考虑迟滞行为的重型车辆轮胎原地转向阻力矩研究

重型车辆原地转向阻力矩是影响其转向系统设计与控制性能的关键参数之一，精确可靠的阻力矩模型对提升转向驱动系统的设计水平、稳定性与控制能力有重要作用。为建立可精确复现实际转向工况的阻力矩模型，将轮胎转向时胎面单元变形产生的弹性迟滞摩擦力与Maxwell迟滞模型结合，提出考虑轮胎迟滞行为的原地转向阻力矩模型，可对轮胎任意换向下的阻力矩进行有效预测。基于重型车辆单轴转向系统测试台，试验探究转向频率、转向角幅值和垂直载荷对阻力矩的影响规律；基于典型迟滞行为设计系统转向角输入，明确原地转向阻力矩模型对擦除特性、多值特性、同余特性和返回点记忆性的复现能力与其实际迟滞行为。试验结果表明，该模型可以复现擦除特性、同余特性和多值特性的典型迟滞行为，这与标准迟滞系统一致，具有普遍性，但重型车辆转向阻力矩在返回点记忆特性上存在特殊性，即仅在轮胎回转角大于蓄力角度时才表现出良好的返回点记忆特性。综上可为重型车辆原地转向阻力矩研究提供有价值的模型参考。

Study on Pivot Steering Resistance Torque of Heavy Vehicle Tire Considering Hysteretic Behavior

The pivot steering resistance torque of heavy vehicle is one of the key parameters that affect the design and control performance of its steering system. Accurate and reliable resistance torque model can improve the design level, stability and control ability of the steering drive system, and has an important effect on it. In order to establish a resistance torque model that can accurately reproduce actual steering conditions, the elastic hysteresis friction force generated by the deformation of the tread unit when the tire turns is combined with the Maxwell hysteresis model. The pivot steering resistance torque model considering tire hysteresis behavior is proposed, which can effectively predict the resistance torque when tires are changed arbitrarily. The influence of steering frequency, steering angle amplitude and vertical load on resistance torque is explored based on the heavy-duty vehicle single-axle steering system test bench. The system steering angle input is designed based on typical hysteresis behavior, the reproducibility and actual hysteresis behavior of the pivot steering resistance torque model for erasure characteristics, multi-value characteristics, congruence characteristics, and return point memory is clarified. The results showed that this model can reproduce the typical hysteresis behavior of erasing characteristics, congruential characteristics and multi-value characteristics, which is consistent with the standard hysteresis system and has universality. However, the steering resistance torque of heavy vehicles has particularity in the memory characteristics of the return point, it only shows good memory characteristics of the return point when the tire rotation angle is greater than the accumulating angle. In summary, it can provide a valuable model reference for the research on the pivot steering resistance torque model of heavy vehicle.