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为了研究弯道行驶中制动工况对半挂汽车列车稳定性的影响,运用动力学理论与虚拟样机仿真软件ADAMS,建立了具有21自由度的半挂汽车列车整车模型,分析了在弯道行驶极限工况下,半挂汽车列车折叠角、侧向加速度、横摆角速度、车速、轮速、轮胎侧偏角随时间的变化关系。通过整车系统的稳态转向试验与阶跃试验,验证了模型具有较好的仿真精度。仿真结果表明:转向后3 s实施制动,在3 s的时间内,牵引车侧向加速度变为0,横摆角速度达到极值33 rad.s-1后迅速减小,而半挂车侧向加速度达到极值4 m.s-2,横摆角速度逐渐减小为0;在制动过程中,牵引车后轴先抱死拖滑,由此引起半挂汽车列车发生折叠现象,从而导致弯道行驶制动稳定性降低。
In order to study the influence of braking conditions on the stability of semitrailer trains when cornering, the kinematics theory and virtual prototype simulation software ADAMS are used to establish a 21-degree-of-freedom semitrailer full vehicle model. Road driving limit conditions, the semi-trailer train folding angle, lateral acceleration, yaw rate, speed, wheel speed, tire angle deviation with time relationship. Through the steady steering test and step test of vehicle system, it is verified that the model has better simulation accuracy. The simulation results show that the brakes are applied 3 s after turning, and the lateral acceleration of the tractor becomes 0 within 3 s, and the yaw rate rapidly decreases after reaching 33 rad.s-1, and the lateral speed of the semi-trailer Acceleration reached the extreme 4 ms-2, the yaw rate gradually reduced to 0; during braking, the rear axle of the tractor lifted and dragged, resulting in folding the semi-trailer train, resulting in curve driving Braking stability is reduced.