【摘要】 为了解车辆转向的内在特性,给车辆转向控制方法提供理论研究基础,依据非线性系统动力学结构稳定性理论,提出了车辆转向动力学分岔理论。基于车辆转向动力学分岔理论对车辆转向动力学特性进行了研究;以车辆前轮转角、车辆纵向速度及后轮转角为分岔参数,研究其对车辆质心侧偏角、横摆角速度的影响规律,得出了车辆在不同转向状态下的稳定转向区间。研究结果表明:车辆稳态转向时不发生动态Hopf分岔,而发生静态鞍结分岔;理论研究结果与车辆实际运行情况相符,非线性系统结构稳定性理论用于车辆转向动力学研究是正确、合理的。更多还原

【Abstract】 To find out the intrinsic characteristics of vehicle steering,so as to provide the theoretical basis for the control method of vehicle steering,the bifurcation theory of vehicle steering dynamics was proposed according to the structural stability theory of nonlinear system dynamics.Then the characteristics of vehicle steering dynamics were studied on the basis of this theory.With the front wheel angle,the longitudinal velocity and the rear wheel angle of vehicle as the bifurcation parameters,the influence laws of the bifurcation parameters on the vehicle sideslip angle and yaw rate were analyzed.The stable steering intervals were obtained when the vehicle was under different steering states.The results show that the vehicle does not have Hopf bifurcation but have static saddle-node bifurcation at steady steering.The results agree with the actual vehicle running state.It is reasonable and proper to apply the structural stability theory of nonlinear system to the vehicle steering dynamic study.更多还原