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2011(33)6AutomotiveEngineering2011(Vo.l33)No.62011100**(51005109)(2010ZC029)201093,20101029杨秀建,李耀平,熊坚(昆明理工大学交通工程学院,昆明650224)[],,,,:;;AnalysisontheLateralStabilityandInstabilityMechanismofTractor-SemitrailerCombinationYangXiujian,LiYaoping&XiongJianFacultyofTransportationEngineering,KunmingUniversityofScienceandTechnology,Kunming650224[Abstract]Asimplified4DOFsingle-trackmodelfortractor-semitrailercombinationisbuil,tonwhichtheeffectsoftwokeyparameters,.ie.thepositionsofhitchpointandthemasscenterofsemitrailer,onthelateralsta-bilityoftractor-semitrailercombinationareanalyzed.Basedonthis,themechanismsoftwocommoninstabilityphe-nomena.ie.jackknifingandlateralswayareinvestigatedindetailbyusingmaincomponentofeigenvector(MCE)method.Finallythestabilizationeffectsofthefeedbackofhitchangleandhitchanglerateonjackknifingandlateralswayareanalyzedandcomparedrespectively.Keywords:tractor-semitrailercombination;lateralstability;vehicleactivesafety,,,,,,,,,,[1-2],,,[3-4],/,,,[5-7],,,,,,2011(Vo.l33)No.6,:487111,,,,,,,1,[2-4]1,;4,,m1ay1=Fy1+Fy2-Fhy(1)Iz11=Fy1a1-Fy2b1+Fhy(b1-e)(2)m2ay2=Fy3+Fhy(3)Iz22=Fhya2-Fy3b2(4):m1m2;Iz1Iz2;12;ay1ay2;Fy1Fy2Fy3;Fhy;a1b1;a2b2();lt;e(),2=1+(5)vy2=vy1-1(b1-e)-a22(6):,;vy1vy2ay1=vy1+vx11(7)ay2=vy2+vx22=vy1+vx1-(b1-e)1-a2(1+)(8):vx1vx2,,vx1=vx2=vx12f,1231=f-vy1+a11vx(9)2=b11-vy1vx(10)3=-vy1-(b1-e+a2+b2)1-(a2+b2)vx(11),Cy1Cy2Cy3,Fy1=Cy11(12)Fy2=Cy22(13)Fy3=Cy33(14)2vy11,f,x=[vy11]T,u=f,(1)~(14),4882011(33)6x=Ax+Bu(15):AR44,BR41,A=M-1VB=M-1WM=(b1-e)m1Iz100m1+m2-m2(b1-e+a2)0-m2a2m1a2Iz20Iz20010V=-Cy1(a1+b1-e)+Cy2evx-Cy1a1(a1+b1-e)+Cy2b1e+v2x(b1-e)m1vx00-Cy1+Cy2+Cy3vx-Cy1a1+Cy2b1+Cy3(a2+b2+b1-e)vx-(m1+m2)vxCy3(a2+b2)Cy3vx-Cy1a2-Cy2a2+Cy3b2vx-Cy1a1a2-Cy2a2b1+Cy3b2(a2+b2+b1-e)vx-m1vxa2-Cy3b2-Cy3b2(a2+b2)vx0001W=Cy1(a1+b1-e)Cy1a2Cy10Ac04+c13+c22+c3+c4=0(16):c0=1;c1=-a11-a22-a44;c2=-a41a14-a21a12-a42a24+a11a22+a11a44+a22a44-a43;c3=a41a22a14-a41a13-a41a12a24-a11a22a44+a11a43-a21a42a14+a21a12a44+a11a42a24+a22a43-a42a23;c4=a21a12a43-a11a22a43-a21a42a13+a11a42a23+a41a22a13-a41a12a23aij(i,j=1,2,3,4)(15)AHurwitz[8],(16)10,20,30,40(17):1=c1;2=c1c2-c0c3;3=c1c2c3-c21c4-c0c23;4=c1c2c3c4-c21c24-c0c23c4,(17),,e;vxm2(b2),:m1=8444kg,m2=23472kg,Iz1=657346kgm2,Iz2=560000kgm2,a1=110m,b1=215m,lt=956m,Cy1=2411kN/rad,Cy2=2733kN/rad,Cy3=4919kN/rad,vxea2b22eb2vx(17)k(k=1,2,3,4)k,,sgn(k)|ln|k||kk,k2(a)2(b)vx=80km/h,eb2k,e05m,,;20mb235m,2(c)vxk,,80km/h100km/h,eb2k2(d)2(e),,,eb22(e)2(f),e,b2Hurwitz,,,2011(Vo.l33)No.6,:4892k(k=1,2,3,4)3(15),u,,,x(t)=4i=1ciieit(18):ci;ii,,,,,,,3480km/hb2e,201mb2342m,;e06m,(15)x0=[00-00501]Tb2e13b2(vx=80km/h)4e(vx=80km/h)4902011(33)62565,b2201mb2342m,,:b2201m,,;b2342m,,,3,,,,,;,,,e,46,e06m,,,5b2(vx=80km/h)6e(vx=80km/h)100km/h,b2e,78,b2,237mb2283m;e,063me117m;,80100km/h,,(15)x0=[00-00501]T,b2e12910910,78,80km/h,,,,,,7b2(vx=100km/h)8e(vx=100km/h)34782011(Vo.l33)No.6,:4919b2(vx=100km/h)10e(vx=100km/h),,81-21-2,1-21-2,4[3,6,8],,,,,,80km/h,e=052m,b2=14m,,,,kc11Rsmaxsgn(Rsmax)|ln|Rsmax||,sgn(),Rsmax,Rsmax,,,,,b2=40m,,,12,11(vx=80km/h)12(vx=80km/h)4922011(33)6kc,,1314100km/h,80km/h,,,,;,,13(vx=100km/h)14(vx=100km/h)5(1),,,,,(2),,,,;,(3),,;,[1]EdwardF,KurtzJ,RonaldJA.HandlingCharacteristicsofCar-TrailerSystems:AState-o-fthe-ArtSurvey[J].VehicleSystemDynamics,1977,6(4):217-243.[2]AndersonRJ,KurtzEF.HandlingCharacteristicsSimulationsofCar-TrailerSystems[C].SAEPaper800545.[3]AleksanderH,DanielF,HsienC.StabilityandControlConsider-ationsofVehicle-TrailerCombination[C].SAEPaper2008-01-1228.[4],,.[J].,2005,36(1):11-14.[5]KageyamaI,NagaiR.StabilizationofPassengerCar-CaravanCom-binationUsingFourWheelSteeringControl[J].VehicleSystemDynamics,1995,24(4):313-327.[6]FernandezAlonsoAM,SharpRS.CaravanActiveBrakingSys-tem-EffectiveStabilizationofSnakingofCombinationVehicles[C].SAEPaper2001-01-3188.[7].[M].:,1981.[8],.[J].,2009,40(1):300-308.