半挂汽车列车横向失稳的非线性动力学机制

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1、学兔兔www.xuetutu.com第48卷第8期机械工程学报Vo1．48NO．82012年4月JOURNALOFMECHANICALENGINEERINGApr．2012DoI：10．3901／JME．2012．08．079半挂汽车列车横向失稳的非线性动力学机制水杨秀建康南李西涛(昆明理工大学交通工程学院昆明650500)摘要：半挂汽车列车载运工况变化较大，横向失稳机制复杂，给整车及稳定性控制系统的开发设计带来困难。应用非线性动力学的相关理论，研究半挂汽车列车在极限操纵工况下的平衡点分岔、相轨迹和Hopf分岔特性以

2、及与载运工况的关系；在此基础上，结合不足转向梯度和系统阻尼特性对不同横向失稳形式的发生机制进行探讨。结果表明，载运工况的变化可能导致系统出现鞍结分岔、Hopf分岔和同宿轨道等非线性动力学现象；牵引车后轴侧滑而导致折叠是半挂汽车列车主要的横向失稳形式，挂车甩尾与折叠密切相关，挂车甩尾会同时加剧牵引车侧滑而加剧折叠，横向摆振与Hopf分岔密切相关，一般仅在载重较大且半挂车质心显著靠后才可能发生，且横向摆振失稳一般都会进一步发展到折叠而完全失控，选择牵引车横摆角速度和挂车侧偏角为控制变量设计稳定性控制系统有望取得较好的效果

3、。关键词：半挂汽车列车车辆动力学操纵稳定性非线性动力学分岔中图分类号：U461NonlinearDynamicsandLateralStabilityofTractorSemi-trailerVehicleYANGXiujianKANGNanLIXitao(FacultyofTransportationEngineering，KunmingUniversityofScienceandTechnology,Kunming650500)Abstract：Sincethelateraldynamicsofatractors

4、emi-trailervehicleisrathercomplexresultingfromthelargevariationsoftheloadandthecentreofmass(CM)ofthetrailer,itbecomesdificulttodesignthestabilitycontrolsystem．Thenonlineardynamicsandthelateralstabilityofthetractorsemi．trailervehicleisinvestigated．Therelationsof

5、thelateralstability,equilibriumbifurcationandHopfbifurcationwiththeloadscenariosareanalyzedindetail．Combiningthemeansofundersteergradientanddampingratio，thelateralinstabilityandmechanismsarediscussed．Theresultsrevealthatnonlineardynamicalphenomenasuchassaddle．n

6、odebifurcation，Hopfbifurcationandhomoclinicorbitareidentifiedincriticalcorneringsituations．Foratypicaltractorsemi-trailervehicle，jackknifecausedbythesideslipoftherearaxleofthetractoristheprimarywaytoleadthevehicletolateralinstability．Tlmileroscillationwhichismu

7、chrelatedtoHopfbifurcationgenerallyoccurswhentheloadweightisconsiderablylargeandthetrailerCMiSmuchneartotherearaxleofthetrailer．Further,traileroscillationispronetofurtherdeveloptoiackknifeandtrailerswingoftencausesthewholevehicleincludingthetractortosideslipwit

8、hjackknifeoccurringsimultaneously．Rathersarisingcontrolperformanceisexpectedtobeobtainedbyselectingthetractoryawrateandtrailerslipangleasthecontrolvariablestodesignvehiclest