Yaw damper modelling and its influence on railway dynamic stability

This paper deals with the modelling of yaw dampers and determining the influence of the modelling of this component on the results obtained when predicting the dynamic stability of a vehicle. The first part of the work analyses the influence of the yaw damper characteristics on railway dynamic stability. Following this, a physical model of the damper is developed which allows its performance to be reproduced accurately in the whole range of operating conditions the damper is envisaged to operate in. Once obtained, it was found that the computational cost of the model was relatively high. Therefore, a simplified model has been developed. The simplified model allows obtaining accurate results without excessively increasing the time required to perform the simulations. Analysing the results obtained with this model, it has been concluded that with respect to previous model based on conventional approaches, it improves the accuracy of dynamic calculation for the stability assessment. Also, it has been found that the accurate modelling of the yaw damper is critical when dealing with the vehicle's dynamic performance. In the last part of the paper, a special type of yaw damper was studied as well as its effect on the dynamic behaviour of the vehicle.     

采用电磁直线电机的主动悬架控制系统的设计与能量分析

针对因特殊的动力布置形式导致的轮边驱动电动汽车操稳性和平顺性之间冲突,本文中提出了一种新式电磁直线电机式悬架系统的主动控制系统。考虑到其能量回收性能不佳的弊端,基于LQR控制设计了一种包含能量管理单元的能量回收控制器,并在Matlab/Simulink中对整个系统进行了仿真。结果表明,所设计的能量回收控制器不仅能够改善汽车的操稳性和平顺性,而且能有效回收汽车悬架的振动能量。     

基于混杂模型预测控制的分布式驱动电动汽车AFS/DYC集成控制

为提高分布式驱动电动汽车在不同附着路面高速行驶的操纵稳定性;提出一种基于混杂模型预测控制的AFS/DYC集成控制策略。首先基于系统辨识方法构建轮胎分段仿射模型;结合车辆动力学模型以及命题逻辑与线性不等式的转换关系;构建车辆系统混合逻辑动态模型。然后设计基于混杂模型预测控制的AFS/DYC集成控制策略;采用混合整数二次规划方法追踪目标参考值决策附加横摆力矩与附加转向角;并以轮胎负荷率最小为目标构建车轮驱动转矩优化分配控制策略。最后;基于CarSim-Simulink联合仿真平台进行驾驶人在环操纵稳定性测试试验。测试结果表明:相较于传统模型预测控制;所设计的混杂模型预测控制策略在高速双移线工况下横摆角速度与质心侧偏角均方根误差分别下降了31.61%与19.51%;四轮峰值平均转矩幅值降低24.27%。     

汽车操纵稳定性的虚拟实验

虚拟实验是利用虚拟现实技术而进行的仿实验。本文设计了一套桌面虚拟现实系统（DesktopVR）,利用该系统开发了汽车操纵稳定性虚拟实验平台,并在平台上进行了汽车双移线的虚拟实验。结果表明虚拟实验能虚拟再现实际实验的结果,与实际实验具有较好的一致性。     

汽车操纵稳定性虚拟仿真的研究

应用现代虚拟现实技术,把汽车操纵稳定性研究传统的数字仿真变成为具有“真实场景”的虚拟仿真,还研制了用于汽车操纵动力学仿真的虚拟场景自动生成软件。结合汽车操纵动力学仿真数学模型和相关软件,建立了一个具有真实视觉感的、实时的汽车操纵动态虚拟仿真系统。文中给出了实例。     

Modelling generalisation and power dissipation of flexible-wheel suspension concept for planetary surface vehicles

Flexible-wheel (FW) suspension concept has been regarded to be one of the novel technologies for future planetary surface vehicles (PSVs). This study develops generalised models for fundamental stiffness and damping properties and power consumption characteristics of the FW suspension with and without considering wheel-hub dimensions. Compliance rolling resistance (CRR) coefficient is also defined and derived for the FW suspension. Based on the generalised models and two dimensionless measures, suspension properties are analysed for two FW suspension configurations. The sensitivity analysis is performed to investigate the effects of the design parameters and operating conditions on the CRR and power consumption characteristic of the FW suspension. The modelling generalisation permits analyses of fundamental properties and power consumption characteristics of different FW suspension designs in a uniform and very convenient manner, which would serve as a theoretical foundation for the design of FW suspensions for future PSVs.     

道路几何参数对车辆操纵稳定性影响

为研究道路几何参数对车辆操纵稳定性的影响,本文采用MATLAB/Simulink建立了3自由度整车动力学模型,通过数值仿真模拟,研究了车辆在不同超高、纵坡坡度以及合成纵坡下动力响应,在此基础上进一步分析了在不同车速以及前轮转角输入下,道路几何参数对车辆操纵稳定性的影响.结果表明:与水平路面相比,道路超高和纵坡坡度对车辆...     

