基于压力传感器的汽车重心实时监测力学模型

介绍了传统车辆重心测定的方法，提出了基于压力传感器的汽车重心实时监测机理的力学模型．利用该模型能实时监测汽车的整车重量、重心位置，提供安全装载和安全车速监测与报警，可为汽车安全系统提供可靠的重心计算力学模型，为研制汽车重心实时监测系统提供了必要参数与依据．     

考虑胎路多点接触的电动汽车?路面耦合系统振动分析

轮毂电机驱动电动汽车的簧下质量大, 使得轮胎动载荷增加, 且电机激励进一步加剧车轮振动. 同时, 轮胎与路面单点接触的简化模型, 其动力学计算结果与实际存在差别. 鉴于此, 考虑电机的电磁激励、胎路多点接触和非线性地基, 建立了电动汽车?路面系统机电耦合动力学模型, 通过Galerkin法推导了非线性地基梁的垂向振动, 利用积化和公式推导了非线性地基梁中非线性项积分的精确表达式, 提出了路面截断阶数选取的简易方法, 并通过路面位移响应的收敛性进行了验证. 在此基础上, 研究了胎路多点接触、非线性地基、电机激励、车速、路面不平顺幅值等对路面及车辆响应的影响. 结果表明, 非线性地基及多点接触对车辆响应的影响中, 轮胎动载荷的影响最大, 车身加速度和悬架动挠度的影响较小, 且考虑电机激励时, 二者对车辆响应的影响显著增大. 从对路面响应的影响看, 电机激励的影响最大, 非线性地基的影响次之, 多点接触的影响较小. 所建模型及研究方法可为电动汽车的垂向动力学分析提供一种新思路.      

随机激励下新型牵引式悬架系统的P-分岔分析

针对一种新型牵引式后悬架系统,本文建立了考虑刚度非线性和阻尼非线性的七自由度整车模型;通过分析车身振动位移与加速度的稳态概率密度曲线,研究了改进结构前后的悬架系统的随机P-分岔现象以及路面等级、车速、悬架刚度和悬架阻尼的变化对悬架系统发生随机P-分岔现象的影响。结果表明:改进后的结构发生了随机P-分岔现象;车速、悬架刚度、悬架阻尼的变化与引发悬架系统发生随机P-分岔有关,路面不平度的改变与引发随机P-分岔无关。通过分析车身加速度的概率密度曲线可以看出:改进结构后,汽车平顺性变好;随着悬架刚度、悬架阻尼、车速和路面等级的增加,汽车的平顺性变差。     

城市高架桥车-桥-墩系统竖向振动分析

假设城市高架桥为两端简支的欧拉-伯努利梁模型以及桥墩为底部固结的柱,考虑两自由度车辆移动系统与桥面结构表面接触处不平整产生的随机激励以,建立了多个移动车辆系统-桥-墩的耦合力学模型,并且给出了耦合振动方程详细的求解步骤.数值分析采用Wilson-θ法求解.通过仿真分析,讨论了在不同路面等级、不同车辆移动速度下桥梁跨中位移响应和桥墩轴力的变化规律.最后根据车-桥-墩耦合力学模型和车-桥耦合力学模型,比较了两种分析模型对桥墩底部轴力和桥梁跨中截面位移的影响.分析结果表明桥墩对桥梁跨中截面位移的影响可以忽略不计,但是对桥墩本身所受轴力的影响则非常显著.     

基于智能驾驶电动汽车的多车?桥梁耦合系统动力学特性研究

迫于能源和环保问题的压力, 电动汽车及智能驾驶受到了各国高度重视. 轮毂电机驱动电动汽车车轮振动剧烈, 与桥梁路面动力学相互作用更加突出, 现有研究主要针对传统汽车, 关于电动车轮与公路桥梁接触动力学相互作用及智能驾驶车队的多车?桥梁耦合作用研究尚不多见. 本文以轮毂电机驱动电动汽车为研究对象, 考虑车轮和桥面多点接触关系, 研究了两个智能驾驶汽车过桥时的车桥耦合动力学特性. 分析了电机质量、电机激励、轮胎悬架刚度非线性、车距、车速对系统振动特性的影响, 以及桥面不平顺激励、三重耦合激励对电动汽车平顺性的影响. 研究表明: 车距和车速是影响车?桥系统振动特性的重要因素, 在车?桥耦合动态设计中, 车距和车速的影响应重点关注; 桥面越平坦, 电机激励及桥面二次激励对车辆平顺性和道路友好性影响越加显著, 当汽车行驶在平坦桥面时两种激励对轮毂电机驱动电动汽车的影响不容忽视. 所建模型有望为智能驾驶电动汽车与桥梁的耦合作用研究提供理论参考.      

