Stochastic analysis of the variation in injury numbers of automobile frontal crash tests

Although automobile crash test data have a comparatively large variation because of the complexity of the tests, only a limited number of crash tests are usually conducted due to monetary and time limitations. Thus, it is necessary to control input variables that cause the variation in test data to obtain consistent crash test results and to correctly assess the safety performance of an automobile under development. In this study, a MADYMO model was validated deterministically to yield the head, chest, pelvis deceleration pulses of anthropomorphic test devices and the belt load pulses similar to those from actual tests, and it was also validated stochastically to yield means and standard deviations of the head and chest injury numbers, i.e., HIC ₁₅ and 3 msec clip similar to those from actual tests. A stochastic analysis was conducted using the validated MADYMO model to calculate the sensitivity of the standard deviations of the injury numbers to the standard deviations of influential input variables to determine the most influential input variable that makes the largest contribution to the variation in the injury numbers. Moreover, the Taguchi approach was used to determine the optimal values of the influential input variables to improve safety performance.     

Nonlinear H∞ control for semi-active suspension

This paper describes the development of a damping control system for semi-active suspension which is based on nonlinear H_∞ control theory instead of conventional linear control theory. A two degrees of freedom system is used as the structure for the vehicle suspension model. Since the structure is bilinear, it's not easy to design the controller. We designed the controller based on the Hamilton-Jacobi inequality by solving a linear Riccati equation. We were able to verify by simulation that nonlinear H_∞ control theory made it possible to control vehicle vibration optimally and smoothly.     

天津市道路汽车行驶工况的研究

本文研究了天津市的道路行驶工况，将一套车载实测系统安装在一辆华利牌微型面包车上研究天津,市不同道路的行驶状况。用速度、加速度等行驶特征参数为准则数，对天津市各种道路行驶状况作了详细的描述和分析，得出了一个基于实际汽车速度、加速度等准则数的行驶工况，并做了这个行驶工况和欧洲的ECE15、美国的FTP75和日本的10－15工况的对比。结果表明，天津市有它自己的道路行驶特征：市区平均速度低，怠速时间长，加减速频繁，平均加减速度小。     

基于正面碰撞的TESW波型计算与拟合

由于尖顶等效方形波（tipped equivalent square wave,TESW）具有简单、直观、计算方便等优势,在乘员约束系统开发设计阶段,在保持最大动态变形量C和反弹时刻tm相等的特征下,采取简化的等效方形波TESW拟合实际正面碰撞中的车体减速度。在证明TESW波型质心tc与最大动态变形量C和初始碰撞速度v0相关后,推导了TESW波型3个关键点的坐标公式,从而确定TESW波型并举例计算。对TESW波型进行一次和两次积分分别得到速度和位移的曲线,与实际车体的速度和位移曲线拟合较好。最后分析了TESW波型在碰撞安全设计中的应用。     

An H2 Formulation for the Design of a Passive Vibration-Isolation System for Cars

SUMMARY

Optimal design of an active suspension system for road vehicles can be solved using LQR techniques. Such a problem is equivalent, in the frequency domain, to determine the state feedback gain matrix that minimizes the H₂ norm of a suitable transfer matrix.

A passive suspension system can be seen as the physical realization of a suitable state feedback law whose gains are function of the system parameters. This law, and thus the characteristic elements of the passive suspension, can be determined as an approximation of the H₂ optimal solution. This methodology allows one to choose the best controller from a constrained subset (i.e., all possible passive suspensions of a particular form) of all possible controllers.     

Robust design of a passive linear quarter car suspension system using a multi-objective evolutionary algorithm and analytical robustness indexes

This paper deals with the robust design of a passive vehicle suspension system. A robust design methodology based on a multi-objective evolutionary algorithm (MOEA) is used to handle the trade-off between the considered conflicting performance requirements under uncertainty and feasibility constraints. A constrained multi-objective optimisation problem is formulated and the notion of Pareto-optimality is used to increase the quality of the candidate design solutions obtained at each generation by the MOEA. To save computation time, a simplified physical model (quarter car) is considered and the optimisation is performed in the frequency domain, using relevant transmissibilities of the system. The robustness is directly investigated by means of analytical robustness indexes. Time-consuming a posteriori methods, like designs of experiments or Monte Carlo analysis, are therefore avoided. A set of non-dominated solutions is obtained. Thus the designer not only selects a special design, in accordance with the wanted vehicle configuration, but also includes the robustness of each performance requirement in his final decision.     

