基于图解法的三轴车辆操纵稳定性分析

三轴车辆车身长、轴载大、行驶工况复杂，这使得三轴车辆的操纵稳定性相对较差。考虑轮胎侧偏角超过 后，轮胎呈现出较强的非线性特性，分别在线性域和非线性域内对车辆操纵稳定性进行分析。建立整车模型以及线性和非线性轮胎模型；在线性域内，基于根轨迹法研究某三轴车辆结构和状态参数对其操纵稳定性的影响；在非线性域内，基于相平面法分析三轴车辆操纵稳定性与其行驶工况的关系；最后，分析三轴全轮转向车辆的控制机理及其操纵稳定性，为三轴全轮转向车辆的设计和控制提供参考。

The analysis of lateral stability for a three axis vehicle based on the graphical method

The three axis vehicle has long body length、high axial load and complex driving condition, which makes the lateral stability of it be poor relatively. When the slip angle more than five degree, the tire will show nonlinear characteristics strongly. Considering that, the handling and stability of vehicle is analyzed in online and nonlinear domain. The vehicle model, online tire model and nonlinear tire model are built. In the online domain, based on the root locus method, the change of transient steering characteristics is analyzed resulted by the change of the structure and state parameters. In the nonlinear domain, based on the phase plane method, the relationship between the handling stability and driving conditions is analyzed. In the end, the control mechanism and handling stability of all-wheel steering vehicle are analyzed. It can provide theoretical support for the design and control of the three axis vehicle.