A theoretical model of speed-dependent steering torque for rolling tyres

ABSTRACT

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange–Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.     

A rail roughness growth model for a wheelset with non-steady,non-Hertzian contact

This paper presents a model simulating rail roughness growth in which the interaction of a wheelset with the track is considered. The aim is to investigate any possible mechanism for roughness growth due to the coupling between the vertical dynamics, the torsional vibration across the axle of the wheelset and the non-steady contact mechanics. The time-domain simulations are carried out for a driven wheelset on tangent track. Both rigid and flexible are considered with parameter variations for moments of the wheelset, vehicle speeds and wavelengths of initial roughnesses. The 2D non-Hertzian and non-steady contact model used in simulations are based on influence coefficients obtained from a boundary element model. The nonlinear development of the rail roughnesses after millions of wheelset passages is also presented.     

Simulations of roughness growth on rails - results from a 2D non-Hertzian, non-steady contact model

A new model for simulating rail roughness growth on tangent track is presented in this paper. The model consists of three relatively independent components: (1) a time-domain vehicle/track interaction model; (2) a 2D non-Hertzian and non-steady wheel/rail contact model; and (3) a wear model. Wheel/rail contact forces for a given initial roughness obtained from the vehicle/track interaction model are used by the contact model to calculate the contact patch size, normal pressure and tangential stresses with material removal assumed to be linearly proportional to the friction work in the contact patch. The roughness profile is updated and fed back into vehicle/track interaction model. The 2D contact model is initially compared with a 3D model for various wavelength of initial sinusoidal roughness. Long term roughness growth is then simulated with the 2D contact model. Simulation shows that all initial sinusoidal roughness of wavelengths between 20-100 mm are levelled out. The wavelength-fixing mechanism, that has previously been used to explain the cause of corrugation, is not found in the present investigations.     

A model for prediction of the transient rolling resistance of tyres based on inner-liner temperatures

Measurements of rolling resistance in thermal equilibrium of a tyre, like measurements according to ISO 28580, do not allow statements about rolling resistances under other driving conditions. Such statements, however, are necessary to determine the energy consumption in driving cycles. Especially for the proper calculation of electric-vehicle remaining ranges and the selection of the respective driving strategies, the real amount of energy consumption is required. This paper presents a model approach, which by means of only one standardised rolling resistance measurement can be parameterised and, considering the present driving speed and tyre temperature, can predict the respective current rolling resistance.     

Investigation of the impact of locomotive creep control on wear under changing contact conditions

This paper presents the locomotive traction controller performance with respect to the track wear under different operation conditions. In particular, an investigation into the dynamic response of a locomotive under changing wheel–rail friction conditions is performed with an aim to determine the effect of controller setting on track wear. Simulation using a full-scale longitudinal–vertical locomotive dynamic model shows that the appropriately designed creep threshold, controller, settings can effectively maintain a high tractive effort while avoiding excessive rail damage due to wear, especially during acceleration under low speed.     

Normal and shear forces in the contact patch of a braked racing tyre. Part 1: results from a finite-element model

In this first part of a two-part article, a previously described and validated finite-element model of a racing-car tyre is developed further to yield detailed information on carcass deflections and contact pressure and shear stress distributions for a steady rolling, slipping, and cambered tyre. Variations in running conditions simulated include loads of 1500, 3000 and 4500 N, camber angles of 0° and ?3°, and longitudinal slips from 0% to?20%. Special attention is paid to heavy braking, in which context the aligning moment is of great interest. Results generated are in broad agreement with limited experimental results from the literature and they provide considerable insight into how the tyre deforms and how the contact stresses are distributed as functions of the running conditions. Generally, each rib of the tyre behaves differently from the others, especially when the wheel is cambered. The results form a basis for the development of a simpler physical tyre model, the purpose of which is to retain accuracy over the full operating range while demanding much less computational resource. The physical tyre model is the topic of the second part of the article.     

