轮胎动力学特性仿真分析研究

分析了各种常用轮胎模型的特点与应用范围,根据汽车操纵动力学研究的需求,在Matlab环境下运用魔术公式建立了轮胎动力学模型,并对汽车轮胎力与纵向滑移率,纵向力、侧向力及回正力矩与纵向滑移率、侧偏角、外倾角、垂直载荷的关系等轮胎特性进行了仿真分析,实验结果表明,魔术公式轮胎动力学模型可以较好地模拟轮胎的动力学特性,适用于车辆动力学研究领域。     

Magic Formula轮胎模型动力学性能研究

进一步研究Magic Formula轮胎模型的动力学性能。在Adams软件中建立Magic Formula轮胎模型,并进行纯制动、纯转向和制动转向联合三种工况下的仿真。仿真得到纵向力与纵向滑移率、侧向力与侧偏角、侧向力与纵向力和回正力矩与滑移率等关系曲线,并进行分析。结果表明,Adams软件完成了Magic Formula轮胎模型多种工况下的仿真工作,Magic Formula轮胎模型可以较好地模拟轮胎动力学特性。     

上承式大跨度钢管混凝土拱桥地震反应分析

为研究上承式大跨度钢管混凝土拱桥的地震反应性能,以大型有限元计算软件ANSYS为平台,分别以纵向＋竖向和横向＋竖向迁安波与EI Centro波作为输入地震波,对跨径为430m的上承式钢管混凝土拱桥——支井河特大桥进行了地震反应分析。研究结果表明：前10阶振动以侧向振动为主,表明桥纵向刚度远大于侧向刚度;拱肋抗震设计最危险截面是拱脚截面,地震反应内力最大;横向＋竖向地震动输入时拱肋轴力及弯矩略大于纵向＋竖向地震动输入时,相差幅度不大,但横向＋竖向地震动输入时弯矩My远大于纵向＋竖向地震动输入;在横向＋竖向地震动输入下最危险截面——拱脚处的地震反应轴力内侧拱肋大于外侧拱肋。     

轮胎模型刚度对前部偏置碰撞结果的影响

建立了整车碰撞模型中的轮胎模型后,通过调整模型参数,使模拟的轮胎刚度特性曲线近似于试验的轮胎刚度特性曲线,并应用于整车前部偏置碰撞模拟中,分析轮胎刚度对偏置碰撞结果的影响.结果表明,轮胎刚度对碰撞过程整车加速度、截面力、防火墙侵入量等均有一定的影响.     

ANSYS二次开发在桥上无缝线路中的应用

利用大型通用有限元软件ANSYS进行二次开发,采用APDL语言编制了桥上无缝线路纵向附加力计算程序ALFCWR,建立线-桥-墩-基础一体化计算模型,对无缝线路纵向力的计算方法提供一种新的思路。结合工程实际,以客货共线铁路常见的40m＋64m＋40m有碴轨道连续梁为例,分析了在列车制动力作用下,桥墩纵向水平线刚度对钢轨、墩（台）纵向力及梁轨相对位移的影响规律。     

车辆轮胎动力学仿真模型分析

分析了各种常用轮胎模型的特点和利用范围,介绍了ADAMS中轮胎试验台(tiretesting)这一轮胎参数可视化工具,利用这一工具分析比较一种物理轮胎模型与一种经验-半经验轮胎模型间关于侧向力与纵向力、纵向力与纵向滑移率、回正力矩与纵向滑移率的力学特性,针对一种魔术公式轮胎模型验证了侧向力和纵向滑移率、纵向力和纵向滑移率在不同载荷下的力学关系特性。     

轮胎力滞后对分布式驱动电动汽车瞬态响应的影响

分布式驱动电动汽车具有的电机直驱和工况响应快速的特点，会进一步激发轮胎瞬态特性。为了简要分析轮胎力滞后对分布式驱动电动汽车侧向、横摆瞬态响应的影响规律，进而优化其控制器模型，本文首先通过轮胎力学建模和高速轮胎试验台验证，得到轮胎力滞后的实用表达；其次，建立考虑轮胎侧-纵向力滞后的车辆动力学模型，通过频域、时域图分析，揭示轮胎力滞后对汽车横摆瞬态响应的影响规律；最后，通过Simulink仿真验证，将四个车轮互异&时变轮胎力滞后以状态空间形式写进控制器模型，可用于提高控制器模型的预测精度。     

