摘要
铰接转向车辆行驶路面复杂，工作环境恶劣，并且转向时前、后车架相对转动，整车重心横向偏移，导致车辆侧向稳定性下降，翻车事故发生几率较高。本文结合国家自然科学基金项目“非公路车辆防翻车主动安全技术研究”（NO.51175216）和高等学校博士学科点专项科研基金项目“工程车辆主动防倾翻系统设计理论与控制技术”（NO.20100061110014），对铰接转向车辆的侧倾失稳机理及主动防倾翻控制方法进行了研究，建立了包括铰接转向运动、摆动桥运动和地面环境参数的铰接转向车辆七自由度非线性动力学模型，得到了铰接转向车辆的失稳机理和适用于铰接转向车辆的动态稳定性指标，提出了基于主动制动、主动转向和摆动桥调整联合作用的车辆稳定性控制方法。具体工作如下：
根据铰接转向车辆的结构特点，将其划分为前车体、后车体和后桥三部分，详细分析了三者之间的连接和运动关系；得到了能够完整描述整车运动所需的自由度，包括整车沿纵向、横向和垂向的平动自由度，整车的俯仰和横摆、后车体的侧倾和后桥的侧倾等转动自由度；在此基础上，建立了铰接转向车辆七自由度非线性动力学模型。为了验证所建立模型的可靠性，设计并制造了铰接转向车辆物理样机模型，分别在水平路面转弯、直行越障和转弯越障三种工况下对动力学模型进行了实验验证，仿真结果与实验结果吻合度较高，表明所建立的动力学模型是合理的，可以作为研究铰接转向车辆侧倾稳定性的工具。
基于已建立的非线性动力学模型，选择某型号装载机为研究对象，分析了铰接转向车辆在转弯、越障以及斜坡路面上的失稳机理。结果表明，铰接转向车辆的稳定性可以通过侧倾角速度的大小来表征，当侧倾角速度超过临界倾翻阈值时车辆将发生失稳；而侧倾角速度临界倾翻阈值除了与车辆自身结构有关外，主要受侧向加速度和坡度角的影响。在此研究基础上，得到了适用于铰接转向车辆的动态稳定性指标，该指标中包含了车辆的侧倾角速度和侧向加速度等运动信息以及路面坡度角信息。
在得到铰接转向车辆侧倾失稳机理的基础上，分别研究了主动制动、主动转向和摆动桥调整对车辆侧倾稳定性的影响。结果表明，主动制动有利于提高车辆转弯时的侧倾稳定性；在保证不发生二次事故的前提下主动转向能够提高车辆转弯和越障时的侧倾稳定性；摆动桥调整通过改变车辆的重心位置可以提高多种失稳工况下车辆的侧倾稳定性。综合考虑主动制动、主动转向和摆动桥调整等各种防倾翻方法的特点，提出了集“主动制动-主动转向-摆动桥调整”于一体的主动防倾翻联合控制方法，并且利用物理样机模型验证了该控制方法的有效性。
为了能够实现摆动桥主动调整，对现有的被动摆动桥结构进行了改进，在现有结构的基础上增加了电液比例控制系统，该控制系统可以实现以下功能：车辆在正常行驶过程中，摆动桥随地形能够进行自由摆动，保证摆动桥的全部原始设计功能；当车辆发生失稳时，控制摆动桥向侧倾相反方向运动，通过调整前后车体的姿态来调整整车重心，实现车辆的主动防倾翻控制。最后，为了验证所设计控制系统的合理性，基于多体动力学软件RecurDyn和控制软件Matlab/Simulink，建立了包含主动摆动桥模块的某型号装载机虚拟样机联合仿真模型，分析结果表明，主动摆动桥在保证其基本功能的基础上能够实现铰接转向车辆的主动防倾翻控制。
综上所述，本文建立了铰接转向车辆的非线性动力学模型，设计了铰接转向车辆的物理样机模型，通过动力学仿真和实验验证相结合的方法，研究了铰接转向车辆的侧倾失稳机理及主动防倾翻控制方法。论文的研究工作为铰接转向车辆的安全性设计及主动防倾翻安全技术的开发提供了依据，对于保障铰接转向车辆司机生命安全具有重要意义。
Traveling on complex road as well as working in poor conditions, the gravity center ofarticulated steer vehicles (ASV) will severely offset laterally when steering, leading a highprobability of rollover accident. The rollover instability mechanism and active anti-rollovercontrol method of the ASV was studied under the support of National Natural ScienceFoundation of China (NO.51175216) and Ministry of Education Fund for the Doctoral(NO.20100061110014). Firstly, a7-DOFs nonlinear dynamics model was built, it includedarticulated steering movement, swinging bridge movement and ground environmentalparameters. Then the instability mechanism and dynamic rollover stability index for the ASVwere obtained. On the basis above, we proposed active anti-rollover control method combinedwith active braking, active steering and swing bridge adjustment. The specific work is asfollows:
According to the structural features of the ASV, it was divided into three parts: a frontbody, a rear body and a rear axle. By analyzing the connections and relationships among thethree parts, we obtained the vehicle DOFs which contains the translational movements(longitudinal, lateral and vertical) and the rotational movements (pitch and yaw of the wholevehicle, roll of the front body and the rear body). On this basis, a7DOFs nonlinear dynamicsmodel of the ASV was built. A physical prototype model of the ASV was designed andmanufactured to validate the dynamic model under three conditions (turning on level ground,passing over obstacles and turning on uneven road). The test results agreed well with thesimulation ones. Thus, the proposed dynamic model was convinced to be reasonable and couldbe served as a tool for analyzing the stability of the ASV.
