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中文摘要：
针对三轴重型汽车建立了二自由度非线性人一车一路闭环模型，考虑驾驶员控制和路面方向扰动，推导了系统动力学方程．在运用Hopf分岔理论进行分析的基础上，以临界车速为评价指标，通过数值模拟研究了轴距、预瞄距离、载重量、驾驶员控制时滞和轮胎侧偏刚度对转向稳定性的影响，并确定了转向系统的数值稳定范围．另外，还通过分岔图、时程曲线、相轨线、功率谱、Poincar6图和Lyapunov指数研究了不同车速下汽车的非线性动力学响应．结果表明，随着车速的增加汽车可能发生周期运动、拟周期运动及混沌运动，汽车的横向稳定性与车辆和驾驶员参数密切相关．
英文摘要：
A closed-loop driver-vehicle-road model with two degrees of freedom （DOF） for a three-axle heavy vehicle was set up. With the influence of the road directional disturbance and driver control considered, the vehicle ordinary differential equations of motion were estab- fished. The influences of system parameters including wheelbase, preview distance, loading, time delay of driver control and tire lateral stiffness on steering stability were studied by numer- ical simulations, based on the Hopf bifurcation theory. The range of numerical stability of the steering system was also determined. Moreover, the nonlinear dynamics of this closed-loop driver-vehicle-road system at different vehicle running speeds were investigated by numerical methods, such as bifurcation, time history curve, phase trajectory, power spectrum, Poincar~ section and Lyapunov exponent. It is shown that periodic, quasi-periodic and chaotic motions may take place with the increase of running speed, and the lateral stability of the vehicle mainly depends on the vehicle and driver model parameters.
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