A 16-degree-of-freedom non-linear roll dynamic model is developed for an articulated engineering vehicle considering non-linear road excitations and non-linear characteristics of vehicle structures. In addition, a variable step-size numerical method is proposed to solve the non-linear dynamic model. The proposed numerical method can improve the calculation accuracy and the computational stability. Through the proposed dynamic model, an equation is derived considering time-varying tire load characteristics to reflect the roll stability of an articulated engineering vehicle. Using the proposed roll stability equation, the driving stability can be effectively evaluated for an articulated engineering vehicle with different system parameters. The analysis results show that the roll stability decreases significantly with the increase in vehicle speed, centroid height of engineering vehicle, or lateral slope angle. The influence of vehicle speed and lateral slope angle on roll stability is greater than that of the centroid height of engineering vehicle. When steering on the road with a lateral slope angle, the roll angle and the lateral load transfer ratio curves fluctuate with time. As the lateral slope angle increases, the fluctuation is stronger. Overall, the proposed model can accurately evaluate the roll stability of a driving articulated engineering vehicle and accurately determine the unstable tilting of an articulated engineering vehicle.

中文翻译：

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基于动态横向转移载荷的铰接式工程车辆侧倾稳定性研究

考虑非线性道路激励和车辆结构的非线性特性，建立了铰接式工程车辆的16自由度非线性侧倾动力学模型。此外，提出了一种变步长数值方法来求解非线性动力学模型。所提出的数值方法可以提高计算精度和计算稳定性。通过所提出的动力学模型，推导出考虑时变轮胎载荷特性的方程，以反映铰接式工程车辆的侧倾稳定性。使用所提出的侧倾稳定性方程，可以有效地评估具有不同系统参数的铰接式工程车辆的行驶稳定性。分析结果表明，随着车速的增加，侧倾稳定性显着降低，工程车辆的质心高度，或侧倾角。车速和侧倾角对侧倾稳定性的影响大于工程车辆质心高度的影响。当在具有横向倾斜角的道路上转向时，侧倾角和横向载荷传递比曲线随时间波动。随着侧倾角的增大，波动性更强。总体而言，所提出的模型可以准确评估行驶中的铰接式工程车辆的侧倾稳定性，并准确判断铰接式工程车辆的不稳定倾斜。当在具有横向倾斜角的道路上转向时，侧倾角和横向载荷传递比曲线随时间波动。随着侧倾角的增大，波动性更强。总体而言，所提出的模型可以准确评估行驶中的铰接式工程车辆的侧倾稳定性，并准确判断铰接式工程车辆的不稳定倾斜。当在具有横向倾斜角的道路上转向时，侧倾角和横向载荷传递比曲线随时间波动。随着侧倾角的增大，波动性更强。总体而言，所提出的模型可以准确评估行驶中的铰接式工程车辆的侧倾稳定性，并准确判断铰接式工程车辆的不稳定倾斜。