1. The research on the braking stability of the automatic concrete loading mixer is less than that of the handling stability, and it is found that the domestic research on the braking stability of other types of vehicles is also very few. However, due to the side slip and tail flick during the braking process of the automatic loading mixer, it is easy to cause traffic accidents, so the braking process of the whole vehicle is stable The study of sex is also very important.

2.国内针对自动上料搅拌车整车制动性能的研究主要有：通过推导多轴车辆直线制动时地面法向反作用力的通用计算公式，提出了一种便于计算机语言实现的直接计算多轴车抱死顺序的算法，基于该算法，推导了地面制动力、制动减速度和制动距离的通用计算公式，着重分析自动上料搅拌车在跑偏的前提下。

2. The domestic research on the braking performance of the automatic loading mixer mainly includes: by deriving the general formula for calculating the normal reaction force on the ground when the multi axle vehicle is braked in a straight line, an algorithm for directly calculating the locking sequence of the multi axle vehicle is proposed, and based on the algorithm, the general calculation formulas of the ground braking force, braking deceleration and braking distance are derived This paper focuses on the analysis of the automatic feeding mixer in the premise of deviation.

自动上料搅拌车前轴两轮先抱死及后轴两轮先抱死两种情况下的自动上料搅拌车运动状态，得出后轴先抱死时在任何情况下都损害了自动上料搅拌车的行驶方向稳定性，而前轴先抱死时只有在严重跑偏情况下才影响自动上料搅拌车行驶的方向稳定性。

The results show that when the rear axle is locked first, the stability of the driving direction of the automatic feeding mixer will be damaged in any case, while the direction stability of the automatic feeding mixer will be affected only when the front axle is locked first.