共查询到20条相似文献,搜索用时 251 毫秒
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J. Kim 《International Journal of Automotive Technology》2010,11(3):331-337
A methodology is presented for estimating vehicle handling dynamics, which are important to control system design and safety
measures. The methodology, which is based on an extended Kalman filter (EKF), makes it possible to estimate lateral vehicle
states and tire forces on the basis of the results obtained from sinusoidal steering stroke tests that are widely used in
the evaluation of vehicle and tire handling performances. This paper investigates the effect of vehicle-road system models
on the estimation of lateral vehicle dynamics in the EKF. Various vehicle-road system models are considered in this study:
vehicle models (2-DOF, 3-DOF, 4-DOF), tire models (linear, non-linear) and relaxation lengths. Handling tests are performed
with a vehicle equipped with sensors that are widely used by vehicle and tire manufacturers for handling maneuvers. The test
data are then used in the estimation of the EKF and identification of lateral tire model coefficients. The accuracy of the
identified values is validated by comparing the RMS error between experimentally measured states and regenerated states simulated
using the identified coefficients. The results show that the relaxation length of the tire model has a notable impact on the
estimation of lateral vehicle dynamics. 相似文献
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In this study, a hierarchical structured direct yaw-moment control (DYC) system, which consists of a main-loop controller and a servo-loop controller, is designed to enhance the handling and stability of an in-wheel motor driven driven electric vehicle (IEV). In the main loop, a Fractional Order PID (FO-PID) controller is proposed to generate desired external yaw moment. A modified Differential Evolution (M-DE) algorithm is adopted to optimize the controller parameters. In the servo-loop controller, the desired external yaw moment is optimally distributed to individual wheel torques by using sequential quadratic programming (SQP) approach, with the tire force boundaries estimated by Unscented Kalman Filter (UKF) based on a fitted empirical tire model. The IEV prototype is virtually modelled by using Adams/Car collaborating with SolidWorks, validated by track tests, and serves as the control plant for simulation. The feasibility and effectiveness of the designed control system are examined by simulations in typical handling maneuver scenarios. 相似文献
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Han-Wool Lee Jin-Rae Cho Weui-Bong Jeong 《International Journal of Automotive Technology》2017,18(5):823-832
For the numerical simulation of tire rolling noise, an important subject is the extraction of normal velocity data of the tire surface that are essential for the acoustic analysis. In the current study, a concept of periodically exciting contact force is introduced to effectively extract the tire normal velocity data. The ground contact pressure within contact patch that is obtained by the static tire contact analysis is periodically applied to the whole tread surface of stationary tire. The periodically exciting contact forces are sequentially applied with a time delay corresponding to the tire rolling speed. The tire vibration is analyzed by the mode superposition in the frequency domain, and the acoustic analysis is performed by commercial BEM code. The proposed method is illustrated through the numerical experiment of 3-D smooth tire model and verified from the comparison with experiment, and furthermore the acoustical responses are investigated to the tire rolling speed. 相似文献
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You-Qun Zhao Yao-Ji Deng Fen Lin Ming-Min Zhu Zhen Xiao 《International Journal of Automotive Technology》2018,19(3):499-508
The transient dynamic characteristic of a tire, which has a significant effect on vehicle handling stability and ride comfort, is difficult to study in detail because of its highly non-linear behavior. In this study, the transient dynamic characteristics of a non-pneumatic wheel, called the mechanical elastic wheel (MEW), which was rolling over a ditch were investigated by the explicit dynamic finite element (FE) method. A three-dimensional FE model of MEW considering geometric nonlinearity, material nonlinearity and large contact deformation between the wheel and the road, was established. For the validation of the accuracy and reliability of the FE model of MEW, the simulation and the experimental results of the radial stiffness and footprint of MEW were compared and analyzed. A dynamic simulation of the validated FE model of MEW rolling over a ditch was conducted using the ABAQUS/Explicit program. The equivalent stress and the contact stress generated during the process of the rolling MEW impacting the ditch were studied in detail. The effect of the rolling speed on the transient dynamic characteristics was also analyzed based on the simulation results. The simulation results could provide guidance for the optimization of the MEW structure and vehicle dynamics. 相似文献
