1

, .


.
,
,
, .


. , ,

, .

,
,

, ,
,

- .

1.1

, ,
,
. , . .
[1,2], . . [3], . . [4], . . [5], H. B.
Pacejka [6], . . [7] ,

.


[8].
,
, ,

,
. , ,
,
.
,

V =

2 K y1 K y 2 (l1 + l 2 ) 2
ma ( K y1 l1 K y 2 l 2 )

(1.1)

ma - ;
K y1 , K y 2 -

;
l1 ,l 2 -

,



.


,
[1].
[2,3],
: , ,
, , , .
[2,9,10,11]
, , .

.
,

[2,3,8] .

[4,8]
,

. [1,2,3,10]
[3], ,
, , ,
, ,

,
.
.


(arctg)

. , ,
,
, :

V y (nt cos ) (nt cos l1 ) z

1 = arctg

Va + (nt sin ) + (nt sin B ) z

= arctg V y (nt cos ) ( nt cos l1 ) z

2
B

Va + (nt sin ) + (nt sin ) z

Va l 2 z

arctg

3
B

a
z

V l
4 = arctg a 2 z
B

Va + z

(1.2)

, ;
Va - , /;
V y , /;

z ,
, /;
nt -
, .
[10]
: , i- ( 1.3)
f ,
;

R yi =

K yi i
1 + f

(1.3)

, ,
:
R yi = K yi i

R yi = yi mi g sign i

(1.4)

yi -
;
mi , , ;
g , /2;
sign .
,
, ,
[6],
:
R yi = Di sin[Ci arctg{Bi (1 Ei ) i + Ei arctg( Bi i )}] ,

(1.5)

Bi , Ci , Di , Ei - ,

.

, ,
.
, ,

.
,
,

() ,
.

() ( 1.3, 1.4, 1.5)
() .
[7]:

R y + (C y V / C sy ) R y = C y V (t ) ,

(1.6)

C y = C sy / L y 0 - ;
L y 0 - ;
C sy =

R y
S y

.

,
.
, ,
.
,
,
,

[12]

. 1 = 3 ,
, R
z .
1 < 3 ,
z , R . 1 > 3

, , R
, z .
[1] V y

V y ,V y ; z z , z

. ,

..

[1]

z / ,

Vx .

,
,
.

,
,

.
, ,

, , , ,

.
,

.

1.2.

,

, .


.
01.01.2006
37.001.487-89,
.
37.001.471-88 37.001.005-86. ,


ISO 3888, ISO 4138, ISO 7401, ISO 7975, ISO/TR
8725, ISO/TR 8726, ISO9816, ISO 12021-1, ISO 14512, VDA, SAE J1441,
, 523022004 [13],
.

37.001.051-86 [14]:
-

.

,
.
-

10

, .

,
52302-2004 [13]. :
- , ,
.;
- , , .;
- ;
- ( ,
.);
- .
, [2,10], [12],
,
,
.
.. [15]
,
.
:
, ,
, x0 j ,

x02 j , t t 0

x 2j < ,

, .

11

x 2j (t ) = 0 ,

, .. tlim

.

, , .
,


.
. , (
, )
()
,

, .
.
,
, , ,

( ,
).
,
.. .,

...
,

12

.

, ,
.

.
:
-

(
)
;
- ,

;
- ,

;
- , ()
;
- ,
;
- .
:
- ,
;

13

-
, .

.
, , ,

.
,
.
,
.
:
- ;
- ;
- ;
- ;
- ;
- ;
-
;
- ;
- .
,
, :

, ;
,
,
.

14

1.3

,
, ,

, ,
, .

4
:
1)

.
2) .
, ,
MathCad, MatLab, Scientific, Mathematics .
,
, ,
.
,
,
, ..
.

15

3) .
,
Euler, MatLab SimMechanics .
4) .
MatLab Simdriveline,
( , ,
, , ..),
.
, Simulink
, .

, ,
, .
,

,
.

