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.      

车架结构动力修改与力响应模拟技术研究

以某轻型越野汽车车架为研究对象,通过对该型车辆特定路面行驶工况下路面激励响应特性的研究,构造了模拟载荷谱. 结合车架结构试验模态模型,采用力响应模拟分析技术,对基于舒适性准则进行结构修改后的车架动态特性进行了模拟力响应对比分析,结果表明,力响应模拟分析技术是进行结构动态优化设计的高效手段.     

基于随机森林算法的非定常气动力建模研究

针对现有的非定常气动力建模方法对气动弹性预测的准确性和效率问题,将随机森林算法引入非定常气动力建模研究领域,构建了基于随机森林算法的非定常气动力降阶模型。将所得模型用于预测气动弹性,选择二维NACA0012翼型进行颤振边界的预测,选用NACA64A010翼型预测LCO特性,并说明了该降阶模型建模的详细过程,将其计算结果与CFD/CSD耦合计算结果及试验结果进行了对比。研究结果表明,该模型可行、高效且精确,可以快速准确地预测飞行器气动弹性特性。     

2021-03期目录

针对毁伤试验数据少、不均匀、不连续、范围窄等带来的计算精度不高的问题。研究通过数据挖掘技术进行毁伤效应计算。利用数据库管理毁伤数据,通过数据清洗技术识别并清除数据异常点,以保证数据库中数据的质量。建立了算法评价方法以选择最优经验算法。通过特征选择对高维毁伤数据进行降维,确定毁伤效应的主要控制参数进行神经网络学习和k-近邻检索。在此基础上建立基于数据融合的“三阶段”毁伤效应计算模型,可依据试验数据、经验算法和神经网络模型进行毁伤效应计算。实际应用表明,所提出的计算方法,能够满足实际应用需求。     

汽车液压阻尼器的四段线性化模型

通过对现有某车用液压阻尼器的实验研究和车辆悬架系统动力学仿真研究，发现这种阻尼器的动力学特性存在复杂的非线性行为。为准确描述这类阻尼器的动力学特性和进行汽车悬架系统的动力学仿真研究，本文根据阻尼器的实验数据，提出一种新型四段线性化阻尼器模型，并建立其相应的数学模型。通过汽车悬架系统的动力学仿真研究表明，采用四段线性化阻尼器模型，汽车悬架系统簧载质量在不同路面不平度函数作用下的加速度响应和均方根加速度响应随频率变化不会出现大的波动。与等效线性化阻尼器模型相比，四段线性化阻尼器模型，能较好降低汽车悬架系统簧载质量的加速度响应和均方根加速度响应，有利于提高汽车乘坐舒适性和行驶稳定性，并为新型阻尼器设计提供一个新的思路。     

基于并联机构的车辆座椅参数优化及性能分析

为进一步提升车辆座椅悬架的隔振性能,利用连杆弹簧并联机构,设计了一种具有准零刚度的非线性座椅;在对座椅参数进行加速粒子群算法优化后,建立了"人-座椅-车"七自由度集中参数耦合模型,完成了汽车在不同路面激励下的人体动力学响应仿真实验,对比分析了相同激励下线性座椅人体动力学响应。研究结果表明:参数经过加速粒子群优化算法处理的并联机构座椅满足汽车座椅设计国标GB 15083—2006和行标QC/T 740—2005要求;该座椅具有准零刚度特性,在各种路面激励下均能保持较好的隔振效果,在随机路面激励下并联机构非线性座椅悬架系统的人体各部位加速度均方根值下降了86%,位移均方根值下降了38%。     

加性非平稳激励下结构速度响应的FPK方程降维

结构在随机激励下的非线性响应分析是具有高度挑战性的困难问题. 对于白噪声或过滤白噪声激励,求解FPK方程将获得结构响应 的精确解. 遗憾的是,对于非线性多自由度系统,FPK方程难以直接求解. 事实上,其数值解法严重受限于方程维度,而解析求解 则仅适用于少数特定的系统,且多是稳态解. 因此,将FPK方程进行降维,是求解高维随机动力响应分析问题的重要途径. 本文针 对幅值调制的加性白噪声激励下多自由度非线性结构的非平稳随机响应分析问题,将联合概率密度函数满足的高维FPK方程进行降 维. 针对结构速度响应概率密度函数求解,通过引入等价漂移系数,原FPK方程可转化为一维FPK型方程. 建议了构造等价漂移系数 的条件均值函数方法. 进而,采用路径积分方法求解降维FPK型方程,得到速度概率密度函数的数值解答. 结合单自由度Rayleigh 振子、十层线性剪切型框架和非线性剪切型框架结构在幅值调制的加性白噪声激励下的非平稳速度响应求解,讨论了本文方法的精 度和效率,验证了其有效性.      

