论轮胎与路面间的摩擦

对轮胎与路面间摩擦产生的机理和影响因素进行了分析。其中产生的机理可归纳为轮胎与路面间分子引力的作用、轮胎与路面间的粘着作用、胎面橡胶的弹性变形及路面上小尺寸微凸体的微切削作用四种；影响轮胎与路面间摩擦的主要因素有滑移率，轮胎类型，胎面花纹的类型、密度系数、深度，路面粗糙度，路面污染情况，路面水膜，气候及充气压力等。     

沥青路面抗滑性能研究现状与展望

作为未来道路交通荷载的主流形式,车辆的行驶稳定性与路面抗滑性能存在着直接关系,而且随着时间变化,沥青路面的抗滑性能受各种不确定性因素的影响。为了明确国内外沥青路面抗滑性能的研究现状,对胎-路接触力学模型和路面附着特性、动摩擦因数的计算方法、不确定性影响因素、抗滑性能评价指标和衰变模型以及抗滑性能在无人驾驶车辆安全性中的应用等热点问题研究进展进行了综述与总结,对比分析了现有沥青路面与橡胶轮胎的接触力学模型,探讨了设计、施工及运营阶段中的不确定性因素,归纳了现有沥青路面抗滑性能评价指标及衰变模型,最后论述了沥青路面抗滑性能的发展方向。分析结果表明：基于路表分形理论的Persson迟滞摩擦理论更适用于沥青路面动摩擦因数的计算要求,计入了橡胶对表面粗糙度的有关尺度变形响应及滑动摩擦的温度依存性;考虑路表峰值附着系数时变性的摩擦因数-滑移率（μ-s）曲线附着系数估算方法更能反映路面实际附着特性;当前沥青路面抗滑性能研究在胎-路相互作用机理、评价指标、衰变模型等方面研究不足,需要从时变性、统一性及车辆抗滑需求感应参数等方面进一步深入研究。推行基于时间效应的抗滑评价指标是沥青路面抗滑层设计与抗滑性能评价发展的必然趋势,也是提高中国沥青路面全寿命周期内服役水平的重要方法。     

A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is simulated with the vehicle velocity observer, the tyre/road friction coefficient estimator and the adaptive SMC algorithm. The results indicate that the estimated errors of the vehicle velocity and the tyre/road friction coefficients are acceptable and the vehicle ABS adaptive SMC algorithm is effective. So the proposed adaptive SMC algorithm can be used to control the vehicle ABS without the information of the vehicle velocity and the road conditions.     

路面摩擦特性预测研究

本次研究基于路面抗滑特性的预测问题,运用道路摩擦系数测试仪在公路上进行路面摩擦系数测试试验,并对试验结果进行分析,提出了路面摩擦系数的影响因素。应用广义回归神经网络分析方法,以影响因素为分类标准,确定了摩擦系数预测模型的分类,建立了基于广义回归神经网络的路面摩擦系数预测模型,并通过60组试验数据对网络模型进行了训练,利用6组实验数据进行预测结果对比。结果表明,模型预测值与实测值的平均误差为3.0%左右,模型预测结果与实测结果吻合,所构建模型是正确的,且具有较高的精度;此外还通过实车进行了汽车制动试验,并根据试验结果与模型预测结果对比,为交通事故分析中计算事故车速提供依据。     

接地面全熔化条件下冰面轮胎摩擦力的预测

依据流体动力润滑理论和热平衡原理，提出了接地面全熔化条件下冰面轮胎摩擦力的预测模型。结果表明，受不同因素的影响，摩擦系数变化趋势的模型预测同实验结果极为相似，文中分析讨论了影响摩擦力的主要因素，认杰表面模型，滑移率和界面温升等的影响应作为今后相关领域的研究重点。     

粗橡胶粒沥青玛蹄脂混合料SMA-R路面性能研究

针对粗橡胶粒SMA沥青混凝土的力学性能进行了室内的试验研究,分别对混合料的疲劳性能、回弹模量和变形性能进行了不同橡胶粒掺量的影响分析,并据此提出了具有良好路用性能的橡胶粒掺量。同时还发现,掺加一定量的岩沥青,可以有效提高混合料的性能,建议在橡胶粒沥青混合料中掺加适量的岩沥青。     

Railway Wheel and Automotive Tyre

SUMMARY

In the present paper the theories of the railway wheel and the automotive tyre are discussed. After an introduction the paper opens with a discussion of the common ground, viz. the rolling motion of deformable bodies. Then the railway wheel is discussed, and it is shown that all aspects may be calculated numerically from the material constants Poisson's ratio, Young's modulus, and the coefficient of friction, and from the geometry of wheel and rail. Next the automotive wheel is considered. Such a wheel is very anisotropic, to the extent that the theory of the lateral motion (out-of-plane dynamics) is radically different from the longitudinal, or in-plane motion. Moreover, the analysis of the automotive wheel heavily relies on experiments. In the conclusion, the theories are compared.     

