基于线性二自由度模型的多轴车辆转向特性仿真

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摘要：在重型多轴车辆智能化、无人化的发展趋势下，需要开展车辆横向动力学研究。针对某六轴车辆，通过建立多轴车辆线性二自由度转向模型，开展转向特性稳态分析和瞬态分析。仿真结果定性地表明采用多轴转向技术能够有效提升车辆转向机动性，为后续转向控制器设计提供了理论支撑。

关键词：多轴车辆;转向;线性二自由度;仿真

中图分类号：U462文献标志码：A文章编号：1002-4026（2022）01-0099-08

开放科学（资源服务）标志码 （OSID）：

Simulation of the steering characteristics of multi-axle vehicles based

on a linear two-degree-of-freedom model

LI Zheng，LIU Xiang-xin*，LI Lan

（Beijing Institute of Space Launch Technology， Beijing 100076）

Abstract ∶With the development of intelligent and unmanned heavy-duty multi-axle vehicles， it is necessary to conduct research on vehicle lateral dynamics. By establishing a linear two-degree-of-freedom model of a multi-axle vehicle， the steady-state and transient analyses of the steering characteristics of a six-axle vehicle are performed. Simulation results qualitatively show that the use of multi-axle steering technology can effectively improve the steering maneuverability of the vehicle and provide theoretical support for controller design in the future.

Key words ∶multi-axle vehicle; steering; linear two-degree-of-freedom; simulation

重型多轴车辆一般是指轴数≥3的越野车辆，包括驱动形式为6×6、8×8、10×8、12×10、12×12、16×10、16×16等全轮或非全轮驱动车辆[ 1]。（剩余5285字）