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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (2): 299-306    DOI: 10.3785/j.issn.1008-973X.2019.02.013
土木工程、交通工程     
双半挂汽车列车操纵稳定性分析
王郭俊(),许洪国,刘宏飞*()
吉林大学 交通学院，吉林 长春 130022
Handling stability analysis of B-double
Guo-jun WANG(),Hong-guo XU,Hong-fei LIU*()
College of Transportation, Jilin University, Changchun 130022, China
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摘要：

分析车辆参数变化对双半挂汽车列车操纵稳定性的影响. 提出新的建模分析方法，建立双半挂汽车列车三质心四自由度线性单轨模型. 在牵引车前轮角阶跃输入下，运用Matlab软件求解动力学状态方程，得到稳态响应评价中3个车辆单元的稳态横摆角速度增益表达式和不足转向梯度表达式，以及3个车辆单元两两之间的稳态相对增益表达式. 分析载荷量和鞍座位置等车辆结构参数对3个车辆单元不足转向梯度的影响，分析不足转向梯度、质心位置和鞍座位置变化对3个稳态相对增益表达式的影响. 结果表明，当载荷增加时，须恰当调整2个鞍座的位置，确保3个车辆单元处于不足转向的状态，使汽车列车行驶状态良好. 研究结果为双半挂汽车列车的结构参数设计和操纵稳定性改善提供了理论基础.
关键词： 车辆工程;  双半挂汽车列车;  操纵稳定性;  稳态横摆角速度增益;  不足转向梯度    
Abstract:

The effect of vehicle parameter variation on B-double handling stability was analyzed. A new analytical method was proposed, and a single-track linear model with three centers of mass and four degrees of freedom for B-double was developed. The dynamic state equations were solved using Matlab software with the tractor’s steering wheel angle step input, and the expressions of steady state yaw rate gain and understeer gradient of three vehicle units, and the expressions of steady state relative gain between three vehicle units were deduced. The effects of vehicle structural parameters such as load capacity and location of fifth wheel on understeer gradients of three vehicle units were analyzed. The effects of understeer gradient, location of center of mass and location of fifth wheel on three steady state relative gains were analyzed. Results showed that as the load increased, the location of two fifth wheels should be adjusted properly to keep three vehicle units in the understeering state, which can keep the driving state well for combination vehicles. Results provides theoretical basis for the design of B-double structural parameters and the improvement of the handling stability.
Key words: vehicle engineering    B-double    handling stability    steady yaw rate gain    understeer gradient
收稿日期: 2018-04-05 出版日期: 2019-02-21
CLC:  U 469  
通讯作者: 刘宏飞     E-mail: wangguoyl@qq.com;hongfeiliu@jlu.edu.cn
作者简介: 王郭俊（1990—），男，博士生，从事汽车列车稳定性研究. orcid.org/0000-0001-5442-4632. E-mail： wangguoyl@qq.com
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引用本文:

王郭俊,许洪国,刘宏飞. 双半挂汽车列车操纵稳定性分析[J]. 浙江大学学报(工学版), 2019, 53(2): 299-306.

Guo-jun WANG,Hong-guo XU,Hong-fei LIU. Handling stability analysis of B-double. Journal of ZheJiang University (Engineering Science), 2019, 53(2): 299-306.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.02.013    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I2/299

图 1  双半挂汽车列车侧视图
图 2  双半挂汽车列车模型示意图
图 3  3个车辆单元侧向加速度求解示意图
符号 数值 单位
m，m1，m2 8 439，7 500，7 540 kg
Iz，Iz1，Iz2 18 100，107 400，107 800 kg·m2
a，a1，a2 1.8，5.1，5.1 m
b，b1，b2 2.1，2.9，2.9 m
c，c1 1.9，2.6 m
L，L1，L2 3.9，8.0，8.0 m
δ 0.06 rad
kf，kr 90 666×2，64 546×8 N/rad
k1，k2 45 358×12，45 358×12 N/rad
表 1  双半挂汽车列车结构参数
图 4  双半挂汽车列车稳态横摆角速度增益曲线
图 5  不足转向梯度随鞍座位置变化曲线
图 6  双半挂汽车列车的稳态相对增益曲线
图 7  牵引车和第1节半挂车稳态相对增益曲线
图 9  牵引车和第2节半挂车稳态相对增益曲线
图 8  2节半挂车稳态相对增益曲线
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