基于车辆动力学分析的道路平曲线处横向力系数研究

横向力系数μ是计算平曲线半径和超高的重要参数,我国道路路线规范仅从人体舒适度方面给出了μ取值的定性影响表述,缺乏定量的数据和试验支持.为此,从多体动力学角度出发,构建精确的车辆、道路、驾驶员模型,利用Adams/Car仿真工具研究横向力系数μ的变化规律.通过仿真试验与理论公式相结合,得到以下结论:从车辆整体横向力系数来看,理论推导公式与动力学仿真结果具有高度相关性;仿真得到了横向力系数在各车轮处的分布规律,指出弯道内侧后轮是横向抗滑的最不利位置;以最不利车轮处的μw为指标,从轮胎路面力学角度定量解释了规范中用于计算圆曲线最小半径的μ取值.      

爆胎轮胎横向刚度特性仿真研究

采用Shell单元模型模拟橡胶-帘线复合材料,建立215/60R16型子午线爆胎轮胎模型,分析正常胎压轮胎在横向载荷作用下的变形情况,横向刚度仿真结果与实验结果良好的吻合性,表明开发的轮胎有限元模型的正确性。通过改变胎压,获得了不同胎压下的轮胎横向刚度,进而得到了爆胎过程中轮胎横向刚度特性变化曲线。     

基于自适应模型预测的智能汽车横向轨迹跟踪控制

当路面附着情况和车辆行驶状态不断变化时,基于恒定侧偏刚度的模型预测控制(MPC)不能考虑轮胎非线性特性的影响,难以保证车辆轨迹跟踪的适应性。为此,提出一种考虑轮胎侧向力计算误差的自适应模型预测控制(AMPC),以提高智能汽车在不确定工况下的轨迹跟踪性能。分析了路面附着系数和垂向载荷对轮胎侧向力的影响,基于平方根容积卡尔曼滤波(SCKF)算法,设计了利用侧向加速度和横摆角速度作为测量变量的前后轮胎侧向力估计器。利用轮胎侧向力线性计算值与估计值的差值计算得到侧偏刚度修正因子,设计了前后轮胎侧偏刚度的自适应修正准则,进而提出了一种基于时变修正刚度的AMPC控制方法。基于CarSim与MATLAB/Simulink联合仿真和硬件在环测试平台,对AMPC控制的有效性和实时性进行了验证。研究结果表明：在不同的路面附着情况和车辆行驶状态下,AMPC控制都能够降低横向位置偏差和航向角偏差,有效提高车辆的轨迹跟踪精度,其控制效果明显优于基于恒定侧偏刚度的标准MPC控制。尤其在低附着工况下,标准MPC控制会因为线性轮胎力的计算误差过大而导致车辆在轨迹跟踪时严重失稳,而AMPC控制通过估计轮胎力修正侧偏刚度依然能够保证车辆稳定有效的跟踪参考轨迹。所提出的AMPC控制在保证控制精度的同时具有良好的实时性,对智能汽车控制系统的设计与优化具有重要参考价值。     

Vertical Load-Deflection Behaviour of a Pneumatic Tire Subjected to Slip and Camber Angles

In this paper the vertical load-deflection behaviour of a pneumatic tire has been studied theoretically. A simple mathematical model which is especially suitable for a tire applied by a side force has been developed. Researches carried out in the past show that the tire vertical stiffness varies neither proportionally nor symmetrically as the slip angle of a cambered tire is changed. This effect can be explained by the theory developed here.

The model predictions have been verified using experimental results obtained from literature. Moreover, tire cornering characteristic curves obtained under different test conditions, i. e. during increasing of the slip angle the vertical load is kept constant or not, have been discussed through a simulation example. This study shows that the characteristic curves vary rather considerably under the different conditions.     

The Definition of the Tires Limit of Admissible Nonuniformity by Using the Vehicle Vibratory Model

Purpose of this article was to especially emphasize the contribution of tires nonuniformity radial and lateral force variation to vehicles vibrations, within developed nonlinear dynamic model of a vehicle. The tire nonuniformity force variations are introduced in simulations processes by radial and lateral dynamic forces in the area of wheels-road contact. The limits of admissible Peak - to - Peak radial and lateral force variation and Peak - to - Peak first harmonic radial and lateral force variation nonuniformity were defined by using a vehicle vibratory model. The tire nonuniformity parameters were defined from the aspect of vertical seat cushion and the steering wheel rim vibrations using the developed optimization program and the Pentium 90 MHz computer.     

