四轮转向汽车操纵动力学虚拟仿真分析

从机械动力学仿真的角度，研究4WS汽车的瞬态和稳态操纵动力学特性。运用虚拟样机技术，给出4WS车辆在适当前轮转角及不同的大小、比值、方向以及转向时间差等后轮转角的条件下，车辆的瞬态和稳态动力学性能的表现。     

Traction/Braking Force Distribution for Optimal Longitudinal Motion During Curve Following

The optimal tire force distribution to maximize acceleration/deceleration of a four-wheel vehicle during cornering is studied. The objective of this research is to investigate the improvement one can expect from the implementation of different vehicle steering and driving mechanisms. We first identify the upper limit imposed by physical laws by assuming all the four wheels can be individually steered and driven. Practical vehicle configurations such as four-wheel-steering (4WS) and four-wheel-drive (4WD) are then considered. The optimization involves equality and inequality constraints and are solved by nonlinear programming techniques.     

四轮转向车辆多体仿真与试验研究

以四轮转向原理样车为对象,运用多体动力学理论对四轮转向车辆的转向特性进行了计算机仿真研究和试验验证。对建立整车多体模型的方法进行了论述。通过对仿真数据与样车试验结果的对比分析,证明了四轮转向多体模型各类参数和控制方法的正确性和适用性。最后利用建立的整车多体模型,仿真分析了前后悬架刚度对操纵稳定性的影响,以及制动转向时的转向响应特性。     

Automatic path-tracking controller of a four-wheel steering vehicle

The present paper proposes an automatic path-tracking controller of a four-wheel steering (4WS) vehicle based on the sliding mode control theory. The controller has an advantage in that the front- and rear-wheel steering can be decoupled at the front and rear control points, which are defined as centres of percussion with respect to the rear and front wheels, respectively. Numerical simulations using a 27-degree-of-freedom vehicle model demonstrated the following characteristics: (1) the automatic 4WS controller has a more stable and more precise path-tracking capability than the 2WS controller, and (2) the automatic 4WS controller has robust stability against system uncertainties such as cornering power perturbation, path radius fluctuation, and cross-wind disturbance.     

四轮转向汽车自适应模型跟踪控制研究

使用单点预瞄驾驶员模型，针对确定性汽车模型探讨了４ＷＳ汽车在单移线行驶过程中后轮的最优转向控制规律。通过引入状态反馈，改善了整车的转向特性，将实际汽车的前后轮胎侧刚度及外界干扰视为有界的不确定性参数，采用自适应模型跟踪变结构控制方法，使得不确定的实际汽车模型能够很好地跟踪确定的最优理论模型，仿真结果表明该方法的可行性，控制系统能够有效地克服参数摄动及外界干扰对系统稳定性的影响。     

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

This paper presents a fuzzy controller for high-speed four-wheel-steering (4WS) vehicles based on the state-feedback and the sliding-mode control methods. In the proposed fuzzy controller, the consequent part of the fuzzy IF-THEN rules consists of either a sliding-mode controller or a state-feedback controller. Also, it will be proved that, if every fuzzy rule is stable in the sense of Lyapunov for a general Lyapunov function, defined for the whole system, then the whole system is stable in the sense of Lyapunov. The effectiveness of the proposed method for handling improvement of the 4WS systems will be demonstrated by simulations using a nonlinear vehicle model. The simulation results show that the proposed control method can enhance the dynamic response of the 4WS vehicles by reducing the transient response time and improving vehicle stability as compared to the sliding-mode and the fuzzy sliding-mode control methods.     

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.     

