共查询到20条相似文献,搜索用时 31 毫秒
1.
Stationar- und Ubergangsverhalten von Sattel- und Lasttugen bei der Kreisfahrt: Lineare Berechnungen
F. Vlk 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1983,12(6):331-350
Steady and Transient Turning of Tractor-Semitrailer and Truck-Trailer Combinations: A Linear Analysis
A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14). 相似文献
A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14). 相似文献
2.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5-6):305-324
SUMMARY This paper presents a review of theoretical and experimental works relative to the handling performance of commercial vehicle combinations. A commercial vehicle combination (road train) is defined as a tractor unit and an arbitrary number of trailers. The review contains literature corresponding the most widely used types of trains: tractor-semitrailer, truck-trailer and tractor-semitrailer-semitrailer (doubles). The vehicle dynamic performance has been investigated taking into consideration the following features: directional performance, roll dynamics, braking performance and combined braking and directional performance. With the aim of evaluating the present state of research activities in the field of lateral dynamics of articulated commercial vehicles, the author has compiled some 250 references. 相似文献
3.
F. Vlk 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1982,11(5):305-324
This paper presents a review of theoretical and experimental works relative to the handling performance of commercial vehicle combinations. A commercial vehicle combination (road train) is defined as a tractor unit and an arbitrary number of trailers. The review contains literature corresponding the most widely used types of trains: tractor-semitrailer, truck-trailer and tractor-semitrailer-semitrailer (doubles). The vehicle dynamic performance has been investigated taking into consideration the following features: directional performance, roll dynamics, braking performance and combined braking and directional performance. With the aim of evaluating the present state of research activities in the field of lateral dynamics of articulated commercial vehicles, the author has compiled some 250 references. 相似文献
4.
H.-Chr. Pflug 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1986,15(3):155-177
Calculations using a 3-D simulation model which was verified by means of measurements from systematic field tests are used to investigate the influence of the load on the lateral dynamic behaviour of two different truck-trailer combinations by changing the mass and the yaw moment of inertia.
Critical oscillation frequencies, the lateral dynamic damping behaviour of the truck-trailer combinations and their instabilities under extreme driving conditions are discussed. 相似文献
Critical oscillation frequencies, the lateral dynamic damping behaviour of the truck-trailer combinations and their instabilities under extreme driving conditions are discussed. 相似文献
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6.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(10):725-758
SUMMARY This paper presents the results of a parametric sensitivity analysis of a five-axle tractor-semitrailer vehicle combination using 3-DOF linear yaw/plane model. The first order logarithmic sensitivity functions are derived with respect to several vehicle design parameters. For stabilization of the vehicle's directional behaviour a fairly new control concept called “Active Unilateral Braking Control (AUBC)” acting on the tractor rear wheel's in order to produce a stabilizing yaw torque is investigated. The AUBC system improves not only the directional stability, but also affects the roll dynamics of the vehicle. The sensitivity of the controlled vehicle system with linear quadratic controller (LQR) is also examined, a robust controller design procedure is proposed as a result of the sensitivity analysis. The robustness of this controller in the presence of both internal (including parametric uncertainties, non-linear dynamics) and external disturbances (such as road irregularities and side wind) allows its implementation with confidence with a non-linear vehicle model. The applicability of this control system to a non-linear vehicle model is tested using a 34 DOF, non-linear vehicle model of the tractor-semitrailer combination. 相似文献
7.
Kiyoshi Wakamatsu Yoshimitsu Akuta Manabu Ikegaya Nobuyoshi Asanuma 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1997,27(5):305-326
This paper proposes an adaptive yaw rate feedback control system for a four-wheel-steering (4WS) vehicle which involves a tire/road friction coefficient estimator. The adaptive 4WS system has been developed so that the vehicle possesses desirable lateral characteristics even on slippery roads and in critical driving situations. The friction coefficient is estimated on real time from the yaw rate response of the controlled vehicle with the least squares. The control system adopts a two degree of freedom structure which consists of a feedforward compensator and a feedback control subsystem. The feedforward compensator is determined with the estimated friction coefficient to minimize the steady-state and transient vehicle slip angle in spite of changes in tire/road conditions. The feedback subsystem adopts the Internal Model Control (IMC) structure in order to compensate for nonlinearities and to realize robustness against modelling and estimation errors. 相似文献
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9.
