汽车前轮侧滑量检测结果的分析研究

根据大量的对比试验结果,对单、双板侧滑仪的检测原理及前轮侧滑量的检测结果进行了分析研究,并探讨了汽车行进方向、车速、轮胎质量与侧滑板长度、载荷及侧滑仪滑板回位弹簧张力等因素对单、双板侧滑仪检测结果的影响。经过分析与探讨,认为用单板仪和双板仪检测侧滑量时,应有不同的技术标准。     

前轮定位对轮胎磨耗的影响分析

在车辆安全检测中，侧滑量的检测是检查前轮定位参数中外倾角和前束的配合是番恰当，其标准为车辆通过侧滑板时侧滑量不得超过5m／km。若超出标准，则表明车轮外倾角与前束的匹配不合适，轮胎会出现异常磨耗。但在实际检测中，经常遇到侧滑量在规定的范围内，但驾驶员仍反映“吃胎”严重，检查轮胎，也会发现在接近胎面的边缘处沿轮胎圆周有异常磨耗痕迹。本文即根据车轮外倾角和前束对轮胎磨耗的影响，分析产生这种现象的机理。     

汽车转向轮侧滑量进退双程检测方法

汽车转向轮(以下称前轮)侧滑量检测是汽车综合性能检测和安全性能检测的一项重要内容,对侧滑量检测数据进行分析,能够判断前轮前束与外倾角的匹配情况,进而判断车辆的技术状态。侧滑量的检测数据是否准确受很多因素的影响,如车辆驶过侧滑板的行驶速度和行驶的匀速状态,轮胎的气压,轮胎花纹的磨损程度,胎面的清洁状况,载荷大小和转向节轴颈与轴承的磨损程度等。为确保正确判断车辆的状态,《机动车运行安全技术条件》(GB7258—2004)中规定,     

转向轮侧滑产生机理分析

本文通过对车轮具有外倾角和前束角时轮胎侧偏过程的分析，找出了产生外倾侧向力、前束侧向力并导致前轮侧滑的原因。     

汽车侧滑的检测及故障处理

侧滑是车辆安全性检测的重点检验项目之一。汽车在使用过程中,因转向机构、车轴、车架的变形与磨损,会使原有前轮定位角度或几何尺寸发生变化,导致车轮定位失常,造成转向沉重、轮胎早期磨损和运行油耗增高等一系列不良后果。车辆侧滑检测就是车轮定位的常用动态检验方法,所使用的设备是滑板式侧滑试验台。侧滑试验台按其结构形式分为单滑板式和双滑板式两种,     

独立悬架车辆转向轮侧滑检测调整方法分析

通过对独立悬架车辆向轮侧滑检测与调整方法分析，解释了独立悬架车辆的经侧滑一次检测合格率低；车辆前轮定位值符合说明书规定值，前轮侧一却较大；以及某些车辆轮侧滑量符合要求，却仍出现前前轮方向飘，轮胎异常磨损等现象。     

独立悬架车辆转向轮侧滑及检测设备适应性分析

从侧向力的角度分析了转向桥为独立悬架的车辆转向轮侧滑的产生机理,对目前常用的两种独立悬架车辆转向轮侧滑试验台的适应性进行了研究分析,提出了改造建议。     

滑板式轴间侧滑检验台标定方法研究

参照滑板式侧滑试验台的检定技术条件,对滑板式轴间侧滑检验台进行标定并对标定方法进行研究。利用标定后的检验台检测实验车辆的轴间侧滑量,通过对比调整转向机构前、后轴间侧滑量的变化情况,对标定结果进行验证。研究表明检测结果正确,标定方法可行。     

单、双板侧滑仪测试结果及使用特点的分析

侧滑仪是检测汽车前轮侧滑量的专用设备，本文通过对单、双板侧滑仪测试时运动特性的分析，对两类侧滑仪的测试结果和影响测试结果的各个因素及使用中的注意事项进行了探讨。     

浅析两轮摩托车的侧滑

1前言 侧滑是指车辆在制时前后轮发生横向滑动的现象,是由于车轮被抱死后滑移无法抵抗侧向干扰力造成的,它会造成车辆失去操纵稳定性.两轮摩托车在道路上正常行驶过程中,当进行紧急制动时,常常会出现侧滑现象,由于车辆本身的特点,即通过性好,稳定性差,使得侧滑成为碰车、撞人、翻车等事故的重要原因.因此,进行侧滑现象分析对于行车安全尤为重要.     