20%.
, , ,

.

,
, . ,
, -
.
- [16]:
1) ;
2) - ;

16

3) .

,
,

.
, .

,
.
,
,
, . .
,
.

, (),
, . 1.1
.

1.1 -
u e,
y. , u, e, y
.

17

. ,
, , ,

.
.

1.4

.

:
- ,

;
- ;
-

;
-

, ,
.

18

MatLab Simulink.

19

2.1

. ,
, ,
, .

,
, . ,
.

( , .).
, . ,
, ,
, ,
. [1,2],
,
. ,
.
. 2.1 ,
.

20

2.1
( , )
( 2.1, ) Py
,
.
( 2.1, )
( 2.1, )
Py .

( 2.1,

) ,
.

21

.

(), ,
.
,
56, B
( 2.2).
45
.

2.2
( ; - )

,
.

22

.
,
(
) .
( 2.2, )
.
, ,
( ).
.
,
Mx,

( 2.3).
Mz,
.

2.3

,
. ,
.

23

(),

.

. ( 10
1,52 ) .
,
.
,
.
( 1 23 )
.
.

. .
,
.

.
.
( 2.2, )
B
, ,

.


.
.

24

( 2.2, ) ( 2.2, ).

, ,
, .

,

( 2.2, ).

.
()
,

,
.
[1],

.
( 2.2, )
,
, , .

. , , [17],

25

. ,
( )
( 2.4),
, .

2.4
(
)
.
, s1, l1,
s2 l2.
h,

26

( 2.5)
,
.

2.5

,

.

27

( 2.6).
[17].

2.6
( ; )

FRk, 2
3
1. 5 4
( 2.6, ). 2
3 :
Fsa Fsi. ,
, 2
, 3, 5
4, h 2.6, ).
,
, .
, ,

28

, ,
.

( 2.7).
Py, - ,
, ,
.
,
, ,
.

2.7

10,

. [17]

29

.
,
, .
( 2.8)

[18].

2.8

. :
f, f..
f.., .

2.8

, 0 .
,
.

30

.

.

, , .
, .


.


, ,

.
, ,
.

.
[18] 2.9.
( 2.9, ) ( 2.9, ),
.

, :
Pa = k v nn ,

(2.1)

31

k , /;
vn , /;
n ,
.

2.9
( ; ; - )
,

, ,
(
),
.

32

2.2

,
,
. , ,
,
,
, .
, ,
,

,
, .

, .
,
.
,

,
, ( ,
, , ..).
, ,
.
, ,
,

33

, ,
,
, ,
, - . ,

( , ..).
, ,
. ,
,

[19].

- Roadmaster
, .
- -
Monroe Kinetic,
, ,
,
,
, ,
. ,
/
, , .
,
,
.
,
.
,
. ,

34

, .
,
-, .

,
-.
,
- ,

,

() .
,

.
,
. , ,

DCC (Adaptive Chassis Control)

Volkswagen.

.

Volkswagen Passat CC [20]
( 2.10).

35

2.10
( )

,
( 2.11) .

36

2.11


. .

.
( 2.12) ,
.
2
( 2.10).

(0,24 A . 2,0 A)
.

37

2.12

,
.
(
, )

( ).
, , ,
,
, ,
.

38

.
. .

,
- MRF (Magnetorheological Fluid),

.

,
, ,
MRF .
, 1000 .

. MRF MagneRide,
Cadillac Catera.

, , ,
, ,
,

.
MRF,
.
Active Body Control (ABC), 2002
Mercedes Benz CL500 CL600.
,

. , ABC 68%
, . Mercedes
Benz CL500

39

,
. "
50%
L .
,
.
,
,
, ,
. ,
,

.. .
,
,

. ,
, ,
,
: , ,
, .
,
.
,
.
, ,
.

2.3

40

.
ESC (Electronic Stability
Control) .

,
(
).

() :
-
. ,
,
,
;
-
, ,
.
,
,
, , ;
-

.