液罐汽车横向稳定性的研究 总被引:1,自引:0,他引:1
对液罐车非满载工况下在水平道路上转弯行驶以及在侧坡道路上直线行驶和转弯行驶时的液体质心坐标和横向稳定性进行了分析研究。在水平道路上转弯行驶时,质心的转移及侧倾程度主要与转弯半径,车速等有关;在侧坡道路上直线行驶时,质心的转移及侧倾程度主要与坡道的角度有关,在侧坡上转弯行驶时,质心的转移及侧倾程度除与侧坡角度有关外,还与转弯半径和车速等有关。为了减少液体质心的转移对汽车横向稳定性的影响,可在罐内增加纵向隔板,来抑制液体质心的转移。 相似文献
10.
L. Palkovics M. El-Gindy 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1995,24(10):725-758
This paper presents the results of a parametric sensitivity analysis of a five-axle tractor-semitrailer vehicle combination using 3-DOF linear yaw/plane model. The first order logarithmic sensitivity functions are derived with respect to several vehicle design parameters. For stabilization of the vehicle's directional behaviour a fairly new control concept called “Active Unilateral Braking Control (AUBC)” acting on the tractor rear wheel's in order to produce a stabilizing yaw torque is investigated. The AUBC system improves not only the directional stability, but also affects the roll dynamics of the vehicle. The sensitivity of the controlled vehicle system with linear quadratic controller (LQR) is also examined, a robust controller design procedure is proposed as a result of the sensitivity analysis. The robustness of this controller in the presence of both internal (including parametric uncertainties, non-linear dynamics) and external disturbances (such as road irregularities and side wind) allows its implementation with confidence with a non-linear vehicle model. The applicability of this control system to a non-linear vehicle model is tested using a 34 DOF, non-linear vehicle model of the tractor-semitrailer combination. 相似文献
11.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(2):123-160
SUMMARY The nonlinear equations of motion are derived for a tractor-semitrailer truck where both the itractor and the semitrailer yaw, pitch, roll, and translate. Special emphasis is placed on the constraints imposed by the fifth wheel on the vehicle motion. In particular, the effects of two proposed fifth wheel design changes on the jackknifing behavior of a vehicle in a turning, braking maneuver are studied. The results demonstrate that the tendency of the vehicle to jackknife can be reduced with a geometric modification of the fifth wheel. 相似文献
12.
The sideslip driving status is of fundamental importance to the stability of a vehicle. This paper presents a practical vehicle sideslip driving status estimation method that uses ESP (electronic stability program) sensors. ESP sensors such as wheel speed, lateral acceleration, yaw rate and steering wheel angle sensors are used to determine the sideslip driving status and distinguish a banked road. This estimation algorithm contains front-rear sideslip and banked road detection methods. The proposed sideslip estimation algorithm was designed to use the analytical redundancy of these sensors and Lagrange interpolation methods. The performance and effectiveness of the proposed estimation and compensation algorithm were investigated using vehicle tests. This paper presents the results of two cases that were used for the experimental verification: a curved flat road and banked road. 相似文献
13.
This article suggests a new methodology for the objective assessment and quantification of the response of a vehicle subjected to transient-handling manoeuvres. For this purpose, a non-dimensional measure is defined, namely the normalized yaw impulse. This measure appears in two variations. In its general or dynamic form, it represents the difference between the yaw moment due to the front-tyre forces and the yaw moment due to the rear-tyre forces, divided by the sum of the aforementioned yaw moments. By employing a linear, two-degree-of-freedom bicycle model, it is shown that the general form of the normalized yaw impulse can be written as a function of the steer angle and the forward, lateral and yaw velocities of the vehicle. This form is referred to as the kinematic yaw impulse. It is demonstrated that the combined application of the dynamic and kinematic expressions of the yaw impulse not only facilitates the explicit assessment and quantification of the transient behaviour of a vehicle, but also reveals the influence of parameters such as the yaw moment of inertia, which traditionally leave the steady-state behaviour unaffected. 相似文献
14.
This article suggests a new methodology for the objective assessment and quantification of the response of a vehicle subjected to transient-handling manoeuvres. For this purpose, a non-dimensional measure is defined, namely the normalized yaw impulse. This measure appears in two variations. In its general or dynamic form, it represents the difference between the yaw moment due to the front-tyre forces and the yaw moment due to the rear-tyre forces, divided by the sum of the aforementioned yaw moments. By employing a linear, two-degree-of-freedom bicycle model, it is shown that the general form of the normalized yaw impulse can be written as a function of the steer angle and the forward, lateral and yaw velocities of the vehicle. This form is referred to as the kinematic yaw impulse. It is demonstrated that the combined application of the dynamic and kinematic expressions of the yaw impulse not only facilitates the explicit assessment and quantification of the transient behaviour of a vehicle, but also reveals the influence of parameters such as the yaw moment of inertia, which traditionally leave the steady-state behaviour unaffected. 相似文献
15.