Friction coefficient measurement for autonomous winter road maintenance

Real-time measurement of tyre–road friction coefficient is extremely valuable for winter road maintenance operations, since knowledge of tyre–road friction coefficient can be used to optimise application of deicing chemicals to the roadway. In this paper, a wheel-based tyre–road friction coefficient measurement system is developed for snowploughs. Unlike a traditional Norse meter, this system is based on measurement of lateral tyre forces, has minimal moving parts and does not use a brake actuator. Hence, it is reliable and inexpensive. A key challenge is quickly detecting changes in the estimated tyre–road friction coefficient while rejecting the high levels of vibratory noise in the measured force signal. Novel filtering and signal processing algorithms are developed to address this challenge, including a biased quadratic mean filter and an accelerometer-based vibration removal filter. Detailed experimental results are presented on the performance of the friction estimation system on different types of road surfaces. It is also shown that disturbances due to lateral and longitudinal vehicle manoeuvres on the estimated friction coefficient can be removed by using accelerometer-based filtering.     

动态路面摩擦系数的分析与测试技术探讨

对于高速公路路面,采用动态摩擦系数作为评价指标,可使道路评价指标更合理,通过对动态路面摩擦系数测定的基本原理和测试设备的结构特点的分析,同时采用路面连续动态摩擦系数测定设备在不同车速下测定的摩擦系数,分析了公路路面与轮胎之间摩擦系数的动态特性。     

橡胶沥青对路面抗滑性能的影响研究

在柔性路面设计、养护和修复中,抗滑性和构造是应当考虑的重要的安全特征。主旨是优化橡胶沥青路面的表面构造特性,宏观上减少溅水、喷射及滑水现象;微观方面增强低、高速行驶时的摩擦力。采用英式摆式仪法和体积法来测量摩擦表面特性,取试验室制备的试件代表实际道路表面。研究采用两种级配和三种沥青结合料:常规沥青;湿法橡胶沥青;干法橡胶沥青。在相同的混合料配比基础上,以增加1%的橡胶沥青来测试其含量对路面质量的影响。研究结果用来评价橡胶沥青的生产工艺和混合料级配对路表面特性的影响。结果表明间断级配橡胶沥青混合料比密级配具有更大的构造深度。与常规混合料相比,橡胶沥青混合料能提高路面抗滑性。该研究表明,用不同工艺生产的橡胶沥青对路表面特性的影响不同。     

弹性元件对奥迪轿车前悬架力学特性及顺从性的影响

本文分析了奥迪１００轿车前悬架的结构特点，应用多体系统动力学理论和结构力学方法建立了设及导向构件和橡胶铰链弹性变形的悬架多体系统模型，并对其进行了计算分析。探讨了这两类变形元件对悬架力学特性和汽车顺从性的影响。     

车辆碰撞行人交通事故的不确定因素研究

车辆碰撞行人交通事故牵涉较多的不确定因素,如接触点位置与摩擦系数、人体的飞行距离、抛出高度和角度,根据这些取值不确定的参数估算碰撞速度,其结果具有较大的不确定性。为了考察碰撞速度的不确定取值范围,研究了行人事故所包含的各种不确定因素,利用多元函数的相对不确定理论,针对碰撞速度的一般运动学计算模型建立了相应的不确定度分析方法;给出了关于一起真实事故的应用实例。结果表明:人体与路面间摩擦系数的取值对计算结果不确定度的影响最显著。     

鼓式制动器制动力矩的计算研究

本文建立鼓式制动器力学模型，用三种方法对该制动器制动力矩进行了计算。通过对计算结果和试验结果进行了对比分析，建立了准确而有产的制动力矩计算方法，在此基础上，研究了制动补片材料摩擦系数等参数对制支力矩的影响。     

Effective assessment of tyre–road friction coefficient using a hybrid estimator

Vehicle stability and active safety control depend heavily on tyre forces available on each wheel of a vehicle. Since tyre forces are strongly affected by the tyre–road friction coefficient, it is crucial to optimise the use of the adhesion limits of the tyres. This study presents a hybrid method to identify the road friction limitation; it contributes significantly to active vehicle safety. A hybrid estimator is developed based on the three degrees-of-freedom vehicle model, which considers longitudinal, lateral and yaw motions. The proposed hybrid estimator includes two sub-estimators: one is the vehicle state information estimator using the unscented Kalman filter and another is the integrated road friction estimator. By connecting two sub-estimators simultaneously, the proposed algorithm can effectively estimate the road friction coefficient. The performance of the proposed estimation algorithm is validated in CarSim/Matlab co-simulation environment under three different road conditions (high-μ, low-μ and mixed-μ). Simulation results show that the proposed estimator can assess vehicle states and road friction coefficient with good accuracy.     

Estimation of maximum road friction coefficient based on Lyapunov method

With the real time and accurate information of motor torque and rotation speed of the four-in-wheel-motordrive electric vehicles, a slip based algorithm for estimating maximum road friction coefficient is designed using Lyapunov stability theory. Modified Burckhardt tire model is used to describe longitudinal slip property of the tire. By introducing a new state variable, a nonlinear estimator is proposed to estimate the longitudinal tire force and the maximum road friction coefficient simultaneously. With the appropriate selection of estimation gain, the convergence of the estimation error of the tire longitudinal force and maximum road friction coefficient is proved through Lyapunov stability analysis. In addition, the error is exponentially stable near the origin. Finally the method is validated with Carsim-Simulink co-simulation and real vehicle tests under multi working conditions in acceleration situation which demonstrate high computational efficiency and accuracy of this method.     