基于非线性状态空间辨识的气动弹性模型降阶

高维、非线性气动弹性系统的模型降阶是当前气动弹性力学与控制领域的研究热点之一.然而国内外现有的非线性模型降阶方法仍存在辨识算法复杂、精度有待提高等问题.本研究提出了一种基于非线性状态空间辨识的跨音速气动弹性模型降阶方法.首先,该方法基于非定常空气动力的单位脉冲响应数据,采用特征系统实现算法对非线性状态空间模型的线性动力学部分进行系统辨识.其次,引入状态和控制输入的非线性函数,采用优化算法对非线性函数的系数矩阵进行优化,进而得到考虑非线性效应的空气动力降阶模型.为了验证该降阶模型在预测跨音速气动弹性力学行为的精确性,本文以三维机翼为研究对象,分别从基于非线性降阶模型的气动力辨识、跨声速颤振边界计算和极限环振荡预测三方面进行了算例验证,并与现有的模型降阶方法进行了对比,进一步说明本文所提出方法的有效性.研究结果表明,该降阶模型对上述三类问题的计算精度与直接流-固耦合方法相吻合,可用于高效预测飞行器跨声速气动弹性力学行为.     

基于非线性状态空间辨识的气动弹性模型降阶

高维、非线性气动弹性系统的模型降阶是当前气动弹性力学与控制领域的研究热点之一.然而国内外现有的非线性模型降阶方法仍存在辨识算法复杂、精度有待提高等问题.本研究提出了一种基于非线性状态空间辨识的跨音速气动弹性模型降阶方法. 首先,该方法基于非定常空气动力的单位脉冲响应数据,采用特征系统实现算法对非线性状态空间模型的线性动力学部分进行系统辨识. 其次,引入状态和控制输入的非线性函数, 采用优化算法对非线性函数的系数矩阵进行优化,进而得到考虑非线性效应的空气动力降阶模型.为了验证该降阶模型在预测跨音速气动弹性力学行为的精确性,本文以三维机翼为研究对象,分别从基于非线性降阶模型的气动力辨识、跨声速颤振边界计算和极限环振荡预测三方面进行了算例验证,并与现有的模型降阶方法进行了对比, 进一步说明本文所提出方法的有效性.研究结果表明, 该降阶模型对上述三类问题的计算精度与直接流-固耦合方法相吻合,可用于高效预测飞行器跨声速气动弹性力学行为.      

加性非平稳激励下结构速度响应的FPK方程降维

结构在随机激励下的非线性响应分析是具有高度挑战性的困难问题.对于白噪声或过滤白噪声激励,求解FPK方程将获得结构响应的精确解.遗憾的是,对于非线性多自由度系统,FPK方程难以直接求解.事实上,其数值解法严重受限于方程维度,而解析求解则仅适用于少数特定的系统,且多是稳态解.因此,将FPK方程进行降维,是求解高维随机动力响应分析问题的重要途径.本文针对幅值调制的加性白噪声激励下多自由度非线性结构的非平稳随机响应分析问题,将联合概率密度函数满足的高维FPK方程进行降维.针对结构速度响应概率密度函数求解,通过引入等价漂移系数,原FPK方程可转化为一维FPK型方程.建议了构造等价漂移系数的条件均值函数方法.进而,采用路径积分方法求解降维FPK型方程,得到速度概率密度函数的数值解答.结合单自由度Rayleigh振子、十层线性剪切型框架和非线性剪切型框架结构在幅值调制的加性白噪声激励下的非平稳速度响应求解,讨论了本文方法的精度和效率,验证了其有效性.     