[21].

41

,
. ,
, ,
. ,

,
.

,
.

,
.
.
,
, .
.

. ,
,
.
ES,
,
.
( 2.13),
,
( ),
( ), ,

42

, ,
.
( )

,

2.13
( 2.14),
,

43

2.14

3,
7.

. ,
1, 5,
4
2. ,

.
,

44

.

6 7.


.
,
,
.

[21; 22; 23].

, ,
. .

- ,
.
NHTSA (National Highway Traffic Safety
Administration) [24], ESC -

35%, 67%.
,

[25]

13%,

- 35%.

45

3.1

.

. , ,
,
.

,
.
(
),
.

[??]. ,
,
,
.
.

:

( ) ,
;

46

;
;

( );
.
;
.

, : xy
, x .

,
.

xy 3.1.

47

3.1 ,
, xy

3.1 , 1, 2

, , ()
() :
;
,
;
L ;

48

a, b
;
v ;
Rx, Ry ;
Pjn, Pj
.
.
:

Pjn

G v 2 G v 2
=
+
;
g R
g R

(3.1)

Pj

G G
=
v+
v,
g
g

(3.2)

G, G ;
g ;
R .
, (3.1) (3.2)

.
3.1 .
3.1 OC.
AOB ODC, OC.
:

49
2

tg(90 2 ) tg(90 ( 1 )) L

tg(90 ( 1 )) L
+ b
.(3.3)
R =
tg
(
90

)
+
tg
(
90

))
tg
(
90

)
+
tg
(
90

))

2
1
2
1
ACO
AOC, AOB.
L

cos 2
.
= arcsin
R
sin(

1
2

(3.4)

Pjn, Pj xz
zy.
, , xz
( 3.2). , -

.

. ,

,
a b .
3.2 C C
.
3.2 :
hg ;
h ;
hw ;
Pw ;
G, G ;

50

Pj, Pj
;
Pz ;
Pn, P
;
R1
;
Rx2
;
Rz1, Rz2
;
M ,
;
M ,
.

51

3.2 ,
, xz

, ,
xz ( 3.2):

Pj = Pj sin + Pjn cos ;

(3.5)

Pj = Pj sin + Pjn cos ;

(3.6)

R1 = R x1 cos + R y1 sin .

(3.7)

[9]:
R x1 = R z1 f 0 (1 + 4,5 10 5 v 2 ) ,

(3.8)

f0
.
-
[1]:

52

R y1 = K 1 ,

(3.9)

K .

[9]
R x 2 = R z 2 f 0 (1 + 4,5 10 5 v 2 ) ;

(3.10)

Pz = Pn cos P sin ,

(3.11)

Pn, P
.

Pn

= h ;
g

(3.12)

= h

G
;
g

[4]

(3.13)

53

Pwx = 0,5 c F v 2 cos( 1 ) ,

(3.14)

;
;
F .
,
M = ( 1 ( Z 1 + Z 1 ) + 2 ( Z 2 Z 2 ) ) L ,

(3.15)

1, 2
;
Z1, Z2
;
Z1, Z2
.

M = k1 Z 1 + k 2 Z 2 L ,

(3.16)

k1, k2
.

( 3.3).
3.3
, 3.2.

54

3.3

,
3.3,
Z1, Z2:

a
a
2
Z 1 = a 2 + h
sin arctg
+ + sin arctg

h
h

(3.17)

b
b
2
Z 2 = b 2 + h
sin arctg
+ sin arctg

h
h

(3.18)

, , 3.2,
.
.
C C.
:

55

Pj h cos + P h + G h sin + ( R1 + Rx 2 ) ( hg h ) +

+ Rz 2 b Rz1 a Pz h sin Pwx ( hw ( hg h ) ) M

M = 0

. (3.19)
Rz 2 ( b + sin h ) + ( R1 + R x 2 ) ( hg (1 cos ) h )

R ( a h sin ) G h sin P h cos

z1

Pwx ( hw ( hg (1 cos ) h ) ) M M = 0

, , zy
( 3.4). , -

.
.
,
3.2.

