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91.
Spatial Dynamics of Multibody Tracked Vehicles Part II: Contact Forces and Simulation Results 总被引:1,自引:0,他引:1
H. C. Lee J. H. Choi A.A. Shabana 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1998,29(2):113-137
In this part of the paper, three dimensional computational capabilities, that includes significant details, are developed for the nonlinear dynamic analysis of large scale spatial tracked vehicles. Three dimensional nonlinear contact force models that describe the interaction between the track links and the vehicle components such as the rollers, sprockets, and idlers as well as the interaction between the track links and the ground are developed and used to define the generalized contact forces associated with the vehicle generalized coordinates. Tangential friction and contact forces are developed in order to maintain the stability of the track motion and avoid the slippage of the track or its rotation as a rigid body. Body and surface coordinate systems are introduced in order to define the spatial contact conditions. The nonlinear equations of motion of the tracked vehicle are solved using the velocity transformation procedure developed in the first part of this paper. This procedure is used in order to obtain a minimum set of differential equations, and avoid the use of the iterative Newton-Raphson algorithm. A computer simulation of a tracked vehicle that consists of one hundred and six bodies and has one hundred and sixteen degrees of freedom is presented in order to demonstrate the use of the formulations presented in this study. 相似文献
92.
J.H. Choi H.C. Lee A.A. Shabana 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1998,29(1):27-49
In this paper, the nonlinear dynamic equations of motion of the three dimensional multibody tracked vehicle systems are developed, taking into consideration the degrees of freedom of the track chains. To avoid the solution of a system of differential and algebraic equations, the recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. In order to take advantage of sparse matrix algorithms, the independent differential equations of the three dimensional tracked vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations which are represented in terms of a set of redundant coordinates and the joint forces. The acceleration solution obtained by solving this system of equations is used to define the independent joint accelerations. The use of the recursive equations eliminates the need of using the iterative Newton-Raphson algorithm currently used in the augmented multibody formulations. The numerical difficulties that result from the use of such augmented formulations in the dynamic simulations of complex tracked vehicles are demonstrated. In this investigation, the tracked vehicle system is assumed to consist of three kinematically decoupled subsystems. The first subsystem consists of the chassis, the rollers, the sprockets, and the idlers, while the second and third subsystems consist of the tracks which are modeled as closed kinematic chains that consist of rigid links connected by revolute joints. The singular configurations of the closed kinematic chains of the tracks are also avoided by using a penalty function approach that defines the constraint forces at selected secondary joints of the tracks. The kinematic relationships of the rollers, idlers, and sprockets are expressed in terms of the coordinates of the chassis and the independent joint degrees of freedom, while the kinematic equations of the track links of a track chain are expressed in terms of the coordinates of a selected base link on the chain as well as the independent joint degrees of freedom. Singularities of the transformations of the base bodies are avoided by using Euler parameters. The nonlinear three dimensional contact forces that describe the interaction between the vehicle components as well as the results of the numerical simulations are presented in the second part of this paper. 相似文献
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Worst-Case Vehicle Evaluation Methodology - Examples on Truck Rollover/Jackknifing and Active Yaw Control Systems 总被引:3,自引:0,他引:3
Wen-Hou Huei Peng 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1999,32(4):389-408
A worst-case vehicle evaluation methodology is presented in this paper. This evaluation method identifies worst-case excitation signals so that the vehicle performance under extreme conditions can be assessed. Two case study examples are presented to illustrate the design procedure and potential benefits of this method: the rollover and jackknifing of an articulated truck, and the evaluation of an active yaw control system. In both cases, the worst-case method was able to produce unstable results at very modest steering/braking levels. 相似文献
95.
首先分析了国内外汽车金融业的发展状况,并从当前我国汽车金融业存在的问题入手,着重从内部和外部环境2个方面进行了分析,从而有针对性地提出了我国汽车金融服务的改革思路和解决相关问题的政策建议,并对未来发展趋势作出理性预测和判断,制度设计上更趋于合理、完善;服务质量和水平逐步与国际接轨;竞争推动下的具有中国特色的金融创新渐趋活跃。在此基础上笔者设想了一种银行一体化的营销模式,权当为未来银行汽车金融业务的开展作一有益尝试。 相似文献
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99.
An adaptive lateral preview driver model 总被引:1,自引:0,他引:1
AY Ungoren H. Peng 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2005,43(4):245-259
Successful modelling and simulation of driver behaviour is important for the current industrial thrust of computer-based vehicle development. The main contribution of this paper is the development of an adaptive lateral preview human driver model. This driver model template has a few parameters that can be adjusted to simulate steering actions of human drivers with different driving styles. In other words, this model template can be used in the design process of vehicles and active safety systems to assess their performance under average drivers as well as atypical drivers. We assume that the drivers, regardless of their style, have driven the vehicle long enough to establish an accurate internal model of the vehicle. The proposed driver model is developed using the adaptive predictive control (APC) framework. Three key features are included in the APC framework: use of preview information, internal model identification and weight adjustment to simulate different driving styles. The driver uses predicted vehicle information in a future window to determine the optimal steering action. A tunable parameter is defined to assign relative importance of lateral displacement and yaw error in the cost function to be optimized. The model is tuned to fit three representative drivers obtained from driving simulator data taken from 22 human drivers. 相似文献
100.
J. Piotrowski H. Chollet 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2005,43(6):455-483
Advanced modelling of rail vehicle dynamics requires realistic solutions of contact problems for wheels and rails that are able to describe contact singularities, encountered for wheels and rails. The basic singularities demonstrate themselves as double and multiple contact patches. The solutions of the contact problems have to be known practically in each step of the numerical integration of the differential equations of the model. The existing fast, approximate methods of solution to achieve this goal have been outlined. One way to do this is to replace a multi-point contact by a set of ellipses. The other methods are based on so-called virtual penetration. They allow calculating the non-elliptical, multiple contact patches and creep forces online, during integration of the model. This allows nearly real-time simulations. The methods are valid and applicable for so-called quasi-Hertzian cases, when the contact conditions do not deviate much from the assumptions of the Hertz theory. It is believed that it is worthwhile to use them in other cases too. 相似文献