【摘要】 从多轴转向车的实际运行工况出发,以三轴车为例对低速下多轴车的机动性进行研究.建立了三轴车辆的二自由度模型,提出了以最小转弯半径为目标的控制策略,与目前最常用的零质心侧偏角控制策略进行比较分析,并利用制作的模型车进行操纵稳定性仿真、实验验证对比,论证了该控制策略的可行性.更多还原

【Abstract】 Practical operation of the multi-axle vehicle was researched in this artide.Take three-axle vehicle for example,the research on the maneuverability was conducted under a very low speed.Firstly,2-d model of three-axle vehicles was established and the control strategy with the minimum target for turning radius was also put forward,and this strategy was compared with the most common zero mass center of side-slip angle control strategy.Then the model vehicle was handled for the simulation analysis.Finally,with the contrast experiment,the feasibility of the control strategy was demanstrated.更多还原