56

3.4 ,
, zy
3.4 :
hw ;
Pw ;
G, G ;
Pj, Pj
;
Pz
;
Pn, P
;
R, R
;
Rz, Rz
;
M` ,
;
M` ,
.
, ,
zy ( 3.4):

Pj = Pjn sin + Pj cos ;

(3.20)

57

Pj = Pjn sin + Pj cos ;

(3.21)

Pz = Pn cos P sin ;

(3.22)

Pn

= h ;
g

(3.23)

= h

G
;
g

(3.24)

Pwy = 0,5 c F v 2 sin( 1 ) ;

(3.25)

R, R
, :
R + R = K 2 + K 1 cos R z1 f 0 (1 + 4,5 10 5 v 2 ) sin ;(3.26)

58

,
M ' = ( ( Z Z ) + ( Z + Z ) ) l ,

(3.27)

, ;
Z, Z
;
Z, Z
.
l
.

M '

= k Z + k Z l ,

(3.28)

k, k
.


( 3.5).
3.5
, 3.4.

59

3.5

Z,
Z,
( 3.5):

Z =

l
2
+ h
4

Z =

l
2
+ h
4

l
l
sin arctg
+ sin arctg

2 h
2 h

(3.29)

l
l
sin arctg
+ + sin arctg

2 h
2 h

(3.30)

, ,
xz, C C
( 3.4).
. ,
:

60

Pj h cos + P h + G h sin + ( R + R ) ( hg h ) + Rz 2

R B P h sin P ( h ( h h ) ) M
z

wy
w
g

M = 0

Rz + sin h + ( R + R ) ( hg (1 cos ) h ) G h sin + . (3.31)

2

+ Pw ( hw ( hg (1 cos ) h ) ) Rz h sin Pj h cos

2

M ' M ' = 0

(3.19) (3.31) Rz1, Rz2

Rz, Rz.
,
.

,
.
.

.

3.2

, ,

3.6.

61

3.6

:
(Vx);
(Vy);

(z);

( );
(i).
, , ,
, ,
.
( 3.7).

62

3.7

- [??],
:

(
V
x V y z ) = Fx

(
V

y V x z ) = Fy ,

z I z = M z

(3.32)

Fx ;
Fy ;
M z

;
Iz ,
.

63

, :

Fx = Fx1 cos Fy1 sin + Fx1

cos Fy1 sin + Fx 2 + Fx 2 + F ,(3.33)

Fxi , i- ;
;
F .

Fyi

= F 1 cos + Fx1 sin + F y1 cos + Fx1 sin + F y 2 + Fy 2 ,(3.34)

Fyi , i- .
,

M z = 21 Fx`1 21 Fx`1
+a

Fy`1

+a

Fy`1

b Fy 2

l2
l
Fx 2 2 Fx 2 +
2
2
,
b Fy 2

(3.35)

a ;
b ;
l1 ;
l2 ;
F`xi, F`yi , i-
, x y
( 3.7).

64

F`xi F`yi, ,
i- , x
y .
,

Fx`1 = Fx1 cos Fy1 sin ;

(3.36)

,

Fy`1 = Fx1 sin + Fy1 cos ;

(3.37)

,

Fx`1 = Fx1 cos Fy1 sin ;

(3.38)

,

Fy`1 = Fx1 sin + Fy1 cos .

(3.39)

F, (3.33),
[4]:
F = k F V x2

(3.40)

65

k ;
F .
(3.32), (3.33) (3.40),
,
:

1 Fx1 cos Fy1 sin + Fx1 cos Fy1 sin +

+ Vy z

Vx =

ma + Fx 2 + Fx 2 + F

1 F1 cos + Fx1 sin + Fy1 cos + Fx1 sin +

V
=

Vx z
y
+ F + F

m
y
2

y
2

l
l1

( Fx1 cos Fy1 sin ) 1 ( Fx1 cos Fy1 sin ) +

2

l2
1 l2
z = + Fx 2 Fx 2 + a ( Fx1 sin Fy1 cos ) +

Iz 2
2

+ a ( Fx1 sin Fy1 cos ) b Fy 2 b Fy 2

.(3.41)

:
Vy
= arctg .
Vx

(3.42)

, a x V x a y V y ,
:
()

66

a x = Vx V y z ;

(3.43)

a y = V y + Vx z .

