Models of Wheel Contact Dynamics: An Analytical Study on the In-Plane Transient Responses of a Brush Model

This paper deals with the dynamics of the contact between the pneumatic tyre and the ground, in particular with reference to braking manoeuvres of aircraft. The transient response of the braking force is analytically evaluated in terms of the transfer functions that link the variation of the braking force to the variation of physical inputs affecting the interaction between the tread and the ground, in the longitudinal plane. The proposed models have been formulated in order to account for the effects of different reference conditions of steady braking on gains, zeros and poles of such transfer functions.     

双钢轮压路机的最大制动减速度

为了确定双钢轮压路机的最大制动减速度,建立了双钢轮压路机制动过程的动力学方程,研究了行走液压系统制动力和地面附着力对双钢轮压路机最大制动减速度的影响,得出了不同地面附着条件下的双钢轮压路机最大制动减速度方程。同时指出,在双钢轮压路机的行走系统设计过程中,应该考虑钢轮惯量对双钢轮压路机加减速过程的影响。     

电动汽车再生制动控制算法研究

以"在满足车辆制动性能要求、保证车辆制动稳定性的前提下,最大限度地回收再生制动能量"为原则,对电动汽车再生制动力与制动器制动力的分配算法进行研究,得到车辆制动时制动力的控制算法,最后以某电动车辆为例进行仿真分析。制动力分配算法对车辆再生制动和机械制动的分配规律的制定具有较好的参考作用。     

发动机制动工况下汽车制动器摩擦性能分析

建立了基于恒速制动车辆纵向力平衡方程、制动器耗散功率及其温度变化微分方程、管路压力调节等子模型的恒速长下坡汽车制动器摩擦性能分析系统.以两轴中型汽车为例,对前后制动器在不同挡位发动机制动时的温度、制动副摩擦因数、制动力分配及管路压力变化进行了计算.结果表明,在不影响车速情况下,合理使用各挡发动机制动可改善汽车前、后制动器热负荷,减小或避免制动摩擦力矩热衰退,保证汽车下长坡安全行驶.     

刚度折减对制动力的影响分析

当列车在桥上实施制动时,列车对桥上线路施加一纵向水平力——轨面制动力。轨面制动力通过线路结构传给桥跨,这些作用力是影响桥梁下部结构设计的重要因素。在制动力作用下,轨道板和底座板受拉,其承载力降低。在ANSYS计算分析中,采用刚度折减来模拟这种情况。先提出采用刚度折减这一原理,再讨论刚度折减对线路和桥梁结构的受力影响并分析其作用机理。结果表明,对钢筋混凝土制作的底座板和轨道板,在计算中必须进行刚度折减,否则会带来安全隐患。     

Dynamic Friction Models for Road/Tire Longitudinal Interaction

Summary In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the friction force along the patch. An ordinary differential equation (the lumped model) for the friction force is developed, based on the patch boundary conditions and the normal force distribution along the contact patch. This lumped model is derived to approximate closely the distributed friction model. Contrary to common static friction/slip maps, it is shown that this new dynamic friction model is able to capture accurately the transient behaviour of the friction force observed during transitions between braking and acceleration. A velocity-dependent, steady-state expression of the friction force versus the slip coefficient is also developed that allows easy tuning of the model parameters by comparison with steady-state experimental data. Experimental results validate the accuracy of the new tire friction model in predicting the friction force during transient vehicle motion. It is expected that this new model will be very helpful for tire friction modeling as well as for anti-lock braking (ABS) and traction control design.     

Dynamic Friction Models for Road/Tire Longitudinal Interaction

Summary In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the friction force along the patch. An ordinary differential equation (the lumped model) for the friction force is developed, based on the patch boundary conditions and the normal force distribution along the contact patch. This lumped model is derived to approximate closely the distributed friction model. Contrary to common static friction/slip maps, it is shown that this new dynamic friction model is able to capture accurately the transient behaviour of the friction force observed during transitions between braking and acceleration. A velocity-dependent, steady-state expression of the friction force versus the slip coefficient is also developed that allows easy tuning of the model parameters by comparison with steady-state experimental data. Experimental results validate the accuracy of the new tire friction model in predicting the friction force during transient vehicle motion. It is expected that this new model will be very helpful for tire friction modeling as well as for anti-lock braking (ABS) and traction control design.     

