本文中研究3自由度车辆动力学非线性微分方程组稳定性变化对车辆稳定性判据的影响。通过对轮胎力非线性范围内车辆瞬态稳定性变化过程的分析，研究了相空间轨线在非稳定中心平衡点连续统邻域内的变化细节，分析了车辆临界稳定与轨线变化细节之间的关系。结果表明，在车辆临界稳定情况下，相空间轨线在非稳定中心平衡点连续统邻域内的变化存在一定滞后，有可能导致基于跟踪线性参考模型方法的稳定性判据失效，而须视情对线性参考模型参数或者误差门限值进行调整。%The influence of the change in 3-DOF vehicle dynamics nonlinear differential equations on vehi-cle stability criteria is studied in this paper. Specifically, by analyzing the changing process of vehicle transient sta-bility in the nonlinear region of tire forces, the variation details of phase space trajectory near unstable center equi-librium point continuum are investigated, and the relationship between vehicle critical stability and the detailed change of trajectory is analyzed. The results show that under critical stable condition, the change of phase space trajectory near the unstable center equilibrium point continuum has certain time lag, which may lead to the invalidity of stability criteria based on tracking linear reference model, so some adjustments on the parameters or error thresh-old of linear reference model based on specific situations are required.
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