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

摘要： 由于双挂汽车列车的车辆组成单元多且车身较长，在右转弯时其一挂车、二挂车后轮 与牵引车前轮会产生内轮差，导致车辆整体的运动轨迹向弯道内侧偏移，对弯道内侧的行人 及车辆会造成安全威胁。鉴于此，论文基于多体系统运动学理论建立了双挂汽车列车双轨运 动学模型，推导出车辆右转弯的运动方程并用 MATLAB 软件计算仿真得出各个车轮的运动轨 迹；通过对一挂车、二挂车后轮轴进行主动转向控制，分析了车辆右转弯时的内轮差和各车 轮运动轨迹的变化情况。结果表明，双挂汽车列车右转弯的过程中会产生较大的内轮差并存 在尾部放大效应，越靠近车辆尾部的车轮与牵引车前轮的轨迹差值越大，适当对一挂车、二 挂车后轮轴进行主动转向控制可以有效减小双挂汽车列车的内轮差，提高车辆的行驶安全性。

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