第7期 刘晋霞等：汽车多刚体操纵稳定性模型及稳定性分析 .743. 参考文献 [5]袁士杰，吕哲勤.多刚体系统动力学，北京：北京理工大学出 版社，1992：117 [1]张会明-汽车操纵稳定性的研究.华东交通大学学报，2004， 21(2):104 [6]洪嘉振.计算多体系统动力学.北京：高等教育出版社1999： 98 [2]余志生.汽车理论.3版，北京：机械工业出版社，2001：103 [3]崔胜民，肖利寿，宋宝玉，等.汽车操纵动力学十八自由度模型 [7]郑大钟.线性系统理论.北京：清华出版社，2002：16 仿真研究.汽车工程，1998,20(4)：212 [8]王划一，杨西侠，林家恒，现代控制理论基础/面向21世纪高 [4]You SS.Chai Y H.Multi-objective control synthesis:an applica" 等院校教材.北京：国防工业出版社，2004：241 tion to 4WS passenger vehicles.Mechatronics.1999.9:363 Automobile rigid multi body handling stability model and its stability analysis LIU Jinxia,ZHANG Wenming,ZHA NG Guofen Civil and Environmental Engineering School,University of Science and Technology Beijing.Beijing 100083.China ABSTRACT A new 6DOF (six degree of freedom)twoaxle automobile multi-body handling stability model was developed by the Roberson-Wittenburg method.In the model,a suspension system was taken into account. On this base,automobile handling stability was analyzed further by the Hurwitz theorem.The results show that an automobile with nice stable ride performance should follow two necessary conditions:the product of the square of rear bearing spring effective range and the rear suspension single side spring constant should be more than that of the square of front bearing spring effective range and the front suspension single side spring con- stant;the product of the mass hold by rear axle and the front tyre lateral stiffness should be more than the prod- uct of the mass hold by front axle and the rear tyre lateral stiffness.The second condition complements the de- duced condition from a classic 2DOF automobile handling stability model. KEY WORDS automobile;rigid multi-body dynamics;steering stability;suspension system参 考 文 献 ［1］ 张会明．汽车操纵稳定性的研究．华东交通大学学报‚2004‚ 21（2）：104 ［2］ 余志生．汽车理论．3版．北京：机械工业出版社‚2001：103 ［3］ 崔胜民‚肖利寿‚宋宝玉‚等．汽车操纵动力学十八自由度模型 仿真研究．汽车工程‚1998‚20（4）：212 ［4］ You S S‚Chai Y H．Mult-i objective control synthesis：an applica￾tion to4WS passenger vehicles．Mechatronics‚1999‚9：363 ［5］ 袁士杰‚吕哲勤．多刚体系统动力学．北京：北京理工大学出 版社‚1992：117 ［6］ 洪嘉振．计算多体系统动力学．北京：高等教育出版社1999： 98 ［7］ 郑大钟．线性系统理论．北京：清华出版社‚2002：16 ［8］ 王划一‚杨西侠‚林家恒．现代控制理论基础／面向21世纪高 等院校教材．北京：国防工业出版社‚2004：241 Automobile rigid mult-i body handling stability model and its stability analysis LIU Jinxia‚ZHA NG Wenming‚ZHA NG Guofen Civil and Environmental Engineering School‚University of Science and Technology Beijing‚Beijing100083‚China ABSTRACT A new 6DOF （six degree of freedom） two-axle automobile mult-i body handling stability model was developed by the Roberson-Wittenburg method．In the model‚a suspension system was taken into account． On this base‚automobile handling stability was analyzed further by the Hurwitz theorem．The results show that an automobile with nice stable ride performance should follow two necessary conditions：the product of the square of rear bearing spring effective range and the rear suspension single side spring constant should be more than that of the square of front bearing spring effective range and the front suspension single side spring con￾stant；the product of the mass hold by rear axle and the front tyre lateral stiffness should be more than the prod￾uct of the mass hold by front axle and the rear tyre lateral stiffness．The second condition complements the de￾duced condition from a classic2DOF automobile handling stability model． KEY WORDS automobile；rigid mult-i body dynamics；steering stability；suspension system 第7期 刘晋霞等： 汽车多刚体操纵稳定性模型及稳定性分析 ·743·