Exact Equations for Tractrix Curves Associated with Vehicle Offtracking

Abstract

Vehicle offtracking behavior at low speeds is closely approximated by a geometric entity called a tractrix. This paper presents differential equations for generalized coordinates of a planar multibody vehicle model based on tractrix behavior. The equations are exact, can be used with any type of input path, are valid for forward and backward movements, and are much simpler than previously published formulations used to compute transient offtracking. The differential equations can be integrated using conventional numerical integration algorithms to obtain plots of the low-speed tracking performance of articulated vehicles. The equations were formulated symbolically by a computer program used to analyze the kinematic and dynamic behavior of multibody systems. Example numerical results are plotted.     

On Inverse Equations for Vehicle Dynamics

Abstract

Instead of writing equations which when solved yield the response of a vehicle to an input such as the front wheel steer angle, one can often invert the equations so that a response quantity is specified as an input and a new set of equations is solved yielding the steer angle required as an output. Using these equations one can discover the input steer angle a driver would need to impose in order to accomplish a specific maneuver for various vehicles.

It is shown that there are many possible inverse equation sets and that the eigenvalues of the inverse equations are hard to interpret since they may have little to do with the vehicle parameters. The linear single-input single-output case is studied first to fix ideas using a simple example. For the bicycle model vehicle, it is shown that any vehicle may have unstable inverse equations depending upon the response quantity used. Extensions to nonlinear and multiple-input multiple output systems are discussed.     

On Inverse Equations for Vehicle Dynamics

Instead of writing equations which when solved yield the response of a vehicle to an input such as the front wheel steer angle, one can often invert the equations so that a response quantity is specified as an input and a new set of equations is solved yielding the steer angle required as an output. Using these equations one can discover the input steer angle a driver would need to impose in order to accomplish a specific maneuver for various vehicles.

It is shown that there are many possible inverse equation sets and that the eigenvalues of the inverse equations are hard to interpret since they may have little to do with the vehicle parameters. The linear single-input single-output case is studied first to fix ideas using a simple example. For the bicycle model vehicle, it is shown that any vehicle may have unstable inverse equations depending upon the response quantity used. Extensions to nonlinear and multiple-input multiple output systems are discussed.     

车辆悬架联合反馈半主动控制算法

为提高车辆乘坐舒适性,基于采用典型算法的车身加速度幅频特性分析,提出了基于车身速度和加速度信号联合反馈控制的半主动控制算法。以天棚半主动控制作为参照,对该算法的性能进行了分析和评价。结果表明,该算法能够实现对车身加速度、悬架挠度和车轮动载荷等悬架性能指标的有效控制,在大幅提高车辆乘坐舒适性的同时改善了操纵稳定性。算法简单实用、计算量小,适用于车辆悬架系统的振动控制。     

Automated Emergency Four-Wheel-Steered Vehicle Using Continuous Gain Equations

Advanced Vehicle Control Systems (AVCS), when realized, should substantially increase the convenience and safety of highway travel. Automated lateral control is an important step in the realization of AVCS. Much research has been concerned with lateral control during low-g maneuvers. However, before passengers' lives are in the hands of any automated laterally-controlled vehicle, the vehicle controller must be designed to respond to emergency situations where high-g maneuvers may be necessary.

This paper presents the development of a nonlinear-gain-optimized (NGO) controller for emergency automated lateral control of four wheel steered automobiles. Continuous gain equations (GE) are used to account for changes in the vehicle speed. The NGO controller uses a linear vehicle/tire model to define the state model. The response of a nonlinear vehicle/tire model is used to choose the performance index that optimizes the feedback gains for high-g emergency maneuvers at discrete speeds. Continuous gain equations are then derived as least-square approximations to each set of gains.

The performance of the four-wheel-steer continuous gain equations (4WS-GE) controller is compared to that of a two-wheel-steer continuous gain equations (2WS-GE) controller. Significant improvements in vehicle response are realized by using the 4WS-GE controller. The robustness of the controller's performance is examined with respect to changes in tire parameters and changes in vehicle mass.     

双车道公路弯道行车轨迹特性研究

采用VTR摄像机记录车辆通过观测断面处的侧向位置,应用Virtualdub视频分析软件判读车辆外侧前轮至道路中心线的距离.选取典型双车道公路上8处曲线为试验段,根据试验数据的统计分析结果,得到以下主要研究结论:车辆在进入曲线段时,行驶轨迹存在着朝曲线内侧偏移的运动趋势;在出曲线段时,车辆行驶轨迹趋向朝曲线外侧偏移;平曲...     

基于弯道车速检验的驾驶模拟系统证实研究

通过在弯道上的模拟驾驶和实地实验对比分析,对驾驶模拟系统的运动逼真性进行评价。在建立了与实验路段和场地同等条件的三维虚拟场景后,由10名受试者进行对比实验。结果表明,场地实验结果与模拟驾驶实验结果基本吻合;利用t检验对实验数据进行假设检验,表明在虚拟实验条件下所得数据与真实实验数据无显著性差异,从而验证了模拟系统实验数据的可靠性。     

基于车辆侧向稳定性分析的弯道行驶安全评价

为提高车辆在弯道路段的行驶安全性,在分析弯道路段事故形态的基础上,提出弯道行驶安全性评价指标.同时,从车辆侧向稳定性分析角度,建立道路圆曲线半径与弯道路段行驶安全性的定量关系.通过TruckSim与Simulink的联合仿真实验,利用3种典型的弯道行驶工况,对现行规范中规定的标准弯道的行驶安全性进行评价.结果表明:道路圆曲线半径与车辆侧向稳定性呈正相关,车速与其呈负相关.在给定实验工况下,车速为120 km/h,圆曲线半径为500 m时,侧向加速度超过0.4g,横向载荷转移率达到0.7,车辆极易发生侧滑/侧翻;而当车速为40 km/h,圆曲线半径低于60m时,车辆动态响应的幅度虽有所增加,但车辆并不会发生侧滑与侧翻现象.     

