Comfort enhancement by an active vibration reduction system for a flexible railway car body

In order to improve the ride comfort of lightweight railway vehicles, an active vibration reduction system using piezo-stack actuators is proposed and studied in simulations. The system consists of actuators and sensors mounted on the vehicle car body. Via a feedback control loop, the output signals of the sensors which are measuring the flexible deformation of the car body generate a bending moment, which is directly applied to the car body by the actuators. This bending moment reduces the structural vibration of the vehicle car body. Simulations have shown that a significant reduction in the vibration level is achieved.     

轨道过渡段沉降不平顺对车体振动影响研究

为研究过渡段不同弯折角对车体振动影响,以日常保养、舒适度、安全管理、限速管理等指标限制过渡段的沉降差。通过建立新型车辆单元模型,推导车辆系统振动有限元方程,采用Newmark数值积分方法并借助Matlab编程求解,得出三种速度工况下四大管理指标对应的过渡段弯折角限值。     

An Active Roll-Moment Control Strategy for Narrow Tilting Commuter Vehicles

An automatic tilt control strategy for a narrow commuter vehicle is described. Such a vehicle would be enclosed like a conventional car but would bank into turns like a motorcycle and so it would feel quite unconventional to drive. The proposed tilt control system uses the steering to tilt the car over like a motorcycle but this is augmented by actively generating a rolling moment about the pivot axis between the tilting upper body and non-tilting base. The provision of this active direct tilt control enables the vehicle to remain upright at low or zero speed and also permits the designer to fine tune the transient roll response. Although it appears complex the proposed tilting control relies on only a few simple sensor measurements, some modest, microprocessor based signal processing and low power, low bandwidth steering and tilt control actuators which might be derived from existing automotive components.     

Development of an Active Control Engine Mount System

In an attempt to reduce idling vibration and booming noise in automobile engines, the authors have developed an engine mounting system we call the ACM(Active Control engine Mount) system. Comprising a pair of electromagnetic actuators and hydraulic mounts, the system incorporates an adaptive control strategy based on the synchronized filtered-X LMS (SFX) algorithm. The crank angle pulse signal is detected as the synchronization signal and the force transmitted to the car body through the engine mounts is detected as a residual signal. Application of the ACM system to a vehicle with a transversally mounted four-cylinder engine resulted in significantly reduced idling vibration and booming noise.     

Development of an Active Control Engine Mount System

In an attempt to reduce idling vibration and booming noise in automobile engines, the authors have developed an engine mounting system we call the ACM(Active Control engine Mount) system. Comprising a pair of electromagnetic actuators and hydraulic mounts, the system incorporates an adaptive control strategy based on the synchronized filtered-X LMS (SFX) algorithm. The crank angle pulse signal is detected as the synchronization signal and the force transmitted to the car body through the engine mounts is detected as a residual signal. Application of the ACM system to a vehicle with a transversally mounted four-cylinder engine resulted in significantly reduced idling vibration and booming noise.     

An Active Roll-Moment Control Strategy for Narrow Tilting Commuter Vehicles

SUMMARY

An automatic tilt control strategy for a narrow commuter vehicle is described. Such a vehicle would be enclosed like a conventional car but would bank into turns like a motorcycle and so it would feel quite unconventional to drive. The proposed tilt control system uses the steering to tilt the car over like a motorcycle but this is augmented by actively generating a rolling moment about the pivot axis between the tilting upper body and non-tilting base. The provision of this active direct tilt control enables the vehicle to remain upright at low or zero speed and also permits the designer to fine tune the transient roll response. Although it appears complex the proposed tilting control relies on only a few simple sensor measurements, some modest, microprocessor based signal processing and low power, low bandwidth steering and tilt control actuators which might be derived from existing automotive components.     

Vertical random vibration analysis of vehicle–track coupled system using Green's function method

A vertical vehicle–track coupled dynamic model, consisting of a high-speed train on a continuously supported rail, is established in the frequency-domain. The solution is obtained efficiently by use of the Green's function method, which can determine the vibration response over a wide range of frequency without any limitations due to modal truncation. Moreover, real track irregularity spectra can be used conveniently as input. The effect of the flexibility of both track and car body on the entire vehicle–track coupled dynamic response is investigated. A multi-body model of a vehicle with either rigid or flexible car body is defined running on three kinds of track: a rigid rail, a track stiffness model and a Timoshenko beam model. The results show that neglecting the track flexibility leads to an overestimation of both the contact force and the whole vehicle vibration response. The car body flexibility affects the ride quality of the vehicle and the coupling through the track and can be significant in certain frequency ranges. Finally, the effect of railpad and ballast stiffness on the vehicle–track coupled vibration is analysed, indicating that the stiffness of the railpad has an influence on the system in a higher frequency range than the ballast.     