基于动量原理的大坡度沥青路面动水压力计算及影响因素分析Calculation and influence factors analysis for hydrodynamic pressure of asphalt pavement with large slope based on momentum theorem

在多雨地区长大纵坡沥青路面是雨天事故多发区域。应用动量定理,建立了沥青路面动水压力的力学计算模型,并系统分析了车辆荷载、行车速度和道路纵坡对动水压力的影响。结果表明,当水膜厚度＜3 mm时,动水压力随车速及车辆荷载的增大而增大,上坡时,动水压力随着纵坡坡度的增大而增大,下坡时,动水压力随着纵坡坡度的增大而减小。当水膜厚度＞3 mm时,动水压力随车速、车辆荷载增大而增大,上坡时,动水压力随着纵坡坡度的增大而增大,下坡时,动水压力随着纵坡坡度的增大呈先缓慢增加然后又缓慢减小的变化趋势;无论是上坡还是下坡,动水压力都随着车轮半径的增大而增大。本研究成果为多雨地区长大纵坡沥青路面重载交通高速行车易发生交通事故提供了理论分析依据。     

基于动量原理的大坡度沥青路面动水压力计算及影响因素分析

在多雨地区长大纵坡沥青路面是雨天事故多发区域。应用动量定理,建立了沥青路面动水压力的力学计算模型,并系统分析了车辆荷载、行车速度和道路纵坡对动水压力的影响。结果表明,当水膜厚度3mm时,动水压力随车速及车辆荷载的增大而增大,上坡时,动水压力随着纵坡坡度的增大而增大,下坡时,动水压力随着纵坡坡度的增大而减小。当水膜厚度3mm时,动水压力随车速、车辆荷载增大而增大,上坡时,动水压力随着纵坡坡度的增大而增大,下坡时,动水压力随着纵坡坡度的增大呈先缓慢增加然后又缓慢减小的变化趋势;无论是上坡还是下坡,动水压力都随着车轮半径的增大而增大。本研究成果为多雨地区长大纵坡沥青路面重载交通高速行车易发生交通事故提供了理论分析依据。     

人车路系统三维耦合振动分析及舒适度评价

基于将车身视作三维弹性梁、车轮为刚性体的全车模型,人体采用坐姿并联动力模型,路面简化成Kelvin地基上的板,通过轮胎的刚性滚子接触模型将车辆与路面耦合在一起,建立起考虑人车、车路耦合作用的用于评价车辆乘坐舒适度的三维人车路耦合系统振动模型,并推导出其运动平衡方程;通过Galerkin法对路面方程进行离散,采用New-mark积分法对耦合系统方程组进行求解,对人车路系统振动响应进行了分析;采用人体加权振动加速度均方根值对车辆乘坐舒适度进行评价,并对系统各参数对车辆乘坐舒适度的影响进行探讨.数值分析表明:传统模型下车辆乘坐舒适度指标与本文模型的指标相差最高可达到约30％;在分析车辆振动响应及乘坐舒适度时,不能忽视车辆与路面、人体与车辆相互作用,系统各参数对车辆乘坐舒适度都有一定程度的影响.     

车-钢桥面铺装耦合振动系统动力效应分析

为研究行车车速、桥面的不平度和桥面损伤对车-桥面铺装耦合振动系统动力效应的影响规律,将汽车等效为两自由度五参数模型,将正交异性桥面铺装等效为梁-板结构.在车辆与桥面铺装接触点采用接触力和位移协调的条件,建立车辆和桥面铺装动力耦合系统模型和振动方程组.利用模态分析法以及时变力学系统的求解方法-状态空间法,借助大型有限元软件ANSYS和MATLAB编程技术,求解车-钢桥面铺装耦合振动系统的动力响应.分析由桥面铺装的不平度、车速以及桥面损伤等引起的行驶车辆的随机动荷载对桥面铺装冲击系数的影响,并考虑桥面的不平整将车辆荷载简化成沿铺装层表面的随机动荷载和车辆荷载简化成沿铺装层表面纵向移动的恒载两种加载方式的分析结果进行比较.研究结果表明,在进行铺装层结构设计计算以及复合梁疲劳试验时,可考虑冲击系数为1.5.     

