| 牵引车牵引运动的稳定性研究 |
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| 引用本文： | 任少云,张云侠,张建武,钟兴华.牵引车牵引运动的稳定性研究[J].上海交通大学学报,2005,39(9):1470-1475,1480. |
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| 作者姓名： | 任少云 张云侠 张建武 钟兴华 |
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| 作者单位： | 上海交通大学,机械与动力工程学院,上海,200030 |
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| 摘 要： | 在大负荷拖载行驶工况下，牵引车存在复杂的动力学特性。建立了14自由度车辆牵引力学模型，它包含地面附着系数与车轮滑转率的分段非线性关系。通过对牵引运动方程的当量线性化分析，运用李雅普诺夫一次近似理论，得到牵引车牵引稳定性的判定依据；并进一步绘制了车辆牵引运动临界稳定图，为车辆牵引运动稳定性控制研究提供了理论判据。
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| 关 键 词： | 牵引车 力学模型 扰动方程 稳定性分析 李雅普诺夫稳定理论 牵引临界稳定图 |
| 文章编号： | 1006-2467（2005）09-1470-06 |
| 收稿时间： | 2004-09-07 |
| 修稿时间： | 2004-09-07 |
The Stability Analysis of Towing Behavior for Towing Tractor |
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| REN Shao-yun,ZHANG Yun-xia,ZHANG Jian-wu,ZHONG Xing-hua.The Stability Analysis of Towing Behavior for Towing Tractor[J].Journal of Shanghai Jiaotong University,2005,39(9):1470-1475,1480. |
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| Authors: | REN Shao-yun ZHANG Yun-xia ZHANG Jian-wu ZHONG Xing-hua |
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| Institution: | School of Mechanical Eng. , Shanghai Jiaotong Univ. , Shanghai 200030, China |
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| Abstract: | The dynamic characteristics of towing tractor under heavy load are complicated. The mechanical model of a towing tractor with 14 DOF(Degree of Freedom) was developed. Based on the nonlinear relationship between instantaneous slip and coefficient of adhesion in the model, an equivalent linear vibration system of the towing tractor is obtained. By using linearity method, a critical stable curve of the towing tractor is determined in three-dimension parametric space. |
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| Keywords: | towing tractor mechanical model disturbance equation stability analysis Lyapunov stable theory critical stable curve |
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