两自由度系统的自由振动实验

汽车行驶过程中会因为地面不平引起的冲击载荷、发动机工作的振动等原因而产生振动,当汽车振动的频率与车身固有频率相接近时,车身会产生很大的垂向加速度,不仅会使驾乘人员感到不适,还会造成车身结构的损坏。因此,对于汽车振动模型的研究就显得尤其重要。以搭建的两自由度系统的试验模型为研究对象,求得其在不同初始条件下实验的自由振动响应,来验证理论求解模型的正确性,为汽车平顺性的改善提供理论依据。     

Modeling and control of an anti-lock brake and steering system for cooperative control on split-mu surfaces

The brake and steering systems in vehicles are the most effective actuators that directly affect the vehicle dynamics. In general, the brake system affects the longitudinal dynamics and the steering system affects the lateral dynamics; however, their effects are coupled when the vehicle is braking on a non-homogenous surface, such as a split-mu road. The yaw moment compensation of the steering control on a split-mu road is one of the basic functions of integrated or coordinated chassis control systems and has been demonstrated by several chassis suppliers. However, the disturbance yaw moment is generally compensated for using the yaw rate feedback or using wheel brake pressure measurement. Access to the wheel brake pressure through physical sensors is not cost effective; therefore, we modeled the hydraulic brake system to avoid using physical sensors and to estimate the brake pressure. The steering angle controller was designed to mitigate the non-symmetric braking force effect and to stabilize the yaw rate dynamics of the vehicle. An H-infinity design synthesis was used to take the system model and the estimation errors into account, and the designed controller was evaluated using vehicle tests.     

客车车身骨架结构刚度特性分析

讨论了客车车身骨架有限元模型的建立及其实验验证,在此基础上对车身骨架结构进行了水平弯曲、极限扭转工况的模拟计算,得到结构的应力、应变、扭矩和弯矩分布情况。进行了模态分析,获得车身骨架的模态参数之后,探讨了该车身骨架的动态性能,为动态性能改善提供参考依据。     

轿车加速车身纵向振动的研究

本文对样车进行了系统分析和试验诊断，建立了整车加速纵向振动模型，并加以仿真。研究结果表明样车加速时车身的纵向振动低频成分（3.9Hz)由动力传动系扭振所引起，高频成分（7.9Hz)由发动机第五悬置与车体限位框碰击所产生。在考虑生产的可行性和仿真验证的基础上，提出了改进方案。     

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.     

基于某非承载式白车身的模态性能分析

文章所用车身为某车厂开发的一款新型商用车,车身结构为非承载式车身,相较于承载式车身而言,非承载式车身多了底盘大梁架,在遇到碰撞或者冲击时,车架的振动通过弹性单元传到车身,可以削减大部分冲击力,车身的安全性得以保证,在恶劣道路上,可以保证其稳定性和舒适性,车内噪声和振动也较小。车身主要包括了白车身、车门、座椅、中控、内外饰等主要总成。车身主体大部分都是钣金类零部件,文章所述的车身钣金件有624个,文章完成了车身钣金件的网格划分和属性赋予,并对白车身整体进行了网格质量的验证,并完成了车身模态从1阶到6阶的校核,证明了白车身模态的合理性。     

Development of an electric active rollcontrol (ARC) algorithm for a SUV

Cornering maneuvers with reduced body roll and without loss in comfort are leading requirements for car manufacturers. An electric active roll control (ARC) system controls body roll angle with motor-driven actuators installed in the centers of the front and rear stabilizer bars. A vehicle analysis model developed using a CarSim S/W was validated using vehicle test data. Two ARC algorithms for a sports utility vehicle (SUV) were designed using a sliding-mode control algorithm based on a nonlinear roll model and an estimated lateral acceleration based on a linearized roll model. Co-simulation with the Matlab simulink controller model and the CarSim vehicle model were conducted to evaluate the performance of two ARC control algorithms. To validate the ARC performance in a real vehicle, vehicle tests were conducted at KATECH proving ground using a small SUV equipped with two ARC actuators, upper and lower controllers and a few subsystems. From the simulation and vehicle validation test results, the proposed ARC control algorithm for the developed ARC actuator prototypes improves the vehicle’s dynamic performance.     

三缸机传动系扭振引起的车内低频轰鸣声问题研究

传动系统扭振引起的车内低频轰鸣声,一直是汽车NVH领域的难点和热点问题。针对某型三缸机中型多用途汽车的中油门加速,在1400-2000r/min发动机转速时的车内低频轰鸣声问题,基于半消声室转鼓试验研究,运用相关性分析方法,锁定了传动系扭振为该问题的激励源,并通过传递路径分析,识别了前风挡玻璃与一阶空腔模态的受迫/耦合共振,是导致车内空气压力脉动升高并产生低频轰鸣声的主要原因。通过车身传递路径的优化,降低了车内低频轰鸣声2-4dB(A),显著提升了加速工况的车内声品质,为车内低频轰鸣声问题的优化提供了指导。     

Excitation force analysis of a powertrain based on CAE technology

The excitation force of a powertrain is one of major sources of interior noise in a vehicle. This paper presents a novel approach to predict the interior noise caused by the vibration of the powertrain by using the hybrid TPA (transfer path analysis) method. Although the traditional transfer path analysis (TPA) is useful for the identification of powertrain noise sources, it is difficult to modify the structure of a powertrain by using experiments for the reduction of vibration and noise. In order to solve this problem, the vibration of the powertrain in a vehicle is numerically analyzed by using the finite element method (FEM). The vibration of the other parts of the vehicle is investigated by using experiments based on vibrato-acoustic transfer function (VATF) analysis. These two methods are combined for the prediction of interior noise caused by a powertrain. Throughout this research, two papers are presented. This paper presents a simulation of the excitation force of the powertrain exciting the vehicle body based on numerical simulation. The other paper presents a prediction of interior noise based on the hybrid TPA, which uses the VATF of the car body and the excitation force predicted in this paper.     

