汽车最大侧倾稳定角的简化计算

汽车最大侧倾稳定角直观地反映了汽车的侧倾稳定性能,是影响汽车行车安全的一个重要指标。本文对国内外在汽车静态侧倾稳定性方面的研究现状进行了概括和总结,归纳了当前在汽车最大侧倾稳定角测量及计算方面存在的主要问题,并在此基础上建立了考虑悬架及轮胎变形的汽车静态侧倾简化模型,通过理论推导得出通过汽车质心高度计算汽车最大侧倾稳定角的公式,提出了一种考虑汽车悬架及轮胎变形时通过汽车质心高度换算最大侧倾稳定角的测量计算方法。     

质心侧偏角对车辆稳定性影响的研究

分别采用β方法和相平面法分析质心侧偏角对车辆稳定性的影响,重点分析各种不同因素对质心侧偏角-质心侧偏角速度相平面的稳定性边界的影响.最终确定质心侧偏角控制准则,并通过道路试验进行了验证.     

汽车侧偏角与横摆角的仿真与估计

为了提高汽车操纵稳定性和安全性,设计汽车状态观测器模型对难以测量的质心侧偏角与横摆角速度的数据进行估计是很有必要的。本文利用扩展卡尔曼滤波算法并基于二自由度汽车模型上对质心侧偏角进行估计及仿真分析,仿真的结果与估计的结果吻合,估计结果具有较高的应用价值。     

基于FFRLS的质心位置修正的ESP控制研究

建立了描述汽车横摆、侧向、纵向、垂向、侧倾和4个车轮运动的汽车模型,利用卡尔曼滤波状态观测器对前后轴悬架力进行估计,采用遗忘因子的递推最小二乘估算法对质心位置进行估计,并用估计的质心位置来修正参考模型得到的横摆角速度和质心侧偏角的期望值,最后设计了ESP系统的参数自整定模糊PID控制器,并进行了仿真和硬件在环试验,结果表明,考虑质心位置变化的ESP控制器的效果比未考虑的控制器好,使汽车在高速转向制动行驶时具有更好的横向稳定性。     

公路工程设计准则若干问题解说(三)

1.平曲线超高怎样计算(1204)? 计算曲线超高横坡度的公式与计算平曲线半径的公式一样,只是形式变化一下,即: i=V~2/(127R)—Φ_2………………(1) 式中:i—超高横坡度; V—行车速率(公里/小时); R—曲线半径(公尺); Φ_2—车轮与路面间的横向摩擦系数。从公式(1)可以看出,超高横坡度值与曲线半径值成反比,当曲线半径小于设计准则表2—2中的数值时,需要设置超高。在设计准则里,超高横坡度值的范围规定为2～6％;在表2—4中规定了各级路的最大超高横坡度。如果引用各级路的最小半径和设计行车速率,按公式(1)计算各级路的最大超高横坡度,所算出的结果将比规定数值大的多。     

基于RSSI的隧道人员定位系统

为了对隧道建设进行有效的管理,保证灾后救援效率,根据洞内的工作环境,完成了协调器节点、参考节点及定位节点的设计,安装ZigBee节点使无线网络覆盖整个隧道,实现了隧道人员的实时跟踪与定位;通过改进传统质心算法,提出了RSSI值优化的加权质心算法,利用MATLAB仿真试验对质心算法和RSSI值优化的加权质心算法进行对比验证,结果表明该算法确实提高了洞内作业人员的定位精度。     

轻卡质心位置测量方法探究

质心位置是评价汽车的重要指标,而质心位置的测量难点在于质心高度的测量.目前,为了使测量更加准确,大部分试验方法都需要锁紧悬架,但是真正操作起来难度比较大.本文采用平台支撑反力法进行测量,并通过簧上质量、簧下质量占比的方式,探索出一种在不锁紧悬架的情况下可以准确测量质心高度的方法.     

