摩托车自动驾驶仪离合执行机构的仿生设计研究

笔者在长期应用摩托车自动驾驶仪进行耐久试验的基础上,对我单位摩托车自动驾驶仪离合执行机构进行了两套仿生优化设计,该设计充分考虑了机械动作对人手动作的模拟,并基于仿真软件进行了运动分析和静力学分析。     

基于流量阀的自动操纵机构的AMT离合器改装研究

分析了离合器操纵部件之间的运动关系,设计了基于流量电磁阀的离合器自动操纵机构和车辆起步过程的离合器自动控制策略,接着进行了离合器自动操纵机构基本性能的台架试验,最后,在原装用气助力式离合器操纵机构的北方奔驰重型商用车上改装,并进行了实际道路试验,验证了其实用性.     

基于dSPACE的AMT电控操纵系统试验台设计

以AMT为研究对象,以实现电控操纵选换挡为目标,设计电控操纵系统试验台。由d SPACE控制变速器试验台操纵机构自动完成选换挡动作,通过运动模拟软件计算和试验验证两种方法获得换挡操纵杆运动过程中操纵杆特定点位的空间位置、速度和定向载荷及其变化率等系列参数。对比验证表明该设计方案合理可行,对开发AMT操纵系统测试装置具有借鉴意义。     

高卸位装载机工作机构运动模拟

通过高卸位装载机工作机构的特性及动作分析,应用可视化语言VB,开发了高卸位装载机工作机构运动仿真程序,藉此检验新设计的工作机构各构件是否存在运动干涉、机构参数设计是否合理,并验证装载机能否保证具有铲斗平移性、卸料性及自动放平性等重要特性。通过实际产品Z30E型装载机工作机构运动模拟表明:该仿真程序参数修改灵活方便,可作为不同装载机的工作特性比较、新型装载机方案评价的有效工具,从而避免了产品制造出来后出现问题再返工造成的浪费,达到了提高企业经济效益的目的。     

重型商用车平衡悬架系统运动学分析

为了全面分析重型商用车平衡悬架系统运动学特性,在对钢板弹簧平衡悬架系统及其关键部件工作特点和运动特征进行分析的基础上,在CATIA/DMU中构建了八自由度平衡悬架机构运动学模型并对重要运动学特性进行了可视化仿真分析。同时进行了某三轴牵引车平衡悬架运动学校核试验,证明了所提出的方法和模型是可行的。     

摩托车自动驾驶仪的开发与应用

为适应国Ⅲ标准中对摩托车进行排放耐久试验的需要,结合国内车辆和使用实际情况,开发了能够自动操纵摩托车的自动驾驶仪。自动驾驶仪采用＂类驾驶员＂一体化结构,着力点、施力方式等可完全按照人的习惯进行设计,执行器的拟人化特点更为突出,执行器与车辆的匹配和配合非常合理,试验人员调整执行器更易于理解。     

转向系间隙对汽车操纵稳定性影响研究

本文中将转向机构简化为平面连杆机构,并就机构中运动副间隙对汽车操纵稳定性的影响进行了分析。建立了考虑间隙的4自由度车辆操纵系统数学模型。基于该模型,应用数值分析方法对间隙变化时汽车操纵系统响应的主要指标进行仿真。结果表明,间隙的存在,使汽车横摆角速度和质心侧偏角时域稳态响应出现波动,降低了操纵品质;随着间隙的增大,横摆角速度与质心侧偏角的振幅加大,且其相平面稳定区域逐渐减小。     

采用准中性转向参考模型的操纵稳定性控制技术

设计了一种提高车辆操纵稳定性的准中性转向参考模型。该模型在零侧偏角参考模型的基础上增加了中性转向特性以驾驶员一车辆闭环系统的稳定性。分别用这两种参考模型进行车辆制动时运动参数变化的仿真试验，试验表明准中性转向参考模型可以提高车辆制动时的操纵稳定性。     

车辆自动驾驶系统纵向和横向运动综合控制

为提高车辆自动驾驶系统的运动性能,基于模糊逻辑和滑模控制理论设计了一种车辆纵向和横向运动综合控制系统。该控制系统通过对前轮转向角度、发动机节气门开度、制动液压及主动横摆力矩进行协调控制,使车辆能够以期望速度在理想道路轨迹上行驶,并提高车辆在行驶过程中的操纵稳定性。仿真结果表明:纵向和横向运动综合控制系统能够提高车辆在不同行驶工况下的跟踪性能和运动性能,在车辆自动驾驶过程中是有效的。     

多轴车辆操纵稳定性研究

采用基于综合曲率误差的预瞄PID驾驶员模型对HTF6轴车辆的稳态回转、车道变换和转弯制动3种典型操纵稳定性试验工况进行了仿真分析,对多轴车辆不同设计参数对整车操纵稳定性的影响进行了对比分析.结果表明,标准配置的1500×600轮胎可以综合平衡整车操纵稳定性;采用根据车速控制后桥转向模式的电控转向系统可同时满足多轴车辆几何通过性和高速侧倾稳定性的要求;车辆质心高度增加100 min对仿真计算结果无明显影响.     

