汽车在雪地上的牵引性预测

本文根据雪地的特性，依据汽车与地面系统力学的原理，提出了汽车在积雪地面上的牵引能预测模型，并用实例进行了验算。     

载重子午轮胎与路面相互作用的分析

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.     

接地面部分溶化条件下冰面轮胎摩托车的研究

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托车进行了计算，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。     

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。     

软弱地面上汽车牵引系数和牵引效率

牵引系数C_T和牵引效率E_T是描述汽车在软弱地面上行驶时的重要性能参数。本文根据汽车地面系统力学的方法建立了计算C_T和E_T的数学模型,并用实车的试验结果进行了验证。文中给出了三种典型的越野汽车在江边沙滩地、河床沙地及淤泥地上的试验结果,讨论了牵引系数和牵引效率对汽车性能的影响。     

镶钉防滑轮胎的试验与研制

本文概要地介绍了镶钉防滑轮胎在国内、外的研制和使用状况,详细地介绍了1981年至1983年国产镶钉防滑轮胎与普通花纹轮胎和装防滑链轮胎在冰雪路面上进行动力性、经济性、牵引性能及制动性能的对比试验结果及其分析。试验结果表明,在冰雪路面上,镶钉防滑轮胎具有较高的制动性能和牵引性能,而其燃料经济性与普通花纹轮胎的基本相同。     

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。     

汽车制动时轮胎印迹的分析

当汽车肇事时,车轮留在地面的印迹是汽车运动过程的真实记录,也是分析事故的真实依据之一。通过轮胎印迹,不仅可以反映事故前、后汽车的运动轨迹、行驶速度、轮胎状态和制动措施,同时也可根据轮胎拖印长度、形态,分析车辆碰撞前的瞬时速度、碰撞特性和接触部位及接触点。所以,对汽车制动时的轮胎印迹进行分析,对处理交通事故非常重要。 紧急制动印迹 汽车在紧急制动时,轮胎留在地面上的印迹不一     

表面粗糙度对冰路面上滑动轮胎摩擦牵引力影响的研究

依据能量守恒定律和冰的摩擦熔化理论，考虑冰面和轮胎胎面的表面粗糙度，建立了摩擦界面冰完全熔化条件下轮胎的牵引力预测模型。给出了预测模型中接地胎面温度的选择原则。研究表明，该模型可较好地预测不同条件下轮胎在冰路面上的摩擦牵引力，表面粗糙度的影响随车辆行驶速度的提高而增大。     

再议汽车防卫性驾驶(系列讲座之三)

关于轮胎 　　轮胎抓地力 　　在谈轮胎之前,我们先谈谈抓地力.两个互相接触的物体,当它们要发生或已经发生相对运动时,在接触面上会产生一种阻碍相对运动的力,这种力叫做摩擦力.摩擦力在轮胎与地面的交互作用力部分,我们称之为"轮胎抓地力(亦简称抓地力)".因为车辆与地面接触的部分只有轮胎,所以车辆之所以能加速、转弯、刹车,全都可以视为是轮胎与地面间作用力的结果.就好似人能走路、跑步或停止,也都跟脚与地面间的作用力有关.试想如果鞋底磨平了,我们走楼梯或地面湿滑时便很容易滑倒.而将人换作车来谈,使自然很容易理解轮胎与地面间的作用力是影响车辆动态特性的关键了. ……     

A combined-slip predictive control of vehicle stability with experimental verification

In this paper, a model predictive vehicle stability controller is designed based on a combined-slip LuGre tyre model. Variations in the lateral tyre forces due to changes in tyre slip ratios are considered in the prediction model of the controller. It is observed that the proposed combined-slip controller takes advantage of the more accurate tyre model and can adjust tyre slip ratios based on lateral forces of the front axle. This results in an interesting closed-loop response that challenges the notion of braking only the wheels on one side of the vehicle in differential braking. The performance of the proposed controller is evaluated in software simulations and is compared to a similar pure-slip controller. Furthermore, experimental tests are conducted on a rear-wheel drive electric Chevrolet Equinox equipped with differential brakes to evaluate the closed-loop response of the model predictive control controller.     

