路面摩擦特性预测研究

本次研究基于路面抗滑特性的预测问题,运用道路摩擦系数测试仪在公路上进行路面摩擦系数测试试验,并对试验结果进行分析,提出了路面摩擦系数的影响因素。应用广义回归神经网络分析方法,以影响因素为分类标准,确定了摩擦系数预测模型的分类,建立了基于广义回归神经网络的路面摩擦系数预测模型,并通过60组试验数据对网络模型进行了训练,利用6组实验数据进行预测结果对比。结果表明,模型预测值与实测值的平均误差为3.0%左右,模型预测结果与实测结果吻合,所构建模型是正确的,且具有较高的精度;此外还通过实车进行了汽车制动试验,并根据试验结果与模型预测结果对比,为交通事故分析中计算事故车速提供依据。     

Adaptive Control of 4WS System by Using Neural Network

An adaptive control system of the model following type is proposed for drive motion control of a four wheel steering (4WS) car with using neural network (NN) which has mastered nonlinear friction force between tire and road surface. A model of one rigid body is adopted which represents appropriately two kinds of car motion caused by steering action, namely the lateral displacement and the yawing rotation, and an equation of motion is described in a simplified form to make a system equation for motion control possible. Nonlinear relation between the cornering force of tire and the slip angle is obtained by numerical analysis with the tire model proposed by E. Fiala, taking friction coefficient and car speed as the parameters. The result is used as the teaching signal for NN. Three NN are used in the control system composed of both the feed-forward and the feedback circuits in order to realize adaptive control. Validity and usefulness of the proposed adaptive control system with NN are verified by three kinds of computer simulation.     

Adaptive Control of 4WS System by Using Neural Network

SUMMARY

An adaptive control system of the model following type is proposed for drive motion control of a four wheel steering (4WS) car with using neural network (NN) which has mastered nonlinear friction force between tire and road surface. A model of one rigid body is adopted which represents appropriately two kinds of car motion caused by steering action, namely the lateral displacement and the yawing rotation, and an equation of motion is described in a simplified form to make a system equation for motion control possible. Nonlinear relation between the cornering force of tire and the slip angle is obtained by numerical analysis with the tire model proposed by E. Fiala, taking friction coefficient and car speed as the parameters. The result is used as the teaching signal for NN. Three NN are used in the control system composed of both the feed-forward and the feedback circuits in order to realize adaptive control. Validity and usefulness of the proposed adaptive control system with NN are verified by three kinds of computer simulation.     

桥梁平转施工中球铰界面的摩擦力精确计算方法及验证

转体施工是桥梁施工中的重要方法,中国已成功将该技术应用于数百座大跨桥梁的施工。大吨位转体施工中,摩擦力的计算至关重要,但现有工程实践中给出的近似计算方法与工程试验值有较大差距。因此,精确的摩擦力和摩阻力矩计算理论,是转体施工中亟待解决的问题。首先采用称重原理获得竖向摩阻力矩,然后利用接触理论求得接触面的应力分布规律,并推导出竖向摩阻力矩理论公式,进而求得摩擦因数。之后,利用获得的摩擦因数,根据接触面的应力分布规律,获得了平转过程中的水平摩阻力矩和牵引力。最后,进一步将前述方法推广到带滑块的转体装置中,获得统一的摩擦因数、摩阻力矩计算方法。将该方法和有限单元法的计算结果进行对比,两者高度吻合;和实际工程数据对比,显示所提方法的结果更加合理、准确。主要结论如下：①根据称配重方法计算摩擦因数时,现有近似计算方法获得的摩擦因数,随着球铰参数α的增加误差逐渐增大。②球铰表面接触应力呈现出中间向两边逐渐增大的分布特征,现有计算方法假设均匀的法向接触应力分布与实际应力分布差距较大。无滑块转体装置中,有限元模型计算所得水平转动摩阻力矩比现有近似方法计算的大14.3%;而该方法计算值与有限元结果误差仅为3.0%。③在带滑块转体装置中,与工程实测值相比,现有近似方法和该改进方法获得的水平转动摩阻力矩误差分别为31.4%和23.7%。由此可见,该方法进一步提高了计算准确度。     

Measurement of the disc-pad friction coefficient for mechanical brakes using direct and indirect methods

It is necessary to guarantee the proper brake force to stop a train safely in a limited distance and o adjust its speed. Currently, most trains are run by electrical power and have a combined electrical and mechanical (friction) braking system. The mechanical brake force is determined by many parameters, such as the friction coefficient of the brake disc and pad, the pressure in the brake cylinder, the brake cylinder’s cross sectional area and the brake linkage ratio. In general, the friction coefficient data of the brake disc and pad have been taken through a dynamo-test in a laboratory, but these data might not be well matched with real data under operating conditions because of the difference in data acquisition conditions. The present study examined two methodologies that can measure the friction coefficient of the brake pad and disc based on a train’s real operating conditions. The first method was the direct method, which measured the brake force and clamping force applied on the mechanical brake by using strain gauges installed on the brake to calculate the friction coefficient. The second was an indirect method that obtained the friction coefficient by using the weight of the train and the equivalent brake force. Those variables were calculated from the longitudinal dynamic characteristics, such as resistance to motion, gradient resistance and curved resistance. These two methodologies were used to obtain the disc-pad friction coefficient for the mechanical brakes of a Korean high-speed train (HSR350x).     