A roll stability performance measure for off-road vehicles

The roll stability is significant for both road and off-road commercial vehicles, while the majority of reported studies focus on road vehicles neglecting the contributions of uneven off-road terrains. The limited studies on roll stability of off-road vehicles have assessed the stability limits using performance measures derived for road vehicles. This study proposes an alternative performance measure for assessing roll stability limits of off-road vehicles. The roll dynamics of an off-road mining vehicle operating on random rough terrains are investigated, where the two terrain-track profiles are synthesized considering coherency between them. It is shown that a measure based on steady-turning root-mean-square lateral acceleration corresponding to the sustained period of unity lateral-load-transfer-ratio prior to the absolute-rollover, could serve as a reliable measure of roll stability of the vehicle operating on random rough terrains. The robustness of proposed performance measure is demonstrated considering sprung mass center height variations and different terrain excitations. The simulation results revealed adverse effects of terrain elevation magnitude on the roll stability, while a relatively higher coherency resulted in lower terrain roll-excitation and thereby enhanced vehicle roll stability. Terrains with relatively higher waviness increased the magnitude of lower spatial frequency components, which resulted in reduced roll stability limits.     

Parameterization and modelling of large off-road tyres for ride analyses: Part 2 – Parameterization and validation of tyre models

Every mathematical model used in a simulation is an idealization and simplification of reality. Vehicle dynamic simulations that go beyond the fundamental investigations require complex multi-body simulation models. The tyre–road interaction presents one of the biggest challenges in creating an accurate vehicle model. Many tyre models have been proposed and developed but proper validation studies are less accessible. These models were mostly developed and validated for passenger car tyres for application on relatively smooth roads. The improvement of ride comfort, safety and structural integrity of large off-road vehicles, over rough terrain, has become more significant in the development process of heavy vehicles. This paper investigates whether existing tyre models can be used to accurately describe the vertical behaviour of large off road tyres while driving over uneven terrain. [1] Presented an extensive set of experimentally determined parameterization and validation data for a large off-road tyre. Both laboratory and field test are performed for various loads, inflation pressures and terrain inputs. The parameterization process of four tyre models or contact models are discussed in detail. The parameterized models are then validated against test results on various hard but rough off-road terrain and the results are discussed.     

A method of torque control for independent wheel drive vehicles on rough terrain

Our previous research has revealed that, for vehicles with independently driven wheels, a torque distribution based on the ratio of the vertical load of each wheel to the total vehicle load is efficient for driving on flat ground. In this research, this method of torque distribution was extended to electric off-road vehicles driving on rough ground. In order to examine the driving efficiency of these vehicles, a numerical vehicle model was constructed in the pitch plane. Simulations using the numerical vehicle model on rough ground were conducted with a proposed torque distribution and control method. The numerical results from these simulations were compared with those of a conventional vehicle to evaluate the driving efficiency and trafficability on ground with various profiles. A comparison between the simulations demonstrated that the proposed method of torque distribution to the front and rear wheels based on the ratio of the vertical load is efficient for driving on rough ground.     

Dynamics modeling and robotic-assist,leader-follower control of tractor convoys

This paper proposes a generalized dynamics model and a leader-follower control architecture for skid-steered tracked vehicles towing polar sleds. The model couples existing formulations in the literature for the powertrain components with the vehicle-terrain interaction to capture the salient features of terrain trafficability and predict the vehicles response. This coupling is essential for making realistic predictions of the vehicles traversing capabilities due to the power-load relationship at the engine output. The objective of the model is to capture adequate fidelity of the powertrain and off-road vehicle dynamics while minimizing the computational cost for model based design of leader-follower control algorithms. The leader-follower control architecture presented proposes maintaining a flexible formation by using a look-ahead technique along with a way point following strategy. Results simulate one leader-follower tractor pair where the leader is forced to take an abrupt turn and experiences large oscillations of its drawbar arm indicating potential payload instability. However, the follower tractor maintains the flexible formation but keeps its payload stable. This highlights the robustness of the proposed approach where the follower vehicle can reject errors in human leader driving.     

