稳态工况下横摆角速度与侧倾角的关系分析

在分别建立转向、悬架和轮胎数学模型的基础上,理论推导出横摆角速度与侧倾角的相互关系,分析了角阶跃输入下路面附着系数和车速对转向的影响,刻画了不同车速和前轮转角下横摆角速度与侧倾角的变化过程,通过分析总结出两者之间的稳态值变化规律。仿真和试验结果表明,试验与仿真的结果相吻合,验证了仿真的正确性,为侧向和垂向动力学的集成控制研究提供了理论参考。

Relationship between Vehicle Yaw Velocity and Heeling Angle under Steady State

The mathematical models of the steering, suspension and tires were established, and based on those models, the relationship between yaw velocity and heeling angle was deduced theoretically. In addition, the influence of road surface adhesion and speed on angle input was analyzed. At the same time, the change of yaw velocity and heeling angle were recorded under the different speeds and front wheel corners. Through detailed analysis the change rule of the steady state value was summarized. At last, the result of simulation and experiment showed the correctness of the simulation and the models, and provided a theoretical reference for the lateral and vertical dynamics integrated control. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.