基于DRBF-EKF算法的车辆质心侧偏角与路面附着系数动态联合估计

车辆质心侧偏角和路面附着系数是实现车辆底盘智能化所需要的关键参数. 车辆质心侧偏角对于提高车辆安全性和操控性至关重要, 轮胎-路面附着系数决定轮胎力的峰值, 进而确定汽车的动力学稳定性边界. 本文针对四轮独立驱动电动汽车提出了一种基于惯性测量单元、轮毂电机内置转速/转角传感器的车辆质心侧偏角和路面附着系数动态联合估计方法. 对四轮独立驱动电动汽车进行车辆动力学分析, 结合Dugoff轮胎计算模型得到车辆质心侧偏角估计器; 利用机器学习中高维数据降维PCA多元分析方法, 提取主元特征参数, 建立路面附着系数估计器. 采用可自适应调节网络结构的双径向基神经网络和扩展卡尔曼滤波DRBF-EKF方法, 通过K-means算法改进RBF神经网络结构, 扩展卡尔曼滤波进行噪声滤波提高估计精度, 实现车辆质心侧偏角和路面附着系数的动态联合估计. 通过仿真和实车实验表明, 所设计的DRBF-EKF动态联合估计器实时性和估计精度均优于扩展卡尔曼滤波算法, 可以适应车辆行驶过程中路面附着特性与车速的变化, 表现出较强的鲁棒性; 与DRBF方法相比, 显著提高了估计精度; 并且分析了可以同时满足估计精度和实时性要求的最佳隐含层神经元个数.      

Travel time prediction with viscoelastic traffic model

Travel time through a ring road with a total length of 80 km has been predicted by a viscoelastic traffic model(VEM), which is developed in analogous to the non-Newtonian fluid flow. The VEM expresses a traffic pressure for the unfree flow case by space headway, ensuring that the pressure can be determined by the assumption that the relevant second critical sound speed is exactly equal to the disturbance propagation speed determined by the free flow speed and the braking distance measured by the average vehicular length. The VEM assumes that the sound speed for the free flow case depends on the traffic density in some specific aspects, which ensures that it is exactly identical to the free flow speed on an empty road. To make a comparison, the open Navier-Stokes type model developed by Zhang(ZHANG, H. M. Driver memory, traffic viscosity and a viscous vehicular traffic flow model. Transp. Res. Part B, 37, 27–41(2003)) is adopted to predict the travel time through the ring road for providing the counterpart results.When the traffic free flow speed is 80 km/h, the braking distance is supposed to be 45 m,with the jam density uniquely determined by the average length of vehicles l ≈ 5.8 m. To avoid possible singular points in travel time prediction, a distinguishing period for time averaging is pre-assigned to be 7.5 minutes. It is found that the travel time increases monotonically with the initial traffic density on the ring road. Without ramp effects, for the ring road with the initial density less than the second critical density, the travel time can be simply predicted by using the equilibrium speed. However, this simpler approach is unavailable for scenarios over the second critical.     

THE CONDITIONS AND INFLUENCING FACTORS OF TRUCKS' ROLL-OVER DURING TURNING

因重心高、载重大,大货车在弯道行驶时,如果速度过高,很容易发生侧翻。针对货车转弯侧翻这一物理现象,本文利用动静法建立了其动力学模型。引入了描述侧翻的两个物理量——倾斜临界速度和侧翻临界速度,在给定参数下对车的受力和运动进行了数值计算,并分析了车重、车的质心高度和转弯半径等因素对转弯侧翻的影响。并对如何避免大货车转弯侧翻,给出了定性的驾驶指导建议。     

Tunnel effects on ring road traffic flow based on an urgent-gentle class traffic model

To explore tunnel effects on ring road traffic flow, a macroscopic urgent-gentle class traffic model is put forward. The model identifies vehicles with urgent and gentle classes, chooses the tunnel speed limit as free flow speed to express the fundamental diagram in the tunnel, and adopts algebraic expressions to describe traffic pressure and sound speed. With two speed trajectories at the Kobotoke tunnel in Japan,the model is validated, with good agreement with observed data. Numerical results indicate that in the case of having no ramp effects, tunnel mean travel time is almost constant dependent on tunnel length.When initial density normalized by jam density is above a threshold of about 0.21, a traffic shock wave originates at the tunnel entrance and propagates backward. Such a threshold drops slightly as a result of on-ramp merging effect, the mean travel time drops as off-ramp diversion effect intensifies gradually.These findings deepen the understanding of tunnel effects on traffic flow in reality.     

