的车辆折叠失稳是系统车身失稳的一种形式。此时通过对牵引车的横摆角速度进行控制，可以有效地避免系统出现折叠失稳。此外，增大拖车轴距、拖车前轴距离牵引点的距离可以有效地提高系统的动态临界车速，从而提高拖车系统的动态稳定性。

关键词: 拖车系统, 车身摆振, 非线性动力学, 多平衡点分叉, 不足转向梯度

Abstract: Considering the nonlinear characteristics of tires and shock absorbers, a 5-DOFs theoretical dynamics model describing the lateral, yaw and roll motions of car-trailer combinations is established. Based on the theory of nonlinear dynamics, the multi-equilibrium points characteristics and the time-domain responses near the equilibrium points of car-trailer combinations are analyzed. Combining with the understeer gradient and damping ratio, the generation mechanism of the system instability is investigated. The influences of the trailer system parameters and the tire-road friction coefficient on the system critical speed are considered as well. The simulation results reveal that due to the nonlinear coupling of shock absorbers and tire, the car-trailer combination has multiple equilibrium states, and the system instability under a specific initial state is determined by the closest equilibrium point. With the understeer gradient, the jackknife phenomenon caused by the sideslip of the rear axle of the towing car is a primary system instability when the towing car is oversteered. From the perspective of stability control, the system instability can be effectively avoided via a yaw rate control strategy applied in the towing car. In addition, the stability of car-trailer combinations can be improved by increasing the wheelbase of trailer and the distance between front axle of trailer and traction point.

Key words: car-trailer combinations, body sway, multi-equilibrium points bifurcation, understeer gradient, nonlinear dynamics

中图分类号:

U461

张宁, 李田, 马健, 殷国栋, 朱卫刚, 欧阳天成. 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, YIN Guodong, ZHU Weigang, OUYANG Tiancheng. Nonlinear Dynamics Analysis of the Body Sway of Car-trailer Combinations[J]. Journal of Mechanical Engineering, 2019, 55(24): 127-136.

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拖车系统车身摆振的非线性动力学分析

Nonlinear Dynamics Analysis of the Body Sway of Car-trailer Combinations

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