Direct tire force generation algorithm based on non-iterative nonlinear inverse tire model

The function of vehicle dynamics control system is adjusting the yaw moment, the longitudinal force and lateral force of a vehicle body through several chassis systems, such as brakes, steering and suspension. Individual systems such as ESC, AFS and 4WD can be used to achieve desired performance by controlling actuator variables. However, integrated chassis control systems that have multiple objectives may not simply achieve the desired performance by controlling the actuators directly. Usually those systems determine the required tire forces in an upper level controller and a lower level controller regulates the tire forces through the actuators. The tire force is controlled in a recursive way based on vehicle state measurement, which may not be sufficient for fast response. For immediate force tracking, we introduce a direct tire force generation method that uses a nonlinear inverse tire model, a pseudo-inverse model of vehicle dynamics and the relationship between longitudinal force and brake pressure.     

Development of an electric booster system using sliding mode control for improved braking performance

Brake systems of the future, including BBW (Brake-by-Wire), are in development in various forms. In one of the proposed hydraulic BBW systems, an electric booster system replaces the pneumatic brake booster with an electric motor and a rotational-to-linear motion mechanism. This system is able to provide improved braking performance by the design of controllers with precise target pressure tracking and control robustness for better system reliability. First, a sliding mode controller is designed using the Lyapunov function approach to secure the robustness of the system against both the model uncertainty and the disturbance caused by the master cylinder and mechanical components. Next, a simulation tool is constructed to validate the electric booster system with the proposed controller. Finally, the electric booster system is implemented into an actual brake ECU and installed in a vehicle for testing under various braking conditions. The experimental results demonstrate that the proposed controller produces faster pressure build-up performance than the conventional brake system, and its tracking performance is sufficient to ensure comfortable braking.     

Drive force control of a parallel-series hybrid system

Since each component of a hybrid system has its own limit of performance, the vehicle power depends on the weakest component. So it is necessary to design the balance of the components. The vehicle must be controlled to operate within the performance range of all the components. We designed the specifications of each component backward from the required drive force. In this paper we describe a control method for the motor torque to avoid damage to the battery, when the battery is at a low state of charge.     

Coordinated control of ESC and AFS with adaptive algorithms

This paper presents a coordinated control of electronic stability control (ESC) and active front steering (AFS) with adaptive algorithms for yaw moment distribution in integrated chassis control (ICC). In order to distribute a control yaw moment into control tire forcres of ESC and AFS, and to coordinate the relative usage of ESC to AFS, a LMS/Newton algorithm (LMSN) is adopted. To make the control tire forces zero in applying LMS and LMSN, the zero-attracting mechanism is adopted. Simulations on vehicle simulation software, CarSim®, show that the proposed algorithm is effective for yaw moment distribution in integrated chassis control.     

电动汽车底盘分析与调校研究

作为汽车的核心部分,电动汽车底盘直接影响整车表现,底盘系统的研发对汽车综合性能提升带来的影响极为深远,这使得近年来相关研究大量涌现。基于此,本文以某电动汽车为例,针对性开展了整车动力学建模与仿真,依托工装车性能试验,深入探讨了底盘性能优化改进路径,希望研究内容能够给相关从业人员以启发。     

商用车电子稳定性控制系统的标准发展及关键技术

介绍了商用车电子稳定性控制系统(ESC)的基本原理及其技术背景,阐述了系统标准的发展现状,并从系统功能定义、系统评价、系统的试验方法及仿真方法等方面,分析了标准的核心内容.简述了系统控制策略、车辆状态估计、执行器设计开发、系统评价体系、底盘综合控制等关键技术.     

汽车电源系统的设计与选型

电源系统是汽车产品的关键组成部分。蓄电池、发电机、供电线束是汽车电源系统的重要组成部分。本文以陕汽牌SX2255型消防车底盘的电源系统设计为例,从蓄电池的选型设计、发电机的选型设计和供电线束的原理图设计三个方面介绍汽车电源系统设计的一种方法。本方法对汽车电气系统的开发设计人员有一定的参考价值。     

底盘测功机加载响应性能研究

对我国在用车工况法尾气排放测试用底盘测功机加载响应性能的测试方法和技术要求进行了研究。指出我国有关文献忽略了影响底盘测功机加载响应性能的重要因素—平均稳定时间所带来的问题,以及美国BAR97测试方法对我国实施的瞬态和简易瞬态工况法存在的不适应问题,根据我国瞬态工况法和简易瞬态工况法的特点,提出新的加载响应性能测试方法,并对某底盘测功机加载响应性能进行了测试和分析。     

