Off-Road Vehicle Dynamics

SUMMARY

Recent developments in off-road vehicle dynamics are reviewed. Progress on this topic and the application of new techniques to the particular problemsassociated with off-road operation tend to lag behind practices established for road vehicles.

The factor which limits further progress is the lack ofappropriate off-road tyre data, in particular, on vibrational and lateral force generation characteristics. Also, a long term study should be aimed at understanding the dynamic behaviour of tyres on yielding surfaces.     

高速越野性车辆悬架系统分析

介绍了表征车辆地面附着性能的车轮接地性指数，分析了影响车轮接地指数的因素。并利用车轮接地性指数评价了车辆高速通过坏路面的能力。提出了具有高速越野性能车辆悬架参数的选择方法，为设计具有高速越野性能的越野车辆悬架系统提供了理论指导。     

越野车辆典型地形通过性建模与仿真

以某型8×8越野车辆为研究对象,对车辆的轮胎、悬架等关键模型进行了分析,得出了轮胎内压与轮胎刚度基本成线性关系的结论,建立了轮胎的粘弹性有限元模型;以多体动力学理论建立了车辆的8自由度动力学模型.对比分析了微分-代数方程组解法的优缺点,采用Gear算法实现了方程组的解算.实车试验与仿真结果对比表明,所建立的典型地形通过性仿真系统与实车测试有较好的吻合性.     

某越野车换挡杆NVH问题的试验研究

为解决某越野车怠速换挡杆抖动问题,采用比利时LMS公司的Test.Lab振动噪声测试系统进行了换挡杆振动问题的试验研究。通过结构模态分析和振动传递路径分析找到了换挡杆振动过大的原因,提出了降低换挡杆本体橡胶衬套硬度、降低压紧弹簧刚度、改进尼龙球面垫结构等优化方案。试验结果表明,优化后换挡杆怠速振动加速度总值满足目标值要求,怠速时的换挡杆抖动问题得到改善。     

Fuzzy Logic Active and Semi-Active Control of Off-Road Vehicle Suspensions

For off-road vehicles, minimizing the absorbed power is the main objective of suspension control. The primary cause of increase in the absorbed power in off-road vehicles driven at high speeds on harsh courses is the exhaustion of the suspension travel. Fuzzy-logic approach to active and semi-active off-road vehicle suspension control, with the goal of improving the speed of the vehicle over rough terrains are developed. The ride metric used for quantifying improvements is the absorbed power of the sprung mass. Particular attention is paid to the proper modeling of the suspension using both the full kinematic constraints and the more convenient two degree of freedom linear model of the quarter vehicle suspension. The nonlinearities due to the kinematic constraints on motion are accounted for by modifying the stiffness and damping coefficients of the suspension spring and dashpot in the linear model. The control laws are developed using the less complex model and demonstrated in the fully constrained environment. Nonlinearities of the suspension, including tire stiffness/damping and bumpstops are included at all stages of controller development.     

Fuzzy Logic Active and Semi-Active Control of Off-Road Vehicle Suspensions

For off-road vehicles, minimizing the absorbed power is the main objective of suspension control. The primary cause of increase in the absorbed power in off-road vehicles driven at high speeds on harsh courses is the exhaustion of the suspension travel. Fuzzy-logic approach to active and semi-active off-road vehicle suspension control, with the goal of improving the speed of the vehicle over rough terrains are developed. The ride metric used for quantifying improvements is the absorbed power of the sprung mass. Particular attention is paid to the proper modeling of the suspension using both the full kinematic constraints and the more convenient two degree of freedom linear model of the quarter vehicle suspension. The nonlinearities due to the kinematic constraints on motion are accounted for by modifying the stiffness and damping coefficients of the suspension spring and dashpot in the linear model. The control laws are developed using the less complex model and demonstrated in the fully constrained environment. Nonlinearities of the suspension, including tire stiffness/damping and bumpstops are included at all stages of controller development.     

Preview Control Algorithms for the Active Suspension of an Off-Road Vehicle

The potential performance improvement using preview control for active vehicle suspension was first recognized in the late nineteen sixties. All work done since that time has been based on optimal control theory using simple vehicle models.

In this article, the performance of quarter vehicle preview controllers when applied to a real off-road vehicle is simulated using both two degree of freedom quarter and ten degree of freedom full vehicle models. The results, which are compared with non-preview active and conventional passive suspensions, confirm that preview control reduces vertical acceleration of the body centre of gravity, which results in improved ride quality. Further, reductions in pitch and roll motion result from smaller vertical displacements of the vehicle quarters. Coupling between quarters, through the vehicle body, appears to have a smoothing effect on the control.

As an alternative to optimal control theory based controllers, a simple ad hoc preview controller based on isolating the vehicle body from dynamic loads transmitted through the suspension is proposed. Simulation results show that such a controller outperforms the optimal control theory based controllers over small discrete disturbances but responds poorly to disturbances encountered from other than steady state.     

重型越野车变刚度螺旋弹簧设计

本文根据变刚度螺旋弹簧在重型越野车上的工程应用,及其加工工艺,设计了变刚度螺旋弹簧的型式、结构及特性参数。     

Theoretical Analysis of a Semi Active Suspension Fitted to an Off-Road Vehicle

A theoretical analysis is presented to model a hydromechanical, semi-active suspension system, first as a single wheel station and then as fitted to each wheel of an off-road vehicle. Predicted results show that two benefits are obtained by comparison with the equivalent passive system. First, vehicle attitude is controlled for changes in body forces arising from static loads or braking/cornering inputs. Second, a significant improvement in ride comfort is obtained because low suspension stiffnesses can be used.     

