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Jo ko Deur Jahan Asgari Davor Hrovat 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2004,42(3):133-173
The use of advanced dynamic friction models can improve the brush-type tire friction models. This paper presents a 3D dynamic brush model based on the LuGre friction model. The model describes the dynamics of longitudinal and lateral tire friction forces, as well as the self aligning torque dynamics. It has been originally derived in a distributed-parameter form, and then transformed to a simpler lumped-parameter form with only three internal states. Both uniform and non-uniform normal pressure distributions are considered. The model has analytical solution for steady-state conditions. The steady-state behavior is validated with respect to “magic” formula static model, which served as an “ideal” benchmark. The lumped model dynamic behavior is validated by comparing its time-responses with original distributed model responses. The model parameterization with respect to normal force and other tire/road parameters is considered as well. 相似文献
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轮胎半经验模型中摩擦系数切换问题 总被引:1,自引:0,他引:1
介绍了2种简单的摩擦系数模型(库仑摩擦定律、静摩擦力模型),并将其与轮胎统一刷子理论模型结合起来分析轮胎的摩擦问题。在此基础上引入了满足轮胎刷子理论模型边界条件的轮胎稳态半经验模型,给出了应用轮胎半经验模型实现摩擦状态切换的方法。通过轮胎在2种滚动速度下的侧偏试验,证明了轮胎半经验模型可实现2种速度下的摩擦系数切换。 相似文献
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Dynamic Friction Models for Road/Tire Longitudinal Interaction 总被引:5,自引:0,他引:5
Carlos Canudas-de-Wit Panagiotis Tsiotras Efstathios Velenis Michel Basset Gerard Gissinger 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2003,39(3):189-226
Summary In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the friction force along the patch. An ordinary differential equation (the lumped model) for the friction force is developed, based on the patch boundary conditions and the normal force distribution along the contact patch. This lumped model is derived to approximate closely the distributed friction model. Contrary to common static friction/slip maps, it is shown that this new dynamic friction model is able to capture accurately the transient behaviour of the friction force observed during transitions between braking and acceleration. A velocity-dependent, steady-state expression of the friction force versus the slip coefficient is also developed that allows easy tuning of the model parameters by comparison with steady-state experimental data. Experimental results validate the accuracy of the new tire friction model in predicting the friction force during transient vehicle motion. It is expected that this new model will be very helpful for tire friction modeling as well as for anti-lock braking (ABS) and traction control design. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(3):189-226
Summary In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the friction force along the patch. An ordinary differential equation (the lumped model) for the friction force is developed, based on the patch boundary conditions and the normal force distribution along the contact patch. This lumped model is derived to approximate closely the distributed friction model. Contrary to common static friction/slip maps, it is shown that this new dynamic friction model is able to capture accurately the transient behaviour of the friction force observed during transitions between braking and acceleration. A velocity-dependent, steady-state expression of the friction force versus the slip coefficient is also developed that allows easy tuning of the model parameters by comparison with steady-state experimental data. Experimental results validate the accuracy of the new tire friction model in predicting the friction force during transient vehicle motion. It is expected that this new model will be very helpful for tire friction modeling as well as for anti-lock braking (ABS) and traction control design. 相似文献
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Summary A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LMI) techniques. The analysis shows that using the wheel angular speed information exclusively is not sufficient to rapidly estimate the velocity and relative velocity, due to the fact that the dynamical system is almost unobservable with this measurement as output. Findings are confirmed by simulation results that show that the estimated vehicle velocity and relative velocity converge slowly to their true values, even though the internal friction state and friction parameters converge quickly. The proposed control system has two main advantages when compared with an antilock braking system (ABS): (1) it produces a source of a priori information regarding safe spacing between vehicles that can be used to increase safety levels in the highway; and (2) it achieves a near optimal braking strategy with less chattering. 相似文献
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Emergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement 总被引:2,自引:0,他引:2
Jingang Yi Luis Alvarez Xavier Claeys Roberto Horowitz 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2003,39(2):81-97
