轮胎滚动阻力试验系统研究

许多汽车性能试验均在底盘测功机上进行，而轮胎滚动阻力是影确测试精度的重要原因。由于目前我国大多数企业均使用双滚筒式底盘测功机，所以设计双滚筒式测功机上轮胎滚动阻力测试系统，将为台试轮胎滚动阻力特性研究奠定基础。双滚筒式试验台上测试轮胎滚动阻力采用反拖法实现，滚动阻力测试系统由双滚筒式底盘测功机改制而成。通过对加载方式、误差处理方法、系统测试精度等问题的探讨，验证了系统的可靠性和准确性。     

Micro-shimmy of towed structures in experimentally uncharted unstable parameter domain

In this paper, the lateral instability of towed structures (trailers, caravans and articulated buses) is investigated with special attention to the small amplitude lateral vibration that leads to a higher energy consumption in certain parameter domains. A low degree-of-freedom mechanical model of a shimmying towed tyre is used that describes the dynamics of the tyre–ground contact patch by the time delayed differential equation. Stability charts are calculated and the theoretically predicted linear unstable islands of small amplitude shimmy motions are validated by laboratory experiments. A tyre is towed by a relatively long caster, and its temperature and the input current of the conveyor belt are measured in order to show the increased value of the rolling resistance.     

基于实际运行工况的电动商用车能耗仿真与参数优化

在商用车电气化趋势下,如何准确研究车辆参数对能耗的影响,制定优化方案以降低能耗、提升续航里程成为影响电动商用车未来发展的重要问题。为此,应用短行程法构建目标车型的实际运行工况,采用ADVISOR车辆仿真器,以整车质量、滚阻系数、附件功率等5项车辆参数为变量,以设计优化区间为参数调整范围,开展实际运行工况下的能耗仿真,获得实际运行工况场景下各车辆参数与百公里耗电量的数量关系;在此基础上,通过分析各参数优化百分比与百公里耗电节省量的关系,构建体现各项参数能耗敏感性的节电系数;基于敏感性分析结果,对预计优化效益较高的参数进行优化,并对各优化方案进行成本-收益分析。研究结果表明：相较于“新欧洲驾驶循环”(New European Driving Cycle,NEDC)工况,实际运行工况下的能耗仿真结果与实际能耗相对误差降低超过10%;按能耗敏感性由高到低对各车辆参数排序,依次为整车质量、传动效率、滚阻系数、风阻系数、附件功率;各参数优化方案中,采用铝制白车身、配备低滚阻轮胎和热泵空调具有正面静态收益;利用实际运行工况进行能耗仿真可得到更符合目标车型实际能耗的仿真结果,以该仿真结果为基础的能耗敏感性分析和参数优化具有良好的实际指导意义。     

Influence of temperature on the tyre rolling resistance

Temperature is a very important factor controlling rolling resistance of road vehicle tyres. There are at least three different temperatures that may be considered as important factors controlling thermal conditions of the rolling tyre. The most common measure of the thermal conditions during tyre rolling is ambient air temperature. The other two are: pavement temperature and “tyre” temperature. Tyre temperature is the most difficult to establish, as temperatures of different parts of rolling tyres differ considerably, thus there is a problem to obtain representative values. In the authors’ opinion, air temperature is the most universal and reliable parameter to measure. The article presents results obtained in the Technical University of Gdańsk during laboratory and road measurements of different car tyres rolling on different pavements. The knowledge of rolling resistance characteristics is important for modelling car dynamics as well as fuel consumption. It is also necessary to establish proper test conditions in the future standardized on-road method of measuring rolling resistance. The results indicate that generally each tyre and pavement combination is influenced by the air temperature in a unique way, but at the same it is possible to propose some general influence factors that may be used to normalize measurements to the standard temperature of 25 °C.     

Laboratory alignment procedure for improving reproducibility of tyre wet grip measurement

Since 2012, the Korean and EU governments have been running a tyre labelling system. All tyres sold in Korea have to carry a label that displays information of two performance criteria: rolling resistance and wet grip. The rolling resistance of the tyres determines their fuel efficiency grading, and the wet grip of the tyres determines their braking safety grading. The rolling resistance and wet grip measurements must be reproducible, so the same tests on the same tyres in different laboratories must produce the same results to ensure a fair comparison between tyres from different suppliers. In addition, a good reproducibility of testing results prevents market surveillance authorities from obtaining results different from those provided by suppliers when testing the same tyres. The laboratory alignment procedure for the rolling resistance measurements was developed and published as the EU Commission Regulation No. 1235 in 2011. However, the laboratory alignment procedure for the wet grip measurements has not yet been developed. Therefore, there are many differences in the wet grip test results among test laboratories throughout the world. The new procedure that is proposed for the wet grip measurement alignment for tyre testing laboratories can improve the reproducibility of the wet grip testing results, and five laboratory alignment tests were carried out between KATECH and five other test laboratories in the world to evaluate the results of the proposed procedure.     

