汽车稳定性控制系统的研究与仿真

在线性二自由度车辆模型基础上,采用直接横摆力矩控制方法,选取质心侧偏角和横摆角速度作为稳定性控制系统的主控变量,设计了三种具有针对性的基于滑模变结构理论的车辆操纵稳定性控制策略——质心侧偏角、横摆角速度和两者联合的滑模变结构控制。在Matlab,Simulink平台上,对三种汽车稳定性控制策略的具体应用进行仿真分析,验证了所设计稳定性控制算法的有效性和鲁棒性。     

盾构水平偏角变化对盾构-土相互作用影响

为了探明盾构掘进过程中机-土相互作用的机理,指导盾构姿态的控制和调整,针对水平偏角变化对盾构与土相互作用的影响这一问题,对作用于盾壳周围土压力的理论计算方法以及水平偏角预测模型进行研究。首先基于地基反力曲线,通过等效弹簧近似建立盾构与土的相互作用模型,同时基于几何分析可计算盾构水平偏角变化过程中周围土层发生的位移,从而得到作用于盾构外壳的周围土压力的理论计算方法。然后引用改进的松动土压力计算方法,得到盾构初始土压力的计算方法,解决盾构水平偏角计算的初始边界问题,并结合土对盾构作用荷载的计算方法得到盾构水平偏角计算方法。基于所建立的理论计算模型,对盾构机质量、地层类型以及地层开挖损失率等因素对盾构-土相互作用的影响进行分析和讨论。最后,结合济南地铁R2线盾构隧道工程,对盾构的水平偏角以及相关掘进参数进行实时监测,并与盾构水平偏角理论值进行对比分析。研究结果表明：盾构质量以及地层开挖损失率对盾构在水平面上进行姿态的影响较小;不同地层类型以及地层的土压力系数对盾壳与土相互作用的影响较大;通过工程应用发现盾构水平偏角理论值的变化趋势与实测值基本一致,但由于盾构自身施加的调姿弯矩无法完全作用于盾构机,因此理论值普遍大于实测值。     

基于DYNAware的车辆稳定性控制仿真研究

使用车辆动力学仿真软件DYNAware／ve—DYNA，建立15自由度的参数化车辆模型，基于稳定性控制原理，以横摆角速度和质心侧偏角为控制变量，采用改进的横摆力矩决策计算方法，用Matlab／simulink建立控制器模型，并通过界面将其导入Ve—DYNA中。最后通过双移线和正弦延迟仿真实验验证了控制策略的有效性。     

Crosswind Feedforward Control – A Measure to Improve Vehicle Crosswind Behaviour

SUMMARY

The theory of crosswind feedforward control was explained using the example of a vehicle with active front-wheel steering. Beforehand, the calculation formulas and frequency responses of the transient crosswind force and of the wind yaw moment acting on the vehicle were derived using the example of a simple vehicle fluid model. The influence of the transiency of crosswind disturbance on the dynamic crosswind behaviour of a vehicle was then presented. The results of simulation confirmed the analyses carried out in the frequency domain for feedforward control with front, rear and all-wheel steering. With front-wheel steering, the influence of crosswind on one of the vehicle movement variables (lateral acceleration or yaw rate) could be almost completely compensated by dynamic feedforward control. With rear-wheel steering, it is only possible to compensate directly for the influence on the yawing rate. Due to the setting of the side force in the same direction as the lateral wind force at the start, active rear-wheel steering is not so successful as active front-wheel steering. Nevertheless, the crosswind behaviour of a vehicle can be considerably enhanced by feedforward control with rear-wheel steering. The best crosswind behaviour was obtained with active all-wheel steering: the vehicle hardly responds at all to crosswinds and remains on course despite heavy gusts of wind.     