A real-time approach to robust identification of tyre–road friction characteristics on mixed-μ roads

ABSTRACT

The interaction between the tyre and the road is crucial for understanding the dynamic behaviour of a vehicle. The road–tyre friction characteristics play a key role in the design of braking, traction and stability control systems. Thus, in order to have a good performance of vehicle dynamic stability control, real-time estimation of the tyre–road friction coefficient is required. This paper presents a new development of an on-line tyre–road friction parameters estimation methodology and its implementation using both LuGre and Burckhardt tyre–road friction models. The proposed method provides the capability to observe the tyre–road friction coefficient directly using measurable signals in real-time. In the first step of our approach, the recursive least squares is employed to identify the linear parameterisation form of the Burckhardt model. The identified parameters provide, through a T–S fuzzy system, the initial values for the LuGre model. Then, a new LuGre model-based nonlinear least squares parameter estimation algorithm using the proposed static form of the LuGre to obtain the parameters of LuGre model based on recursive nonlinear optimisation of the curve fitting errors is presented. The effectiveness and performance of the algorithm are demonstrated through the real-time model simulations with different longitudinal speeds and different kinds of tyres on various road surface conditions in both Matlab/Carsim environments as well as collected data from real experiments on a commercial trailer.     

轮胎／路面附着系数估算方法

为提高汽车主动安全系统自适应控制性能,需要对轮胎／路面附着系数进行精确的识别或估算。鉴于附着系数估计的复杂性,文章综述了目前路面附着系数估算中的汽车动力学建模和轮胎／路面摩擦模型建模,重点讨论了轮胎／路面附着系数识别算法中传感器的直接检测估计法,以及基于车辆动力学、回正力矩和状态观测器等动力学模型的估计算法,并对各估算方法存在的问题与发展趋势等进行了分析。对开发汽车主动安全电控系统和提高汽车产业核心竞争力具有重要意义。     

轮胎胎面与柔性路面摩擦接触的数值分析

应用有限元软件ANASYS建立了包括橡胶胎面和柔性路面结构的有限元模型,探讨了车辆处于自由滚动和紧急制动过程中在不同轮胎／路面界面摩擦系数下的胎面、路表的变形特性和接触应力分布状态。研究结果表明,界面摩擦系数是影响胎面与柔性路面摩擦性能的主要原因,随其值的增加路面弯沉减小,摩擦应力先增加然后保持稳定,但轮胎的磨耗增加,接触压应力增加。适当地丰富路表构造、提高界面摩擦系数能降低路面弯沉,增强紧急制动状态下的抗滑性能;但是当摩擦系数超过某临界值时,随其数值的增大所对应制动状态下的抗滑性能不再提高,且路面压应力明显增加。摩擦特性对路表抗滑性能和路面力学响应的研究提供了一定的理论基础。     

侧限条件下膨胀土膨胀变形试验研究

利用弹性力学的有关理论分析了侧限膨胀试验中土样的受力和变形特点,推导出了在无荷膨胀试验条件下,膨胀土膨胀系数的理论计算公式;针对南宁-友谊关公路宁明段灰黑色膨胀土填料进行了侧限有荷膨胀试验,利用有荷试验结果推导出了膨胀土在侧向约束、上部加压条件下膨胀应变与含水率、上部荷载之间的计算关系式。结果表明:上覆压力对膨胀变形起拟制作用,在其他条件不变的情况下,上覆压力越大,则膨胀变形量越小;膨胀土是对含水量变化特别敏感的土体,含水量增加是土体膨胀的直接原因,膨胀量与吸水量紧密相关,且与(w-w0)成正比关系;利用无荷试验确定了湿度膨胀系数的测定方法,并用试验结果对南友路膨胀土路堤的修筑提出了一些建议。     

Coupler rotation behaviour and its effect on heavy haul trains

When a locomotive coupler rotates at an angle, the lateral component of the coupler force has an adverse effect on the locomotive's safety, particularly in heavy haul trains. In this paper, a model of a head-mid configuration, a 20,000-t heavy haul train is developed to analyse the rotation behaviour of the locomotive's coupler system and its effect on the dynamic behaviour of such a train's middle locomotive when operating on tangent and curved tracks. The train model includes detailed coupler and draft gear with which to consider the hysteretic characteristics of the rubber draft gear model, the friction characteristics of the coupler knuckles, and the alignment-control characteristics of the coupler shoulder. The results indicate that the coupler's rotation behaviour differs between the tangent and curved tracks, significantly affecting the locomotive's running performance under the braking condition. A larger coupler rotation angle generates a larger lateral component, which increases the wheelset's lateral force and the derailment coefficient. Decreasing the maximum coupler free angle can improve the locomotive's operational performance and safety. Based on these results, the recommended maximum coupler free angle is 4°.