针对搅拌机的制动稳定性的研究比操纵稳定性更少，并且在查阅资料时发现，国内对于其他类型车辆的制动稳定性的研究也非常少，但是由于自动上料自动上料搅拌机制动过程中发生侧滑、甩尾等很容易造成交通事故，因此对于整车制动过程稳定性的研究也非常重要。

The research on the braking stability of the mixer is less than the handling stability, and when consulting the data, it is found that the domestic research on the braking stability of other types of vehicles is also very few. However, due to the side slip and tail flick during the braking process of the automatic charging mixer, it is easy to cause traffic accidents, so the research on the stability of the whole vehicle braking process is also very important.

国内针对自动上料搅拌机整车制动性能的研究主要有：有关人员通过推导多轴车辆直线制动时地面法向反作用力的通用计算公式，提出了一种便于计算机语言实现的直接计算多轴车抱死顺序的算法，基于该算法，推导了地面制动力、制动减速度和制动距离的通用计算公式。

The domestic research on the braking performance of the whole vehicle of the automatic charging mixer mainly includes: by deriving the general calculation formula of the ground normal reaction force when the multi axle vehicle is braked in a straight line, the relevant personnel proposed a calculation method for directly calculating the locking sequence of the multi axle vehicle, which is easy to be realized by computer language. Based on this algorithm, the general calculation formulas of the ground braking force, braking deceleration and braking distance are derived.

有关人员着重分析自动上料搅拌机在跑偏的前提下，自动上料搅拌机前轴两轮先抱死及后轴两轮先抱死两种情况下的自动上料搅拌机运动状态，后得出后轴先抱死时在任何情况下都损害了自动上料搅拌机的行驶方向稳定性，而前轴先抱死时只有在严重跑偏情况下才影响自动上料搅拌机行驶的方向稳定性；

Relevant personnel focused on the analysis of the motion state of the automatic feeding mixer under the condition that the front axle of the automatic feeding mixer is locked first and the rear axle of the automatic feeding mixer is locked first under the premise of deviation, and then came to the conclusion that the driving direction stability of the automatic feeding mixer is damaged in any case when the rear axle is locked first, When the front axle is locked first, the directional stability of the automatic feeding mixer will be affected only in the case of serious deviation;

有关人员研究罐装部分液体的自动上料搅拌机在转弯制动过程下，由于液体质心位置的变化对行驶稳定性的影响，分析研究了罐体内装载不同量液体时对自动上料搅拌机转弯制动时横摆角速度的影响规律，得出随着装载液体量的增加，转弯制动距离和制动时间会随之增加，比相应的直线制动值稍长。

Relevant personnel studied the influence of the change of the position of the liquid center of mass on the driving stability of the automatic charging mixer with some liquid in the tank during the turning braking process, analyzed and studied the influence law of different amounts of liquid loaded in the tank on the yaw rate of the automatic charging mixer during the turning braking, and concluded that with the increase of the amount of liquid loaded, the turning braking distance and braking time will increase, which is slightly longer than the corresponding linear braking value.

有关人员运用多体动力学软件ADAMS建立了某半挂自动上料搅拌机的整车虚拟仿真模型，分析了自动上料搅拌机在转弯行驶时其各测量量随时间的变化关系。

Relevant personnel used the multi-body dynamics software ADAMS to establish the virtual simulation model of a semi-trailer automatic charging mixer, and analyzed the relationship between the measured quantities and time of the automatic charging mixer when turning.

有关人员开发了基于ADAMS/View的小型混凝土搅拌机制动分析模块，通过该模块可快速实现用户特定的自动上料搅拌机制动仿真分析，降低使用标准，缩短开发周期，节约研究成本。在ADAMS/CAR模块里建立了整车动力学仿真模型，以不同的制动强度对该自动上料搅拌机模型进行了直线制动和转弯制动仿真试验，为该车的制动性能分析提供了参考。

Relevant personnel have developed the braking analysis module of small concrete mixer based on adams/view, which can quickly realize the user specific braking simulation analysis of automatic feeding mixer, reduce the use standard, shorten the development cycle, and save the research cost. The whole vehicle dynamics simulation model is established in adams/car module, and the linear braking and cornering braking simulation tests are carried out on the automatic charging mixer model with different braking strengths, which provides a reference for the braking performance analysis of the vehicle.

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