Influence of long-wavelength track irregularities on the motion of a high-speed train

Vertical track irregularities over viaducts in high-speed rail systems could be possibly caused by concrete creep if pre-stressed concrete bridges are used. For bridge spans that are almost uniformly distributed, track irregularity exhibits a near-regular wave profile that excites car bodies as a high-speed train moves over the bridge system. A long-wavelength irregularity induces low-frequency excitation that may be close to the natural frequencies of the train suspension system, thereby causing significant vibration of the car body. This paper investigates the relationship between the levels of car vibration, bridge vibration, track irregularity, and the train speed. First, this study investigates the vibration levels of a high-speed train and bridge system using 3D finite-element (FE) transient dynamic analysis, before and after adjustment of vertical track irregularities by means of installing shimming plates under rail pads. The analysis models are validated by in situ measurements and on-board measurement. Parametric studies of car body vibration and bridge vibration under three different levels of track irregularity at five train speeds and over two bridge span lengths are conducted using the FE model. Finally, a discontinuous shimming pattern is proposed to avoid vehicle suspension resonance.     

Flexible multibody simulation of automotive systems with non-modal model reduction techniques

The stiffness of the body structure of an automobile has a strong relationship with its noise, vibration, and harshness (NVH) characteristics. In this paper, the effect of the stiffness of the body structure upon ride quality is discussed with flexible multibody dynamics. In flexible multibody simulation, the local elastic deformation of the vehicle has been described traditionally with modal shape functions. Recently, linear model reduction techniques from system dynamics and mathematics came into the focus to find more sophisticated elastic shape functions. In this work, the NVH-relevant states of a racing kart are simulated, whereas the elastic shape functions are calculated with modern model reduction techniques like moment matching by projection on Krylov-subspaces, singular value decomposition-based reduction techniques, and combinations of those. The whole elastic multibody vehicle model consisting of tyres, steering, axle, etc. is considered, and an excitation with a vibration characteristics in a wide frequency range is evaluated in this paper. The accuracy and the calculation performance of those modern model reduction techniques is investigated including a comparison of the modal reduction approach.     

车辆气动力展向相关性传递函数及其对桥上运动车辆响应的影响

为研究运动车辆气动力的展向相关性对桥上运动车辆响应的影响,在分析运动车辆顺风向和竖向脉动风速谱的基础上,发展出一种新型的运动车辆脉动风速相干函数形式,推导出与顺风向和竖向脉动风速对应的运动车辆气动力的展向相关性传递函数,并根据“余弦规则”得到作用在运动车辆上的抖振力谱。通过建立列车-轨道-桥梁多体系统耦合振动仿真模型,以单节列车在典型的高速铁路桥梁上行驶为例,对比不同车速、不同风速与不同地表类型时,运动车辆气动力的传递函数对桥上运动车辆响应的影响。研究结果表明：当考虑上述传递函数时,车辆响应的均方根均有不同程度的降低,其中对车体横向和竖向加速度均方根的影响最为显著;当车速为40 m·s^-1时,在考虑与不考虑传递函数情况下,车体横向加速度均方根的相对误差高达40.6%,车体竖向加速度均方根的相对误差也高达36.6%;随着车速的提高,各车辆响应均方根的相对误差均逐渐变小;随着风速的提高,轮重减载率和轮轨垂向力均方根的相对误差均逐渐变大,而车体竖向Sperling指标和轮轨横向力均方根的相对误差却先增加后减小;从A类地表类型到D类地表类型,车体加速度均方根以及车体Sperling指标的相对误差均逐渐增大,而轮轨力均方根、脱轨系数均方根、轮重减载率均方根的相对误差均先增大后减小。     

Vertical Vibration Analysis of Vehicle/Imperfect Track Systems

Summary This paper studies the vertical vibration of a vehicle traveling on an imperfect track system. The car body and sleepers are modeled as Timoshenko beams with finite length, and the rail is assumed as an infinite Timoshenko beam with discrete supports. Imperfection of the track system comes from a sleeper lost partial support by the ballast. Since deflection of the rail is limited within a certain interval where the vehicle is passing over, the infinite domain problem can be transformed into a finite domain problem with moving boundary. In this work, the equations of motion of the car body, rail and sleepers are discretized first by the finite element method. The discretized equations of motion for the vehicle and track systems are then assembled, respectively. Finally, the Newmark method is applied to obtain the response of the vehicle and track systems at each time step. The effect of the vehicle speed on the response of the vehicle and track systems is investigated.