【摘要】 本文将铰接式工程车辆简化为多体系统，将轮胎简化为带有粘性阻尼的分段线性弹簧，列出了系统的运动微分方程，以ＺＬ１０装载机为例，测量了轮胎的三维动态刚度与阻尼，利用模态分析方法，求出了前７阶固有频率与固有振型，并以三维彩色动画显示于计算机屏幕，通过分析得出如下结论：第１阶固有频率与横向稳定性有关，第２阶固有频率与竖向稳定性有关。这一结论对于工程车辆稳定性的监测与控制具有重要参考价值。更多还原

【Abstract】 In this paper,an articulated engineering vehicle is simplified as a multibodysystem in which the tires are simplified as paragraphic linear springs with viscous damping,and the differential equations of the system motion are given.As an example,based on mea-sured three-dimensional dynamic stiffness and damping of the tires,Seven order naturalfrequencies and related natural modes of the ZL10 loader are obtained by model analysis andshown on computer screen with three-dimensional moving color pictures.The conclusionsare(1)the first order frequency relates to the horizontal stability;(2)the second order fre-quency relates to the vertical stability which are useful to monitor and control stability of ar-ticulated engineering vehicle.更多还原