Abstract: To solve the problems that the lack of experience and unreasonable parameters matching, the complexity of modeling and analyzing, and the difference between the off-line simulation model and the real-time simulation model in the traditional vehicle handling design, this paper analyses the stability of vehicle handling and its evaluation method. The 3-DOF vehicle handling mathematical model is presented using the mechanics theory of rigid body. And it is easy to build the 3-DOF model by the declarative equation method of Modleica. And the real-time combination simulation model is built by the S-function of Modelica and Matlab/Simulink. The method can transform the Modelica model to the Simulink model. A certain type of car is used as the object of study to test and verify the modeling method.

Key words: handling stability, multi-domain modeling, Modelica modeling, real-time simulation

摘要： 针对传统汽车操纵稳定性设计中缺少经验导致参数匹配不合理、数字仿真分析模型建立过程复杂、数字仿真模型与实时仿真验证模型不一致等问题，在汽车操纵稳定性原理分析基础上，建立了基于刚体力学理论的三自由度操纵稳定性数学模型；采用Modelica语言的陈述式建模方法建立了其数字仿真模型，简化了建模过程；通过Simulink中Modelica模型导入接口，建立了其实时仿真模型，实现了数字仿真模型直接转换为实时仿真模型，为操纵稳定性实时仿真验证提供了技术支持，并以某型号车辆操纵稳定性分析为对象，对该方法进行了应用验证。

关键词: 操纵稳定性, 多领域建模, Modelica语言, 实时仿真