摩擦材料摩擦特性对轿车前,后制动力之比的影响

本研究了摩擦材料摩擦特性对轿车（盘式），后（鼓式）制动器制动力之比的影响。根据对前，后制动器部总成大量的测功器试结果，计算并绘出前，后制动之比值随制动管路压力，车速，制动温度的变化关系曲线，并与设计作了对比分析，讨论了它对轿车制动稳定性的影响，为制动性能计算，制动器设计和制动衬片摩擦材料的选配提供依据和参考，从而保证了轿车的制动稳定性。     

Nonlinear tire-road friction control based on tire model parameter identification

A hierarchical control structure is a more suitable structural scheme for integrated chassis control. Generally, this type of structure has two main functions. The upper layer manages global control and force allocation, while the bottom layer allocates realized forces with 4 independent local tire controllers. The way to properly allocate these target forces poses a difficult task for the bottom layer. There are two key problems that require attention: obtaining the nonlinear time-varying coefficient of friction between the tire and different road surfaces and accurately tracking the desired forces from the upper layer. This paper mainly focuses on longitudinal tire-road friction allocation and control strategies that are based on the antilock braking system (ABS). Although it is difficult to precisely measure longitudinal tire-road friction forces for frequently changing road surface conditions, they can be estimated with a real-time measurement of brake force and angular acceleration at the wheels. The Magic Formula model is proposed as the reference model, and its key parameters are identified online using a constrained hybrid genetic algorithm to describe the evolution of tire-road friction with respect to the wheel slip. The desired wheel slip, with respect to the reference tire-road friction force from the top layer, is estimated with the inverse quadratic interpolation method. The tire-road friction controller of the extended anti-lock braking system (Ext-ABS) is designed through use of the nonlinear sliding mode control method. Simulation results indicate that acceptable modifications to changes in road surface conditions and adequate stability can be expected from the proposed control strategy.     

某微型客车制动力分配优化设计

提出了M1类车辆空、满载制动力分配系数的计算公式.以理想制动力分配曲线与实际应用的两段不同斜率制动力分配线之间面积最小为优化目标,同时保证满载状况时的制动效率不小于75%,优化设计了某微型客车变比值的制动力分配曲线.考虑制动器推出压耗,建立了各轴制动力与管路液压的转化公式,由优化后的变比值制动力分配线确定了液压比例阀的特性曲线.对制动力分配曲线优化前、后的微型客车制动距离进行的对比计算表明,优化后的微型客车制动距离明显减小.     

基于LabVIEW的附着系数数据采集系统设计

附着系数是对汽车制动性判据的重要参考数据之一,文中采用LabVIEW软件开发了一套基于虚拟仪器的路面附着系数测试系统。实验表明:该程序可准确的检测出车轮法向力和切向力,实现对附着系数实时变化的显示以及数据的采集和处理,通过界面曲线来显示数据和其变化等信息,能保存测试过程中的所有数据,并设置保存时间等附加功能。     

接地面部分溶化条件下冰面轮胎摩擦力的研究

综合运用流体动力润滑理论的能量守恒定律，提出了接地面部分溶化条件下冰面上汽车轮胎的摩擦力或牵引力的理论计算模型。证明了正常工作条件下，接地面上冰产生溶化的可能。对不同制动和驱动条件下轮胎摩擦力进行了计算，取得了同试验数据吻合很好的预测结果。并同已有预测模型进行了比较，比较结果表明：本文依据严格的润滑理论所推导出的冰面轮胎牵引力模型比其它已有理论模型更接近试验结果。     

智能分布式驱动汽车路径跟踪/制动能量回收协同控制策略研究

为了解决智能分布式驱动汽车路径跟踪与制动能量回收系统间的协同控制难题,充分考虑分布式驱动汽车四轮扭矩独立可控在智能驾驶系统中的优势,设计适应不同路面附着条件的智能分布式驱动汽车转向、制动分层协同控制策略。上层控制器依据不同的路面类型设计差异化的多目标代价函数,以综合优化各工况下的控制目标。高附路面下,制定满足最大能量回收值的全局参考车速,在线优化路径跟踪指令,实现最优能量回收的同时减小系统运算负荷;低附路面下,优先考虑车辆的路径跟踪性能和行驶稳定性,在多目标代价函数中取消对全局参考车速的跟随要求,增设终端速度约束与能量回收项性能指标并减小能量回收项性能指标的权重系数。上层控制器基于模型预测控制方法对多目标代价函数进行滚动优化与预测求解,得到期望的前轮转角及4个车轮的总制动扭矩需求。下层控制器根据制动扭矩需求对四轮的液压制动扭矩和电机制动扭矩进行分配,最终完成整个复合制动过程。基于MATLAB/Simulink和CarSim软件,搭建控制器在环仿真平台,并在高附和低附路面条件下对所提出的策略进行试验验证。研究结果表明：高附路面下,所提出的控制策略在准确跟踪期望路径的同时相较固定比例制动力分配方法可提升2.7%的能量回收值并减少约0.02 s的单次计算时间;低附路面下,与使用高附控制策略相比,能够保证车辆的路径跟踪准确性与行驶稳定性,同时可提升7.8%的能量回收值;控制器在环试验结果证明了该协同控制策略对车辆性能提升的有效性。     