正面碰撞设计中约束系统优化工况选择

2012版C-NCAP碰撞工况中的40％偏置碰撞的试验速度由56km／h提升至64km／h,而100％刚性壁正碰仍保持50km／h．两者之间巨大的速度差,使约束系统的匹配变得更加困难。文章通过分析2款轿车和1款运动型乘用车的碰撞工况,采用仿真和台车试验的手段对乘员约束系统进行优化设计,使车辆碰撞安全性能得到优化。指出按乘员伤害值、约束系统能耗密度及能耗功率大小选定最坏碰撞模式,依此设定约束系统参数,在另一碰撞模式中加以验证的约束系统设计方法。     

等效双阶梯形波法在正碰性能优化设计中的应用

车辆正面碰撞加速度波形可以简化为等效双阶梯形波,利用这一方法分析波形特征,指导车身结构正碰性能优化设计,具有重要的工程应用价值。本文以某车型车身结构优化设计为例,将碰撞加速度作为设计目标,应用等效双阶梯形波法将波形参数化,通过对比结构性能指标,确定优化方案。     

Nonlinear robust control of integrated vehicle dynamics

A new methodology to design the vehicle GCC (global chassis control) nonlinear controller is developed in this paper. Firstly, to handle the nonlinear coupling between sprung and unsprung masses, the vehicle is treated as a mechanical system of two-rigid-bodies which has 6 DOF (degree of freedom), including longitudinal, lateral, yaw, vertical, roll and pitch dynamics. The system equation is built in the yaw frame based on Lagrange's method, and it has been proved that the derived system remains the important physical properties of the general mechanical system. Then the GCC design problem is formulated as the trajectory tracking problem for a cascade system, with a Lagrange's system interconnecting with a linear system. The nonlinear robust control design problem of this cascade interconnected system is divided into two H _∞ control problems with respect to the two sub-systems. The parameter uncertainties in the system are tackled by adaptive theory, while the external uncertainties and disturbances are dealt with the H _∞ control theory. And the passivity of the mechanical system is applied to construct the solution of nonlinear H _∞ control problem. Finally, the effectiveness of the proposed controller is validated by simulation results even during the emergency manoeuvre.     

Model-based control system design in a urea-SCR aftertreatment system based on NH3 sensor feedback

This paper presents preliminary control system simulation results in a urea-selective catalytic reduction (SCR) aftertreatment system based on NH₃ sensor feedback. A four-state control-oriented lumped parameter model is used to analyze the controllability and observability properties of the urea-SCR plant. A model-based estimator is designed via simulation and a control system is developed with design based on a sliding mode control framework. The control system based on NH₃ sensor feedback is analyzed via simulation by comparing it to a control system developed based on NO_x sensor feedback. Simulation results show that the NH₃ sensor-based strategy performs very similarly in comparison to a NO_x sensor-based strategy. The control system performance metrics for NO_x index, urea index, urea usage, and NH₃ slip suggest that the NO_x sensor can be a potential alternative to a NO_x sensor for urea-SCR control applications.     

Motorcycle suspension design using matrix inequalities and passivity constraints

This paper presents a design methodology for the suspension system of a novel aerodynamically efficient motorcycle. Since the machine’s layout and the rider’s seating position are unconventional, several aspects of the machine design, including the suspension, must be reviewed afresh. The design process is based on matrix inequalities that are used to optimise a road-grip objective function – others could be used equally well. The design problem is cast as the minimisation of an H ₂ cost with passivity constraints imposed on the suspension transference. The resulting bilinear matrix inequality problem is solved using a locally optimal iterative algorithm. The matrix inequality-type characterisation of positive real functions permits the optimisation of the suspension system over an entire class of passive admittances. Torsional springs, dampers and inerters are then used to construct networks corresponding to the optimal (positive real) admittances. Networks of first, second, third and fourth orders are considered, and an argument based on the compromise between complexity and improved grip is made for the most suitable suspension configuration. Finally, the effects of improved road grip on the stability of the vehicle’s lateral dynamics are analysed.     