UniTire轮胎稳态模型的联合工况预测能力研究

通过少量的标准试验得到轮胎力学特性参数,可以预测联合工况下(纵滑、侧偏、侧倾)的力学特性,这样就能避免做大量的复合试验。通过对轮胎简化理论模型的简单介绍,提出满足高阶理论边界条件的统一轮胎模型Un iTire,并对动摩擦因数和总切力方向修正系数给予说明。通过轮胎试验数据,使用不同辨识方法验证其预测能力,证明Un iTire轮胎稳态模型具有很高的预测精度。     

新能源汽车制动系统的发展趋势

伴随着新能源汽车的快速发展,使得越来越多的人员开始关注新能源汽车技术的提升。其中,制动系统作为保障汽车安全运行的主要系统之一,其利用制动器与车轮的摩擦来强制性控制行驶中的汽车达成减速或者停车的目的。制动系统在汽车行驶期间同样起到了保持汽车速度稳定、在各种道路状态下保持汽车停车时稳定不动的作用。而在本文当中,则主要针对新能源汽车制动系统的发展趋势展开了探讨与分析。     

An ABS control logic based on wheel force measurement

The paper presents an anti-lock braking system (ABS) control logic based on the measurement of the longitudinal forces at the hub bearings. The availability of force information allows to design a logic that does not rely on the estimation of the tyre–road friction coefficient, since it continuously tries to exploit the maximum longitudinal tyre force.

The logic is designed by means of computer simulation and then tested on a specific hardware in the loop test bench: the experimental results confirm that measured wheel force can lead to a significant improvement of the ABS performances in terms of stopping distance also in the presence of road with variable friction coefficient.     

An improved dynamic model of friction draft gear with a transitional characteristic accounting for housing deformation

A white-box friction draft gear model has been developed. All components of the draft gear are considered. The distinctive feature of the model, as compared to its predecessor, is the transitional characteristic, which accounts for the effect of elastic deformations of the draft gear housing on the position of the friction wedge system components under loading. The adjustment of the model parameters for improved agreement with experimental data is discussed. The new model can be used in the simulation of shunting impacts for single cars and car groups represented by detailed finite-element models. An example of the simulation is presented and compared with experimental data obtained using a shunting hump test stand.     

Wear simulation for the centre plate arrangement of a freight car

The bodies of many railway freight cars in many countries of the world are coupled to the running gear by means of a body centre plate that makes a friction pair with a centre bowl. During motion, the bogie is rotated and moved with respect to the car body. This leads to wear on the contact surfaces. Lubrication is inexpedient in this case because the friction forces damp the vibrations (so-called bogie hunting) during motion. Usually, centre plates exhibit noticeable wear after two years of operation. Reducing wear requires knowing details of the wear process which, in turn, requires computer simulation of freight car motion for an operation period of 10–15 years. The purpose of this paper is to develop a universal method for wear simulation of friction pairs that could be used, in particular, for the centre plate of a freight car.     

The influence of suspension components friction on race car vertical dynamics

This work analyses the effect of friction in suspension components on a race car vertical dynamics. It is a matter of fact that race cars aim at maximising their performance, focusing the attention mostly on aerodynamics and suspension tuning: suspension vertical and rolling stiffness and damping are parameters to be taken into account for an optimal setup. Furthermore, friction in suspension components must not be ignored. After a test session carried out with a F4 on a Four Poster rig, friction was detected on the front suspension. The real data gathered allow the validation of an analytical model with friction, confirming that its influence is relevant for low frequency values closed to the car pitch natural frequency. Finally, some setup proposals are presented to describe what should be done on actual race cars in order to correct vehicle behaviour when friction occurs.     

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.     

Robust estimation of maximum tire-road friction coefficient considering road surface irregularity

An accurate estimation of the maximum tire-road friction coefficient may provide higher performance in a vehicle active safety control system. Unfortunately, real-time tire-road friction coefficient estimation is costly and necessitates additional sensors that must be installed and maintained at all times. This paper proposes an advanced longitudinal tire-road friction coefficient estimation method that is capable of considering irregular road surfaces. The proposed algorithm uses a stiffness based estimation method, however, unlike previous studies, improvements were made by suggesting a third order model to solve problems related to nonlinear mu-slip curve. To attain the tire-road friction coefficient, real-time normalized force is obtained from the force estimator as exerted from the tire in the low slip region using the recursive least squares method. The decisive aspect of using the suggested algorithm lies in its low cost and versatility. It can be used under irregular road conditions due to its capability of easily obtaining wheel speed and acceleration values from production cars. The newly improved algorithm has been verified to computer simulations as well as compact size cars on dry asphalt conditions.     