Manfred Bäcker Michael Roller 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2016,54(4):474-491
ABSTRACTThe tyre plays a fundamental role in the generation of acoustically perceptible driving noise and vibrations inside the vehicle. An essential part of these vibrations is induced by the road excitation and transferred via the tyre into the vehicle. There are two basic ways to study noise, vibration, harshness (NVH) behaviour: Simulations in time and frequency domains. Modelling the tyre transfer behaviour in frequency domain requires special attention to the rotation of the tyre. This paper shows the approach taken by the authors to include the transfer behaviour in the frequency range up to 250?Hz from geometric road excitations to resulting spindle forces in frequency domain. This paper validates the derived NVH tyre model by comparison with appropriate transient simulations of the base transient model. 相似文献
16.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(4-5):283-298
SUMMARY Different load or tires and a drive on an ice-coated road can overcharge a driver to such an extend, that the result may be an accident. Therefore the aim of development is a self-acting compensation of the vehicle to different vehicle transfer behaviour (invariant vehicle behaviour). The calculation of so called optimal characteristics shows, that only rear-wheel steering cannot realize this aim of development. Therefore an additional front-wheel angle, which is not influenced by the driver, is necessary. A transfer function can be calculated in order to get controlled steering of the rear wheels without the influence of load. It is not possible to realize optimal characteristics, because the parameters of the vehicle are difficult to measure. Only an optimal diagnosis and control of driving condition realize a relief for the driver in every driving situation in order to avoid most of the accidents. The often demanded sideslip angle compensation only worsens driving conditions on ice-coated roads. Therefore systems which identify the driving condition themselves have to be favoured in any case. 相似文献
17.
ABS系统与车辆的匹配是一个亟待解决的课题。为了优化针对ABS系统性能的试验方法,通过一系列不同道路附着系数、不同车辆行驶速度及车辆负荷的工况下,做了相关道路试验,以验证ABS系统的性能,并根据对车辆制动减速度和车轮转速的监测结果,验证试验方法的规范性,提出了增加车辆横摆角度和横摆角速度以评价车辆制动性能的建议。 相似文献
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X. Kang S. Rakheja I. Stiharu 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2001,35(2):75-102
The directional response and roll stability characteristics of a partly filled tractor-semitrailer vehicle, equipped with various cross-section tanks, are investigated as functions of fill volume and steer inputs. The tank-vehicle combination is analytically modeled upon integrating a quasi-static roll plane model of a partly filled tank of generic cross-section with a three-dimensional directional dynamic model of a five-axle tractor-semitrailer vehicle, assuming constant forward speed. The vehicle model is analyzed for different cross-sections of partly filled tanks, including circular, modified-oval and two optimal cross-sections. The directional response characteristics of the vehicle are evaluated to study the influence of partial-fill condition, steering maneuver, and vehicle speed on the roll dynamic performance of the tank cross-section and the vehicle. A comparison of the response characteristics, in terms of variations in cargo c.g. shift and roll mass moment of inertia, roll angle, lateral acceleration and yaw rate of the trailer sprung mass, revealed that the optimal tank geometry yields considerably less variations in the cargo c.g. coordinates and can thus significantly enhance the directional response and roll stability characteristics of partly-filled tank vehicles. 相似文献
20.
Fuzzy-logic applied to yaw moment control for vehicle stability 总被引:6,自引:0,他引:6
B. L. Boada M. J. L. Boada V. Dí az 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2005,43(10):753-770
In this paper, we propose a new yaw moment control based on fuzzy logic to improve vehicle handling and stability. The advantages of fuzzy methods are their simplicity and their good performance in controlling non-linear systems. The developed controller generates the suitable yaw moment which is obtained from the difference of the brake forces between the front wheels so that the vehicle follows the target values of the yaw rate and the sideslip angle. The simulation results show the effectiveness of the proposed control method when the vehicle is subjected to different cornering steering manoeuvres such as change line and J-turn under different driving conditions (dry road and snow-covered). 相似文献