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1、Sprung Mass 簧载质量the sprung and unsprung masses 簧载和非簧载质量based upon 建立在什么的基础上was found to be 建立 确立（被发现 被证实）enhance the reliability 增强了可靠性tractor-semitrailer 半挂汽车列车Free body diagram 自由体受力图yaw rate 侧偏角速度Several methods of evaluation of jackknifing 折叠的评价方法simulation results are compared with experiments
2、to validate the model. 使用试验对仿真结果验证。The results of the disturbance input calculations indicated, 扰动输入的计算结果表明Two nonlinear lateral control algorithms 非线性控制算法backstepping technique. 倒车技术In this contribution, 在本文中a real-time capable truck dynamics model is presented, which contains several extensions to
3、 a standard vehicle dynamics model.Articulated Vehicle 拖车A yaw plane model with limited roll-DOF of a five-axle tractor semitrailer is developed tostudy the open-loop directional dynamics of the vehicle.一五轴仅限于翻滚自由度的横向仿真平台被建立用于研究开环汽车动力性仿真。Object Constraint Language Translator for Business ProcessThis
4、 paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the systems dynamic model。基于系统动力学模型，本文提出了牵引车带可转向挂车的轨迹规划和轨迹控制方法论。the equations of motion for a linearized truck-semitrailer were employed。半挂汽车列车线性化运动方程被使用。We first constructed non
5、linear equations of motion for articulated vehicles with 8 degrees of freedom.首先建立了半挂汽车列车的 8 自由度非线性运动模型。control scheme 控制程序In this paper a new steering control scheme for tractors and semitrailers combination is developed本文建立了半挂汽车列车转向控制程序。This research was performed using a designed experiment to ev
6、aluate the loss of dry surface braking performance and stability that could be associated with the disablement of specific brake positions on a tractor-semitrailerInvestigation of the brake force distribution on tractor -semitrailer combinations 半挂汽车列车制动力分配的研究relay valves 继动阀 安全阀 减压阀Demonstrate the
7、accuracy of 论证什么的精度under acceleration from rest 起步加速sway angle 横摆角denotes the i th tire angular velocity, 为第 i 轴车轮角速度。iitest track 试验车道service brake system 行车制动系统Brake pressure in air systems 气制动系统的制动压力Brake-pedal position, 制动踏板位置Wheel rotational speed 车轮转速Test objectives 实验目的lateral acceleration 侧向
8、加速度Longitudinal acceleration 纵向加速度brake-application signal 制动触发信号braking-in-a-turn test 弯道制动试验consists of 包含the vehicle is initially placed in a steady-state turn of specified speed and lateral acceleration车辆处于规定车速和侧向加速度下的稳态转向状态vehicle combinations 汽车列车 tractor-semitrailer 半挂汽车列车angular velocity of
9、articulation angles between adjacent vehicle units 临近车辆单元的铰接角速度the following variables should be determined 还应测量如下变量the first vehicle unit 首车trailing units 拖车The measuring and recording equipment shall be in accordance with ISO 15037-2.车辆和记录装置应满足ISO 15037-2的要求。the ambient 试验环境In conducting the braki
10、ng-in-a-turn test, 在进行开环制动试验时，The series of tests should be performed at least three times. 试验应至少进行三次。Prior to 在 之前In this initial condition, the vehicle shall be steered such that the reference point of the vehicle moves along the desired circular path. 在初始条件下，车辆的参考点应按照期望的环形路径行驶。the steering wheel
11、方向盘 转向盘In such cases, 在该情况下the moment of brake actuation 制动促动时刻The brake-application rise time 制动力上升时间（从最小值到最大值）drum (or disc) brakes 鼓（盘）式制动器empirical mathematical models 经验数学模型The brake torque models, presented as functions of brake chamber pressure and application speed以制动气室压力和施加速度为函数描述的力矩模型relat
12、e torque output to a real-time dynamic brake chamber pressure model and tire tangential speed.将制动力矩和实时轮胎制动压力、轮胎切向速度联系在一起。nonlinear mathematical models 非线性数学模型use a systems modeling approach to simulate a pneumatic commercial heavy vehicle braking system 使用系统方法对气动商用重型车辆制动系统记性仿真。the curves representin
13、g Tb versus Pc 描述制动气室气压和制动力矩关系的曲线In previous formulations of the quasi-static relationship of torque to brake chamber pressure and speed, 在当前用公式描述的力矩与制动气室压力和速度的准静态关系中，Have piecewise linear relationships of brake torque (Tb) versus chamber pressure制动力矩和气室气压之间有分段的线性关系。linear regression 线性回归With the as
14、sumption that 基于 的假设fitting a Tb versus Pc relationship at a single application speed 在单一施加速度下拟合力矩和气压的关系model error being within 6% over the entire range of application pressures 模型误差Solid lines (without symbols) indicate linear brake model 实线表明线性制动模型With respect to speed 关于速度quadratic model. 二次方程tr
15、aditional first-order ordinary differential equation 典型一阶常微分方程转向轴为线性的（力矩与气压的关系）挂车轴为二次的The results displayed in Figures 2.3, 2.4, and 2.5 show that the quadratic/quadratic” model provides superior fit, as compared to the “linear/linear” model. 图3、4、5所示二次模型的结果显著优于线性模型。制动鼓参数including drum brakes for st
16、eer (15” diameter by 4” wide drum 381 x 102 mm), drive, and trailer axles (both drums at 16.5” x 7” 419 x 178 mm), and 430 mm (16.9 inch) diameter disc brakes for steer and drive axles.at length 详尽地herein 此中 副词is directly proportional to 成正比As seen in equation (3.1), 如式 3.1所示Longitudinal Control of Heavy Duty Vehicles: Experiment Evaluationstep input 阶跃输入The equations that govern the torque response depicted graphically in Figure 3.2 are given in equations (3.3) th