缸套-活塞环三维润滑状态模拟分析

以发动机缸套-活塞环摩擦副为对象,研究润滑表面粗糙度、润滑油的变黏度效应以及气缸套圆周方向的形变等因素对润滑状态的影响。运用三维瞬态平均Reynolds方程与微凸体接触模型,建立缸套-活塞环三维瞬态动压润滑模型,并使用Fortran语言编制了润滑状态计算程序,得出行程内的最小油膜厚度、压力分布、摩擦力等曲线。结合实际工况对计算结果进行分析,表明在活塞环圆周方向上的油膜压力及油膜厚度分布都是不均匀的,有明显变化;在压缩冲程上止点附近,微凸体摩擦力数倍于流体摩擦力,是引起摩擦磨损的主要原因。     

Creep force modelling for rail traction vehicles based on the Fastsim algorithm

The evaluation of creep forces is a complex task and their calculation is a time-consuming process for multibody simulation (MBS). A methodology of creep forces modelling at large traction creepages has been proposed by Polach [Creep forces in simulations of traction vehicles running on adhesion limit. Wear. 2005;258:992–1000; Influence of locomotive tractive effort on the forces between wheel and rail. Veh Syst Dyn. 2001(Suppl);35:7–22] adapting his previously published algorithm [Polach O. A fast wheel–rail forces calculation computer code. Veh Syst Dyn. 1999(Suppl);33:728–739]. The most common method for creep force modelling used by software packages for MBS of running dynamics is the Fastsim algorithm by Kalker [A fast algorithm for the simplified theory of rolling contact. Veh Syst Dyn. 1982;11:1–13]. However, the Fastsim code has some limitations which do not allow modelling the creep force – creep characteristic in agreement with measurements for locomotives and other high-power traction vehicles, mainly for large traction creep at low-adhesion conditions. This paper describes a newly developed methodology based on a variable contact flexibility increasing with the ratio of the slip area to the area of adhesion. This variable contact flexibility is introduced in a modification of Kalker's code Fastsim by replacing the constant Kalker's reduction factor, widely used in MBS, by a variable reduction factor together with a slip-velocity-dependent friction coefficient decreasing with increasing global creepage. The proposed methodology is presented in this work and compared with measurements for different locomotives. The modification allows use of the well recognised Fastsim code for simulation of creep forces at large creepages in agreement with measurements without modifying the proven modelling methodology at small creepages.     

脉冲转换排气系统三维非定常流动计算研究

对大功率8缸柴油机采用的脉冲转换排气系统进行了三维非定常流动计算,针对发动机实际排气管形状,计算物理模型采用多面体网格单元,排气管进口边界条件采用简化的用于一维性能计算的质量流量条件,湍流模型采用标准kε-模型。结合对排气管开启、关闭时刻点以及排气最大流量点的分析,探讨了脉冲转换排气系统的流动机理。     

Design factor optimization of 3D flash lidar sensor based on geometrical model for automated vehicle and advanced driver assistance system applications

Sensor technologies have been innovated and enhanced rapidly for highly automated vehicle and advanced driver assistance systems (ADAS) in automotive industry; however, in order to adopt sensors into mass production vehicle in near future, various requirements should be satisfied such as cost, durability, and maintainance without any loss of overall performance of the sensors. In this sense, a 3D flash lidar is one of primising range sensors because of no moving parts, compact package, and precise measure for distance by using a laser. In spite of the several advantages, the 3D flash lidar is not commonly used in automotive industry because it is quite expensive for adoption and it is manufactured with only general purpose currently; therefore, the cost reduction and optimal design to satisfy various purposes of ADAS or autonomous driving should be accomplished. In this paper, we propose a novel approach for design factor optimization of the 3D flash lidar based on a geometrical model by using structural similarity between the 3D flash lidar and 2D digital camera. In particular, focal length and area of a receiver (focal plane array and read-out integrated circuit) which directly affect on sensor performance (field of view and maximum detection range) are optimized as the design factors. From the optimization results in simulation, we show that optimal design factors according to various purposes required in ADAS could be easily determined and the sensor performances could be evaluated before manufacturing. It will reduce temporal and economic burdens for design and manufacturing in development process.     

基于FLAC3D的抗滑桩间距优化设计研究

结合工程实例,基于FLAC3D数值模拟方法,分析了不同桩间距下桩间土体拱效应的产生机理,直观有效地反应了桩间距优化后的加固效果,利用强度折减法计算预应力锚索抗滑桩加固后的滑坡体稳定性系数。结果表明:当桩间距为2.0～3.5倍桩宽时,桩间土拱效应得到充分发挥,并利用数值模拟优化。     

基于偏相干函数分析的曲轴箱表面振动和曲轴三维振动研究

研究曲轴的三维振动对曲轴箱表面振动的影响,开发了曲轴三维振动测试装置,并对曲轴的三维振动信号和曲轴箱表面振动信号进行采集和偏相干分析处理。结果发现:表面振动是曲轴三维振动共同作用导致的。其中扭振能够以倍频激励的形式出现,导致部分频率的表面振动;纵振与表面振动的总体相干水平不高,只在部分频率段具有较高的相干函数;弯曲振动与表面振动的偏相干水平较高,是表面振动的主要激励源。     

