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。     

散装水泥运输罐车刹车过程物料流动特性研究

为探索散装水泥运输半挂车在刹车过程罐内物料的流动特性,基于FLUENT计算流体力学软件,采用欧拉-欧拉方法建立双流体模型,通过Syamlal-O＇Brien模型描述气-固曳力,对散装水泥运输半挂车在刹车过程罐内水泥的流动特性进行了数值模拟。结果表明,散装水泥运输半挂车在刹车过程中,罐内水泥向前运动,牵引车载荷高于设计载荷,对此提出通过在罐内顶部增设阻流板,可有效避免散装水泥运输半挂车在刹车过程由于载荷分布不合理而引起的一系列问题的改进措施。     

大位移桥梁伸缩缝耦合动力学研究

运用有限元分析软件对大位移桥梁伸缩缝进行耦合（竖向和水平）动力学研究。研究结果表明：中梁竖向振动位移与水平向振动位移之间的相互影响很小,故可对伸缩缝竖向或水平向振动响应单独进行研究;双车辆同时同向或反向通过伸缩缝时,中梁最大竖向振动位移与单车辆通过伸缩缝时相差不大,并且中梁出现最大竖向振动位移的位置相同;当车速为120 km/h时,双车辆同时同向或反向通过伸缩缝时的水平振动位移比单车辆通过伸缩缝时大44．4％或小42．0％。     

基于车辆动力学模型的换道轨迹规划研究

针对自动驾驶车辆换道轨迹规划时的操纵稳定性问题,基于CarSim/Simulink仿真平台建立了车辆动力学模型,构建了轨迹规划系统框架,通过轨迹信息后处理并提出了目标函数设计,进行了横向控制序列采样以保证车辆的稳定与极限性能,完成了算法对轨迹的综合评价选优。随后开展了仿真试验,对比分析了轨迹跟踪控制系统下的实际轨迹、最优规划方法所规划的换道轨迹。仿真结果表明,该轨迹规划系统框架及算法模型能有效提高车辆的操纵稳定性,可实现冰雪路面等极端工况下自动驾驶车辆换道轨迹规划。     

基于有限元分析的乘用车前纵梁安全设计

为提升车辆撞击事故乘员的安全性,从诱导孔个数、前纵梁材料和梁壁厚三个方面对汽车前纵梁进行了优化设计。将上述三个方面作为影响因素进行了正交试验设计,按照正交表在LS-DYNA当中进行了整车碰撞及台车试验,以头部损伤HIC值作为乘员损伤评价标准,通过极差分析确定了最优汽车前纵梁参数,提高了汽车碰撞中乘员的安全。     

The Force-Angle Measure of Tipover Stability Margin for Mobile Manipulators

Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.     

Establishment of Model for Tire Steady State Cornering Properties using Experimental Modal Parameters

Modeling of tire cornering properties using experimental modal parameters is studied. With tire lateral experimental modal parameters, the distribution of side force and lateral deformation under total adhesive and sliding conditions are obtained. Side force, self-aligning, cornering stiffness and relaxation length under different loads and friction coefficients are also calculated. The calculated results are in correspondence to experimental results in the references qualitatively. The non-dimensional side force obtained from the calculated results is compared with the Fiala model, its modified expression by experiments and also the widely used empirical Magic Formula model. The calculated results tally well with the fitted results obtained using Magic Formula model. It can be seen that the tire steady state cornering model using experimental modal parameters proposed in this paper is better for an in-depth study of tire natural characteristics, and the labored experimental work can be avoided.     

Interaction of vehicle and steering system regarding on-centre handling

For the on-centre handling behaviour of vehicles the steering system is absolutely important. To investigate the interaction of the vehicle and steering system a validated, especially tailored simulation model was developed. Some meaningful vehicle and steering system parameters are altered to show the influence on steering wheel torque, steering feel and understeer. The results underline the importance of an accurate steering system model. Identified measures to improve the centre feel and steering response were a stiffer torsion bar, a higher cornering stiffness or a lower overall steering ratio. The steering response, however, suffers when the centre feel is improved by a higher trail. The steering rack friction reduces mainly the steering response while the steering column friction decreases the centre feel whereas a stiffer torsion bar lessens the understeer tendency.     

Material characteristics of a vehicle door seal and its effect on vehicle vibrations

The vibration characteristics of the door panels are affected by the weatherstrip seals used in between the doors and vehicle body along the perimeter of the doors. The weatherstrip seals exhibit nonlinear and viscoelastic material properties that vary with frequency, temperature, strain rate and amplitude, and previous load history. The material properties of the seal must be investigated carefully in order to predict the vibration characteristics of the automobiles under different loading conditions.

In this study, we developed hyperelastic and viscoelastic models of the weatherstrip seal to predict dynamic performance of a vehicle door and its effect on the overall vehicle dynamics. For this purpose, first, static compression and stress relaxation experiments were performed on the seal using a robotic indenter equipped with force and displacement sensors and then a finite element model utilising the results of these experiments was developed in ANSYS. Finally, a representative model of the seal was integrated into the finite element model of the vehicle door to investigate its effect on the vehicle vibrations. The model predictions were validated using experimental modal analysis performed on the vehicle door with and without the seal. It was observed that the seal has a significant effect on the vehicle dynamics.     

Heavy vehicle pitch dynamics and suspension tuning. Part I: unconnected suspension

The influence of suspension tuning of passenger cars on bounce and pitch ride performance has been explored in a number of studies, while only minimal efforts have been made for establishing similar rules for heavy vehicles. This study aims to explore pitch dynamics and suspension tunings of a two-axle heavy vehicle with unconnected suspension, which could also provide valuable information for heavy vehicles with coupled suspensions. Based on a generalised pitch-plane model of a two-axle heavy vehicle integrating either unconnected or coupled suspension, three dimensionless measures of suspension properties are defined and analysed—namely the pitch margin (PM), pitch stiffness ratio (PSR), and coupled pitch stiffness ratio (CPSR)—for different unconnected suspension tunings and load conditions. Dynamic responses of the vehicle with three different load conditions and five different tunings of the unconnected suspension are obtained under excitations arising from three different random road roughness conditions and a wide range of driving speeds, and braking manoeuvres. The responses are evaluated in terms of performance measures related to vertical and pitch ride, dynamic tyre load, suspension travel, and pitch-attitude control characteristics of the vehicle. Fundamental relationships between the vehicle responses and the proposed suspension measures (PM, PSR, and CPSR) are established, based on which some basic suspension tuning rules for heavy vehicles with unconnected suspensions are also proposed.