为了研究铰接式工程车辆侧倾稳定性及方向稳定性，基于某 35 吨铰接矿卡，在 Adams/View 中建立了铰接车辆模型，且车辆前、后轴都装备了弹性扭转悬架． 模型考虑了 液压转向系统的运动学及动力学特性对车辆稳定性的影响． 此外，还在 Matlab/Simulink 中建立了液压转向系统模型． 通过 Adams 及 Matlab 的联合仿真，分析了车辆侧倾及方向 的稳定性． 根据车辆直线行驶时的振动响应验证了 Adams 车辆模型，并通过车辆稳态及 动态转向实验验证了液压转向系统模型的准确性． 最后依照铰接车辆侧倾及方向的稳定 性评价指标，对比分析了无悬架和具有前后扭转悬架车辆在空载和满载下侧倾及方向的 稳定性． 结果表明，具有弹性扭转悬架车辆侧倾及方向的稳定性有所降低，但可通过对悬 架参数的优化来降低悬架对铰接工程车辆稳定性的影响． 

 In order to study the vehicle roll and yaw stabilities of an articulated-mode truck，a model of articulated frame steer vehicle is established according to Adams/View on the basis of a 35-ton articulated frame steer mining truck，and a torsio-elastic suspension at the frontal and rear axles of the vehicle is installed． The kinematic and dynamic of hydraulic steering features were taken into consideration． In addition，a model of a hydraulic steering system was established in Matlab/Simulink． Then co-simulation between the Adams and Simulink for roll and yaw stabilities were analyzed． The validation of the Adams vehicle model was relayed on the vibration responses under the straight line maneuver，and hydraulic steering system validation was based on the response under the steady-turning and path-change maneuvers of vehicle． According to the roll and yaw stability measurement of articulated steer vehicles，the roll and yaw stabilities of unsuspended and suspended vehicles at unloaded and loaded conditions were also analyzed respectively． The results illustrated that the vehicle with torsio-elastic suspension will decrease the roll and directional stability，but the influence of the suspension system on the stability of articulated steer vehicles can be reduced through the suspension optimization