High speed driving stability of passenger car under crosswind effects

The driving stability of a passenger car at high-speed and under crosswind conditions is affected by aerodynamic characteristics as well as their dynamic characteristics, suspension, and weight distribution. In this study, the total measuring system was thought up to understand the transient vehicle dynamics and aerodynamics with driver’s control inputs all together. The test results were taken from a full-scale wind tunnel test, a crosswind generator test and an on-road test. We investigated major aerodynamic parameters that affect the driving stability of passenger cars under crosswind effects such as overtaking, passing each other, natural crosswind, etc. The reaction rate of high-speed stability will be improved when we minimize the total lift, side force and especially the yawing moment.     

汽车底盘及电器突发故障的应急处理

当汽车行车途中发生意外事故时，驾驶员应采取应急措施加以处理，使汽车安全到达目的地。介绍了以下几种事故的应急处理：一是制动失灵故障；二是汽车侧滑故障；三是车胎爆破故障；四是安全气囊传感器连接器损坏；五是蓄电池损坏。     

The mechanism for the coupler and draft gear and its influence on safety during a train collision

A mechanical model of the coupler and draft gear was established to study the mechanism during an intercity train collision. The model includes four rigid bodies, one spherical joint, two nonlinear torsion spring units and two nonlinear hysteresis units. Simulation and test results show that the axial characteristics of the model are reasonable and the model can reasonably simulate the pitching movement of the coupler. The influence of the coupler and draft gear on the collision behaviour of the train is analysed considering a four-section intercity train. The results show that during the collision process, the amount of compression of the middle coupler is an important factor influencing the pitching deflection angle. The pitching motion posture of the coupler changes with the initial pitching deflection angle, but the initial pitching deflection angle has little effect on its yawing deflection angle. When the pitching angle of the middle coupler is elevated, as the elevation angle increases, the derailment risk of the ‘A’ end bogie of the previous vehicle increases, whereas the risk of derailment of the ‘B’ end bogie of the subsequent vehicle decreases. When the pitching angle of the middle coupler is depressed, the derailment trends for the front and rear bogies exhibit the opposite trend from that of the elevation angle. As the train collision speed increases, the pitching motion of the middle coupler is limited to forcing a yawing motion, causing the yawing deflection angle to increase sharply, which causes the wheel–rail lateral force to increase rapidly. From this, the derailment risk of the bogie increases, which further causes large displacement lateral buckling of the train. An anti-lateral buckling device can limit the yawing deflection angle of the middle coupler, preventing lateral buckling from large displacement and decreasing the risk of derailment.     

On the Stability of a Flexible Vehicle Controlled by a Human Pilot

SUMMARY

This paper presents a stability analysis of a vehicle flexible in the plane of yawing and being controlled by a human pilot. The vehicle is represented by a two degrees-of-freedom model and the pilot is assumed to respond to the lateral displacement and to the lateral velocity with a time delay. It is shown that in order for the pilot model to exhibit a realistic human operator behavior, driver's gain must be linearly proportional to vehicle velocity and also inversely related to frontal visibility. Moreover, application of the Hurwitz criterion indicated that flexibility of the vehicle frame has a destabilising effect on the lateral stability and reduces the stable domain of operation.     

客车侧倾与横摆动力学稳定集成控制系统（续1）

客车在急转弯时,侧倾运动对其横向载荷转移率和轮胎垂向受力的改变,不仅会引起侧翻事故,还会对横摆运动产生重要影响。文章综合分析客车侧倾、横摆动力学及其耦合关系,建立耦合动力学模型。采用差动制动和主动式防倾杆等主动控制方法,并基于滑模控制理论设计集成控制系统。仿真结果表明,该系统可提高客车侧倾与横摆动力学稳定性,实现客车防侧翻和防侧滑的综合功能。     

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.     

