摘要
在大负荷拖载行驶工况下,牵引车存在复杂的动力学特性.建立了14自由度车辆牵引力学模型,它包含地面附着系数与车轮滑转率的分段非线性关系.通过对牵引运动方程的当量线性化分析,运用李雅普诺夫一次近似理论,得到牵引车牵引稳定性的判定依据;并进一步绘制了车辆牵引运动临界稳定图,为车辆牵引运动稳定性控制研究提供了理论判据.
The dynamic characteristics of towing tractor under heavy load are complicated. The mechanical model of a towing tractor with 14 DOF（Degree of Freedom） was developed. Based on the nonlinear relationship between instantaneous slip and coefficient of adhesion in the model, an equivalent linear vibration system of the towing tractor is obtained. By using linearity method, a critical stable curve of the towing tractor is determined in three-dimension parametric space.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第9期1470-1475,1480,共7页
Journal of Shanghai Jiaotong University
