共查询到20条相似文献,搜索用时 46 毫秒
1.
2.
3.
Márton Kuslits Dieter Bestle 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2019,57(4):520-542
This paper presents a new steer-by-wire concept using an all-wheel drive vehicle layout with in-wheel motors while completely omitting the application of any dedicated steering device. Steering is based on the so-called differential steering principle which generates the necessary steering moment about the kingpins by a traction force difference between left and right sides of the vehicle. In order to investigate the behaviour of the vehicle and to design the underlying control algorithms, a planar vehicle model is presented, where the vehicle is described as constrained non-holonomic system requiring a special treatment. A state feedback linear controller for controlling of the lateral dynamics of the vehicle at higher speeds and a simple PI angle controller for low-speed manoeuvring are developed. The resulting behaviour of the system is investigated by various simulation experiments demonstrating a comparable steering performance of the new steering concept as that of conventional passenger cars. 相似文献
4.
四轮转向车辆多体仿真与试验研究 总被引:1,自引:0,他引:1
以四轮转向原理样车为对象,运用多体动力学理论对四轮转向车辆的转向特性进行了计算机仿真研究和试验验证。对建立整车多体模型的方法进行了论述。通过对仿真数据与样车试验结果的对比分析,证明了四轮转向多体模型各类参数和控制方法的正确性和适用性。最后利用建立的整车多体模型,仿真分析了前后悬架刚度对操纵稳定性的影响,以及制动转向时的转向响应特性。 相似文献
5.
6.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(7):815-830
The design of a narrow-track enclosed vehicle for urban transport was the subject of the CLEVER project. Due to its narrow track and requirement for car-like controls, an actively controlled tilting system was integrated into the chassis to allow for high lateral accelerations without rolling over. The cornering behaviour of this unique vehicle concept is investigated and compared with the ideal Ackermann response. The steer kinematics of this 1F1T (one front wheel, one wheel tilting) configuration are assessed through the use of a steady-state steering model, with attention focused on how steer parameters such as tilt axis height and inclination can be tuned to provide the required response. A prototype vehicle was designed and built and the results of experimental testing are presented to illustrate the real balancing performance of the combined steering and tilting approach used for the CLEVER vehicle. The experimental results follow the trends demonstrated in the model. 相似文献
7.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(9):1153-1170
An important development of the steering systems in general is active steering systems like active front steering and steer-by-wire systems. In this paper the current functional possibilities in application of active steering systems are explored. A new approach and additional functionalities are presented that can be implemented to the active steering systems without additional hardware such as new sensors and electronic control units. Commercial active steering systems are controlling the steering angle depending on the driving situation only. This paper introduce methods for enhancing active steering system functionalities depending not only on the driving situation but also vehicle parameters like vehicle mass, tyre and road condition. In this regard, adaptation of the steering ratio as a function of above mentioned vehicle parameters is presented with examples. With some selected vehicle parameter changes, the reduction of the undesired influences on vehicle dynamics of these parameter changes has been demonstrated theoretically with simulations and with real-time driving measurements. 相似文献
8.
9.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):1551-1564
This article presents two design strategies for an active rear wheel steering control system. The first method is a standard design procedure based on the well-known single track model. The aim of the feedback loop is to track a reference yaw rate in order to improve the handling behaviour. Unfortunately, a reasonable specification of the reference yaw rate proves to be a nontrivial task. A second approach avoids this drawback. The structure of the controller is regarded as a virtual mass-spring-damper system with adjustable parameters. Due to the high abstraction level of this method, the controller parameters can be tuned intuitively. Experiments with a prototype vehicle illustrate the effectiveness of the two proposed methodologies. 相似文献
10.
11.
12.
J. -Y. Zhang J. -W. Kim K. -B. Lee Y. -B. Kim 《International Journal of Automotive Technology》2008,9(6):695-702
This paper investigates an active front steering control strategy based on quantitative feedback theory (QFT). By incorporating
feedback from a yaw rate sensor into the active steering system, the control system improves the dynamic response of the vehicle.
