动载荷作用下客车轮胎侧偏刚度的估算

侧偏刚度是决定操纵稳定性的重要参数。从轮胎模型和运动分析、整车运动和受力分析两方面介绍了客车动力学模型。探讨了如何估算动载荷作用下客车的侧偏刚度,并以国产SX6120A型豪华大客车为例,仿真得到了轮胎的侧偏刚度。     

基于自适应模型预测的智能汽车横向轨迹跟踪控制

当路面附着情况和车辆行驶状态不断变化时,基于恒定侧偏刚度的模型预测控制(MPC)不能考虑轮胎非线性特性的影响,难以保证车辆轨迹跟踪的适应性。为此,提出一种考虑轮胎侧向力计算误差的自适应模型预测控制(AMPC),以提高智能汽车在不确定工况下的轨迹跟踪性能。分析了路面附着系数和垂向载荷对轮胎侧向力的影响,基于平方根容积卡尔曼滤波(SCKF)算法,设计了利用侧向加速度和横摆角速度作为测量变量的前后轮胎侧向力估计器。利用轮胎侧向力线性计算值与估计值的差值计算得到侧偏刚度修正因子,设计了前后轮胎侧偏刚度的自适应修正准则,进而提出了一种基于时变修正刚度的AMPC控制方法。基于CarSim与MATLAB/Simulink联合仿真和硬件在环测试平台,对AMPC控制的有效性和实时性进行了验证。研究结果表明：在不同的路面附着情况和车辆行驶状态下,AMPC控制都能够降低横向位置偏差和航向角偏差,有效提高车辆的轨迹跟踪精度,其控制效果明显优于基于恒定侧偏刚度的标准MPC控制。尤其在低附着工况下,标准MPC控制会因为线性轮胎力的计算误差过大而导致车辆在轨迹跟踪时严重失稳,而AMPC控制通过估计轮胎力修正侧偏刚度依然能够保证车辆稳定有效的跟踪参考轨迹。所提出的AMPC控制在保证控制精度的同时具有良好的实时性,对智能汽车控制系统的设计与优化具有重要参考价值。     

轮胎滚动速度效应对轮胎侧偏动特性的影响

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。     

Handling and safety enhancement of race cars using active aerodynamic systems

A methodology is presented in this work that employs the active inverted wings to enhance the road holding by increasing the downward force on the tyres. In the proposed active system, the angles of attack of the vehicle's wings are adjusted by using a real-time controller to increase the road holding and hence improve the vehicle handling. The handling of the race car and safety of the driver are two important concerns in the design of race cars. The handling of a vehicle depends on the dynamic capabilities of the vehicle and also the pneumatic tyres’ limitations. The vehicle side-slip angle, as a measure of the vehicle dynamic safety, should be narrowed into an acceptable range. This paper demonstrates that active inverted wings can provide noteworthy dynamic capabilities and enhance the safety features of race cars. Detailed analytical study and formulations of the race car nonlinear model with the airfoils are presented. Computer simulations are carried out to evaluate the performance of the proposed active aerodynamic system.     

轮胎胎面特性对侧偏模型预测精度影响分析

胎面花纹是影响轮胎性能的重要因素。文中以模态参数模型的稳态侧偏模型为基础,从理论推导和实际计算两方面说明胎而花纹刚度的重要性,其对侧偏模型计算结果的影响要大大高于对垂直模型的影响。因此,在确定轮胎解析模型中胎面花纹参数时应首先考虑其对侧偏模型的影响。     

轮胎非稳态转向特性非线性仿真模型

本文以轮与路面之间的滑移速度为出发点，在稳态指数统一模型的基础上，建立了轮胎非稳态转向特性非线性仿真模型。在实验研究中，发现了动态过程回正力臂和附加的回正力矩的滞后特性。仿真和试验结果对比表明，该模型足以反映轮胎非线性转向特性，可用于前轮及汽车操纵动力学仿真方面的研究。     

Estimation of the Non-Linear Suspension Tyre Cornering Forces from Experimental Road Test Data

The paper discusses the application to real data of an identification procedure based on an Extended Kalman Filter, for estimating the equivalent non-linear suspension tyre cornering forces of a road vehicle from a single standard manoeuvre. In particular, both the steady-state and the dynamic handling characteristics can be evaluated.     

