推荐阅读：摘 要：悬架系统是车辆系统中重要的组成之一。悬架系统分为被动悬架、半主动悬架、主动悬架。悬架系统性能的优劣对车辆的乘坐舒适性、操纵稳定性、平顺性、车辆安全性都有重要影响，我国矿用自卸车悬架系统多为被动悬架，矿用自卸车半主动悬架系统的研究相对
摘 要：悬架系统是车辆系统中重要的组成之一。悬架系统分为被动悬架、半主动悬架、主动悬架。悬架系统性能的优劣对车辆的乘坐舒适性、操纵稳定性、平顺性、车辆安全性都有重要影响，我国矿用自卸车悬架系统多为被动悬架，矿用自卸车半主动悬架系统的研究相对较少，因此精确的建立矿用自卸车半主动悬架系统的数学模型对矿用自卸车半主动悬架系统的研究具有非常重要意义。该文针对某重型矿用自卸车悬架系统进行了力学分析，根据经典力学定律推导出了矿用自卸车悬架系统的部分力学微分方程，为进一步研究矿用自卸车半主动悬架系统提供了理论基础。
关键词：数学模型 被动悬架 半主动悬架 矿用自卸车
Mining of the dump truck half vehicle semi-active Suspension pitch for the establishment of the Mathematical model
MA Shizhen
（Shandong Linwo Heavy Equipment Co.，Ltd.，Jinan ，25000，Shandong，China）
Abstract：Suspension system is one of the important assembly of the vehicle system. Suspension system is divided into passive suspension， semi-active suspension and active suspension. The merits of the suspension system performance of vehicle ride comfort and handling stability， comfort， vehicle safety has important influence， Our country mining equipments suspension system to passive suspension， mining equipments of the semi-active suspension system study is relatively small， So accurate establishment of mining equipments， the mathematical model of the semi-active suspension system for mining equipments of semi-active suspension system research has very important significance. In a heavy mining of the dump truck for the mechanics analysis， and mining of the dump truck is deduced according to the laws of classical mechanics suspension system parts of mechanical differential equation， for further research of mining of the dump truck semi-active suspension system provides a theoretical basis.
Key words：mathematical model；passive suspension ；Semi-active suspension；mining of the dump truck
1 半车俯仰模型的建立
半车俯仰动力学模型的建立是对车辆性能研究和悬架系统设计的基础。由于悬架系统振动的复杂性，所以精确描述、计算很困难，因此在分析建立半车俯仰数学模型的的过程中进行了相应的简化，车辆的主要运动方式有：沿竖直方向的跳动、纵向的俯仰运动、横向的侧倾运动，该文只研究前两种运动，现作如下假设：（1）车辆的俯仰运动的转动角度