整体式转向梯形的设计方法研究

为了在整体式转向梯形设计过程中考虑轮胎侧偏的影响,采用了百分比阿克曼校正率对阿克曼转角关系进行了修正。设计过程中使用了MATLAB数学工具箱以及空间运动分析的方法分析转向梯形的空间运动规律,并且考虑四轮定位参数对转角关系的影响。分析结果表明,通过考虑轮胎侧偏影响设计的转向梯形与现有车型的转向梯形参数比较接近,同时通过灵敏度分析发现,梯形参数中的梯形底角对车轮转角关系的影响很大。     

玻璃碎片抛距理论模型用于推算汽车碰撞速度的研究

本文研究了玻璃碎片的运动规律，建立了广抛物运动数学模型，提出了求算模型参数的方法，然后用不同方法求出一个事故案例的汽车碰撞速度。结果比较表明，本文提出了广义抛物运动模型可以计算事故的碰撞速度，同其它方法相比，它具有可以推算碰撞地点位置，玻璃碎片不易破坏，参数容易确定的优点。     

Effect of Frame Compliance on the Lateral Dynamics of Motorcycles

The lateral dynamics of an uncontrolled motorcycle, running on a straight, level road surface, is investigated in this paper. The structural compliances in the front and the rear frames of the motorcycle are taken into account by introducing additional degrees of freedom in the analysis. The kinematics of the tires is represented by linear differential equations which are based on the taut-string model of pneumatic tires. The linear differential equations of motion are solved to yield the eigensolutions of the system. Numerical results, obtained for parameters corresponding to a Honda CB750 motorcycle, are presented and discussed.     

复数向量法的加伍德举升机构运动学分析

根据加伍德举升机构的运动特点,介绍了用复数向量法建立举升机构运动学分析的数学模型,为加伍德举升机构设计的运动学分析,提供了研究理论基础。     

Dynamic Parameter Estimation of a MacPherson Strut Suspension

The dynamic parameters of a MacPherson strut suspension were estimated from the kinematic responses and measured external forces on the system. First, Lagrange equation was used to develop the equations of motion of the system, and then equations of motion were written as linear with respect to the dynamic parameters being estimated. The generalized coordinate partitioning technique was applied to create a reduced set of equations of motion of the constrained dynamic system. In this method only the measurements of positions and kinematic responses of the independent coordinates, and the external forces applied on the system are required as inputs. The rank deficient linear system was solved by QR decomposition. Good correlation was obtained between the actual parameters and the estimated parameters, by comparison between the simulated system response from the actual parameters and from the estimated parameters.     

结合伤情的事故再现新方法研究

采用FC-Crash对道路交通事故进行重构已是比较成熟的方法,从中可以获取事故车辆的三维加速度与角加速度波形,但无法模拟出乘员的伤情指标,而Madymo软件是建立包含车体、安全带、安全气囊、假人在内的约束系统模型,在给定的加速度下可以计算出人员的伤害指标。故将PC—Crash与Madymo进行耦合计算,即可获得事故车辆在事故过程中的运动参数,再现驾乘者的运动响应,进而得到人员的伤情指标。这一新的事故再现方法的研究结果表明:PC-Crash与Madymo的耦合计算可较为准确地再现事故车辆的减速和旋转运动状态,以及驾乘人员的响应运动状态,对结合致伤机理深入分析事故原因具有重要的意义,也可为交通事故鉴定提供新思路。     

Dynamic Parameter Estimation of a MacPherson Strut Suspension

SUMMARY

The dynamic parameters of a MacPherson strut suspension were estimated from the kinematic responses and measured external forces on the system. First, Lagrange equation was used to develop the equations of motion of the system, and then equations of motion were written as linear with respect to the dynamic parameters being estimated. The generalized coordinate partitioning technique was applied to create a reduced set of equations of motion of the constrained dynamic system. In this method only the measurements of positions and kinematic responses of the independent coordinates, and the external forces applied on the system are required as inputs. The rank deficient linear system was solved by QR decomposition. Good correlation was obtained between the actual parameters and the estimated parameters, by comparison between the simulated system response from the actual parameters and from the estimated parameters.     

Effect of Frame Compliance on the Lateral Dynamics of Motorcycles

SUMMARY

The lateral dynamics of an uncontrolled motorcycle, running on a straight, level road surface, is investigated in this paper. The structural compliances in the front and the rear frames of the motorcycle are taken into account by introducing additional degrees of freedom in the analysis. The kinematics of the tires is represented by linear differential equations which are based on the taut-string model of pneumatic tires. The linear differential equations of motion are solved to yield the eigensolutions of the system. Numerical results, obtained for parameters corresponding to a Honda CB750 motorcycle, are presented and discussed.     

Adaptive Control of 4WS System by Using Neural Network

An adaptive control system of the model following type is proposed for drive motion control of a four wheel steering (4WS) car with using neural network (NN) which has mastered nonlinear friction force between tire and road surface. A model of one rigid body is adopted which represents appropriately two kinds of car motion caused by steering action, namely the lateral displacement and the yawing rotation, and an equation of motion is described in a simplified form to make a system equation for motion control possible. Nonlinear relation between the cornering force of tire and the slip angle is obtained by numerical analysis with the tire model proposed by E. Fiala, taking friction coefficient and car speed as the parameters. The result is used as the teaching signal for NN. Three NN are used in the control system composed of both the feed-forward and the feedback circuits in order to realize adaptive control. Validity and usefulness of the proposed adaptive control system with NN are verified by three kinds of computer simulation.