Minimizing the Path Radius of Curvature for Collision Avoidance

Purpose of this article was to especially emphasize the contribution of tires nonuniformity radial and lateral force variation to vehicles vibrations, within developed nonlinear dynamic model of a vehicle. The tire nonuniformity force variations are introduced in simulations processes by radial and lateral dynamic forces in the area of wheels-road contact. The limits of admissible Peak - to - Peak radial and lateral force variation and Peak - to - Peak first harmonic radial and lateral force variation nonuniformity were defined by using a vehicle vibratory model. The tire nonuniformity parameters were defined from the aspect of vertical seat cushion and the steering wheel rim vibrations using the developed optimization program and the Pentium 90 MHz computer.     

Establishment of Model for Tire Steady State Cornering Properties using Experimental Modal Parameters

Modeling of tire cornering properties using experimental modal parameters is studied. With tire lateral experimental modal parameters, the distribution of side force and lateral deformation under total adhesive and sliding conditions are obtained. Side force, self-aligning, cornering stiffness and relaxation length under different loads and friction coefficients are also calculated. The calculated results are in correspondence to experimental results in the references qualitatively. The non-dimensional side force obtained from the calculated results is compared with the Fiala model, its modified expression by experiments and also the widely used empirical Magic Formula model. The calculated results tally well with the fitted results obtained using Magic Formula model. It can be seen that the tire steady state cornering model using experimental modal parameters proposed in this paper is better for an in-depth study of tire natural characteristics, and the labored experimental work can be avoided.     

利用试验模态参数对轮胎垂直特性建模

本文用试验模态参数建立轮胎模型。通过对轮胎的和径向和切向激振试验获取模态参数，将地面对轮胎的作用当作输入。采用迭代算法计算了静态垂直特性，即垂直刚度、印迹长度及摩擦力在纵向的分布。然后计算了考虑轮胎预载的３００Ｈｚ内的垂直振动特性。采用模态综合方向将车轮、悬架及车身组合成的一个系统，计算出了该系统的垂直振动特性。研究显示了这种方法的可靠性和优越性。     

Establishment of Model for Tire Steady State Cornering Properties using Experimental Modal Parameters

Modeling of tire cornering properties using experimental modal parameters is studied. With tire lateral experimental modal parameters, the distribution of side force and lateral deformation under total adhesive and sliding conditions are obtained. Side force, self-aligning, cornering stiffness and relaxation length under different loads and friction coefficients are also calculated. The calculated results are in correspondence to experimental results in the references qualitatively. The non-dimensional side force obtained from the calculated results is compared with the Fiala model, its modified expression by experiments and also the widely used empirical Magic Formula model. The calculated results tally well with the fitted results obtained using Magic Formula model. It can be seen that the tire steady state cornering model using experimental modal parameters proposed in this paper is better for an in-depth study of tire natural characteristics, and the labored experimental work can be avoided.     

不同宽度轮辋对轮胎静刚度特性影响的试验分析

针对同一轮胎(205/55R16)安装不同宽度轮辋(6J,61/2J)进行了静态试验研究,分析比较了不同宽度轮辋对轮胎静力学特性的影响。试验结果表明,宽轮辋轮胎的垂直刚度、侧向刚度和纵向刚度均高于窄轮辋轮胎的相应值;而窄轮辋轮胎的扭转刚度大于宽轮辋轮胎的扭转刚度。     

Design and evaluation of sideslip angle observer for vehicle stability control

This paper presents a method for estimating the vehicle side slip angle, which is considered as a significant signal in determining the vehicle stability region in vehicle stability control systems. The proposed method combines the model-based method and kinematics-based method. Side forces of the front and rear axles are provided as a weighted sum of directly calculated values from a lateral acceleration sensor and a yaw rate sensor and from a tire model according to the nonlinear factor, which is defined to identify the degree of nonlinearity of the vehicle state. Then, the side forces are fed to the extended Kalman filter, which is designed based on the single-track vehicle model associated with a tire model. The cornering stiffness identifier is introduced to compensate for tire force nonlinearities. A fuzzy-logic procedure is implemented to determine the nonlinear factor from the input variables: yaw rate deviation from the reference value and lateral acceleration. The proposed observer is compared with a model-based method and kinematics-based method. An 8 DOF vehicle model and Dugoff tire model are employed to simulate the vehicle state in MATLAB/SIMULINK. The simulation results shows that the proposed method is more accurate than the model-based method and kinematics-based method when the vehicle is subjected to severe maneuvers under different road conditions.