车轮荷载下土壤静力学特性分析

利用有限元软件ANSYS建立三维有限元模型,模拟车轮和土壤的静态接触,进行非线性有限元分析,研究车轮荷载下土壤的静力学特性。采用基于Drucker-Prager的弹塑性模型来模拟真实土壤,并考虑摩擦作用。分别采用刚性轮模型和超弹性轮胎模型模拟车轮,并将2种情况进行对比。结果表明：在车轮荷载作用下,土壤的竖向位移和等效应力在轮胎与土壤接触的区域最大;土壤的竖向位移和等效应力随土壤深度的增加而减小;土体在刚性轮作用下的变形和应力要远大于其在超弹性轮作用下的值,表明虽然刚性轮几何形状简单,模型设置容易,但是与超弹性轮胎模型相比,这种模拟精确度低。     

Estimation of the tyre–road maximum friction coefficient and slip slope based on a novel tyre model

In this article, a new approach to estimate the vehicle tyre forces, tyre–road maximum friction coefficient, and slip slope is presented. Contrary to the majority of the previous work on this subject, a new tyre model for the estimation of the tyre–road interface characterisation is proposed. First, the tyre model is built and compared with those of Pacejka, Dugoff, and one other tyre model. Then, based on a vehicle model that uses four degrees of freedom, an extended Kalman filter (EKF) method is designed to estimate the vehicle motion and tyre forces. The shortcomings of force estimation are discussed in this article. Based on the proposed tyre model and the improved force measurements, another EKF is implemented to estimate the tyre model parameters, including the maximum friction coefficient, slip slope, etc. The tyre forces are accurately obtained simultaneously. Finally, very promising results have been achieved for pure acceleration/braking for varying road conditions, both in pure steering and combined manoeuvre simulations.     

Velocity and normal tyre force estimation for heavy trucks based on vehicle dynamic simulation considering the road slope angle

A precise estimation of vehicle velocities can be valuable for improving the performance of the vehicle dynamics control (VDC) system and this estimation relies heavily upon the accuracy of longitudinal and lateral tyre force calculation governed by the prediction of normal tyre forces. This paper presents a computational method based on the unscented Kalman filter (UKF) method to estimate both longitudinal and lateral velocities and develops a novel quasi-stationary method to predict normal tyre forces of heavy trucks on a sloping road. The vehicle dynamic model is constructed with a planar dynamic model combined with the Pacejka tyre model. The novel quasi-stationary method for predicting normal tyre forces is able to characterise the typical chassis configuration of the heavy trucks. The validation is conducted through comparing the predicted results with those simulated by the TruckSim and it has a good agreement between these results without compromising the convergence speed and stability.     

Identifying tyre models directly from vehicle test data using an extended Kalman filter

Individual tyre models are traditionally derived from component tests, with their parameters matched to force and slip measurements. They are imported into vehicle models which should, but do not always properly provide suspension geometry interaction. Recent advances in Global Positioning System (GPS)/inertia vehicle instrumentation now make full state measurement viable in test vehicles, so tyre slip behaviour is directly measurable. This paper uses an extended Kalman filter for system identification, to derive individual load-dependent tyre models directly from these test vehicle state measurements. The resulting model therefore implicitly compensates for suspension geometry and compliance. The paper looks at two variants of the tyre model, and also considers real-time adaptation of the model to road surface friction variations. Test vehicle results are used exclusively, and the results show successful tyre model identification, improved vehicle model state prediction – particularly in lateral velocity reproduction – and an effective real-time solution for road friction estimation.     

