作　　者： (乔建璐）; (范英）; (晋民杰）; (秦维新）; (荆华）;

机构地区： 太原科技大学交通与物流学院,山西太原030024

出　　处： 《中北大学学报（自然科学版）》 2017年第4期458-465,共8页

摘　　要： 为了准确研究四轮转向车辆转向特性,基于Matlab建立了三自由度4WS模型.以该模型为基础,以稳态质心侧偏角为零为控制目标,推导了三自由度4WS车辆的横摆角速度增益和转向特性的稳定性因素公式.并分析了质心位置、簧载质量、轮胎侧偏刚度、悬架侧倾角刚度等结构参数对四轮转向车辆转向特性的影响.仿真结果表明,质心位置、簧载质量、轮胎刚度以及前后悬架侧倾转向系数差的改变都会对4WS车辆的转向特性产生较大影响,其它车辆结构因素则几乎不会对4WS车辆的转向特性产生影响. In order to accurately study steering characteristic of four wheel steering vehicle, a 4WS model with three degrees of freedom is established based on Matlab. On the basis of the model, taking steadystate sideslip angle is zero as the control target to derive the yaw rate gain and the stability factor formula of steering characteristic of 4WS vehicle with three degree of freedom, and analysis the influence of the structural parameters such as centroid position, sprung mass, tire lateral stiffness, roll stiffness of the suspension on steering characteristics. Simulation results show that the center-of-mass position,sprung mass, tire stiffness, and the difference of the front and rear suspension roll steering coefficients all have a significant effect on the steering characteristics of the 4WS vehicle. Other vehicle structural factors will have little impact on the steering characteristics of the 4WS vehicle.

关 键 词： 四轮转向 转向特性 三自由度