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动态载荷下轮胎侧偏特性的理论及试验研究 总被引:1,自引:0,他引:1
提出了在动载和时变印迹长度下轮胎的接触历程概念,导出了计算动载时轮胎接地印迹内各点接触历程的入迹方程,阐明轮胎动载侧偏力学特性建模机理,克服了动载侧偏特性理论建模的一个基本障碍,建立了考虑胎体平移弹性小幅动载时的理论模型,并提出了轮胎动载侧偏特性的半经验模型,进行了相应的试验研究,给出了试验结果与模型计算结果的比较。 相似文献
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In-plane Dynamics of Tires on the Road Based on an Experimentally Verified Rolling Ring Model 总被引:3,自引:0,他引:3
Shyh-Chin HUANG Associate Professor Chen-Kai SU Graduate Student 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1992,21(1):247-267
The dynamic behavior of tires rolling on the road is predicted based on a ring model that is experimentally verified to well represent a real tire. The road contact is kinematically represented by two displacement constraints, one in radial and one in tangential direction. The displacement constraints are enforced via the receptance theory. The receptance matrix developed for the rolling tire is found to be Hermitian. Numerical results show that the natural (or eigen-) frequencies of the rolling tire with road contact are, as expected, higher than those of the tire with no contact. The influence of the rotating speed to the eigen-frquencies of the tire is also shown. Analytic expressions for the mode shapes of a rolling tire with ground contact are derived. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(1):247-267
SUMMARY The dynamic behavior of tires rolling on the road is predicted based on a ring model that is experimentally verified to well represent a real tire. The road contact is kinematically represented by two displacement constraints, one in radial and one in tangential direction. The displacement constraints are enforced via the receptance theory. The receptance matrix developed for the rolling tire is found to be Hermitian. Numerical results show that the natural (or eigen-) frequencies of the rolling tire with road contact are, as expected, higher than those of the tire with no contact. The influence of the rotating speed to the eigen-frquencies of the tire is also shown. Analytic expressions for the mode shapes of a rolling tire with ground contact are derived. 相似文献
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Y.Q. Wang Doctoral candidate R. Gnadler Professor Dr.-Ing. R. Schieschke 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1994,23(1):149-163
A mathematical model of a two-dimensional contact patch of pneumatic tires rolling over a rigid flat road surface at arbitrary slip and camber angles has been developed. The model is simple in concept, contains few parameters and is applicable to any tire simulation models. In addition to tire geometric parameters and vertical deflection, the carcass camber angle is introduced in the model. This angle is alone responsible for the asymmetric shape of the tire contact patch when the tire undergoes a lateral force. The computed contact patches agree well with the measured patches of an automotive tire at different slip and camber angles. Lastly, the influence of the contact patch geometry on the tire cornering and aligning properties has been discussed through a computational example. It has been shown that the effect of tire contact patch geometry on the steady state behavior is rather remarkable. 相似文献
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Eunjae Lee Hojin Jung Seibum Choi 《International Journal of Automotive Technology》2018,19(4):669-676
As for the tire analysis, lateral tire force is a fundamental factor that describes the stability of vehicle handling. Attempts to analyze the vehicle stability have been made based on various objective test methods and some specific factors such as yaw, lateral acceleration and roll angle. However, the problem to identify which axle is lack of the tire grip at a certain situation still remains. Since indoor tire force measurement system cannot represent a real road and vehicle conditions, tire force measurement through a real vehicle test is inevitable. Due to the high price of the tire force measurement device, tire force estimator can be an alternative toward cost reduction and device failure. In this paper, nonlinear planar full car model combined with tire model is proposed. Then, using discrete-time extended Kalman-Bucy filter (EKBF), individual tire lateral force are estimated with modified relaxation length model. 相似文献
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H.-P. Willumeit F. B hm 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1995,24(6):525-550