Nonlinear Backstepping Active Suspension Design Applied to a Half-Car Model

A fresh nonlinear backstepping design scheme, which is developed for the control of half-car active suspension systems to improve the inherent tradeoff between ride quality and suspension travel, is proposed in this paper. Since ride quality is dependent on a combination of vertical and angular displacements of a vehicle body, the design of active suspensions must have the potential to minimize heave and pitch movements in order to guarantee the ride comfort of passengers. The other important factor to be emphasized in the design of active suspensions is the suspension travel which means the space variation between the car body and the tires. In order to avoid damaging vehicle components and generating more passenger discomfort, the active suspension controllers must be capable of preventing the suspension from hitting its travel limits. Our design strategy, with two intentionally additional nonlinear filters, shows the potential to achieve these conflicting control objectives. The novelty of our active suspension design is in the use of two particular nonlinear filters at both the front and rear wheels. The effective bandwidths of these two nonlinear filters depend on the magnitudes of the front and rear suspension travels, individually. When suspension travel is small, the proposed controllers soften the suspension for enhancing passenger comfort. However, our control design shifts its attention to rattlespace utilization by stiffening the suspension when suspension travel approaches its limits. As a result, the improvement of tradeoff between ride quality and suspension travel can be guaranteed and is then demonstrated through comparative simulations.     

凌志LS400轿车电子控制防抱死制动系统

凌志ＬＳ４００轿车的ＡＢＳ是一种对两前轮采用独立控制，对两后轮根据低选原则进行同一控制的三通道防换死制动控制。介绍了ＬＳ４００轿车防抱死制动系统的组成，工作原理，以及该车的ＡＢＳ电脑引了脚的功能及检测方法。     

后桥参数对螺旋弹簧非独立悬架侧倾刚度影响研究

螺旋弹簧非独立悬架是一种复合式悬架,装有该类后悬架的轿车,其后桥的结构形式对后悬架的刚度特性有重要影响。通过对螺旋弹簧非独立悬架刚度分析,推导了该类悬架的后桥各主要参数与侧倾角刚度的理论表达式。基于桑塔纳车的相关数据,分析了各参数的改变对悬架侧倾角刚度的影响,为该类悬架的进一步改进设计提供了理论依据。     

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。     

Actively translating a rear diffuser device for the aerodynamic drag reduction of a passenger car

This research aims to develop an actively translating rear diffuser device to reduce the aerodynamic drag experienced by passenger cars. One of the features of the device is that it is ordinarily hidden under the rear bumper but slips out backward only under high-speed driving conditions. In this study, a movable arc-shaped semi-diffuser device, round in form, is designed to maintain the streamlined automobile??s rear underbody configuration. The device is installed in the rear bumper section of a passenger car. Seven types of rear diffuser devices whose positions and protrusive lengths and widths are different (with the basic shape being identical) were installed, and Computational Fluid Dynamics (CFD) analyses were performed under moving ground and rotating wheel conditions. The main purpose of this study is to explain the aerodynamic drag reduction mechanism of a passenger car cruising at high speed via an actively translating rear diffuser device. The base pressure of the passenger car is increased by deploying the rear diffuser device, which then prevents the low-pressure air coming through the underbody from directly soaring up to the rear surface of the trunk. At the same time, the device generates a diffusing process that lowers the velocity but raises the pressure of the underbody flow, bringing about aerodynamic drag reduction. Finally, the automobile??s aerodynamic drag is reduced by an average of more than 4%, which helps to improve the constant speed fuel efficiency by approximately 2% at a range of driving speeds exceeding 70 km/h.     

三轴汽车前后轮角输入时的响应特性

本文详细推导了三轴汽车线性二自由度模型的运动微分方程，分析了汽车对前后轮角输入时的移居记响应特性。从汽车动力学的角度讨论了前后轮转应具备的比例关系。该方法同样适用于其它多轴汽车的建模分析。     

基于CATIA的轿车后保险杠外板曲面设计与质量分析

针对某型轿车后保险杠外板曲面的结构特点,提出了一种基于CATIA V5的快速建模与曲面质量评价方法。该方法首先将外板曲面划分为主特征和附加特征,然后应用CATIA V5提供的多工作台混合建模功能,创建了轿车后保险杠外板曲面的三维模型,并结合A级曲面的定义与评价标准,应用多种曲面质量分析方法对后保险杠外板曲面质量进行了评价。该研究成果为轿车后保险杠优化设计提供高质量的数字化数模。     