Turbulent travel speeds in nonlinear vehicle dynamics

Quarter car models of vehicles rolling on wavy roads lead to limit cycles of travel speed and acceleration with period doublings and bifurcation effects for appropriate driving force parameters. In case of narrow-banded road excitations, speed jumps occur, additionally. This has the consequence that the driving speed becomes turbulent. Bifurcation and jump effects vanish with growing vehicle damping. The same happens for increasing bandwidth of road excitations when, e.g., on flat highways there are no big road waves but only small noisy slope processes generated by rough road surfaces. The paper derives a new stability condition in mean. Numerical time integrations are stabilized by means of polar coordinates. Equivalently, Fourier series expansions are introduced in the angle domain. Phase portraits of travel speed and acceleration show new period-doublings of limit cycles when speed gets stuck before resonance. The paper extends these investigations to the stochastic case that road surfaces are random generated by filtered white noise. By means of Gaussian closure, a nonlinear mean speed equation is derived which includes the extreme cases of wavy roads and road noise.

     

Spectral simulation and shock absorber identification

In vehicle dynamics shock absorbers are used for the optimization of driving comfort and driving safety. Therefore, it is necessary to identify characteristics of shock absorbers under real conditions. This paper introduces the use of hardware-in-the-loop simulations for the identification of shock absorbers involving stochastic models of the road roughness. For this purpose a dynamic hydraulic test stand is used replacing the classical mechanical test stands which allow only sinusoidal excitation. For the Monte Carlo simulation with a real shock absorber in the loop, the random excitation of ground roughness is generated using a modified spectral representation method based on the famous contributions of Shinozuka. Motion and force of the shock absorber are measured and fed back to the Monte Carlo simulation of a car model in real time. The characteristic of the shock absorber is identified using the classical least squares method and a correlation-based method. A piecewise linear model for the characteristic relating the damping force and the velocity of the piston is applied for the shock absorber identification.     

一种新的实时相关极值匹配算法设计与仿真

对传统相关极值匹配算法局限性进行了分析,并利用二维高斯样条函数张量积方法对局部重力异常离散格网基准图进行逼近以获取该局部基准图的连续解析表达式,在此基础上对相关极值匹配算法进行重新建模并采用拟牛顿BFGS非线性寻优方法对该模型进行解算。考虑到相关极值算法存在实时性差的缺点,采用固定初始序列长度的方式对初始序列采样结构进行改善,推导出了刚性变换中心从序列质心到原点的转换公式,最终完成能够实现单点迭代的基于局部重力异常基准图实时相关极值匹配算法设计,该匹配算法突破了传统离散匹配算法受限于基准图分辨率的局限。最后在2′×2′卫星测高反演重力异常数据基础上进行了两组仿真实验进行对比分析,实验结果表明,在重力测量噪声和初始定位误差较大的情况下,通过该匹配算法获得的匹配定位仍能以较高的精度实时跟踪真实航迹。     

裂缝气液重力置换的流动实验及仿真

通过可视化模拟实验对真实裂缝下气液重力置换现象进行了模拟,得到了其气液界面现象与常规平板裂缝的差异;通过对压力、置换量等数据的处理证实了气液重力置换的机理;根据实验的液体漏失流量数据提出了钻井过程中漏失、置换、溢流区间;最后根据k-ε双方程模型进行了气液重力置换流动的仿真计算,得到三维裂缝流道中都是钻井液下部侵入,呈现一个近似的直角三角形形状。本文对现场钻井工程方案设计及安全钻井具有指导意义。     

Determination of correlation functions of turbulent velocity and sound speed fluctuations by means of ultrasonic technique

An experimental study of the propagation of high-frequency acoustic waves through grid-generated turbulence by means of an ultrasound technique is discussed. Experimental data were obtained for ultrasonic wave propagation downstream of heated and non-heated grids in a wind tunnel. A semi-analytical acoustic propagation model that allows the determination of the spatial correlation functions of the flow field is developed based on the classical flowmeter equation and the statistics of the travel time of acoustic waves traveling through the kinematic and thermal turbulence. The basic flowmeter equation is reconsidered in order to take into account sound speed fluctuations and turbulent velocity fluctuations. It allows deriving an integral equation that relates the correlation functions of travel time, sound speed fluctuations and turbulent velocity fluctuations. Experimentally measured travel time statistics of data with and without grid heating are approximated by an exponential function and used to analytically solve the integral equation. The reconstructed correlation functions of the turbulent velocity and sound speed fluctuations are presented. The power spectral density of the turbulent velocity and sound speed fluctuations are calculated.