This paper presents a survey of the state-of-the-art in predicting the wheel vibrations in a complex dynamic vehicle suspension system and their influence on the forces transduced in a high frequency area from the tire to the vehicle's body. Secondly it presents also the transient evolution of tire models used for prediction and understanding high frequency movements in the tire's contact area, producing the guiding forces and torques during vehicle handling. 相似文献
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载重子午轮胎与路面相互作用的分析 总被引:1,自引:0,他引:1
根据全钢载重子午线轮胎12.00R20的实际结构,考虑轮胎的几何非线性、材料非线性、接触非线性以及大变形等力学特性,应用有限元的方法建立轮胎的三维模型,橡胶材料采用Yeoh模型,橡胶-帘线复合材料采用加强筋模型,并通过轮胎径向刚度的测试验证了模型的有效性.在数值模拟中分析了轮胎在一定充气压力时,在不同垂直载荷和牵引速度的作用下,与地面在接触区域的变形情况、应力分布、摩擦应力分布等滚动接触规律.结果表明,轮胎与地面接触应力分布存在明显的非均匀性,轮胎的接地面积和地面总反力随着滚动速度的升高而增大. 相似文献
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J. Kim 《International Journal of Automotive Technology》2008,9(6):687-693
In this article, the analysis methods for vehicle handling performance are studied. Using simple models, dynamic characteristic
parameters such as yaw, natural frequency, and the damping coefficient of a vehicle can be theoretically formulated. Here,
the vehicle is simplified by a bicycle (single-track) model, and the tire is modeled by an equivalent cornering stiffness
and first order lag. From the experimental road data, the tire model parameters (equivalent cornering stiffness and time lag
constant) are extracted. These parameters are then inserted into the theoretically formulated equations of dynamic characteristic
parameters. For the purpose of validating the efficiency of the suggested methods, experimental road tests (where the cars
have different handling performances) are performed. The results show that vehicle handling performance can be sufficiently
represented by the suggested dynamic characteristic parameters. So, it is concluded that the proposed method has practical
use for the development of new cars or for the comparison of similar cars since the evaluations of the vehicle handling performance
can be efficiently determined by the suggested dynamic characteristic parameters. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(6-7):525-550
SUMMARY This paper presents a survey of the state-of-the-art in predicting the wheel vibrations in a complex dynamic vehicle suspension system and their influence on the forces transduced in a high frequency area from the tire to the vehicle's body. Secondly it presents also the transient evolution of tire models used for prediction and understanding high frequency movements in the tire's contact area, producing the guiding forces and torques during vehicle handling. 相似文献
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Jo ko Deur Jahan Asgari Davor Hrovat 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2004,42(3):133-173
The use of advanced dynamic friction models can improve the brush-type tire friction models. This paper presents a 3D dynamic brush model based on the LuGre friction model. The model describes the dynamics of longitudinal and lateral tire friction forces, as well as the self aligning torque dynamics. It has been originally derived in a distributed-parameter form, and then transformed to a simpler lumped-parameter form with only three internal states. Both uniform and non-uniform normal pressure distributions are considered. The model has analytical solution for steady-state conditions. The steady-state behavior is validated with respect to “magic” formula static model, which served as an “ideal” benchmark. The lumped model dynamic behavior is validated by comparing its time-responses with original distributed model responses. The model parameterization with respect to normal force and other tire/road parameters is considered as well. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(3):133-173
The use of advanced dynamic friction models can improve the brush-type tire friction models. This paper presents a 3D dynamic brush model based on the LuGre friction model. The model describes the dynamics of longitudinal and lateral tire friction forces, as well as the self aligning torque dynamics. It has been originally derived in a distributed-parameter form, and then transformed to a simpler lumped-parameter form with only three internal states. Both uniform and non-uniform normal pressure distributions are considered. The model has analytical solution for steady-state conditions. The steady-state behavior is validated with respect to “magic” formula static model, which served as an “ideal” benchmark. The lumped model dynamic behavior is validated by comparing its time-responses with original distributed model responses. The model parameterization with respect to normal force and other tire/road parameters is considered as well. 相似文献