Based on the established dynamics model, detailed analysis of a wheel loader’s dynamicrollover stability was carried out in the conditions of turning/passing over obstacles andtraveling on slopes. The analysis results showed that the stability of the ASV largely dependedon the roll angular velocity. Rollover will occur when the roll angular velocity exceeds acritical threshold which affected by vehicle structure, lateral acceleration and slope angle. Onthis basis, a dynamic stability index (DSI) applicable to ASV was defined. The DSI containsthe information of roll rate, lateral acceleration and slope angle.
After obtaining the rollover mechanism of ASV, the effect of active braking, activesteering and swing bridge adjustment on rollover stability was studied. The results showedthat (1) Active braking will be propitious to improve vehicle stability when cornering;(2)Active Steering will help to improve the roll stability of the vehicle when cornering andpassing over obstacles under the premise of no secondary accident occurring;(3) Swing bridge adjustment will improve vehicle stability in any instability conditions by changing the positionof the vehicle's center of gravity. Considering the characteristics of the anti-rollover controlmethod of the active braking, active steering and swing bridge adjustment, respectively, weproposed an active anti-rollover control method combined with active braking, active steeringand swing bridge adjustment, which is verified by using the physical prototype.
In order to achieve the active anti-rollover control method mentioned above, the existingpassive swing bridge had been improved by adding an electro-hydraulic proportional controlsystem. This control system could achieve the following functions:(1) The swing bridge canbe free to swing with the terrain when the vehicle is traveling normally, it is the basic functionof the swing bridge;(2) Control the swing bridge to roll in the opposite direction to achieveactive anti-rollover control by adjusting the position of the vehicle's center of gravity when therollover occurring. Finally, based on multi-body dynamics software RecurDyn and controlsoftware Matlab/Simulink, a virtual prototype model of one wheel loader which contains theimproved swing bridge was built to verify the reasonableness of the control system. The resultsshowed that the improved swing bridge could achieve active anti-rollover control of ASV aswell as guarantee its basic function.
In summary, this paper established a rollover dynamics model and designed physicalprototype model of the ASV. The rollover instability mechanism and the active anti-rollovercontrol method for the ASV were analyzed by both dynamic simulation and experimentalvalidation. The research provides a basis for the safety design and the development of activesafety technology of the ASV, and it is of significance for protecting the life of the driver ofthe ASV.
引文
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