超车情况下外流场计算仿真分析与研究

利用计算仿真技术对多车相会时的外流场进行了分析与研究。超车是多车相会中一个比较普遍的现象，文中针对一辆大型集装箱货车超过一辆轿车的过程进行了数值模拟，得到了轿车在超车过程中侧向力系数的变化曲线图。通过仿真结果与试验结果的比较，发现两者具有较好的一致性。     

Comparative study of vehicle tyre–road friction coefficient estimation with a novel cost-effective method

This paper qualitatively and quantitatively reviews and compares three typical tyre–road friction coefficient estimation methods, which are the slip slope method, individual tyre force estimation method and extended Kalman filter method, and then presents a new cost-effective tyre–road friction coefficient estimation method. Based on the qualitative analysis and the numerical comparisons, it is found that all of the three typical methods can successfully estimate the tyre force and friction coefficient in most of the test conditions, but the estimation performance is compromised for some of the methods during different simulation scenarios. In addition, all of these three methods need global positioning system (GPS) to measure the absolute velocity of a vehicle. To overcome the above-mentioned problem, a novel cost-effective estimation method is proposed in this paper. This method requires only the inputs of wheel angular velocity, traction/brake torque and longitudinal acceleration, which are all easy to be measured using available sensors installed in passenger vehicles. By using this method, the vehicle absolute velocity and slip ratio can be estimated by an improved nonlinear observer without using GPS, and the friction force and tyre–road friction coefficient can be obtained from the estimated vehicle velocity and slip ratio. Simulations are used to validate the effectiveness of the proposed estimation method.     

用神经网络评定机场水泥混凝土道面质量

为了简便、有效地进行水泥混凝土道面使用质量的评定,应用神经网络建立了道面平整度、摩擦系数与道面使用质量间的网络模型。通过对12个军用机场道面平整度、摩擦系数和道面损坏状态的调查,将所得数据作为样本对网络进行训练。结果表明,当目标误差为1×10-5时,计算值与实测值间的相对误差均小于03 %。该法可用来进行道面使用质量的评定。     

Skyhook and H8 Control of Semi-active Suspensions: Some Practical Aspects

Summary This paper deals with single-wheel suspension car model. We aim to prove the benefits of controlled semi-active suspensions compared to passive ones. The contribution relies on H 8 control design to improve comfort and road holding of the car under industrial specifications, and on control validation through simulation on an exact nonlinear model of the suspension. Note that we define semi-active suspensions as control systems incorporating a parallel spring and an electronically controlled damper. However, the type of damper used in automotive industry can only dissipate energy. No additional force can be generated using external energy. The control issue is then to change, in an accurate way, the damping (friction) coefficient in real-time. This is what we call semi-active suspension. For this purpose, two control methodologies, H 8 and Skyhook control approaches, are developed, using a linear model of the suspension, and compared in terms of performances using industrial specifications. The performance analysis is done using the control-oriented linear model first, and then using an exact nonlinear model of the suspension incorporating the nonlinear characteristics of the suspension spring and damper.     

自动变速器湿式离合器摩擦片接合特性的测试方法研究

自动变速器湿式离合器摩擦片的测试装置可以通过变更滑动速度、转动惯量、法向作用力和润滑油量,测量得包括法向力、制动力矩、滑动速度和随时间变化的温度等数据。这些输入参数与所得到的输出数据与工程机械自动变速器中的参数与数据极为相似。     

Skyhook and H8 Control of Semi-active Suspensions: Some Practical Aspects

Summary This paper deals with single-wheel suspension car model. We aim to prove the benefits of controlled semi-active suspensions compared to passive ones. The contribution relies on H 8 control design to improve comfort and road holding of the car under industrial specifications, and on control validation through simulation on an exact nonlinear model of the suspension. Note that we define semi-active suspensions as control systems incorporating a parallel spring and an electronically controlled damper. However, the type of damper used in automotive industry can only dissipate energy. No additional force can be generated using external energy. The control issue is then to change, in an accurate way, the damping (friction) coefficient in real-time. This is what we call semi-active suspension. For this purpose, two control methodologies, H 8 and Skyhook control approaches, are developed, using a linear model of the suspension, and compared in terms of performances using industrial specifications. The performance analysis is done using the control-oriented linear model first, and then using an exact nonlinear model of the suspension incorporating the nonlinear characteristics of the suspension spring and damper.     

湿式摩擦离合器摩擦片表面温升和油槽结构研究

应用接触温度计算模型和热分析基本原理,研究了重型车辆湿式摩擦离合器摩擦片的温度分布和失效原因,分析和推导了简单、实用的摩擦片温度计算公式并得到试验验证。此外,介绍了从动摩擦片常见的表面油槽结构,分析了不同油槽结构对传递扭矩、摩擦片表面温度以及带排扭矩的影响。试验结果表明:双圆弧油槽综合性能较好,摩擦副摩擦因数适中,对带排扭矩影响小,且易于制造,最适合于重型车辆湿式摩擦离合器从动摩擦片使用。