轮胎侧偏刚度在线估算方法

对轮胎侧偏刚度进行估算能满足研发汽车稳定性控制系统的需要,文章探讨了3种在线估算轮胎侧偏刚度的方法,并进行了比较分析。结果表明,直接法和GPS/INS综合测量法原理清晰且求解高效,但这2种方法仅仅适用于轮胎线性范围内;加速度变化率法适应性好,但需要冲动传感器或通过信号高性能滤波,故成本较高。     

Establishment of Model for Tire Steady State Cornering Properties using Experimental Modal Parameters

Modeling of tire cornering properties using experimental modal parameters is studied. With tire lateral experimental modal parameters, the distribution of side force and lateral deformation under total adhesive and sliding conditions are obtained. Side force, self-aligning, cornering stiffness and relaxation length under different loads and friction coefficients are also calculated. The calculated results are in correspondence to experimental results in the references qualitatively. The non-dimensional side force obtained from the calculated results is compared with the Fiala model, its modified expression by experiments and also the widely used empirical Magic Formula model. The calculated results tally well with the fitted results obtained using Magic Formula model. It can be seen that the tire steady state cornering model using experimental modal parameters proposed in this paper is better for an in-depth study of tire natural characteristics, and the labored experimental work can be avoided.     

A two-dimensional tire model on uneven roads for vehicle dynamic simulation1

This study proposes a comprehensive analytical tire model for handling and ride comfort in low frequency ranges. A contact algorithm that is developed in this study provides a two-dimensional contact pressure distribution on even and uneven road surfaces with reasonable computational cost. Shear stresses and strains during cornering and braking are estimated by direct measurement of tread deformations. The model is validated against experimental force and moment data for general handling simulations. Cleat tests are also conducted and validated under different forward velocity and vertical load conditions for a tire vibration study.     

Establishment of Model for Tire Steady State Cornering Properties using Experimental Modal Parameters

Modeling of tire cornering properties using experimental modal parameters is studied. With tire lateral experimental modal parameters, the distribution of side force and lateral deformation under total adhesive and sliding conditions are obtained. Side force, self-aligning, cornering stiffness and relaxation length under different loads and friction coefficients are also calculated. The calculated results are in correspondence to experimental results in the references qualitatively. The non-dimensional side force obtained from the calculated results is compared with the Fiala model, its modified expression by experiments and also the widely used empirical Magic Formula model. The calculated results tally well with the fitted results obtained using Magic Formula model. It can be seen that the tire steady state cornering model using experimental modal parameters proposed in this paper is better for an in-depth study of tire natural characteristics, and the labored experimental work can be avoided.     

Sensitivity analysis of side-slip angle observer based on a tire model

We investigated the sensitivity of an observer based on a tire model using simulation in linear and nonlinear regions. In the linear region, we investigated the influence of vehicle speed by doing the same simulation at three speed levels. In the nonlinear region, the simulation condition was set such that the vehicle became unstable. In the linear region, steering input and cornering stiffness have a relatively large effect on the estimation error because these quantities determine tire side force. In the nonlinear region, the road surface’s friction coefficient becomes a crucial factor. In both the regions, the observer is sensitive to yaw rate and longitudinal speed.     

A combined use of phase plane and handling diagram method to study the influence of tyre and vehicle characteristics on stability

This paper deals with in-curve vehicle lateral behaviour and is aimed to find out which vehicle physical characteristics affect significantly its stability. Two different analytical methods, one numerical (phase plane) and the other graphical (handling diagram) are discussed. The numerical model refers to the complete quadricycle, while the graphical one refers to a bicycle model. Both models take into account lateral load transfers and nonlinear Pacejka tyre–road interactions. The influence of centre of mass longitudinal position, tyre cornering stiffness and front/rear roll stiffness ratio on vehicle stability are analysed. The presented results are in good agreement with theoretical expectations about the above parameters influence, and show how some physical characteristics behave as saddle-node bifurcation parameters.     