Crosswind Feedforward Control - A Measure to Improve Vehicle Crosswind Behaviour

The theory of crosswind feedforward control was explained using the example of a vehicle with active front-wheel steering. Beforehand, the calculation formulas and frequency responses of the transient crosswind force and of the wind yaw moment acting on the vehicle were derived using the example of a simple vehicle fluid model. The influence of the transiency of crosswind disturbance on the dynamic crosswind behaviour of a vehicle was then presented. The results of simulation confirmed the analyses carried out in the frequency domain for feedforward control with front, rear and all-wheel steering. With front-wheel steering, the influence of crosswind on one of the vehicle movement variables (lateral acceleration or yaw rate) could be almost completely compensated by dynamic feedforward control. With rear-wheel steering, it is only possible to compensate directly for the influence on the yawing rate. Due to the setting of the side force in the same direction as the lateral wind force at the start, active rear-wheel steering is not so successful as active front-wheel steering. Nevertheless, the crosswind behaviour of a vehicle can be considerably enhanced by feedforward control with rear-wheel steering. The best crosswind behaviour was obtained with active all-wheel steering: the vehicle hardly responds at all to crosswinds and remains on course despite heavy gusts of wind.     

非满载液罐汽车转弯制动稳定性研究

本文研究罐装部分液体汽车在转弯制动工况下，由于液体货物质心位置的变化对行驶稳定剂性的影响，文中建立了有关数学模型，分析研究的罐体内装载不同量液体对汽车转弯制动时横摆角速度的影响规律。     

斜拉桥在列车通过时横向动力响应的分析方法

以横摆和摇头为2个独立的自由度,建立列车轮对的振动微分方程。利用结构分析有限元法,推导非对称箱形截面梁单元的横向弯扭耦合刚度矩阵。讨论车桥系统横向振动微分方程及其求解方法。实例分析结果揭示了桥梁横向动力响应的规律,所讨论的分析方法可以有效地处理约束扭转及偏载问题。     

The effect of wheel set gyroscopic action on the hunting stability of high-speed trains

This study explores the effects of wheel set gyroscopic action on hunting stability by calculating linear and nonlinear critical speeds. First, a dynamic model for a high-speed vehicle with 23 degrees of freedom is developed by considering wheel set gyroscopic action. The linear and nonlinear critical speeds are calculated by eigenvalue analysis and drawing a bifurcation map, respectively. Two computer programs for linear and nonlinear stability analysis are developed. Second, based on an actual high-speed vehicle in China, the effects of wheel set gyroscopic action on hunting stability are quantitatively investigated using computer simulation. Furthermore, the difference between the effects of gyroscopic moments about the x-axis and z-axis is discussed. The results show that the moment about the x-axis is harmful to hunting stability, but the moment about the z-axis is beneficial to hunting stability. However, the integrated effect of these two moments can enhance the critical speeds and suppress the hunting motion.     

Integrated fuzzy/optimal vehicle dynamic control

There are basically two methods to control yaw moment which is the most efficient way to improve vehicle stability and handling. The first method is indirect yaw moment control, which works based on control of the lateral tire force through steering angle control. It is mainly known as active steering control (ASC). Nowadays, the most practical approach to steering control is active front steering (AFS). The other method is direct yaw moment control (DYC), in which an unequal distribution of longitudinal tire forces (mainly braking forces) produces a compensating external yaw moment. It is well known that the AFS performance is limited in the non-linear vehicle handling region. On the other hand, in spite of a good performance of DYC in both the linear and non-linear vehicle handling regions, continued DYC activation could lead to uncomfortable driving conditions and an increase in the stopping distance in the case of emergency braking. It is recommended that DYC be used only in high-g critical maneuvers. In this paper, an integrated fuzzy/optimal AFS/DYC controller has been designed. The control system includes five individual optimal LQR control strategies; each one, has been designed for a specific driving condition. The strategies can cover low, medium, and high lateral acceleration maneuvers on high-μ or low-μ roads. A fuzzy blending logic also has been utilized to mange each LQR control strategy contribution level in the final control action. The simulation results show the advantages of the proposed control system over the individual AFS or DYC controllers.     