Farm tractor models for research and development purposes

The modelling problems related to the simulation of the dynamics of farm tractors are dealt with. The aim is to develop reliable mathematical models to speed-up the research and development activities in which farm tractors and their sub-systems (driveline, steering and suspension system, etc.) are to be conceived and designed. Two models of farm tractors have been developed. The first model is based on a proprietary software, able to quickly simulate the motion of a vehicle on smooth or rough soil. The second model has been developed by the commercial software ADAMS/Car^®, which allows to model complicated transmission and suspension systems. In both of the two models, the tyres, the transmission system, the suspension system, the steering system, the engine and the body inertia are carefully described mathematically. Both of the two models are defined in a parametric way. Particular attention has been devoted to the measurements of the tyre characteristic and of the inertia parameters of the farm tractor body. For the measurement of tyre characteristics, a new instrumented wheel hub has been used. The accurate measurement of both the tyre characteristic and body inertia tensor has allowed a good agreement between measured and computed time histories referring to a number of validation manoeuvres performed either on-road or off-road. The derived farm tractor models could simulate the working conditions of a generic farm tractor while hauling a plough or while running at a relatively high speed on a rough soil or while steering on a sloped, soft surface.     

废旧轮胎颗粒对橡胶土体抗剪强度影响的试验研究

通过直剪试验对不同级配轮胎颗粒的抗剪强度进行了测试,分析了颗粒剪切强度与剪切位移的关系,提出了颗粒抗剪强度特性衡量指标,建立了颗粒抗剪强度库伦预测公式,选出了代表性的颗粒级配。通过向土体中加入不同掺量的轮胎颗粒研究其掺量对黏土抗剪强度的影响,结果表明:在纯轮胎颗粒的直剪试验中,随着橡胶颗粒粒径的增加其黏聚力和内摩擦角有增大的趋势,黏聚力增加比较明显;在向土中掺入轮胎颗粒的直剪试验中,随着橡胶颗粒掺入量的增加,其黏聚力有先增加后减小的趋势,内摩擦角有增大趋势。当颗粒的掺入比为50%时其抗剪强度最优。     

A real-time approach to robust identification of tyre–road friction characteristics on mixed-μ roads

ABSTRACT

The interaction between the tyre and the road is crucial for understanding the dynamic behaviour of a vehicle. The road–tyre friction characteristics play a key role in the design of braking, traction and stability control systems. Thus, in order to have a good performance of vehicle dynamic stability control, real-time estimation of the tyre–road friction coefficient is required. This paper presents a new development of an on-line tyre–road friction parameters estimation methodology and its implementation using both LuGre and Burckhardt tyre–road friction models. The proposed method provides the capability to observe the tyre–road friction coefficient directly using measurable signals in real-time. In the first step of our approach, the recursive least squares is employed to identify the linear parameterisation form of the Burckhardt model. The identified parameters provide, through a T–S fuzzy system, the initial values for the LuGre model. Then, a new LuGre model-based nonlinear least squares parameter estimation algorithm using the proposed static form of the LuGre to obtain the parameters of LuGre model based on recursive nonlinear optimisation of the curve fitting errors is presented. The effectiveness and performance of the algorithm are demonstrated through the real-time model simulations with different longitudinal speeds and different kinds of tyres on various road surface conditions in both Matlab/Carsim environments as well as collected data from real experiments on a commercial trailer.     

A novel semi-empirical tyre model for combined slips

A new tyre-force model for simultaneous braking and cornering is presented, which is based on combining existing empirical models for pure braking and cornering with brush-model tyre mechanics. The aim is to offer an easy-to-use, accurate model for vehicle-handling simulations. On a working tyre the contact patch between the tyre and the road is, in general, divided into an adhesion region where the rubber is gripping the road and a sliding region where the rubber slides on the road surface. The total force generated by the tyre is then composed of components from these two regions. The brush model describes this in a mechanical framework. The proposed model is based on a new method to extract adhesion and sliding forces from empirical pure-slip tyre models. These forces are then scaled to account for the combined-slip condition. The combined-slip self-aligning torque is also described. A particular feature of the model is the inclusion of velocity dependence, even if this is not explicitly present in the empirical pure-slip model. The approach is quite different from most previous combined-slip models, in that it is based on a rather detailed mechanical model in combination with empirical pure-slip models. The model is computationally sound and efficient and does not rely on any additional parameters that depend on combined-slip data for calibration. It can be used in combination with virtually any empirical pure-slip model and in this work the Magic Formula is used in examples. Results show good correspondence with experimental data.