Properties of roadway particles from interaction between the tire and road pavement

A large fraction of urban PM₁₀ concentrations is due to non-exhaust traffic emissions, including road dust, particles from tire/road interface, and brake lining particles. Although potential health and environmental impacts associated with tire wear debris have increased, few environmentally and biologically relevant studies of actual tire wear debris have been conducted. Tire wear particles (TWP) are released from the tire tread as a result of the interaction between the tire and the pavement. Roadway particles (RP), meanwhile, are particles on roads composed of a mixture of elements from tires, pavement, fuels, brakes, environmental dust, and the atmosphere. The main objective of the present study is to identify the contribution of tires to the generation of RP and to assess the potential environmental and health impacts of this contribution. First, a mobile measurement system was constructed and used to measure the RP on asphalt roads according to vehicle speed. The equipment of the mobile system provides PM₁₀ concentration by DustTrak DRX, and mass and number size distribution of fine and ultrafine particles by a fast mobility particle sizer (FMPS) and an aerosol particle sizer (APS). The dependence of RP mass and particle number concentration on vehicle speed was observed. It was also found that many particles were generated by rapid deceleration of the vehicle.     

儿童约束系统动态仿真研究及初步参数分析

本文利用MADYMO软件建立包含P系列儿童假人、一款国产汽车用儿童座椅和试验台车的儿童乘员约束系统的计算机仿真模型,并模拟了ECE-R44法规规定的正面碰撞台车试验环境。通过与对应产品的台车碰撞试验结果对比,对该模型有效性进行了验证。同时,在已验证模型的基础上,对儿童座椅及台车试验系统设计参数对儿童乘员响应的影响进行了分析,结果表明儿童座椅的摩擦系数、成人安全带刚度、儿童座椅安全带定位孔孔位置对儿童乘员在正面碰撞中的响应影响较大,通过适当的儿童约束系统设计可以降低儿童乘员在碰撞事故中的受伤几率。     

Simplified emission test for the inspection of emission control system installed on vehicles

The objective of this study is to develop a simplified emission test for the inspection of in-use vehicles. For this purpose, a simplified chassis dynamometer (S-CHDY) was developed first. S-CHDY consists of a speed meter tester and a direct current motor system which can load electrical inertia force to the test vehicle. To examine the effectiveness of the emission test, the emission control systems of four vehicles were tampered with, and they were driven on S-CHDY with M4 mode pattern. CO, HC and NO_x concentrations in tail pipe gas were continuously measured and those mean values were evaluated. As a result, it was shown that the mean values rise according to the abnormality in the emission control system. Moreover, to directly measure the mass emissions from the test vehicles, a new type CVS method was developed.     

H 2 optimal control of disturbance-delayed systems with application to vehicle suspensions

Optimal control of systems with time delays among disturbances, such as vehicle suspensions, is a relatively simple but long-standing problem in time-delayed control. We consider the exact H ₂ optimal control of systems with time-delayed disturbances and develop a computationally efficient approach for controller synthesis. We extend the Lyapunov-based H ₂ norm computation to systems with time-delayed disturbances and then derive a concise formula to explicitly evaluate the sensitivity of the system H ₂ norm with respect to controller gains. Thence, a set of necessary conditions for H ₂ optimal control of such systems using static output feedback are obtained in the form of algebraic equations. Gradient-based methods are adapted to optimize the controller gains. The method is also extended to reduced-order and decentralized control. As an application, a passive suspension system for an eight-DOF four-wheel vehicle is designed via structured H ₂ optimization. The results are compared with those of a design based on a Pade expansion for the time delays and a design obtained by neglecting the disturbance delays.     