基于NEDC工况的发动机能量利用率分析方法

发动机能量利用率是一种分析和评价燃油经济性匹配水平的方法。首先计算出NEDC工况试验时为克服行驶阻力所做的功,再通过NEDC工况试验得出实际油耗,并将油耗转化为完全燃烧所释放的能量。将克服行驶阻力所做功除以完全燃烧释放的能量便是该车型NEDC工况试验时的能量利用率。能量利用率可用于判断开发车型与竞争车型经济性匹配水平的优劣,也可用于判断不同级别车型经济性匹配水平的优劣。     

A tyre slip-based integrated chassis control of front/rear traction distribution and four-wheel independent brake from moderate driving to limit handling

This paper presents a tyre slip-based integrated chassis control of front/rear traction distribution and four-wheel braking for enhanced performance from moderate driving to limit handling. The proposed algorithm adopted hierarchical structure: supervisor – desired motion tracking controller – optimisation-based control allocation. In the supervisor, by considering transient cornering characteristics, desired vehicle motion is calculated. In the desired motion tracking controller, in order to track desired vehicle motion, virtual control input is determined in the manner of sliding mode control. In the control allocation, virtual control input is allocated to minimise cost function. The cost function consists of two major parts. First part is a slip-based tyre friction utilisation quantification, which does not need a tyre force estimation. Second part is an allocation guideline, which guides optimally allocated inputs to predefined solution. The proposed algorithm has been investigated via simulation from moderate driving to limit handling scenario. Compared to Base and direct yaw moment control system, the proposed algorithm can effectively reduce tyre dissipation energy in the moderate driving situation. Moreover, the proposed algorithm enhances limit handling performance compared to Base and direct yaw moment control system. In addition to comparison with Base and direct yaw moment control, comparison the proposed algorithm with the control algorithm based on the known tyre force information has been conducted. The results show that the performance of the proposed algorithm is similar with that of the control algorithm with the known tyre force information.     

A theoretical model of speed-dependent steering torque for rolling tyres

ABSTRACT

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange–Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.     

Investigation of Features of Tyre Rolling at Non-Small Velocities on the Basis of a Simple Tyre Model with Distributed Mass Periphery

SUMMARY

On the basis of the brush-type tyre model the paper considers the interaction between steady-state rolling deformable wheel and flat road surface as well as corresponding force and moment characteristics of the wheel.

At least two zones of sliding, anisotropic dry friction, sliding friction coefficient speed-dependent and instantaneous leap of the friction coefficient when transition from sliding to adhesion zone occurs, have been taken into account, as well as distributed peripheral mass of tyre, elasticity, pseudo-dry friction and damping properties in radial, tangential and lateral directions of the elements at the wheel periphery, including a visco-elastic belt. Vertical force distribution in the contact area is not supposed to be known in advance and follows from the calculation. As a result, sliding zone lengths, distributed forces in contact area, six components of generalized road reaction reduced to the wheel center, and rolling resistance moment are found as functions of vertical load, movement velocity, longitudinal and side slip, friction in contact area with road, stiffnesses, dry friction and damping in the tyre model elements and of distributed peripheral mass.

A computer program developed in Fortran and results of calculations are of particular interest for qualitative analysis including steady rolling of studded tyre and also racing car and aircraft tyres which peripheral mass shows itself in a special way because of great movement velocities.     

汽车轮胎气压电子实时监测系统

轮胎气压不足,将增大轮胎的弯曲变形,加快轮胎的磨损,增大车轮的滚动摩擦阻力,从而导致油耗显著增加,特别是当汽车高速行驶时,更会削弱轮胎的承载能力,导致轮胎破裂漏气。以北美市场及德国BERU公司的产品为例,介绍了轮胎压力电子实时监测系统的技术和市场方面的最新发展趋势。     

利用骨料粘结技术恢复水泥路面抗滑性能

对于已经通车运营的水泥混凝土路面,随着时间的推移,车辆轮胎滚动对其表面纹理构造产生持久磨耗作用,导致其抗滑性能下降。采用何种措施来改善现有水泥路面的抗滑性能,成了亟待解决的问题。文章主要介绍了能用来改善路面抗滑性能的骨料粘结技术,对其构造形式、技术特点及施工工艺等作了较为详细的论述。     

Dynamic emulation of road/tyre longitudinal interaction for developing electric vehicle control systems

Current research on electric vehicles (EVs) is focusing on the environment and energy aspects. However, electric motors also have much better control performance than conventional internal combustion engines. EVs could not only be ‘cleaner’ and ‘more energy efficient’, but also become ‘safer’ with ‘better driving performance’. In this paper, a discrete elasto-plastic friction model is proposed for a dynamic emulation of road/tyre friction in order to validate the control design of EV control systems in laboratory facilities. Experimental results show the dynamic emulation is able to capture the transient behaviour of the road/tyre friction force during braking and acceleration, therefore enabling a more reliable validation of various EV control methods. And the computation of inverse dynamics, which usually needs to be considered in conventional emulation approaches, can be avoided using the proposed dynamic friction model.     

