协同牵引铰接式重载车辆系统的动力学建模及稳定性分析

doi:10.3901/JME.2025.22.133

机械工程学报 ›› 2025, Vol. 61 ›› Issue (22): 133-142.doi: 10.3901/JME.2025.22.133

• 运载工程 • 上一篇

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协同牵引铰接式重载车辆系统的动力学建模及稳定性分析

张宁¹, 王浩潭¹, 张钱辰¹, 邵梁², 王成³, 李普¹, 殷国栋¹

1. 东南大学机械工程学院南京 211189;
2. 温州大学机电工程学院温州 325000;
3. 赫瑞-瓦特大学工程与物理科学学院爱丁堡 EH14 4AS 英国

收稿日期:2025-01-08 修回日期:2025-07-24 发布日期:2026-01-10
作者简介:张宁,男,1985年出生,博士,副教授。主要研究方向为车辆系统动力学及其控制、新能源与智能网联汽车。E-mail:nzhang_cn@seu.edu.cn
殷国栋(通信作者),男,1976年出生,博士,教授,博士研究生导师。主要研究方向为先进电动汽车、车辆动力学与控制、智能无人汽车和车辆主动安全控制。E-mail:ygd@seu.edu.cn
基金资助:
国家自然科学基金资助项目(52572439,52394263,52072072)。

Dynamics Modeling and Stability Analysis of Cooperatively Towing Articulated Heavy-duty Vehicle System

ZHANG Ning¹, WANG Haotan¹, ZHANG Qianchen¹, SHAO Liang², WANG Cheng³, LI Pu¹, YIN Guodong¹

1. School of Mechanical Engineering, Southeast University, Nanjing 211189;
2. School of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou 325000;
3. School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS U. K.

Received:2025-01-08 Revised:2025-07-24 Published:2026-01-10

摘要/Abstract

摘要： 协同牵引铰接式重载车辆作为面向大件运输的新型重载装备，由前、后牵引单元通过铰接装置连接货物构成，相对传统重载车辆，其建模与稳定性分析难度大。面向协同牵引铰接式重载车辆系统水平面动力学响应，提出一种协同牵引铰接式重载车辆系统动力学建模方法及稳定性分析方案。在系统建模方面，基于运动学与动力学分析，对各铰接点处动力学耦合关系进行分析，建立4自由度协同牵引铰接式车辆单轨模型。在稳定性分析方面，首先，通过对牵引单元1和牵引单元2不足转向梯度独立定义的方法对协同牵引铰接式重载车辆系统的操稳性进行了分析，研究车辆参数对CTA-HDV系统不足转向梯度的影响。结果表明，牵引单元1质心相对位置及牵引单元1与中间刚体铰接点的相对位置对系统的不足转向梯度影响最大，当k₁从0.3调整至0.6时，系统不足转向梯度降低约79%。当k₁从0.6调整至1.2时，系统不足转向梯度提高了约86%；其次，结合铰接式车辆动态稳定性分析方法，对CTA-HDV系统动态临界车速进行研究，得到CTA-HDV系统动态临界车速在100 km/h左右，并分析结构参数对系统动态稳定性的影响。本研究为CTA-HDV系统安全性设计提供了理论依据。

关键词: 铰接式车辆, 重载车辆, 协同牵引, 静态稳定性, 动态稳定性

Abstract: As a new type of heavy-duty equipment for large cargo transportation, the cooperative traction articulated heavy-duty vehicle（CTA-HDV） is composed of a front and a rear traction unit connected to the cargo through an articulated device. Compared with traditional heavy-duty vehicles, its modeling and stability analysis are more difficult. A dynamic modeling method and stability analysis scheme for CTA-HDV system in the horizontal plane is proposed. In terms of system modeling, based on kinematic and dynamic analysis, the dynamic coupling relationship at each articulated point is analyzed, and a 4-degree-of-freedom single-track model of the cooperative traction articulated vehicle is established. In terms of stability analysis, first, the handling stability of CTA-HDV system is analyzed by independently defining the understeering gradient of traction unit 1 and traction unit 2. The influence of vehicle parameters on the understeering gradient of the CTA-HDV system is studied. The results show that the relative position of the center of mass of traction unit 1 and the relative position of the articulated point between traction unit 1 and the intermediate rigid body have the greatest influence on the understeering gradient of the system. When is adjusted from 0.3 to 0.6, the understeering gradient of the system decreases by approximately 79%. When is adjusted from 0.6 to 1.2, the understeering gradient of the system increases by approximately 86%. Secondly, combined with the dynamic stability analysis method of articulated vehicles, the dynamic critical speed of the CTA-HDV system is studied, and it is found that the dynamic critical speed of the CTA-HDV system is around 100 km/h. The influence of structural parameters on the dynamic stability of the system is also analyzed. This study provides a theoretical basis for the safety design of the CTA-HDV system.

Key words: articulated vehicle, heavy-duty vehicle, cooperatively towing, static stability, dynamic stability

中图分类号:

U461

张宁, 王浩潭, 张钱辰, 邵梁, 王成, 李普, 殷国栋. 协同牵引铰接式重载车辆系统的动力学建模及稳定性分析[J]. 机械工程学报, 2025, 61(22): 133-142.

ZHANG Ning, WANG Haotan, ZHANG Qianchen, SHAO Liang, WANG Cheng, LI Pu, YIN Guodong. Dynamics Modeling and Stability Analysis of Cooperatively Towing Articulated Heavy-duty Vehicle System[J]. Journal of Mechanical Engineering, 2025, 61(22): 133-142.

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协同牵引铰接式重载车辆系统的动力学建模及稳定性分析

Dynamics Modeling and Stability Analysis of Cooperatively Towing Articulated Heavy-duty Vehicle System

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