(3.44)

()
i- (
3.8).

3.8 i-

,
, i- :

i =

1
( Fxi ri + M i M i ) ,
I i

Ii i- ;
Fxi i- ;
ri i- ;

(3.45)

67

Mi Mi i-
.
i-
[4];

ri = r0i

r0i ri
,
3

(3.46)

r0i i- ;
ri i- .
i-

rci = r0i

Gi
,
ci

(3.47)

Gi i- ;
ci i- .

Fxi, Fyi [21].
, :
, i-

Fxi = c xi

s xi
f ( ) ,
1 + s xi

(3.48)

cxi i- ;
sxi i- ;
f()
.
, i-

68

Fyi = ci

tg i
f ( ) ,
1 + s xi

(3.49)

ci i- ;
i i- ;
,
, ,
:

Gi (1 + s xi )
2

( c xi s xi ) 2 + ( ci tg i ) 2

(3.50)

.

, , :
( 2 )
f ( ) =
1 1

<1

(3.51)

[21]:

s xi =

V x i re
.
Vx

(3.52)

, i-
, .
[21],
i-
:

69

Fyi + Fyi = Fyi` ,

(3.53)

;
F`yi , i- ,
( 3.49).

c =
cy =

Fy

Fy
y

c
,
c y Vx

(3.54)

;
.

i-
[21]:
,

V + a
y
z
1 = arctg
V + 1 l
x
1
z

(3.55)

V + a
y
z
= arctg
V 1 l
x
1
z

(3.56)

70

V + b
y
z
= arctg
V + 1 l
x
2
z

(3.57)

V + b
y
z
= arctg
V 1 l
x
2
z

(3.58)

(3.41),
(3.48), (3.49), (3.45), (3.53),
.

,
.

,
( 3.8).

71

3.8

,


. ,

Fi.

I x , y = M ,

(3.59)

Ix,y .
( 3.8)

M =m V y h cos + G h sin +
+ F 1 l1 F 1 l 1 + F 2 l 2 F 2 l 2

m ;

(3.60)

72

h ;
G ;
Fi ,
i- ;
l1/2 ,
.
(3.59), (3.60),
:

1
I x, y

m V y h cos + G h sin + F 1 l 1

. (3.61)
F l + F l F l
2
2
2
2
1 1

( 3.9).

a i- ; ,
i-
3.9 i-

i- ,
qi,

73

,
.
,

mi q i = Fqi ,

(3.62)

mi , i-
.

Fqi =Gi

Fi Fi ,

(3.63)

Gi , i-
.
Fi , i- ;
Fi , i- .
, mi =

Gi
, (3.62) (3.63) :
g

qi =

g
( Gi Fi Fi ) ,
Gi

(3.64)

g .
,
Fi = c i ( q i + qi ) ,

ci ;

(3.65)

74

qi
.
,

Fi = k i q i ,

(3.66)

ki .

qi.

k i
ki =
k
i

qi > 0

(3.67)

qi < 0

(3.65), (3.66),
:
F i = F i + F i .

(3.68)

(3.62) (3.67) qi
, qi = f().

,
, ,

. .
qi f() (3.64), (3.65), (3.66).
Fi (3.68) (3.61).

75

,
.

, (3.61). ,

i-
.

:
,

G1` =

1
G ( b`+ h (1 cos ) sin ) + m a x ( h`g h (1 cos ) ) , (3.69)
L

L ;
b`
;
;
h`g .
,

G2` =

1
G ( a`h (1 cos ) sin ) m a x ( h`g h (1 cos ) ) , (3.70)
L`

a`
.