A spatial motion analysis model of tracked vehicles with torsion bar type suspension

A spatial motion analysis model for high-mobility tracked vehicles was constructed for evaluation of ride performance, steerability, and stability on rough terrain. Ordinary high-mobility tracked vehicles are equipped with independent torsion bar type suspension system, which consists of road arms and road wheels. The road arm rotates about the axis of torsion bar, and rigidity of the torsion bar and cohesion of damper absorb sudden force change exerted by interaction with the ground. The motion of the road arms should be considered for the evaluation of off-road vehicle performance in numerical analysis model. In order to obtain equations of motion for the tracked vehicles, the equations of motion for the vehicle body and for the assembly of a road wheel and a road arm were constructed separately at first. Two sets of equations were reduced with the constraint equations, which the road arms are mechanically connected to the vehicle body. The equations of motion for the vehicle have been expressed with minimal set of variables of the same number as the degrees of freedom for the vehicle motion. We also included the effect of track tension in the equations without constructing equations of motion for the tracks. Numerical simulation based on the vehicle model and experiment of a scale model passing over a trapezoidal speed bump were performed in order to examine the numerical model. It was found that the numerical results reasonably predict the vehicle motion.     

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.      

Analytical track models for ride dynamic simulation of tracked vehicles

This paper presents various modelling strategies to account for track in the ride dynamic simulation of high mobility tracked vehicles negotiating rough off-road terrains. Four analytical track representations of varying complexities are formulated in conjuction with an in-plane ride dynamic model of a typical tracked vehicle. These track models are conceived in view of the tracked vehicle kinematics while ignoring the track belt vibrations. The ride dynamic response of a conventional armoured personnel carrier is evaluated in conjunction with different track methods, and validated against field-measured ride data. The relative performances of these track models are thus assessed based on the accuracy of response predictions, and associated computational time.     

Improving off-road vehicle handling using an active anti-roll bar

To design a vehicle’s suspension system for a specific, well defined road type or manoeuvre is not a challenge any more. As the application profile of the vehicle becomes wider, it becomes more difficult to find spring and damper characteristics to achieve an acceptable compromise between ride comfort and handling. For vehicles that require both good on- and off-road capabilities, suspension design poses a significant challenge. Vehicles with good off-road capabilities usually suffer from poor on-road handling. These vehicles are designed with a high centre of gravity due to the increased ground clearance, soft suspension systems and large wheel travel to increase ride comfort and ensure traction on all the wheels. All of these characteristics contribute to bad handling and increased rollover propensity even on good level roads. It is expect from these vehicles to have the same handling characteristics as a normal on-road vehicle. This paper analyses the use of an active anti-roll bar as a means of improving the handling of an off-road vehicle without sacrificing ride comfort. The proposed solution is simulated, designed, manufactured, implemented and tested to quantify the effect of the active anti-roll bar on both the handling and ride comfort of an off-road vehicle.     

基于数据驱动的全线控底盘纵臂式悬架系统研究

汽车在越野类极限路况下行驶, 对车身高度有一定范围的调节需求, 传统悬架方案与全线控底盘进行技术融合时, 存在机构运动干涉、底盘升降过程中车轮外倾程度过大、车轮发生侧向位移等现象, 易导致轮胎过度磨损, 致使行驶失稳. 将车身高度变化对轮胎侧向参数的影响转化为车轮纵向滚动, 进而实现稳定的大行程车身高度调节, 是解决上述问题的关键. 本研究建立整车七自由度动力学模型, 对悬架系统导向机构展开力学分析, 集两者作为系统研究的输入信息; 通过正弦波激振台对弹性元件、减振器进行相关特性参数获取, 基于数据驱动开展一体化电动轮的运动学仿真测试, 包括对悬架系统关键铰接位置进行力学性能分析、对电动轮整体结构进行运动学特性研究, 以此定义系统关键性能指标, 结合理论研究与仿真测试, 确定双纵臂式主动悬架系统方案. 仿真结果与实车验证综合表明, 搭载本研究系统方案的全线控平台, 进行大行程高度调节过程中, 车轮外倾问题得到有效解决, 一体化电动轮具备良好的独立运行能力, 本研究对提高车辆在极限路况下的通过性具有重要意义.