基于Lyapunov稳定性理论的单轨迹车辆运动稳定性分析

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英文篇名：Kinematic Stability Analysis of Single Track Vehicle Based on Lyapunov Stability Theory 作者：韩忠磊 ; 段薇 ; 周涛 ; 胡三宝 英文作者：HAN Zhonglei;DUAN Wei;ZHOU Tao;HU Sanbao;Hubei Province Key Laboratory of Modern Automotive Technology,Wuhan University of Technology;Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology;Wuhan Maritime Communication Research Institute; 关键词：Lyapunov稳定性理论 ; 单轨迹车辆 ; 齐次坐标 ; 稳态运动稳定性 英文关键词：Lyapunov stability theory;;single track vehicle;;homogeneous coordinate;;stability of steady-state motion 中文刊名：ZZKX 英文刊名：Digital Manufacture Science 机构：武汉理工大学现代汽车零部件技术湖北省重点实验室;武汉理工大学汽车零部件技术湖北省协同创新中心;武汉船舶通信研究所; 出版日期：2019-06-15 出版单位：数字制造科学 年：2019 期：v.17;No.73 基金：国家自然科学基金资助项目(51305314) 语种：中文; 页：ZZKX201902006 页数：6 CN：02 ISSN：42-1693/TP 分类号：33-38

摘要

针对单轨迹车辆在直线行驶时,受到外力干扰易发生倾覆失稳的问题,利用Lyapunov稳定性理论分析了影响其稳态运动稳定性的结构因素和动力学因素。以齐次坐标描述单轨迹车辆各部件的位置和姿态,建立了包括车身、轮胎、转向器等的9自由度非线性模型DOF9-BIKE。然后,运用Lyapunov稳定性理论计算得出单变量情况下,保证单轨迹车辆稳态运动稳定性的各因素取值范围。从计算结果可以看出,车速超过某一限值,足够的轮胎侧偏刚度是保证单轨迹车辆稳态运动稳定性的必要条件。对于具体的车辆,转向器阻尼、轮胎侧倾刚度、质心位置都应满足一定的取值范围,才能使车辆稳态运动稳定。
        When a single track vehicle is traveling in a straight line, it is easy to overturn and destabilize by external interference.To solve this problem,the structural factors and dynamics factors that impact the stability of the vehicle's steady-state motion are analyzed using Lyapunov stability theory.The position and attitude of each component of a single track vehicle aredescribed in homogeneous coordinates. A 9 degree of freedom nonlinear model DOF9-BIKE, including body, tire and steering gear, is established.The Lyapunov stability theory is used to calculate the range of the factors that guarantee the stability of the vehicle in its steady-state motion. From the calculation results, it can be seen that sufficient tire cornering stiffness is the necessary condition to ensure the stability of the single-track vehicle's steady-state motion, when the speed exceeds a certain limit. For a specific vehicle, damping of the steering gear, rolling stiffness of the tire, and centroid position should be in a certain range of values to achieve a stable steady-state motion of the vehicle.

引文

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