Co-operative control for regenerative braking and friction braking to increase energy recovery without wheel lock

This paper presents a regenerative braking co-operative control algorithm to increase energy recovery without wheel lock. Considering the magnitude of the braking force available between the tire and road surface, the control algorithm was designed for the regenerative braking force at the front wheel and friction braking force at the rear wheel to be increased following the friction coefficient line. The performance of the proposed regenerative braking co-operative control algorithm was evaluated by the hardware in the loop simulation (HILS) with an electronic wedge brake on its front wheels and an electronic mechanical brake on its rear wheels. The HILS results showed that a proper braking force on the front and rear wheels on a low μ road prevented the lock of the front wheels that was connected to the motor, and maintained the regenerative braking and increased energy recovery.     

一种降低人-地撞击损伤的车辆制动控制方法

为降低车人碰撞事故中人与地面撞击所致损伤,提出一种车辆制动控制策略.该策略在检测到人体头部与车辆首次接触后松开车辆制动,之后依据若干准则再次完全制动车辆直到车辆停止.选择10种车型、两种制动方法(完全制动和控制制动)和一个虚拟仿真系统(包含3种车速×4种行人尺寸×2种行人步态)设计了共480次MADYMO仿真试验.结果...     

半挂汽车列车附着系数的分析与制动力分配系数的研究

本文对列车的制动工况建立力学模型，分析研究制动器制动力分配曲线Ｉ、β和附着系数ψ０的关系，求取列车理想的附着系数和制动器动力分配系数。     

轿车轴间制动力分配要求的试验研究

本文在切诺基吉普车实车试验的基础上，结合其它轿车的试验结果，对制动标准中有关轿车轴间制动力分配的要求进行了研究。结果表明，为获得良好的制动稳定性，较高的制动效能，增加前轴制动力，减少后轴制动力是现代轿车轴间制动分配设计的发展趋势；要求过大的后轴制动力，在常遇路面上强力制动，将会导致后轮首先抱死，与ＥＣＥＲ１３要求不相符。     

Improvement of Vehicle Dynamics by Rear Braking Force Control

A study on effective use of rear braking force to improve a brake performance and vehicle dynamics are carried out. On a ordinary condition, the rear braking force could be more increased to a conventional braking force distribution. Based on this thought, the brake performances are estimated. The results show the effects not only improve the brake performance but also reduce a pitching at braking and moderate a vehicle OS behavior in a turn during braking. These are verified by experimental test vehicle equipped with a rear braking force control system.     

Improvement of Vehicle Dynamics by Rear Braking Force Control

SUMMARY

A study on effective use of rear braking force to improve a brake performance and vehicle dynamics are carried out. On a ordinary condition, the rear braking force could be more increased to a conventional braking force distribution. Based on this thought, the brake performances are estimated. The results show the effects not only improve the brake performance but also reduce a pitching at braking and moderate a vehicle OS behavior in a turn during braking. These are verified by experimental test vehicle equipped with a rear braking force control system.     

柔性基础下刚性桩复合地基沉降计算

针对刚性桩复合地基中桩、土、垫层相互作用特点,通过拟合桩土单元体竖向相对位移分布函数,引入弹塑性荷载传递模型,并考虑桩体的上刺与下刺变形以及中性点和桩土界面变形协调,对桩土相对位移变形形式、桩侧摩阻力变化规律、桩端土反力模型作一定的简化,建立出刚性桩桩复合地基沉降计算的基本微分方程,进而提出了一种新的能考虑桩-土-垫层体系共同作用的柔性基础下刚性桩复合地基沉降计算方法。最后,采用该沉降计算方法对模型试验及工程实例进行分析。结果表明,柔性基础下与刚性基础下刚性桩复合地基变形模式与桩土应力比有很大的差异,沉降计算值及桩土应力比与实测值吻合较好,且该方法计算工作量小,能够对刚性桩复合地基沉降量计算提供参考。