轮胎制动与驱动特性的理论模型

轮胎印迹内垂直载荷的分布与形式的选择，对建立轮胎制动与驱动特性的理论模型有很大影响。根据轮胎制动和驱动时印迹内垂直载荷分布特性，以及轮胎的前后变形特性，建立了轮胎制动、驱动特性的理论模型。应用该理论模型的计算结果，与试验结果具有很好的一致性。     

考虑来流偏角的汽车道路行驶阻力研究

汽车日益严苛的排放、油耗法规对准确测量和降低道路行驶阻力提出了更高的要求,气动阻力是汽车道路行驶过程中主要的阻力来源,真实道路自然风来流偏角是影响汽车气动阻力的重要因素。提出了一种基于真实道路来流偏角分布的风平均阻力系数计算方法——偏航角密度法,并和其他风平均阻力系数计算方法进行了比较,利用风洞法测量道路行驶阻力,研究了来流偏角对汽车道路行驶阻力、循环能耗的影响。研究表明,来流偏角概率密度呈现明显的区域分布特征,来流偏角显著影响汽车实际道路气动阻力、循环能耗,根据偏航角密度法,考虑真实道路来流偏角时,气动阻力、循环能耗分别最大可增加3.0%、1.6%。     

接地面部分溶化条件下冰面轮胎摩擦力的研究

综合运用流体动力润滑理论的能量守恒定律，提出了接地面部分溶化条件下冰面上汽车轮胎的摩擦力或牵引力的理论计算模型。证明了正常工作条件下，接地面上冰产生溶化的可能。对不同制动和驱动条件下轮胎摩擦力进行了计算，取得了同试验数据吻合很好的预测结果。并同已有预测模型进行了比较，比较结果表明：本文依据严格的润滑理论所推导出的冰面轮胎牵引力模型比其它已有理论模型更接近试验结果。     

Optimal power distribution of front and rear motors for minimizing energy consumption of 4-wheel-drive electric vehicles

In this paper, the optimal power distribution of the front and rear motors for minimizing energy consumption of a 4WD EV is investigated. An optimal power distribution control is developed based on the mathematical energy consumption model of an EV. The objective function is defined while ignoring time. And, the time effect is applied by considering the objective function for every single driving point which consists of the vehicle driving force and velocity. From the optimization problem, the optimal torque distribution maps of the front and rear motors can be obtained for all vehicle driving force and velocity ranges. These maps can be expressed using a 3-dimensional map. If the vehicle driving force and velocity are determined, the optimal front and rear motor torques can be determined using these maps. These maps can distribute the front and rear motor torques for the entire velocity range. Thus, these maps can perform the optimal power (torque times speed) distribution of the front and rear motors for minimizing the energy consumption of the 4WD EV. The performance of the optimal power distribution is evaluated by comparing the energy consumption to that of simple power distribution control. For obtaining the energy consumption, a vehicle driving simulation is performed. For the simulation, the driving cycle is required, and the NEDC (New European Driving Cycle) is used. From the simulation results, it is found that the energy consumption of simple power distribution is 4.8 % larger than the optimal one. Thus, the optimal power distribution can minimize the 4WD EV energy consumption as the optimization objective function.     

Design of tyre force excitation for tyre–road friction estimation

Knowledge of the current tyre–road friction coefficient is essential for future autonomous vehicles. The environmental conditions, and the tyre–road friction in particular, determine both the braking distance and the maximum cornering velocity and thus set the boundaries for the vehicle. Tyre–road friction is difficult to estimate during normal driving due to low levels of tyre force excitation. This problem can be solved by using active tyre force excitation. A torque is added to one or several wheels in the purpose of estimating the tyre–road friction coefficient. Active tyre force excitation provides the opportunity to design the tyre force excitation freely. This study investigates how the tyre force should be applied to minimise the error of the tyre–road friction estimate. The performance of different excitation strategies was found to be dependent on both tyre model choice and noise level. Furthermore, the advantage with using tyre models with more parameters decreased when noise was added to the force and slip ratio.     

轮胎垂直振动动力学模型

本文提出一种自适应轮膜模型参数的简易测定方法，给出轮胎垂直振动动力学方程及相应的求解方法，并进行计算分析与试验测定。将分析结果与通常的点接触式模型相比较，对点接触式模型及本文所建立的自适应模型做了综合评价，结果表明，本模型的计算结果是令人满意的。     

Tyre pressure monitoring using a dynamical model-based estimator

In the last few years, various control systems have been investigated in the automotive field with the aim of increasing the level of safety and stability, avoid roll-over, and customise handling characteristics. One critical issue connected with their integration is the lack of state and parameter information. As an example, vehicle handling depends to a large extent on tyre inflation pressure. When inflation pressure drops, handling and comfort performance generally deteriorate. In addition, it results in an increase in fuel consumption and in a decrease in lifetime. Therefore, it is important to keep tyres within the normal inflation pressure range. This paper introduces a model-based approach to estimate online tyre inflation pressure. First, basic vertical dynamic modelling of the vehicle is discussed. Then, a parameter estimation framework for dynamic analysis is presented. Several important vehicle parameters including tyre inflation pressure can be estimated using the estimated states. This method aims to work during normal driving using information from standard sensors only. On the one hand, the driver is informed about the inflation pressure and he is warned for sudden changes. On the other hand, accurate estimation of the vehicle states is available as possible input to onboard control systems.