利用ADAMS对双横臂独立悬架进行仿真分析

通过某商务车的独立悬架的数学建模和仿真模型,利用ADAMS软件精确地计算汽车运动中悬架定位参数的变化,分析了该悬架定位参数对操纵稳定性的影响,以提高产品开发质量。     

电动助力转向系对汽车角输入响应影响的仿真

详细地分析和推导出了具有不同控制方式的EPS系统的传递函数,在Matlab环境中进行了仿真计算并对结果进行了分析,定性地说明了EPS系统的控制方式和结构参数对汽车转向盘角阶跃输入下的稳态、瞬态和频率响应特性的影响。     

Non-linear modelling and control of semi-active suspensions with variable damping

Electro-hydraulic dampers can provide variable damping force that is modulated by varying the command current; furthermore, they offer advantages such as lower power, rapid response, lower cost, and simple hardware. However, accurate characterisation of non-linear f–v properties in pre-yield and force saturation in post-yield is still required. Meanwhile, traditional linear or quarter vehicle models contain various non-linearities. The development of a multi-body dynamics model is very complex, and therefore, SIMPACK was used with suitable improvements for model development and numerical simulations. A semi-active suspension was built based on a belief–desire–intention (BDI)-agent model framework. Vehicle handling dynamics were analysed, and a co-simulation analysis was conducted in SIMPACK and MATLAB to evaluate the BDI-agent controller. The design effectively improved ride comfort, handling stability, and driving safety. A rapid control prototype was built based on dSPACE to conduct a real vehicle test. The test and simulation results were consistent, which verified the simulation.     

基于操纵稳定性的车辆悬架性能参数稳健设计方法

结合虚拟样机模型实例,介绍将Taguchi稳健优化设计方法应用于悬架参数设计,以提高车辆操纵稳定性能的稳健性方法.该方法只需要少量代表性的试验及简单的分析,即可得到可靠的设计结果.该结果可有效控制不可控因素对车辆操纵稳定性能的影响.     

桁架式桥梁检测车作业稳定性计算探析

对桁架式桥梁检测车（桥检车）的作业稳定性计算工况进行了探析,提出了5种桥检车作业稳定性计算工况和具体的计算方法,在实际应用中验证了其正确性,此桥检车作业稳定性的计算工况和方法对同类产品的稳定性计算具有较大的参考价值。     

基于非线性最小二乘的短线法节段预制线形控制研究

对于采用短线法节段预制拼装施工的预应力钢筋混凝土桥,节段预制过程中较小的误差都可能导致成桥线形较大的偏差。为控制短线法节段预制过程中产生的误差,以嘉绍大桥北岸引桥（为13联70 m跨预应力混凝土连续刚构桥,主梁为单箱双室斜腹板箱梁,采用短线法节段预制拼装施工）为背景,在对预制线形控制原理研究的基础上,提出基于非线性最小二乘的综合误差处理方法,并编制线形控制系统BSRI＿SLCS。该方法首先计算理论预制线形,其次建立预制线形整体坐标系与节段局部坐标系,实现节段控制点坐标在不同坐标系中的变换,然后根据实测数据进行误差分析,调整匹配节段的位置。该方法在嘉绍大桥北岸引桥短线法施工中应用结果显示,成桥线形与理论线形较为接近,证明该方法对预制线形控制是可行的。     

全局耦合消扭悬架系统动力学仿真研究

介绍了一种全局耦合消扭悬架的原理和结构,利用ADAMS建立了装备有该消扭悬架的车辆模型,对其消扭性能和操纵稳定性进行了仿真试验研究,研究结果表明该消扭悬架在能有效地减小对车身的扭转,降低轮荷最大值,改善车轮的垂直载荷的均匀性,改善车辆的接地性能,不会对车辆的操纵稳定性带来不利影响.     

汽车操纵稳定性与前轮摆振的非线性仿真分析

以某轿车为例,建立3自由度整车系统动力学模型,利用常微分方程稳定性理论和数值仿真计算,详细研究整车的稳态转向特性和系统失稳后的前轮摆振特性。阐明汽车的操纵稳定性与前轮摆振特性同属汽车整车稳定性问题,前者是负刚度系统,后者是负阻尼系统。在一定的参数组合下,具有不同转向特性的汽车都或多或少地存在摆振现象,这与实际情况相符,建议适当增加转向系阻尼和刚度以减小甚至消除摆振的发生。