汽车行驶状态参数的估计

介绍Sage-Husa自适应卡尔曼滤波算法和滤波估计流程,建立二自由度汽车模型,在模型中加入系统噪声和测量噪声,建立系统状态方程和观测方程。利用自适应卡尔曼滤波算法,对汽车质心侧偏角和横摆角速度进行估计,并进行转向盘转角正弦输入仿真分析,仿真结果表明两者的真实值和估计值吻合良好。利用自适应卡尔曼滤波算法对汽车行驶状态参数进行估计可以降低汽车的成本,是一种行之有效且具有工程应用价值的方法。     

Sideslip angle estimation based on input–output linearisation with tire–road friction adaptation

An adaptive sideslip angle observer considering tire–road friction adaptation is proposed in this paper. The single-track vehicle model with nonlinear tire characteristics is adopted. The tire parameters can be easily obtained through road test data without using special test rigs. Afterwards, this model is reconstructed and a high-gain observer (HGO) based on input–output linearisation is derived. The observer stability is analysed. Experimental results have confirmed that the HGO has a better computational efficiency with the same accuracy when compared with the extended Kalman filter and the Luenberger observer. Finally, a road friction adaptive algorithm based on vehicle lateral dynamics is proposed and validated through driving simulator data. As long as the tires work in the nonlinear region, the maximal friction coefficient could be estimated. This algorithm has excellent portability and is also suitable for other observers.     

基于扩展卡尔曼滤波的汽车质心侧偏角估计

基于二自由度汽车动力学模型和轮胎模型,运用扩展卡尔曼滤波方法建立了汽车质心侧偏角估计器.利用汽车动力学仿真平台,通过仿真对比了线性轮胎模型和非线性轮胎模型的质心侧偏角估计结果.仿真结果表明,轮胎模型对于质心侧偏角估计精度至关重要,而采用非线性轮胎模型能显著提高质心侧偏角估计精度,估计结果能满足ESC控制的要求.     

双转向轴商用车转向侧滑检测台研究与应用

机动车的侧滑检测是机动车安全检测的一项重要内容,目前的侧滑检测台无法适应双前轴车的检测。介绍了双转向轴车的检测原理和实施方案．主要分析了双转向轴年侧滑检测值的影响因素．并提出了改进措施和企业检测标准。     

公路路基侧滑失稳的防治技术

公路路基侧滑失稳对公路建设和运营安全构成严重威胁，而且具有突发性，危险极大。由于情况复杂，此类工程处治技术难度较大，本文结合多项具体的工程实例对此进行详细介绍，具有较高的参考价值。     

Using GPS with a model-based estimator to estimate critical vehicle states

This paper demonstrates a method to estimate the vehicle states sideslip, yaw rate, and heading using GPS and yaw rate gyroscope measurements in a model-based estimator. The model-based estimator using GPS measurements provides accurate and observable estimates of sideslip, yaw rate, and heading even if the vehicle model is in neutral steer or if the gyro fails. This method also reduces estimation errors introduced by gyroscope errors such as the gyro bias and gyro scale factor. The GPS and Inertial Navigation System measurements are combined using a Kalman filter to generate estimates of the vehicle states. The residuals of the Kalman filter provide insight to determine if the estimator model is correct and therefore providing accurate state estimates. Additionally, a method to predict the estimation error due to errors in the estimator model is presented. The algorithms are tested in simulation with a correct and incorrect model as well as with sensor errors. Finally, the estimation scheme is tested with experimental data using a 2000 Chevrolet Blazer to further validate the algorithms.     

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.