质量反应法在汽车质心高度测试中的应用

在汽车的设计计算和定型试验中，汽车的质心高度是一个重要的参数。本文介绍了质量反应法对汽车质心高度测试的应用情况，从测试的技术准备，测试方法，数据处理，计算举例等方面，论述了汽车质心高度的测试与应用。     

不同海拔、风级影响下的高等级公路圆曲线半径分析

由于某些地区自然环境的特殊性,风压比较大,为了保证行车安全,必须进行不同方向的风压对汽车行驶的横向稳定性分析,得出不同方向的风压影响下圆曲线最小半径公式并与文献[2]采用的最小半径公式进行比较,提出的风压向外侧时的圆曲线最小半径公式是合理的.同时运用此结论计算出不同海拔、不同等级风影响下的圆曲线一般最小半径,可供公路设计时参考.     

风压对车辆横向稳定性的影响

由于某些地区自然环境的特殊性,风压比较大,为了保证行车安全,必须进行在风压向外侧影响下对汽车行驶的横向稳定性分析,得出风压向外侧时圆曲线半径公式并与标准采用的圆曲线半径公式进行比较,提出风压向外侧时的圆曲线半径公式是合理的。同时运用此结论计算出不同海拔、不同等级风影响下的圆曲线一般最小半径值。     

转向加速工况下汽车驱动防滑控制系统滑转率算法研究

汽车低速转弯加速时,用后轮轮速作为参考车速计算驱动轮滑转率会造成计算偏差,引起驱动防滑控制系统误干预,为此提出了驱动轮滑转率计算的修正算法.该修正算法不需要增加前轮转角传感器,而是采用两非驱动轮轮速估计车身横摆角速度和汽车前轮转角,进而计算出前轮参考轮速,并将前轮参考轮速代替车速对转弯工况的驱动轮滑转率计算进行修正.试验结果表明,该修正算法消除了滑转率计算误差,可防止汽车在高附着路面上转弯加速时驱动防滑控制系统的误干预.     

四轮转向汽车虚拟样机闭环控制操纵动力学仿真

运用ADAMS软件建立了新型四轮转向(4WS)汽车整车虚拟样机模型,利用该模型对比了基于横摆角速度多状态最优控制的4WS汽车同前轮转向(FWS)汽车及其它不同控制算法的阴轮转向汽车(后轮比例于前轮转角算法及后轮转角比例于横摆角速度算法)的操纵稳定性。仿真结果表明,基于横摆角速度多状态最优控制的4WS汽车,其各项评价指标优于FWS汽车以及采用另外两种控制方法的4WS汽车。     

基于改进A*算法的智能车路径规划研究

针对智能车使用A*路径规划算法存在转折点和冗余点的问题,提出一种考虑智能车静态特性的改进A*路径规划算法。在已知静态环境信息的栅格地图上,考虑到智能车自身存在实际宽度,对障碍物进行膨胀扩展;其次根据路径上前后节点相对方向的改变提取必要的转折点,并依次连结前后转折点,若转折点连线不经过障碍物,删除连结转折点之间冗余的转折点;重复上述操作,直至所有冗余点被删除,保留关键转折点。仿真结果表明,该方法可以实现车辆安全无碰撞地到达目标终点。     

基于车架虚拟中心线的车桥车架测量方法

文章通过将前后车桥左右纵向支架中点连线作为车架虚拟中心线,统一了车架、前桥、后桥的测量基准,消除了车架变形和制作误差引起的数据偏差。     

A Pitch-Plane Model of a Vehicle with Controlled Suspension

A vehicle model incorporating front and rear wheel suspensions and seat suspension is presented. The suspension control includes algorithms to provide both dynamic and steady state (levelling) control. Vehicle response to (a) vertical inputs due to ground disturbances at the wheels and (b) longitudinal inputs due to the inertial forces during braking and accelerating, are investigated. It is shown that the static (self-levelling) control causes a slight deterioration in dynamic performance. The active ride control produces improvements of ride comfort under dynamic conditions compared to an equivalent passively suspended vehicle. In steady state the proposed control eliminates the error heave of the body caused by tilting of the vehicle with active suspension.     

