Vehicle/Pilot System Analysis: A New Approach Using Optimal Control With Delay

SUMMARY

This article deals with the simulation of a vehicle/pilot system experiencing external disturbances. In the simulation, the car is modeled with two degrees of freedom and the pilot is assumed to respond to the state vector with a time delay. When perturbations are introduced, the pilot is expected to drive his car back to the initial state while minimizing a quadratic cost function. With some simplifications for low frequencies responses, the model is then used to simulate the response of different vehicles to an initial step in lateral displacement. The results from the simulations are interpreted in the light of the controllability diagrams.     

汽车挡风玻璃除霜性能数值模拟分析

本文采用计算流体力学软件STAR-CCM+对某新开发汽车除霜风道进行数值模拟。通过稳态计算来预测汽车的除霜性能,对除霜效果进行了探讨,并进行了试验。对比模拟结果和试验结果总体比较接近,验证了CFD模拟的的可靠性,为汽车挡风玻璃除霜效果模拟工程提供了参考。     

扭转梁后悬架C特性对转向特性的影响分析

为分析扭转梁C特性对稳态转向性能的影响,文章以模态综合法建立了某乘用车扭转梁后悬柔性模型,对建立的原型车进行侧向力C特性仿真,与对标车进行对比发现仿真与试验值存大较大差异,且侧向力前束特性存在较大的过度转向趋势.通过优化安装衬套的刚度使得原型车与试验结果吻合,最后对整车进行稳态回转仿真发现,负的前束侧向力特性不利于转向,优化后的模型提高了整车不足转向.     

轿车前横向稳定杆安装处强度改进设计

为解决道路耐久试验中轿车前横向稳定杆车身安装处发生的开裂问题,对车身进行了强度仿真分析。基于包含横向稳定杆柔性体的悬架多体动力学仿真模型计算得到车身的载荷,然后使用有限元方法计算车身的应力,仿真结果显示出的危险部位与实车试验基本一致。基于仿真分析结果,对车身结构进行了改进,试验结果表明,车身的结构改进是有效的。     

汽车流场数值模拟

对某项目轿车进行了数值模拟，介绍了汽车形体外流场的模拟原理和步骤，得到了整车的流场结构和尾流场的涡系结构，成功地模拟了气流分离和拖拽涡现象。在数值模拟基础上，对流场气流的横纵向流动状况、尾部涡系结构．气流分离机理以及拖拽涡的形成与发展机理作了详细分析与讨论。     

金属带式CVT速比控制的仿真与试验研究

针对装备金属带式无级变速器(CVT)的整车,建立了无级变速传动系统数学模型.以无级变速汽车动力性和经济性相协调为目标,设计了Fuzzy-PI复合速比控制器.采用Fuzzy-PD控制策略和Fuzzy-PI复合控制策略对汽车起动工况进行了仿真分析,对装备金属带式CVT的某轿车进行了起动工况的模拟试验.结果表明,Fuzzy-PI复合控制策略优于Fuzzy-PD控制策略,速比的试验结果与理论数据一致,说明所建模型合理.     

Nonlinear ACC in Simulation and Measurement

In this paper an adaptive cruise control (ACC) of a convoy consisting of two passenger cars is designed and tested. For the ACC only on board sensors in the following vehicle are used, communication within the convoy or between the controlled vehicle and electronic systems on the roadside is not assumed. A laser scanner is applied for range measurements, derived from the complete vision data of the area in front of the car. Since the scanner provides the range only, a Kalman Filter is used to estimate the velocity and acceleration of the car. For controller design the concept of flat outputs in connection with the exact state linearization is applied. Moreover, the exact state linearization is combined with a sliding mode control. The control parameters are obtained by an optimization algorithm using optimal tracking formulation. The optimization also guarantees individual vehicle stability as well as string stability of the convoy. It is shown how the convoy is responding to disturbances resulting from initial errors or from velocity steps by the leading vehicle at lower speed in simulation and experiment.     

Nonlinear ACC in Simulation and Measurement

In this paper an adaptive cruise control (ACC) of a convoy consisting of two passenger cars is designed and tested. For the ACC only on board sensors in the following vehicle are used, communication within the convoy or between the controlled vehicle and electronic systems on the roadside is not assumed. A laser scanner is applied for range measurements, derived from the complete vision data of the area in front of the car. Since the scanner provides the range only, a Kalman Filter is used to estimate the velocity and acceleration of the car. For controller design the concept of flat outputs in connection with the exact state linearization is applied. Moreover, the exact state linearization is combined with a sliding mode control. The control parameters are obtained by an optimization algorithm using optimal tracking formulation. The optimization also guarantees individual vehicle stability as well as string stability of the convoy. It is shown how the convoy is responding to disturbances resulting from initial errors or from velocity steps by the leading vehicle at lower speed in simulation and experiment.     

Modelling the Contact Between Wheel and Rail Within Multibody System Simulation

In modern railway industry the simulation of the behaviour of railway vehicles has become an important design method during the last years. Modern simulation packages offer modelling elements that are highly adapted for standard and unusual simulation scenarios. A specific application case is the simulation of a railway vehicle travelling through a switch. It makes high demands on the simulation software due to the inconvenient modelling elements needed: the changing rail profiles on the blade rail and in the crossing vee area as well as the guard rail with its additional contact at the back of the wheel. The article gives an overview over the state of the art in railway vehicle simulation and presents a simulation of a passenger car running through a switch as an application example.     