盘式制动器在轿车后轮上的应用

为更好地提高汽车产品的市场竞争力,汽车安全性能成为竞争焦点。文章介绍了盘式制动器与传统鼓式制动器相比较后的优点、后轮用盘式制动器的类型特点及传统的盘式制动器与具有驻车功能的盘式制动器的区别。说明具有驻车制动功能的盘式制动器能为现代轿车和商务车提供安全可靠的制动性能。盘式制动器已经在国内外许多品牌轿车上得到了广泛的应用。     

Aerodynamic study of a generic car model with wheels and underbody diffuser

Being a continuous subject of research, this study presents new aspects regarding the relevance of underbody diffusers in road vehicle aerodynamics. Using a generic car model on wheels as a reference, the effect of the wheels on the body fitted with an underbody diffuser was studied, where the diffuser length and angle were varied within ranges which are applicable for hatchback passenger cars. The results show that the vortices which originate from the rear wheelhouses have a major impact on the aerodynamics of the underbody diffuser, which results in increasing of drag and lift of the body. For cases studied, the average drag and lift increment due to the addition of wheels were (Δc_D)_mean = 0.058, respectively (Δc_L)_mean = 0.243. The lift of the body on wheels decreases with both diffuser length and diffuser angle, and there are situations when it may become negative as for a body without wheels. The results show also the possibility to reach a minimum drag according with normalised diffuser length.     

某轿车后扭梁悬架的k＆c仿真与实验对比分析及ADAMS后扭梁自动建模

本文利用MSC．ADAMS／Car二次开发的后扭梁自动建模程序建立某轿车的后扭梁悬架多体动力学仿真模型,进行了车轮同向跳动工况、车轮反向跳动工况、侧向力工况及纵向力工况等四种工况的仿真,并将其结果与K＆C实验结果进行对比分析,验证了动力学模型的正确性,同时也为设计中的不足之处找到原因及提出改进方案,使CAE技术在产品研发中起到重要的作用。     

Independent Suspension, Self Steered Axle, and 4WS for Busses

The dynamic behavior of commercial vehicles fitted with differentr types of suspension mechanisms and steering devices is investigated in this paper. Six vehicle models have been constructed: 2WS-SA is a standard two wheel steering bus with solid axles; 2WS-DW is a 2WSA vehicle with independent double wishbone suspension in front and rear axles; SSA-SA is a 2WS system with solid axles, the rear one being mounted on a self steered mechanism; SSA-DW is a vehicle with independent double wishbone suspension in the front axle, and a solid self steered rear axle; 4WS-SA has four wheel steering with solid axles; and 4WS-DW is a 4WS vehicle with independent double wishbone suspension in front and rear axles. The dynamic response of these models has been assessed in terms of lateral acceleration, yaw velocity, tire forces, tire force reserves, and slip angles. The expected advantages of a 4WS system (higher acceleration rates and lower slip angles) will be corroborated but, at the same time, it will be shown that they are obtained at the cost of lower force reserves. Self steered mechanisms produce smaller body slip angles, but it will be shown that they give rise to larger yaw velocity overshootings. The particular independent suspension analyzed does not show significant improvements with respect to the solid axle counterpart.     

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。     

桑塔纳轿车后桥等效刚度分析及测量技术

在桑塔纳轿车使用中发现,其后桥刚度特性的改变,引起该车后悬架刚度特性的变化,从而显著影响它的操纵稳定性。文中从该车的行驶过程中后桥的力学特性入手,详细分析后桥的受力变形特征,简化出能全面反应车桥受力作用的刚度参数,为悬架分析模型的建立提供理论依据;同时考虑后桥刚度参数的试验测量,探索其实际测量原理和测量方法,为后桥刚度的测量分析提供有效手段。