关键词: 双挂汽车列车；多体系统运动学；右转弯；轨迹；内轮差；主动转向

Abstract: As the vehicle component units of a-double vehicles are many and the body is long, its one trailer, two trailer rear wheels and the front wheels of the tractor car will produce internal wheel difference during the right turn, resulting in the overall motion trajectory of the vehicle shifting to the inner side of the curve, which will cause safety threat to the pedestrians and vehicles on the inner side of the curve. In view of this, this paper establishes a dual-track kinematic model of a-double vehicles based on the kinematic theory of multi-body system, derives the motion equation of the vehicle right turn and uses MATLAB software to calculate and simulate the motion trajectory of each wheel; through active steering control of the rear axle of one trailer and two trailers, the inner wheel difference and the change of the motion trajectory of each wheel during the vehicle right turn are analyzed. The results show that the right turn of the a-double vehicles will produce a large internal wheel difference and there is a tail amplification effect, the closer the wheels to the rear of the vehicle and the greater the trajectory difference between the front wheels of the tractor, the appropriate active steering control of the rear axle of the first trailer and the second trailer can effectively reduce the internal wheel difference of the a-double vehicles and improve the driving safety of the vehicle.

Key words: A-double vehicles; Kinematics of multi-body system; Turn right; Trajectory; Inner wheel difference; Active steering