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为了减小空气力的影响,简化车辆多自由度转向动力学方程,考虑了空气力的影响,建立了车辆三自度转向运动的动力学模型。以质心侧偏角、横摆角、横摆角速度、侧倾角、侧倾角速度为状态变量,以前轴转角及侧风作用力为输入,以质心侧偏角、横摆角、横摆角速度、侧倾角为输出,推导了车辆三自度转向运动的动力学模型的状态方程。以前轴主动转角脉冲为输入,对状态方程的可信度进行了验证。与利用线性二自由度转向模型的仿真结果相比,利用三自由度转向模型与其状态方程得到车辆质心侧偏角与横摆角速度的绝对值均较小,在高速情况下,空气力会增强车辆的不足转向特性。采用两种模型得到的车身侧向偏移均大于试验值,但三自由度模型的仿真曲线非常接近试验曲线。可见,三自由度状态方程可信度高。
In order to reduce the influence of air force and simplify the vehicle multi-degree-of-freedom steering dynamics equation, the dynamic model of three-degree vehicle steering is established considering the influence of air force. Taking the center of mass roll angle, yaw angle, yaw rate, roll angle and roll angle as state variables, the front axle and the crosswind force as input, the center of mass roll angle, yaw angle, yaw rate, Obliquity is output, and the equation of state of the dynamics model of the three-degree steering of the vehicle is deduced. The input of active angle pulse of the former shaft is used to verify the credibility of the state equation. Compared with the simulation result of using the linear two-degree-of-freedom steering model, the absolute values of the vehicle center of mass and the yaw rate are smaller than those obtained by using the three-degree-of-freedom steering model and its equation of state. At high speed, Insufficient steering characteristics. The body lateral offset obtained by the two models is larger than the experimental value, but the simulation curve of the three-degree-of-freedom model is very close to the experimental curve. Visible, three-degree-of-freedom equation of state credibility.