轻型桥台自身平面内的弯曲分析与参数的合理取值

轻型桥台自身平面内的弯曲问题通常采用Winkler地基上Bernoulli-Euler梁理论来进行分析,以对称中心的弯矩和基底应力作为最大值进行验算。考虑轻型桥台的剪切变形影响,采用Winkler地基上Timoshenko梁理论进行分析,得到了最大弯矩偏离对称中心,且比对称中心弯矩大得多;以对称中心弯矩作为最大值进行设计不安全;目前桥梁工程文献所推荐的设计验算方法值得探讨等结论。分析了最大弯矩随剪切刚度和基床系数、最大弯矩位置随襟边宽度的变化规律,探讨了以桥台基础不隆起为条件的襟边宽度合理取值问题。     

变路面车辆稳定性控制策略研究

建立了某四轮汽车9自由度车辆模型和轮胎动力模型,并提出了一种基于侧向力利用系数的差动制动、主动转向切换控制策略。模拟了汽车以车速24.5m/s行驶时的一个紧急避让情况,研究了无控制模式、差动制动控制模式、联合控制模式下的车辆横摆角速度、质心侧偏角、质心侧向位移的变化。结果表明,所提出的差动制动联合主动转向技术的控制策略可以满足变路面下车辆稳定性控制要求。     

On the handling performance of a vehicle with different front-to-rear wheel torque distributions

ABSTRACT

The handling characteristic is a classical topic of vehicle dynamics. Usually, vehicle handling is studied by analyzing the understeer coefficient in quasi-steady-state maneuvers. In this paper, experimental tests are performed on an electric vehicle with four independent motors, which is able to reproduce front-wheel-drive, rear-wheel-drive and all-wheel-drive (FWD, RWD and AWD, respectively) architectures. The handling characteristics of each architecture are inferred through classical and new concepts. The study presents a procedure to compute the longitudinal and lateral tire forces, which is based on a first estimate and a subsequent correction of the tire forces that guarantee the equilibrium. A yaw moment analysis is performed to identify the contributions of the longitudinal and lateral forces. The results show a good agreement between the classical and new formulations of the understeer coefficient, and allow to infer a relationship between the understeer coefficient and the yaw moment analysis. The handling characteristics vary with speed and front-to-rear wheel torque distribution. An apparently surprising result arises at low speed: the RWD architecture is the most understeering configuration. This is discussed by analyzing the yaw moment caused by the longitudinal forces of the front tires, which is significant for high values of lateral acceleration and steering angle.     

On the Stability of a Flexible Vehicle Controlled by a Human Pilot

This paper presents a stability analysis of a vehicle flexible in the plane of yawing and being controlled by a human pilot. The vehicle is represented by a two degrees-of-freedom model and the pilot is assumed to respond to the lateral displacement and to the lateral velocity with a time delay. It is shown that in order for the pilot model to exhibit a realistic human operator behavior, driver's gain must be linearly proportional to vehicle velocity and also inversely related to frontal visibility. Moreover, application of the Hurwitz criterion indicated that flexibility of the vehicle frame has a destabilising effect on the lateral stability and reduces the stable domain of operation.     

A new flatness-based control of lateral vehicle dynamics

This paper presents a new concept for vehicle dynamics control (VDC). The control of the longitudinal vehicle dynamics is not discussed, since we are assuming that it is much slower and weakly coupled to the lateral and yawing dynamics. The actuators are considered to be the traction and the braking torques of the individual wheels and only the standard sensors of the common VDC system are used. A modular interface to the subordinate wheel control system is provided by choosing the yaw torque as a fictitious control input. The VDC system is designed by means of a two degrees-of-freedom control scheme. It comprises a flatness-based feedforward part and a stabilising feedback part. The reference trajectory generation is introduced for the flat output which is given by the lateral velocity of the vehicle. Thus an advantageous kind of body side-slip angle control is provided with the standard VDC system hardware. Extensive simulation studies show excellent performance of the designed control concept.