中文摘要：

针对多轴车辆轮胎磨损较为严重的特点,建立多轴车辆转向动力学模型。在考虑轮胎侧偏磨耗功率分析的基础上,在保证车辆质心侧偏角为零的前提条件下,以整车轮胎磨耗功率最小为目标,以车辆匀速行驶受力平衡为约束条件,利用拉格朗日乘子算法对多轴车辆各轮胎侧偏角进行优化,获得了多轴车辆在匀速转向行驶过程中各轴轮胎侧偏角和驱动力的函数关系式;得到轮胎侧偏磨耗最小条件下的轮胎侧偏角和驱动力的变化规律。分析结果表明：车辆同轴左右侧轮胎侧偏角相等时,轮胎侧偏磨耗功率最小;在轮胎侧偏磨耗功率最小的条件下,轮胎侧偏角、驱动力不仅与车辆质心位置、车轴分布、轮胎侧偏刚度结构有关,而且与车辆的行驶状态有关;控制方法简单易实现,可有效降低轮胎磨耗,降低车辆使用成本。

英文摘要：

Dynamic model was established for the multi-axle vehicle to reduce tire wear. Based on tire wear analysis, with the sideslip angle at zero and force balance, tire sideslip angle was optimized through Lagrange multiplier by taking tire wear power as optimizing objective. The expressions of tire sideslip angle and driving force were obtained under steady steering condition. The change laws of tire sideslip angle and driving force were analyzed under the minimum tire wear. The results indicate that the tire wear is minimum when the tire sideslip angles of the left wheel and the right wheel are equal. Tire sideslip angle and driving force are decided by the vehicle bary center position, the position of axles, the lateral stiffness of the tire and running velocity. The control system could be actualized easily, to reduce tire wear and use cost.