基于数值模拟与动态监测的长大公路隧道施工支护优化研究

以河北省张石高速黑石岭隧道为研究对象,采用三维仿真数值模拟方法对隧道软弱破碎围岩段支护方案进行了优化分析研究。并采用现场监控量测对优化方案进行了动态监测,结果与数值模拟结论基本吻合,可见采用数值模拟方法在隧道工程分析上是可行的。     

短隧道列车等速会车压力变化的仿真分析

基于三维、非稳态、可压缩、粘性N-S方程和k-ε两方程紊流模型,采用有限体积法仿真计算了5种车速和3种隧道长度下,高速列车在短隧道等速会车时列车侧壁上的气体压力变化,分析了气体压力在隧道内的变化特点和传递规律。     

汽车零部件道路模拟加载谱研究

以燃料电池的功率控制单元PCU为对象,研究获取汽车零部件道路模拟加载谱的步骤.首先是目标信号收集,然后是系统识别并获取收敛的频响函数,最后进行目标模拟并通过迭代获得能代表SVP道路的激励信号谱.利用该激励信号进行后续的室内耐久疲劳试验,以大大缩短零件验证开发时间,或用于虚拟疲劳寿命估算.     

基于3D点云语义地图表征的智能车定位

为提高智能车节点定位准确率, 研究了基于3D点云语义地图表征的智能车定位方法。该方法分为3个部分: ①基于三维激光点云的语义分割, 包括地面分割, 交通标志牌分割和杆状语义目标分割; ②面向智能车的点云语义地图表征, 利用分割的语义目标投影, 生成带权有向图, 语义路, 语义编码, 再以语义编码和高精度GPS的全局位置组成语义地图表征模型; ③基于语义表征模型的智能车定位, 包括基于GPS匹配的粗定位和基于语义编码渐进匹配的节点定位。实验在3种长度不同、复杂度不同的道路场景下进行, 节点定位准确率分别为98.5%, 97.6%和97.8%, 结果表明所提出的定位方法节点定位准确率高、鲁棒性强且适用于不同的道路场景。     

A new,non-canonical Poisson regression model for the prediction of crashes on low-volume rural roads

The purpose of the study was to compare the prediction power of a simplified non-canonical Poisson crash-prediction model to other model types. The model, fitted to serious and fatal crash data from 86 two-lane low-volume rural highway segments, showed a good fit, which was not significantly different from that of a negative binomial model. The application of the present model uses the linear form of the non-canonical Poisson model. Hence the simplification of the model versus other models results from the finding that the expected number of crashes per 1 km is directly proportional to the daily volume, unlike logarithmic functions in other models. In the non-canonical model, it is necessary to estimate only one parameter, whereas estimations of more parameters are needed in the negative binomial model.     

不同几何参数车轮的汽车流场数值模拟研究

在以前研究的基础上对单个车轮进行了深入的仿真模拟,增加了对车轮辐板外形的模拟。通过对同一型号的、有不同辐板开孔的车轮进行分组研究发现,车轮几何参数的改变不仅影响车轮局部流动,还影响整个汽车的流场特性。进一步分析流场计算结果表明,车轮周围流场中涡量变化是引起汽车以及车轮气动阻力系数改变的主要原因。     

二甲醚均质压燃燃烧的详细化学动力学模拟研究

采用由美国Lawrence Livermore国家实验室提出的二甲醚(DME)详细化学动力学反应机理及其开发的HCT化学动力学程序，对均质充量压缩着火(HCCI)发动机燃用DME的着火和燃烧过程进行了分析。为考虑壁面传热的影响，在HCT程序中增加了壁面传热子模型。采用该方法研究了燃空当量比、进气充量加热、发动机转速和EGR等因素对HCCI着火和燃烧的影响。结果表明，DME的HCCI燃烧过程有明显的低温反应放热和高温反应放热两阶段；增大燃空当量比、提高进气充量温度使着火提前；提高发动机转速和采用冷却EGR使着火滞后。     

SUV车传动系与高压共轨柴油机的匹配研究

针对某SUV车,运用GT-DRIVE软件分别对给定传动系统时不同配置的柴油机和给定发动机时不同传动系统对整车性能的影响进行仿真分析。结果表明:对一定的传动系统,发动机采用可变增压中冷和EGR,可有效改善整车的动力性、燃油经济性和排放特性;而对确定的发动机,合理选定传动系的传动比,可提高燃油经济性,但将损失部分动力性。