Summary A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LMI) techniques. The analysis shows that using the wheel angular speed information exclusively is not sufficient to rapidly estimate the velocity and relative velocity, due to the fact that the dynamical system is almost unobservable with this measurement as output. Findings are confirmed by simulation results that show that the estimated vehicle velocity and relative velocity converge slowly to their true values, even though the internal friction state and friction parameters converge quickly. The proposed control system has two main advantages when compared with an antilock braking system (ABS): (1) it produces a source of a priori information regarding safe spacing between vehicles that can be used to increase safety levels in the highway; and (2) it achieves a near optimal braking strategy with less chattering. 相似文献
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轮胎制动力及滑移率对制动力矩的响应存在着显著的低频衰减振荡现象,这从制动力-滑移率特性曲线上看,表现为一系列的以稳态点为中心的旋涡状过渡曲线。这是稳态的轮胎模型所不能描述的。本文在稳态brush轮胎模型基础上,通过印迹前端蹼处胎冠一阶变形模型,建立了轮胎制动力-滑移率的动态模型,并根据转鼓试验台上的轮胎制动试验,验证了该模型的仿真效果。 相似文献
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基于轮胎的魔术公式模型,研究了轮胎在路面的最佳滑移率和最大摩擦系数随汽车速度的动态变化过程.利用李亚普诺夫稳定性理论,设计了汽车ABS控制系统滑模控制器,基于轮胎的Burckhardt模型,分别在考虑轮胎动态摩擦特性和不考虑轮胎动态摩擦特性时,对汽车ABS控制系统进行了仿真和比较研究.研究结果表明,轮胎动态摩擦特性对汽车ABS的最佳滑移率和轮胎摩擦系数具有一定影响,但是对汽车ABS的制动性能影响很小,因此进行汽车ABS控制系统设计时,可以不考虑轮胎动态摩擦特性的影响. 相似文献
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Denny C. Davis 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1975,4(1):55-69
A radial-spring tire model was developed to envelop irregular features of a rigid terrain and redefine the terrain as an “equivalent ground plane” reflecting both the elevation and slope characteristic of the original terrain contacting the tire. Three different methods were proposed for defining the maximum deflection of the tire, thereby locating the “equivalent ground plane” and defining the radial tire force. Errors in the maximum tire deflections resulting from approximations in the solution procedure could be maintained below 3 per cent of the actual tire deflections when the tire model was tested on a rigid planar surface. 相似文献
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介绍了用于汽车驾驶模拟器动力学模拟的STI(Systems Technologies Inc)轮胎半经验模型,建立了该轮胎模型的复合滑移率、横向刚度和纵向刚度以及横向力和纵向力的计算方程,并利用Vc++6.0编程计算得到的理论值与实验值对比,对该模型进行了分析和验证。分析结果表明,该轮胎模型用于车辆动力学模拟时有较好的精度。 相似文献
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为提高汽车主动安全系统自适应控制性能,需要对轮胎/路面附着系数进行精确的识别或估算。鉴于附着系数估计的复杂性,文章综述了目前路面附着系数估算中的汽车动力学建模和轮胎/路面摩擦模型建模,重点讨论了轮胎/路面附着系数识别算法中传感器的直接检测估计法,以及基于车辆动力学、回正力矩和状态观测器等动力学模型的估计算法,并对各估算方法存在的问题与发展趋势等进行了分析。对开发汽车主动安全电控系统和提高汽车产业核心竞争力具有重要意义。 相似文献
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三维建模是公路线路三维可视化设计的基础和关键,文中讨论了进行公路线路三维建模的一般过程和利用AutoCAD2000进行建模的方法技巧。 相似文献
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三维建模是公路线路三维可视化设计的基础和关键,文中讨论了进行公路线路三维建模的一般过程和利用AutoCAD 2000进行建模的方法技巧. 相似文献
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轮胎滚动速度效应对轮胎侧偏动特性的影响 总被引:2,自引:0,他引:2
在利用试验模态参数建立轮胎侧偏非稳态模型基础上,本文重点分析了轮胎滚动速度效应对侧偏动特性的影响。解析模型计算结构的变化趋势和文献的试验研究结果一致。表明计入轮胎滚动所带来的速度对侧偏动特性的影响是不可忽略的,它会对不同速度下行驶汽车的操稳性及横向振动产生影响。滚动速度效应对轮胎侧偏特性影响的成功建械表明了利用模态参数对轮胎建模的优越性。 相似文献
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轮胎非稳态转向特性半经验模型 总被引:4,自引:2,他引:4
在轮胎非稳转向特性理论模型的基础,本文提出了一种半经验模型,经过试验验证,在与汽车平面运动有关的低频范围内,试验值与理论值吻合得较好,与已有的半经验模型相比,该模型具有计算简单,精度较高等优点,直接反映出轮胎模型参数与结构参数间的关系,便于在汽车动力学仿真与轮胎特性改进中应用。 相似文献
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Hans B. Pacejka 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1972,1(1):37-66
A theory has been developed for the analysis and prediction of the dynamic frequency response of lateral force and moment acting upon a pneumatic tire when the wheel is moved laterally and swivelled about the vertical axis. The theory establishes the force and moment response of a tire model which consists of a stretched circular string with mass, elastically supported to the wheel-center-plane. The analysis is confined to small deviations from rectilinear motion such that it is permissible to assume that sliding does not occur in the contact area. In this manner, the equations are kept linear.
The theory which gives an exact analysis of the dynamic response of the model adopted shows satisfactory qualitative agreement with experiments. The change in the moment response due to tire inertia reduces the tendency to shimmy at higher frequencies and higher speeds. The lateral force response, however, changes in an unfavorable fashion which, for castered wheels, may result in a decrease of the effective damping about the king-pin at higher speeds and frequencies. 相似文献
The theory which gives an exact analysis of the dynamic response of the model adopted shows satisfactory qualitative agreement with experiments. The change in the moment response due to tire inertia reduces the tendency to shimmy at higher frequencies and higher speeds. The lateral force response, however, changes in an unfavorable fashion which, for castered wheels, may result in a decrease of the effective damping about the king-pin at higher speeds and frequencies. 相似文献