不同半径和缓和曲线的复曲线计算与敷设

在道路线路设计时,为适应特殊地形,常设置两个不同半径和不同缓和曲线同向相接的复曲线。对于复曲线的计算,相关文献都有各自的方法。根据对缓和曲线构成原理及选线测设的实践经验,提出一种复曲线的计算和敷设方法,较为简便、快捷。     

小半径曲线地铁隧道盾构施工技术

针对上海市轨道交通9号线一期工程R413东西出入线的小半径盾构隧道施工的综合难题,采用数值模拟分析、文献调研等方法,对盾构机选择、管片选择、管片壁后注浆加固、临时纵向加强肋、加强螺栓复紧、盾构推进轴线预偏、盾构测量与姿态控制、盾构施工参数选择、土体损失及二次注浆、盾构纠偏量及盾尾与管片间的间隙控制等问题进行研究,并提出详细的施工和设计措施;进而对盾构进入缓和曲线后,盾构卡壳、盾尾管片外弧面碎裂、盾尾衬砌管片角部碎裂等施工难题给出解决措施,保障了小半径盾构隧道施工的顺利进行,对今后类似工程施工有一定的借鉴作用。     

Experimental Study and Simulation on the Elastic-plastic Constitutive Equations of Vehicle Structural Adhesives

通过胶条拉伸试验和厚粘附体胶接接头剪切试验,得到车用结构胶拉伸与剪切的应力-应变曲线和基本力学性能参数.根据塑性增量理论和采用的Hill屈服准则,建立了车用结构胶的弹塑性本构方程,得到ANSYS仿真的验证.研究的结果表明,采用ANSYS提供的BISO+ Hill材料模型能准确地模拟车用结构胶的力学性能.     

汽车碰撞过程中加速度特征对乘员损伤的影响分析

针对汽车正面碰撞过程中车身压溃失稳产生初始加速度峰值的特点,提取基本特征,改变峰值大小,构造加速度曲线组,研究峰值变化对乘员安全性的影响。研究表明,车身加速度峰值处于较小范围时,人体综合损伤指标对峰值的变化并不敏感。     

车辆管理对汽车制造厂的要求湖北省公安厅交警总队车管科王夏平的发言稿

受公安部交管局刘钊总工委派,有幸与各位领导、专家共同探讨车辆管理中的有关问题.     

后汽车与后汽车工程

基于对汽车演变历史的分析和前瞻汽车的发展前景，提出了三个汽车时代、后汽车和后汽车工程的概念。论述了可持续发展是后汽车的特征形态，实现汽车可持续发展是后汽车工程的特征，分析了后汽车工程成为国家工程的原因。     

纯电动汽车整车控制策略

整车控制器是纯电动汽车的核心部件之一,是整车的控制中心.为了更加深入研究纯电动汽车整车控制策略,文章介绍了纯电动汽车整车控制系统基本组成结构,并对整车控制器策略进行了详细的分析,阐述了整车控制器应用的开发流程.该整车控制器及其控制策略的设计和研发方法,对整车系统的开发具有较强的指导意义.     

特重(超限)车辆通过桥梁的加固方法

介绍中小跨径梁桥上、下部结构的加固方法及加固效果,对如何提高桥梁承载力,并为超限运输的桥梁加固提供经验.     

基于拓扑优化的车架结构可靠性设计

为了提高某载货车车架的力学性能并减轻重量,将可靠性理论引入车架结构的优化设计。考虑了多种行驶工况的冲击载荷对车架的破坏作用,给出多工况条件下拓扑优化结果,建立满足各总成的布置和实际行驶要求的新设计结构,基于结构可靠性和有限元法对新设计车架的结构参数进行了可靠性优化设计。理论分析和车架的实际应用情况表明,该车架设计合理,说明该优化设计方法进行车架结构设计的有效性和可行性,为结构优化设计提供一种思路。     

特重（超限）车辆通过桥梁的加固方法

介绍中小跨径梁桥上、下部结构的加固方法及加固效果，对如何提高桥梁承载力，并为超限运输的桥梁加固提供经验。     

Vehicle modeling with nonlinear tires for vehicle stability analysis

The dynamic stability of a vehicle depends on various maneuvering features, such as traction, braking, and cornering. This study presents nonlinear vehicle models for estimating the stability region and simulating the dynamic behavior of a vehicle. Two types of vehicle models were found by considering the degrees of freedom and linearity. A simple model with nonlinear tire dynamics is useful for determining the stability region, while a complex model (a multi-body dynamic model in MSC.ADAMS) is appropriate for carrying out accurate simulations. Actual data for a mid-sized passenger car were used, and the models were validated by comparison with test results.