| The movement of high-speed landscape orientation jarring is the main research of the handling-stability of the Tractor-Trailer. The horizontal wave of the trailer not only increased the driving requirement of the automobile according to the road width, but also brought out the hidden trouble .It has academic meaning and practical value to study the horizontal stability and maneuverability of the automobile, it can enhance the initiative security. Based on the analyses of international scholar and technologist's research, with the techniques of Tractor system dynamics and computer simulation as well as the integration of models and experiments, the paper provides the new method and means for the research of the landscape orientation jarring. With the analytical method of parameters, influence for Tractor-Trailer's structural and motorial parameters on landscape orientation jarring is quantitatively analyzed. The research mainly includes the following aspects. ①Applied with the Tractor dynamics principle, the mathematical model of Tractor-Trailer's single rail, dual mass center horizontal stability of is established by dynamic and kinematic analyses on landscape orientation jarring principle from some main parameters and freedom degrees. In order to analyze the Tractor-Trailer's state steer, it does not only extend the mathematical model of single rail, dual mass center, but also discuss the steady-factor'influence about steering. At the meanwhile the Tractor-Trailer's dynamics model of several parts is discussed. In this model the aerodynamics and dot-damp is taken into accounts, which influence the Tractor system dynamics. ②The paper firstly presents about the nonlinear closed-loop stability on straight driving of tractor-trailer Train. The former researches were almost emphasis on driver's model and the common Tractor , which adopted the lined-model. Treated the single-dot pre-aim drivers and semi-trailer coupled rigid and elastic system as objects ,the paper presents the semi-initiative control model, and research swinging equation root tract trait and unsteady curve. ③The research partly focuses on the design of the controller of Tractor-Trailer locus tail. Through the coordinate-switched, the movement of Tractor-Trailer from nonlinear to linearity is transformed; Design the controller of Tractor-Trailer locus tail and then simulate it. ④To remedy the localization and blindness of single research method, and to make them more validate and complementarity with each other, the study attempts to use the simulation of similar model with dynamics Tractor-Trailer model and computer simulation. The similitude model-test can accomplish the multifarious molestationves in road and wind, the shift,snake,steady circle-tests and multifarious steps tests. With the characteristics of high-simulation ,credibility and continuance, this paper o ffers a new thinking and test-way for the study of Tractor-Trailer. ⑤This paper ameliorated the test-system of road surface simulation: designed,installed,debugged test-system(diversified sensors and magnify circuits; A/D, D\A interface I/O interface circuit); designed,tested the controlling-system road surface simulation, the theory of frequency conversion timing, the step less timing of transducer, and used the interface of frequency conversion RS485/232 to realize the long-distance control of computer; It utilized the theory of computer-vision and the measure of high-speed shoot to realize the movement parameter supple mentary test of outside sensor. And used theprogrammed to test and control the UI. ⑥According to the result of simulated-testing and artificial calculating, modify the calculate-model and the examining project, optimize the design of parameter, construct the orthogonal table, quantitatively analyze the influence of structural parameter of the Tractor-Trailer and movement parameter on landscape orientation liberation, optimize the structure of Tractor-Trailer, and then quantities the influence.
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