【摘要】 本文将铰接车辆简化为一多体系统，把轮胎简化为三维分段线性弹簧，通过引入刚性位移机制，考虑路面不平度及其产生的坡度对车辆动力性的影响，建立了铰接车辆在不平路面行驶的动力学模型，列出了运动微分方程，提出了铰接车辆在不平路面行驶的动力学仿真算法，并通过实验验证了此模型及仿真算法的正确性。更多还原

【Abstract】 In this paper, the articulated vehicle is simplified as a multi body system, tires are simplified as 3-direction paragraphic linear springs with damping. By the rigid displacement being used and the effection acting on the dynamic stability of vehicles being accounted which is created by the slope of uneven ground. the differential equations of motion are given, and the method of dynamic processing simulation of articulated vehicle running on the uneven ground is put forward, the correctness of the dynamic modal and the method of simulation has been proved through experiment.更多还原