越野汽车AMT起步与换挡过程试验研究

根据越野汽车特点及行驶工况,建立了装备电控机械自动变速器的越野汽车起步与换挡控制系统数学模型,对其工作过程进行了分析。在空载与满载工况,按照不同油门和不同离合器结合速度进行了试验。为了满足平顺性,建立了以冲击度为约束条件的起步与换挡控制规律,并对试验结果进行了分析。试验结果表明,以动态三参数对换挡过程进行控制可改善起步及换挡品质,满足平顺性要求。     

面向越野汽车通过性虚拟试验的有限元轮胎模型研究

分析了胎压与粘弹性对轮胎模型的影响,提出利用系数修正胎压对刚度和有效接地面积的影响来提高精度的方法。推导了三参数标准线性粘弹性模型的本构关系,得到了四节点等参单元有限元的刚度矩阵,建立了轮胎平面应力状态下的有限元模型。以轮胎六分力传感器为核心构建了轮胎模型的标定和验证系统,标定并验证了该轮胎模型的正确性。     

基于Cruise&Matlab Simulink的P2混动越野车开发研究

混合动力技术是当前越野车领域的重要发展方向.论文基于某型P2混动越野车,首先根据车辆功能要求及P2构型特点,定义整车功能;根据整车功能定义,通过理论计算初步选定动力系统参数,然后利用AVL Cruise&Matlab/simulink进行了整车动力性经济性联合仿真,并根据仿真结果,对仿真控制策略进行了优化,最终达成整车...     

Robust Scalable Vehicle Control via Non-Dimensional Vehicle Dynamics

A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called p-groups. Investigation of the p-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through p-space. The normal distribution suggests numerical-values for an 'average' vehicle and maximum perturbations about the average. A state-feedback controller is designed utilizing the p-space line and the expected p-perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.     

Robust Scalable Vehicle Control via Non-Dimensional Vehicle Dynamics

A temporal and spatial re-parameterization of the linear vehicle Bicycle Model is presented utilizing non-dimensional ratios of vehicle parameters called p-groups. Investigation of the p-groups using compiled data from 44 published sets of Vehicle Dynamics reveals a normal distribution about a line through p-space. The normal distribution suggests numerical-values for an ‘average’ vehicle and maximum perturbations about the average. A state-feedback controller is designed utilizing the p-space line and the expected p-perturbations to robustly stabilize all vehicles encompassed by the normal distribution of vehicle parameters. Experimental verification is obtained using a scaled vehicle.     

Bond Graphs for Vehicle Dynamics

For the purposes of analyzing the stability and control properties of aircraft, automobiles, and ships, it is convenient to idealize the vehicle as a rigid body and to use a body-centered coordinate frame. A six-port bond graph is first developed which represents the nonlinear dynamics of a rigid body in a coordinate system rotating with the body. It is then shown how the graph simplifies if only lateral or longitudinal dynamics are studied. Finally, bond graphs for the type of stability studies in which the assumption of small perturbations permits linearization are shown for elementary models of automobiles and aircraft.     

Nonlinear Dynamics of Vehicle Traction

Summary The purpose of this study is to understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, single-wheel models of rubber-tired automobiles under straight-ahead braking and acceleration conditions are investigated in detail. Customarily, the forward vehicle speed and the rotational rate of the tire/wheel are taken as dynamic states. This paper motivates an alternative formulation in which wheel slip, a dimensionless measure of the difference between the vehicle speed and the circumferential speed of the tire relative to the wheel center, replaces the angular velocity of the tire/wheel as a dynamic state. This formulation offers new insight into the dynamic behavior of vehicle traction. The unique features of the modeling approach allow one to capture the full range of dynamic responses of the single-wheel traction models in a relatively simple geometric manner. The models developed here may also be useful for developing and implementing anti-lock brake and traction control control schemes.     

Nonlinear Dynamics of Vehicle Traction

Summary The purpose of this study is to understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, single-wheel models of rubber-tired automobiles under straight-ahead braking and acceleration conditions are investigated in detail. Customarily, the forward vehicle speed and the rotational rate of the tire/wheel are taken as dynamic states. This paper motivates an alternative formulation in which wheel slip, a dimensionless measure of the difference between the vehicle speed and the circumferential speed of the tire relative to the wheel center, replaces the angular velocity of the tire/wheel as a dynamic state. This formulation offers new insight into the dynamic behavior of vehicle traction. The unique features of the modeling approach allow one to capture the full range of dynamic responses of the single-wheel traction models in a relatively simple geometric manner. The models developed here may also be useful for developing and implementing anti-lock brake and traction control control schemes.     

Non-linearities in Road Vehicle Dynamics

In the study of lateral vehicle dynamics with the objective to enhance stability and handling qualities, non-linear aspects may have to be included to cover also larger lateral accelerations and amplitudes. The paper treats whole vehicle motions and relative motions of vehicle subsystems. In particular, single car stability, also in the large, is discussed as well as the shimmy phenomenon and the car-trailer instability.     

Bond Graphs for Vehicle Dynamics

SUMMARY

For the purposes of analyzing the stability and control properties of aircraft, automobiles, and ships, it is convenient to idealize the vehicle as a rigid body and to use a body-centered coordinate frame. A six-port bond graph is first developed which represents the nonlinear dynamics of a rigid body in a coordinate system rotating with the body. It is then shown how the graph simplifies if only lateral or longitudinal dynamics are studied. Finally, bond graphs for the type of stability studies in which the assumption of small perturbations permits linearization are shown for elementary models of automobiles and aircraft.     

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.