橡胶减速带几何设计优化研究

橡胶减速带具有设置简单、效果明显的特点而得到广泛应用,然而不同几何设计的减速带会带来不同的减速效果,在实际应用中由于缺少具体的设计规范,导致在使用时带来一些安全隐患和噪声污染。根据减速带减速机理,使用DYNA软件对车辆通过不同高度和宽度的橡胶减速带进行模拟,得出在A、B、c、D、E、F六种不同高度和宽度的橡胶减速带下车辆的减速效果和震动情况。通过对比分析提出减速效果最好,同时噪声最小的橡胶减速带最优高度和长度的组合,为减速带的设计提供科学的参考依据。     

混合动力传动系 Tip-in/out工况的模型预测控制

为抑制混合动力汽车加减速过程中传动系统振荡,以电机转矩为控制量,提出一种基于模型预测主动控制混合动力传动系统振荡的策略,基于 Matlab/Simulink平台搭建动态系统模型,实时计算电机转矩补偿优化发动机输出转矩,准确跟踪目标转矩的同时减少传动系统振荡。探索不同控制器参数设置对于驾驶动力性和舒适性的增益效果,通过硬件在环 （Hardware-in-Loop,HIL） 试验表明,所设计的 MPC控制器能使汽车平稳地加减速,迅速跟踪目标转速,求解时间控制在10 ms以内,具有较好的实时性,同时对传动系统中的非线性因素和参数变化有较好的鲁棒性。     

Adaptive Throttle Control for Speed Tracking

SUMMARY

Electronic throttle control is an important part of every advanced vehicle control system. In this paper we design an adaptive control scheme for electronic throttle that achieves good tracking of arbitrary constant speed commands in the presence of unknown disturbances. The design is based on a simplified linear vehicle model which is derived from a validated nonlinear one. The designed control scheme is simulated using the validated full order nonlinear vehicle model and tested on an actual vehicle. The simulation and vehicle test results are included in this paper to show the performance of the controller. Due to the learning capability of the adaptive control scheme, changes in the vehicle dynamics do not affect the performance of the controller in any significant manner.     

Designing H ∞/GH 2 static-output feedback controller for vehicle suspensions using linear matrix inequalities and genetic algorithms

This paper presents an approach to design the H _∞/GH ₂ static-output feedback controller for vehicle suspensions by using linear matrix inequalities (LMIs) and genetic algorithms (GAs). Three main performance requirements for an advanced vehicle suspension are considered in this paper. Among these requirements, the ride-comfort performance is optimized by minimizing the H _∞ norm of the transfer function from the road disturbance to the sprung mass acceleration, while the road-holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H ₂ (GH ₂) norms of the transfer functions from the road disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH ₂ norm as well. A four-degree-of-freedom half-car model with active suspension system is applied in this paper. Several kinds of H _∞/GH ₂ static-output feedback controllers, which use the available sprung mass velocities or the suspension deflections as feedback signals, are obtained by using the GAs to search for the possible control gain matrices and then resolving the LMIs together with the minimization optimization problem. These designed H _∞/GH ₂ static-output feedback controllers are validated by numerical simulations on both the bump and the random road responses which show that the designed H _∞/GH ₂ static-output feedback controllers can achieve similar or even better active suspension performances compared with the state-feedback control case in spite of their simplicities.     

System identification and attitude control of motorcycle by computer-aided dynamics analysis

System identification of the motorcycle model constructed by computer-aided dynamics analysis is introduced to design a control system for attitude stabilization of the motorcycle. The identified model can be reduced to the coupled mode system between the roll and the front steering. The front-steering control system using the roll angle is designed by H_∞ control theory, based on the reduced-order model and the full-order model, respectively. It is verified from simulation results that the motorcycle attitude against disturbance is stabilized by the H_∞ controller, and that the reduced-order controller exhibits efficient stabilization performance in comparison with the full-order controller.