Nonlinear PI front and rear steering control in four wheel steering vehicles

Vehicle steering dynamics show resonances, which depend on the longitudinal speed, unstable equilibrium points and limited stability regions depending on the constant steering wheel angle, longitudinal speed and car parameters.

The main contribution of this paper is to show that a combined decentralized proportional active front steering control and proportional-integral active rear steering control from the yaw rate tracking error can assign the eigenvalues of the linearised single track steering dynamics, without lateral speed measurements, using a standard single track car model with nonlinear tire characteristics and a non-linear first-order reference model for the yaw rate dynamics driven by the driver steering wheel input. By choosing a suitable nonlinear reference model it is shown that the responses to driver step inputs tend to zero (or reduced) lateral speed for any value of longitudinal speed: in this case the resulting controlled vehicle static gain from driver input to yaw rate differs from the uncontrolled one at higher speed. The closed loop system shows the advantages of both active front and rear steering control: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres, enlarged stability regions, reduced lateral speed and improved manoeuvrability; in addition comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced.

For the designed control law a robustness analysis is presented with respect to system failures, driver step inputs and critical car parameters such as mass, moment of inertia and front and rear cornering stiffness coefficients. Several simulations are carried out on a higher order experimentally validated nonlinear dynamical model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics.     

Effect of the front and rear weight distribution ratio of a Formula car during maximum-speed cornering on a circuit

Because Formula cars are lighter than ordinary cars, the optimal settings for this type of car are thought to be different from those of a ordinary car. The front and rear weight distribution ratio of a vehicle is an important parameter that exerts a significant influence on critical cornering. The tendency of a ordinary car to under-steer during critical cornering is determined by the front and rear weight distribution ratio of the vehicle. Specifically, when the front of an ordinary FR (front-engine, rear wheel drive) vehicle is slightly heavier than the rear, the car tends to understeer during critical cornering. However, the optimal weight distribution ratio for critical cornering is not obvious for a formula car because of its lightness. This observation was investigated using a driving course similar to a real driving course to perform a maximum speed cornering simulations. It was found that a front to rear weight distribution ratio of 40:60 resulted in the fastest lap time. This ratio also gave the best results in the maximum-speed driving experiment performed using a driving simulator. Moreover, the maximum lateral acceleration during turning, the driving force, and the load movement of the inside and outside wheels was calculated using experimental driving force data and the concept of a tire friction circle. As a result, driving mechanics have been determined for a vehicle having a front/rear weight distribution ratio of 40:60 while traveling at maximum speed.     

Optimal Control of Four Wheel Steering Vehicle

This paper derives a method of controlling four wheel steering using optimal control theory. The purpose of control is to minimize the sideslip angle at the center of gravity. The control method feeds forward the steering wheel angle and feeds back the yaw velocity and the sideslip angle to the front and rear wheel angles. Theoretical studies show that the sideslip angle is reduced to zero even in the transient state, and that the understeer characteristic and frequency response can be changed regardless of the vehicle static margin. This Paper also examines various characteristics of the influence of the side force nonlinearities of tires and crosswinds.     

轮式铣刨机电辅助驱动系统速度匹配分析

以轮式铣刨机为研究对象，针对前桥驱动牵引力不足的情况进行后轮电辅助驱动，在对铣刨机辅助驱动运动学研究的基础上，设计了电辅助驱动速度匹配策略，建立了该铣刨机电辅助驱动的数学模型，并运用Simulink模块对其进行了仿真分析。结果表明：前、后轮速度匹配策略确实可行。     

Optimal Control of Four Wheel Steering Vehicle

SUMMARY

This paper derives a method of controlling four wheel steering using optimal control theory. The purpose of control is to minimize the sideslip angle at the center of gravity. The control method feeds forward the steering wheel angle and feeds back the yaw velocity and the sideslip angle to the front and rear wheel angles. Theoretical studies show that the sideslip angle is reduced to zero even in the transient state, and that the understeer characteristic and frequency response can be changed regardless of the vehicle static margin. This Paper also examines various characteristics of the influence of the side force nonlinearities of tires and crosswinds.