CNG/汽油双燃料汽车燃气ECU的设计

介绍所设计的双燃料汽车燃气电控模块的组成、原理及设计过程,将该电控模块与原车的ECU和氧传感器一起构成闭环控制系统,可实现对燃气喷气量的精确控制。通过利用原车ECU的控制策略,可缩短开发周期,节约开发成本。通过试验验证了所设计的燃气ECU的控制性能。     

基于Ncode的某SUV后转向节强度疲劳性能仿真和试验研究

后转向节是SUV车型底盘系统的关键承载部件,对整车性能有重要影响,文章针对某SUV后转向节进行了强度和疲劳CAE分析,然后进行了台架刚度测试和强度与疲劳测试,CAE分析和台架试验结果表明,某SUV车型后转向节零件的力学性能满足目标要求。     

发动机ECU动态测试分析系统的研究与设计

应用计算机仿真测试技术，构建了发动机ECU动态测试分析系统。系统可以模拟出实车的各种传感器信号来驱动发动机ECU工作，并利用计算机虚拟仪器技术测量和显示发动机ECU的输出信号，实现在脱机状态下对发动机ECU的动态测试。通过对TOYOTA RAV42.0汽车发动机ECU实际测试表明，使用仿真信号驱动来模拟发动机ECU的实际工作状态，可以深入了解ECU的控制特性和工作参数，为研究和评价ECU提供大量有价值的数据。与就车测试相比，它具有调控容易、重复性好、仪器的测试范围可以无限扩展等优点。     

越野汽车差速锁止机构自动控制系统ECU设计

针对越野汽车差速锁止机构自动控制系统的功能和性能需求，并结合一般汽车底盘电控系统的需要，设计了ECU的硬软件。试验表明，该ECU的硬件和软件的设计和制作是成功的。     

除雪车液压系统设计计算

设计了一种由装载机底盘改装而成的除雪车的液压系统,阐述了除雪车工作装置回路和转向回路的原理,并时液压系统和元件进行了计算,最后对液压泵和发动机功率进行了校核。对液压系统及工作装置的理论计算表明：改装后的除雪车各项性能满足设计要求,能正常、稳定工作。     

Selection of Actuator Combination in Integrated Chassis Control Using Taguchi Method

This paper presents a method to select the actuator combination in integrated chassis control using Taguchi method. Electronic stability control (ESC), active front and rear steering (AFS/ARS) are used as an actuator, which is needed to generate a control tire force. After computing the control yaw moment in the upper-level controller, it is distributed into the control tire forces, generated by ESC, AFS and ARS in the lower-level controller. In this paper, the weighted pseudo-inverse control allocation (WPCA) with variable weights is used to determine the control tire forces of each actuator. Taguchi method is adopted for sensitivity analysis on variable weights of WPCA in terms of the control performances such as the maneuverability and the lateral stability. For sensitivity analysis, simulation is performed on a vehicle simulation package, CarSim. From sensitivity analysis, the most effective actuator combination is selected.     

大众品牌汽车在华车型整车匹配性能统计分析

大众汽车集团是中国汽车工业最早、最成功的国际合作伙伴之一,除江淮大众外,其主要的合资公司为上汽大众和一汽大众,文章主要是统计一汽大众、上汽大众所有大众品牌在售乘用车车型信息、销量、动力性、经济性、整备质量等相关参数,从车机箱搭载维度、整车性能表现维度、发动机搭载形式和性能维度以及车辆整备质量维度等方面进行整车匹配性能统计分析。     

Simulation methods supporting homologation of Electronic Stability Control in vehicle variants

ABSTRACT

Vehicle simulation has a long tradition in the automotive industry as a powerful supplement to physical vehicle testing. In the field of Electronic Stability Control (ESC) system, the simulation process has been well established to support the ESC development and application by suppliers and Original Equipment Manufacturers (OEMs). The latest regulation of the United Nations Economic Commission for Europe UN/ECE-R 13 allows also for simulation-based homologation. This extends the usage of simulation from ESC development to homologation. This paper gives an overview of simulation methods, as well as processes and tools used for the homologation of ESC in vehicle variants. The paper first describes the generic homologation process according to the European Regulation (UN/ECE-R 13H, UN/ECE-R 13/11) and U.S. Federal Motor Vehicle Safety Standard (FMVSS 126). Subsequently the ESC system is explained as well as the generic application and release process at the supplier and OEM side. Coming up with the simulation methods, the ESC development and application process needs to be adapted for the virtual vehicles. The simulation environment, consisting of vehicle model, ESC model and simulation platform, is explained in detail with some exemplary use-cases. In the final section, examples of simulation-based ESC homologation in vehicle variants are shown for passenger cars, light trucks, heavy trucks and trailers. This paper is targeted to give a state-of-the-art account of the simulation methods supporting the homologation of ESC systems in vehicle variants. However, the described approach and the lessons learned can be used as reference in future for an extended usage of simulation-supported releases of the ESC system up to the development and release of driver assistance systems.