Modelling the Contact Between Wheel and Rail Within Multibody System Simulation

In modern railway industry the simulation of the behaviour of railway vehicles has become an important design method during the last years. Modern simulation packages offer modelling elements that are highly adapted for standard and unusual simulation scenarios. A specific application case is the simulation of a railway vehicle travelling through a switch. It makes high demands on the simulation software due to the inconvenient modelling elements needed: the changing rail profiles on the blade rail and in the crossing vee area as well as the guard rail with its additional contact at the back of the wheel. The article gives an overview over the state of the art in railway vehicle simulation and presents a simulation of a passenger car running through a switch as an application example.     

减速台车波形发生器研究与应用

文章以减速台车的波形发生器为对象,研究了波形发生器中吸能钢板长度、减速台车初速度对吸能钢板的加速度曲线的影响。在此基础上,以座椅动态试验的加速度曲线为目标曲线,进行了真实的台车碰撞试验和计算机模拟试验,试验得到的加速度曲线与目标加速度曲线是吻合的,可见对波形发生器的研究是有效的,该研究成果可以降低汽车碰撞试验成本和缩短研发时间。     

基于MATLAB汽车动力学仿真研究

对影响汽车行驶安全的各方面因素进行了较为深入的分析和研究,建立车体6个自由度加上前轮转向系统1个自由度的汽车数学模型;该汽车数学模型不需引入很多的人为假设;可以实现给定汽车前轮转角,也可以不给定前轮转角;不依赖需要复杂测定的侧向力函数及相关模型参数;考虑了轮胎的滚动特性。利用MATLAB语言开发了一个模块化的仿真软件,该软件能够满足所建模型的校验和在特殊工况下的仿真研究;也可以进一步完善该软件使之服务于汽车运行的其他方面的仿真研究。     

车门开度对关门时车内人耳位置峰值压力的影响

为了进一步探究关门压耳感的影响因素,进而解决目前车门关闭时车内压力过大的问题。利用计算流体力学软件Star-ccm+的重叠网格技术分析关门时不同车门开度对车内峰值压力的影响。将不同车门开度的瞬时速度作为仿真计算的输入,得到该车型关门耳压计算值,并通过试验测试相同状态下实际关门耳压。仿真结果与测试结果对比显示车门开度35°与70°状态下得到的关门耳压基本一致,车门开度对关门时车内峰值耳压影响较小。在以后的测试和仿真模拟过程中可以快速提高仿真研究的进度和工作效率。     

干式DCT轿车离合器操纵系统仿真与试验

在Matlab/Simulink环境下建立了电动干式DCT轿车离合器操纵系统的仿真模型,并采用积分分离的PID控制算法对无刷直流驱动电机进行PID控制.在此基础上,对某型轿车进行了DCT系统的起步和换挡试验.结果表明,仿真结果与试验结果相符,验证了仿真模型的正确性,同时控制算法也满足系统控制要求,保证了DCT样车的平稳起步和换挡的平顺性.     

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。     

Modelling and controlling of car-following behavior in real traffic flow using ARMAX identification and Model Predictive Control

Nowadays, car following models, as the most popular microscopic traffic flow modeling, are increasingly being used by transportation experts to evaluate new Intelligent Transportation System (ITS) and Advanced Driver Assistance Systems (ADAS) applications. The control of car following is essential due to its safety and its operational efficiency. For this purpose, this paper builds a model of car following behavior based on ARMAX structure from a real traffic data set and presents a Model Predictive Control (MPC) controller. An important advantage of this type of control is its ability to cope with constraints on controls. Since safety and operational efficiency are constraints for car following, therefore we have recruited this type of controller in this study to deal with these constraints. Based on the relative distance and relative acceleration of each instant, the MPC predicts the future behavior of the leader vehicle (LV) and according to this behavior, the acceleration of the follower vehicle (FV) is controlled. The MPC tries to control this acceleration in a way to keep the relative distance at a safe region. To investigate the performance of the designed controller, the result of the system is compared with the behavior of human drivers with similar initial conditions. Also, some other test performances were accomplished to investigate other features such as robustness and the stability of the designed MPC. The simulation results show that the MPC controller has a behavior much safer than that of real drivers and it can provide a pleasant trip for passengers.     

汽车模型表面压力系数的测试与数值模拟

在风洞中采用多通道压力扫描阀对标准SAE汽车简化模型表面进行压力测量,并据此算得车身表面的压力系数。同时进行了对应的数值模拟。数据处理与对比的结果表明,车身上表面压力系数的模拟结果与实测数据非常接近;但在车身底部,两者存在差别,,特别是周围气流有分离的区域,差别较大。     

An insight into linear quarter car model accuracy

The linear quarter car model is the most widely used suspension system model. A number of authors expressed doubts about the accuracy of the linear quarter car model in predicting the movement of a complex nonlinear suspension system. In this investigation, a quarter car rig, designed to mimic the popular MacPherson strut suspension system, is subject to narrowband excitation at a range of frequencies using a motor driven cam. Linear and nonlinear quarter car simulations of the rig are developed. Both isolated and operational testing techniques are used to characterise the individual suspension system components. Simulations carried out using the linear and nonlinear models are compared to measured data from the suspension test rig at selected excitation frequencies. Results show that the linear quarter car model provides a reasonable approximation of unsprung mass acceleration but significantly overpredicts sprung mass acceleration magnitude. The nonlinear simulation, featuring a trilinear shock absorber model and nonlinear tyre, produces results which are significantly more accurate than linear simulation results. The effect of tyre damping on the nonlinear model is also investigated for narrowband excitation. It is found to reduce the magnitude of unsprung mass acceleration peaks and contribute to an overall improvement in simulation accuracy.