CAJ | 학술논문

针对车辆系统动力学的驱动分岔问题，以现有的三自由度模型为基础，考虑了轮胎纵向力和侧向力的混合滑移特征，建立了引入轮胎纵向力的三自由度车辆系统平面运动模型。以车辆的前轮转角为中间变量将三自由度车辆系统模型转化为五自由度自治方程的形式，并利用计算机仿真的方法得到了系统的相空间图和分岔图。相空间图的分析结果揭示了驱动模式对车辆系统动力学特性存在明显影响。分岔图的分析结果表明，不同驱动模式的车辆系统在相同角频率的正弦前轮转角输入下，系统状态变量出现分岔的转角幅值不同。
침대차량계통동역학적구동분차문제，이현유적삼자유도모형위기출，고필료륜태종향력화측향력적혼합활이특정，건립료인입륜태종향력적삼자유도차량계통평면운동모형。이차량적전륜전각위중간변량장삼자유도차량계통모형전화위오자유도자치방정적형식，병이용계산궤방진적방법득도료계통적상공간도화분차도。상공간도적분석결과게시료구동모식대차량계통동역학특성존재명현영향。분차도적분석결과표명，불동구동모식적차량계통재상동각빈솔적정현전륜전각수입하，계통상태변량출현분차적전각폭치불동。
Aiming at the driving bifurcation in vehicle system dynamics, on basis of the existing 3-DOF model, in consideration to the tyre combined slip under the action of longitudinal force and lateral force, a three-degree-of-freedom (3-DOF) vehicle system plane motion model in which a longitudinal force is introduced was established. With the turning angle of front wheel of vehicle as the intermediate variable, the 3-DOF vehicle system model was transformed into a 5-DOF autonomous differential equation. In addition, the phase space diagram and bifurcation di-agram of the system were obtained by computer simulation. The analytic result on the phase space diagram reveals that the driving mode of vehicle has obvious effects on the dynamic characteristics of vehicle system. The analytic result on the bifurcation diagram shows that, under the condition of the sinusoidal front-wheel turning angle input with same angle frequency, for the vehicle systems with different driving modes, the turn angles of the bifurcations appearing in the system state variables are different.