:

76

G1`

m a y

G1`
=
0.5 l `1 + h sin +
( h`g h (1 cos ) ) , (3.71)
l `1
G

l`1
;
,

G1`

m a y

G1`
=
0.5 l `1 h sin
( h`g h (1 cos ) ) ; (3.72)
l `1
G

G2`

G2`
=
l `2

m a y

0.5 l `2 + h sin +
( h`g h (1 cos ) ) , (3.73)
G

l`2
;
,

G2`

G2`
=
l `2

m a y

0.5 l `2 h sin
( h`g h (1 cos ) ) . (3.74)
G

77

:
,

G1`` =

1
G b``+ m a x hg`` ,
L

(3.75)

b``
;
hg`` ;
,

G2`` =

1
G a``m a x hg`` ,
L

(3.76)

a``
.

:
,

G1``

m a y ``
G1`` 1
=
l1 +
hg ,
l1 2
G

(3.77)

l1 ;
,

78

G1``

m a y ``
G1`` 1
=
l1
hg ;
l1 2
G

(3.78)

G2``

m a y ``
G2`` 1
=
l 2 +
hg ,
l2 2
G

(3.79)

l2 ;
,

G2``

m a y ``
G2`` 1
=
l 2
hg .
l2 2
G

(3.80)

i- :
Gi = Gi` + Gi`` .

(3.81)

79

4.1

MATLAB,
Simulink. Simulink
. Simulink
,
.

, , 4.1.

4.1

80

-
Simulink 4.2.

 4.2 -
81

82

:
Dannie ( 4.3)
( , ,
.);

4.3 -

raschet Vx ( ?, ?.?)
() ;
raschet Vy ( ?, ?.?)
;

83

raschet omega z ( ?, ?.?)

;
Koleso i ( 4.4) i (i),
(Fxi, Fyi), ;

4.4 - i, Fxi, Fyi

Ugli uvoda ( 4.5)

;
Fz ( 4.6)
;
Upravlenie (
).

84

4.5 -

4.6 -

85

4.2

( 4.?).

4.?

=f(t).

, ,
[??].

, :

86

(t ) = max sin ( t ) ,

(4.1)

max ;
.
,
,
. ,
:

2 Va
,
S

(4.2)

S .

4.?.

4.?

, :
Va=60 / (16.67 /) ;

87

S=20 ;
max=5.5 (0.0968 )
( 3.5 ).
4.?
,
.

4.?

[??]
S=20 52302-2004.
5 /2,
56 / (15.56 /).
aymax5.5 /2
( 4.?). , ,
, .

88

, ,
4.?.

4.?

[??]
20 /c (0.35 /),
zmax23 /c (0.4 /).

,
.
,

.

89

-. ,

,
.

90

.

(NHTSA)

.
FMVSS 126 [??].

.
.
80 / (22.22 /).
,
.
5.1 [??]. 0,7 .



. ,
35 %
, 20 % 1.75 ,
.

91

5.1
FMVSS 126 [??]

Simulink

5.2.

5.2
FMVSS 126 [??]

,
.

92

5.3.

5.3

( 5.4)

5.5).

. ,
,
( 5.6).
.
( 5.4).
, (aymax6 /2),

93

0.5

5.4

, 1 50 %
, 5 % 1.75 ( 5.5).
,
FMVSS 126 [??],
, .

94

5.5


5.6.

95

5.6

(
),

( 5.3). ,
,
.

( 5.6),
.
. ,

96

,
( 5.7),

.
.

5.7 , i
,
,
i ,

?,
,

?.?-?.?),

( ), ,
.

97

, ,
( 5.3)
FMVSS 126 [??],
.

5.8

.
93,5% .
.

5.8 ,


( 5.9).

. ,

98

.
( 5.9), , ,
( 5.3)
FMVSS 126 [??], .

5.9