Abbreviations: ABS: Anti-lock braking system; ADR: Australian design rules; ALB: Automatic load-dependent brake force controller; AMEVSC: Alternative method to assess the electronic vehicle stability control system; APP: Application; BSC: Brake slip controller; CAE: Computer-aided engineering; CAN: Controller area network; CAT: Category; CoG: Centre of gravity; DIN: Deutsches Institut für Normung (German Institute for Standards); EB+: Trademark of Haldex; EBD: Electronic brake force distribution; EBS: Electronic brake system; ECU: Electronic control unit; ESC: Electronic stability control; ECVWTA: European Community Whole Vehicle Type Approval; FMVSS: Federal motor vehicle safety standards; GPS: Global positioning system; GRRF: Groupe de travail en matiere de roulement et de freinage (Working Party on Braking and Running Gear); HiL: Hardware-in-the-Loop; HSRI: Highway Safety Research Institute; K&C: Kinematic and compliant (KnC); MBS: Multibody systems; MPV: Multipurpose vehicle; NHTSA: National Highway Traffic Safety Administration; OEM: Original equipment manufacturer; SiL: Software-in-the-Loop; ST: Summer tyres; STM: Single track model; StVO: Straßenverkehrsordnung (Government Highway Regulations); SUV: Sports utility vehicle; SW: Software; SwD: Sine with dwell manoeuvre; TC: Threshold consumption value; TCS: Traction control system; TRIAS: Test Requirements and Instructions for Automobile Standards; UN/ECE: United Nations Economic Commission for Europe; VAF: Value-added function; VDC: Vehicle dynamics controller; VTC: Vehicle test catalogue; WT: Winter tyres     

混合动力系统的台架试验研究

针对所开发的混合动力系统的特点,建立了包括测功机、发动机及ECU、电动机及电机控制器ECU、液晶仪表、电池及管理系统ECU、软件监控界面等在内的动力系统测试平台。通过台架试验,实现了发动机和电动机双驱动动力源的参数匹配,节约了开发成本,缩短了开发周期,完成了用车辆难以进行的试验,验证了整车的控制逻辑及其相关的控制策略,为转鼓试验和整车的进一步开发研究奠定了基础。     

基于Nastran的某SUV后副车架力学性能仿真和试验研究

后副车架是SUV底盘关键承载部件,对整车性能有重要影响,文章针对某SUV车型后副车架进行了强度和疲劳CAE分析和研究,同时进行了台架对标刚度测试和强度工况测试,结果表明此SUV后副车架刚强度和抗疲劳性能满足目标要求。     

Requirement-based testing of an automotive ECU considering the behavior of the vehicle

HILS (Hardware In the Loop Simulation) and RBT (Requirement-Based Testing) are widely used to evaluate the performance and reliability of automotive ECUs (Electronic Control Units). The HILS method is used to predict the behavior of ECU-installed vehicles and to evaluate the performance of ECU controllers. RBT evaluates whether the embedded system satisfies the pre-defined requirements. In this study, the behavior of a vehicle is regarded as a system requirement, and an embedded system test procedure that evaluates the system requirement is proposed. In particular, a new method is introduced, which integrates HILS with RBT. Using the proposed method, the behavior of an articulated vehicle equipped with an AWS (All Wheel Steering) ECU is evaluated with RBT software.     

关于汽车底盘故障因素及其维修要点初探

随着我国经济的迅速发展,人们的生活质量得到了显著的提升,人均收入也得到了大幅度的提升,汽车也走入到千家万户,成为了家庭中已经成为了必备的物品.汽车底盘是汽车结构中最终的组成部分,同时也是最容易发生故障的结构之一.一旦汽车底盘发生故障,则说明汽车在某个部件出现了故障,需要对汽车进行及时地检查和维修.本文结合汽车底盘的故障...