【摘要】 分析了不平路面上车辆制动时轮胎与路面相互作用时的变化特点，建立了一种能反映在接地印迹上路面不平度对车轮垂直力、制动力及地面制动力矩变化影响的非线性时变轮胎模型，阐述了非线性时变轮胎模型的主要特征。运用非线性轮胎模型仿真计算了不平路面上汽车的制动过程，其仿真计算制动加速度变化与汽车实际制动过程中的变化有相同的规律性。通过仿真计算，说明本文所建立的非线性时变轮胎模型对不平路面上车辆的制动性能仿真研究具有重要意义。更多还原

【Abstract】 Motion characteristics of interaction between the tyre and the road surface when applying automobile brakes to the rough road surface are analyzed. A nonlinear and time varying tyre model that can describe the influences of the road surface roughness on the vertical force, braking force and braking torque of automobile tyre is set up. Basic performances of nonlinear and time varying tyre model are described. This tyre model is used to simulate braking process of vehicle on a rough road surface. Simulation results of braking deceleration are the same as experimental braking performances, the statements mentioned above is to prove that the nonlinear and time varying model may be adopted to research the braking process of automobile on the uneven and even road surfaces.更多还原