The steering response of a vehicle generally depends upon uncertain quantities like mass, velocity, and road conditions. Thus,
QFT is used to design a controller with robust performance. A multi-degree-of-freedom nonlinear model is co-simulated here
by MATLAB Simulink and ADAMS/CAR. The performance of the control system is evaluated under various emergency maneuvers and
road conditions. The result shows that the designed robust control system has good control performance and can efficiently
improve handing qualities and stability characteristics. 相似文献
13.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):1149-1168
Vehicle steering dynamics show resonances, which depend on the longitudinal speed, unstable equilibrium points and limited stability regions depending on the constant steering wheel angle, longitudinal speed and car parameters. The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced. For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics. 相似文献
14.
Riccardo Marino Stefano Scalzi Fabio Cinili 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2007,45(12):1149-1168
Vehicle steering dynamics show resonances, which depend on the longitudinal speed, unstable equilibrium points and limited stability regions depending on the constant steering wheel angle, longitudinal speed and car parameters.
The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced.
For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics. 相似文献
The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced.
For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics. 相似文献
15.
16.
为解决钢结构转向体系设计中锚栓受力不明确的问题,采用Abaqus/CAE三维建模软件分别对块式和横隔板式2种钢结构类型的体外预应力束转向体系建立了2种转向体系的有限元模型,并为了精确模拟锚栓的粘结-滑移特性,对锚栓节点采用了非线性弹簧本构,基于有限元计算结果分析了2种转向器受力及变形特性。结果表明:1)块式转向体系结构刚度一般,在转向力作用下锚栓受力较大,结构安全系数较低;2)横隔板式转向体系结构刚度较大,在转向力作用下,结构破坏形态是钢结构屈曲,锚栓受力较小,整个结构安全系数极高。 相似文献
17.
18.
利用拓扑理论,对某国产轿车的整车拓扑结构进行分析,系统分析前后悬架子系统拓扑结构、转向子系统拓扑结构和动力总成拓扑结构并建立相应模型,结合Fiala轮胎模型和人椅系统模型,在ADAMS环境下建立了整车的虚拟样机,并编制随机的B级路面模型,研究在路面随机输入条件下该车的行驶平顺性。最后将该车道路试验结果与仿真结果进行对比,结果显示驾驶员座椅处垂向加速度功率谱的峰值所对应的频率一致,峰值大小略有差别,而垂向加速度功率谱变化趋势相同。 相似文献
19.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(4):527-559
The paper addresses the need for improved mathematical models of human steering control. A multiple-model structure for a driver's internal model of a nonlinear vehicle is proposed. The multiple-model structure potentially offers a straightforward way to represent a range of driver expertise. The internal model is combined with a model predictive steering controller. The controller generates a steering command through the minimisation of a cost function involving vehicle path error. A study of the controller performance during an aggressive, nonlinear steering manoeuvre is provided. Analysis of the controller performance reveals a reduction in the closed-loop controller bandwidth with increasing tyre saturation and fixed controller gains. A parameter study demonstrates that increasing the multiple-model density, increasing the weights on the path error, and increasing the controller knowledge range all improved the path following accuracy of the controller. 相似文献
20.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(10):1563-1584
A virtual test rig is presented using a three-dimensional model of the elasto-kinematic behaviour of a vehicle. A general approach is put forward to determine the three-dimensional position of the body and the main parameters which influence the handling of the vehicle. For the design process, the variable input data are the longitudinal and lateral acceleration and the curve radius, which are defined by the user as a design goal. For the optimisation process, once the vehicle has been built, the variable input data are the travel of the four struts and the steering wheel angle, which is obtained through monitoring the vehicle. The virtual test rig has been applied to a standard vehicle and the validity of the results has been proven. 相似文献