耦合上装载荷的多轴车辆动力学建模与仿真

李文浩; 于会龙; 卢玉传; 任延飞; 席军强

doi:10.12382/bgxb.2024.0647

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耦合上装载荷的多轴车辆动力学建模与仿真

更新时间：2025-09-25

- 耦合上装载荷的多轴车辆动力学建模与仿真
- Dynamics Modeling and Simulation of Multi-axle Wheeled Vehicle with Coupled Top Loads
- 兵工学报 2025年46卷第8期页码：240647
- 作者机构：
  
  1. 北京理工大学机械与车辆学院, 北京 100081
  2. 中国北方车辆研究所传动系统技术部, 北京 100072
- 作者简介：
  
  *huilong.yu@bit.edu.cn
  **xijunqiang@bit.edu.cn
- 基金信息：
- DOI：10.12382/bgxb.2024.0647
  中图分类号：
- 收稿：2024-07-29，
  
  网络出版：2025-08-28，
  
  纸质出版：2025-08-31
- 稿件说明：
移动端阅览
李文浩, 于会龙, 卢玉传, 等. 耦合上装载荷的多轴车辆动力学建模与仿真[J]. 兵工学报, 2025,46(8):240647.

Wenhao LI, Huilong YU, Yuchuan LU, et al. Dynamics Modeling and Simulation of Multi-axle Wheeled Vehicle with Coupled Top Loads[J]. Acta Armamentarii, 2025, 46(8): 240647.
李文浩, 于会龙, 卢玉传, 等. 耦合上装载荷的多轴车辆动力学建模与仿真[J]. 兵工学报, 2025,46(8):240647. DOI： 10.12382/bgxb.2024.0647.

Wenhao LI, Huilong YU, Yuchuan LU, et al. Dynamics Modeling and Simulation of Multi-axle Wheeled Vehicle with Coupled Top Loads[J]. Acta Armamentarii, 2025, 46(8): 240647. DOI： 10.12382/bgxb.2024.0647.

摘要

多轴轮式车辆动力学模型是新型车辆快速开发及车辆设计参数优化、控制算法搭建的基础。目前普遍采用商用软件搭建

其动力学方程及模型梯度信息难以获取

无法将其应用于整车全局设计与控制参数的动态优化

且现有商业软件及理论建模研究对上装载荷动力学影响考虑较少。针对上述问题

基于拉格朗日动力学

考虑簧下质量纵横向运动及上装载荷反作用力对整车动力学的影响

应用矢量化建模方法搭建8×8轮式车辆24自由度动力学模型

分别基于C++和M语言进行软件开发。在变加速、阶跃转向、双移线、正弦扫频等多种工况下与商业软件TruckSim进行全面对比。研究结果表明

自主开发的仿真模型其轮胎力、悬架力及空气阻力、纵横垂向运动等与商业软件高度一致

最大误差小于5%

验证了新方法的准确性。

Abstract

Multi-axle wheeled vehicle dynamics model is the basis for the rapid development of new vehicle equipment

the optimization of vehicle design parameters and the construction of control algorithms.The commonly used commercial software is difficult to obtain the dynamic equations and model gradient information so that it cannot be used for the dynamic optimization of vehicle global design and control parameters.And the effects of top-loading dynamics have been given less consideration in existing commercial software and theoretical modelling studies.In order to address the aforementioned issues

a vectorized modeling method is employed to construct a 24-degrees-of-freedom dynamics model of an 8×8 wheeled vehicle based on Lagrangian dynamics

which considers the influences of the longitudinal and lateral motions of unsprung mass and the reaction force of top load on the vehicle dynamics.The modeling is based on Lagrangian dynamics

and the software is developed using C++ and M languages

respectively.The proposed model is comprehensively compared with the commercial software TruckSim under a variety of working conditions

including variable acceleration

step steering

double lane change

swept sine steering.The results demonstrate that the tire force

suspension force and air resistance

as well as the longitudinal

lateral and vertical motions of the proposed simulation model exhibit high consistency with those of the commercial software with an error of less than 5%.This verifies the accuracy of the methodology.

关键词

Keywords

references

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