Integrated Control of Active Rear Wheel Steering and Direct Yaw Moment Control

An integrated control system of active rear wheel steering (4WS) and direct yaw moment control (DYC) is presented in this paper. Because of the tire nonlinearity that is mainly due to the saturation of cornering forces, vehicle handling performance is improved but limited to a certain extent only by steering control. Direct yaw moment control using braking and/or driving forces is effective not only in linear but also nonlinear ranges of tire friction circle. The proposed control system is a model matching controller which makes the vehicle follow the desired dynamic model by the state feedback of both yaw rate and side slip angle. Various computer simulations are carried out and show that vehicle handling performance is much improved by the integrated control system.     

Integrated Control of Active Rear Wheel Steering and Direct Yaw Moment Control

SUMMARY

An integrated control system of active rear wheel steering (4WS) and direct yaw moment control (DYC) is presented in this paper. Because of the tire nonlinearity that is mainly due to the saturation of cornering forces, vehicle handling performance is improved but limited to a certain extent only by steering control. Direct yaw moment control using braking and/or driving forces is effective not only in linear but also nonlinear ranges of tire friction circle. The proposed control system is a model matching controller which makes the vehicle follow the desired dynamic model by the state feedback of both yaw rate and side slip angle. Various computer simulations are carried out and show that vehicle handling performance is much improved by the integrated control system.     

Sensitivity analysis of side-slip angle observer based on a tire model

We investigated the sensitivity of an observer based on a tire model using simulation in linear and nonlinear regions. In the linear region, we investigated the influence of vehicle speed by doing the same simulation at three speed levels. In the nonlinear region, the simulation condition was set such that the vehicle became unstable. In the linear region, steering input and cornering stiffness have a relatively large effect on the estimation error because these quantities determine tire side force. In the nonlinear region, the road surface's friction coefficient becomes a crucial factor. In both the regions, the observer is sensitive to yaw rate and longitudinal speed.     

A simplified model for evaluating tire wear during conceptual design

In the field of vehicle dynamics, commercial software can aid the designer during the conceptual and detailed design phases. Simulations using these tools can quickly provide specific design metrics, such as yaw and lateral velocity, for standard maneuvers. However, it remains challenging to correlate these metrics with empirical quantities that depend on many external parameters and design specifications. This scenario is the case with tire wear, which depends on the frictional work developed by the tire-road contact. In this study, an approach is proposed to estimate the tire-road friction during steady-state longitudinal and cornering maneuvers. Using this approach, a qualitative formula for tire wear evaluation is developed, and conceptual design analyses of cornering maneuvers are performed using simplified vehicle models. The influence of some design parameters such as cornering stiffness, the distance between the axles, and the steer angle ratio between the steering axles for vehicles with two steering axles is evaluated. The proposed methodology allows the designer to predict tire wear using simplified vehicle models during the conceptual design phase.     

On Lateral Dynamics of Vehicles Based on Nonlinear Characteristics of Tires

The problems of vehicle lateral dynamics based on nonlinear characteristics of tires are discussed in this paper. A new nonlinear perturbation model on the cornering behavior of the tire is constructed. The nonlinear influences of tires on the steady-state steering behavior, dynamic response and handling stability of vehicle are discussed, applying the approximate analytical methods for nonlinear vibration. An analytical criterion of stability is obtained. Some numerical examples are given.     

On Lateral Dynamics of Vehicles Based on Nonlinear Characteristics of Tires

The problems of vehicle lateral dynamics based on nonlinear characteristics of tires are discussed in this paper. A new nonlinear perturbation model on the cornering behavior of the tire is constructed. The nonlinear influences of tires on the steady-state steering behavior, dynamic response and handling stability of vehicle are discussed, applying the approximate analytical methods for nonlinear vibration. An analytical criterion of stability is obtained. Some numerical examples are given.