Optimal vehicle suspension characteristics for increased structural fatigue life

Heavy off-road vehicle suspension systems face unique challenges. The ride comfort versus handling compromise in these vehicles has been frequently investigated using mathematical optimisation. Further challenges exist due to the large variations in vehicle sprung mass. A passive suspension system can only provide optimal isolation at a single payload. The designer of such a suspension system must therefore make a compromise between designing for a fully-laden or unladen payload state. This work deals with suspension optimisation for vehicle structural life. The paper mainly addresses two questions: (1) What are the suspension characteristics required to ensure optimal isolation of the vehicle structure from road loads? and (2) If such optimal suspension characteristics can be found, how sensitive are they to changes in vehicle payload? The study aims to answer these questions by examining a Land Rover Defender 110 as test vehicle. An experimentally validated non-linear seven degree-of-freedom mathematical model of the test vehicle is constructed for the use in sensitivity studies. Mathematical optimisation is performed using the model in order to find the suspension characteristics for optimal structural life for the vehicle under consideration. Sensitivity studies are conducted to determine the robustness of the optimal characteristics and their sensitivity to vehicle payload variation. Recommendations are made for suspension characteristic selection for optimal structural life.     

Modeling of terrain impact caused by tracked vehicles

Analytical models that can predict the terrain impact caused by tracked vehicles on a horizontal plane were developed and tested. The models included a disturbed width model and an impact severity model. Inputs of the terrain impact models included vehicle static properties, vehicle dynamic properties, and terrain properties. The tested vehicles included an M1A1 tank, an M577 Armored Personal Carrier (APC), and an M548 cargo carrier. The models were verified with field tests conducted in Yakima Training Center in Yakima, WA, Fort Riley, KS, and Camp Atterbury, Indiana. The average percentage errors of the disturbed width model for the M1A1, M577, and the M548 were 10.0%, 27.3%, and 8.5%, respectively. The average percentage errors of the impact severity model of the M1A1 and M577 were 25.0% and 21.4%, respectively.     

Prediction of impacts of wheeled vehicles on terrain

Traffic of off-road vehicles can disturb soil, decrease vegetation development, and increase soil erosion. Terrain impacts caused by wheeled off-road vehicles were studied in this paper. Models were developed to predict terrain impacts caused by wheeled vehicles in terms of disturbed width and impact severity. Disturbed width and impact severity are not only controlled by vehicle types and vehicle dimensions, but also influenced by soil conditions and vehicle dynamic properties (turning radius, velocity). Field tests of an eight-wheeled vehicle and a four-wheeled vehicle were conducted to test these models. Field data of terrain–vehicle interactions in different vehicle dynamic conditions were collected. Vehicle dynamic properties were derived from a global position system (GPS) based tracking system. The average prediction percentage error of the theoretical disturbed width model is less than 20%. The average absolute error between the predicted impact severity and the measured value is less than an impact severity value of 12%. These models can be used to predict terrain impacts caused by off-road wheeled vehicles.     

An investigation of pressure under wheeled vehicles

This paper reviews methods currently used to predict the pressure exerted by a wheeled vehicle on the ground. It describes a programme of experiments designed to measure the pressure at a certain depth in a soil mass, the surface of which is traversed by a number of different vehicles in a range of loading conditions. Methods for inferring the surface pressure from underground measurements are described and compared. The inferred surface pressures are then compared with predicted values. A discussion is given on the usefulness and validity of ground pressure characterisation for wheeled vehicles.     

Geometric Singular Perturbations for Multiple Turning Points: Invariant Manifolds and Exchange Lemmas

In this paper, we consider singularly perturbed systems with multiple sets of turning points. Two types of related results contributing to geometric singular perturbation theory are obtained. The first result establishes a new class of invariant manifolds. The second result consists of several exchange lemmas that characterize the evolution of an invariant manifold passing through the vicinity of the slow manifold.Partially supported by NSF Grants DMS-0071931 and DMS-0406998.     

Vibration characteristics of a bi-density drumhead

The dayan tabla is a percussion instrument used as an accompaniment to classical Indian singing or music. In this work, a mathematical model was developed to describe the response of this instrument and to analytically determine the areal density distribution required to obtain overtones that were rational multiples of each other. The model was verified by comparing the exact Bessel function solution of the constant density drum with the results obtained using the approximate method outlined in this paper. The maximum error obtained for the first 10 natural frequencies was less than 1% while the associated mode shapes differed by less than 5%. The bi-density model of the tabla, with a mass ratio of 4.1 and a radius ratio of 0.49, predicted natural frequency ratios of approximately 1.1:2:3 (twice):4 (twice) for the fundamental and the first few overtones. This compares well with previously reported experimental data.     

Nonlinear Analysis of Experimental Time Series of a Straight Turning Process

We investigate vibrations generated in a straight turning process. Applying correlation functions and the Fourier transform to experimental time series, we have analysed their nature. Particularly, we have identified whipping caused by the non-ideal suspension of the cutting workpiece. Our investigation shows also a large stochastic component of vibrations. It can be the effect of random forcing due to the initial roughness of a cutting surface and/or spontaneous chips breaking.     

Dynamics of aerospace vehicles at very high altitudes

Some basic questions of the flight mechanics of aerospace vehicles at very high altitudes are investigated and in some cases reviewed. In particular those of the spacecraft trajectories are considered along which the aerodynamic actions take place in a range of the Knudsen number between transition and free molecular flow. A recent physico-mathematical model is adopted in the evaluation of the aerodynamic and heat transfer coefficients. The stability characteristics are discussed of two reference vehicle configurations for which the time histories are also calculated relative to significant equilibrium conditions. In the final section of the paper the initial step of an aeroassisted orbit transfer is considered in order to evaluate the constraints due to the aerodynamic heating on this manoeuvre.Si studiano alcune questioni fondamentali della meccanica del volo di veicoli aerospaziali a quote molto elevate. Si considerano, in particolare, quei tratti delle traiettorie lungo i quali le azioni aerodinamiche si esplicano in un campo di numeri di Knudsen tra la transizione ed i flussi di molecole libere. Si adotta un recente modello fisico-matematico per calcolare i coefficienti aerodinamici e di scambio termico. Dopo aver discusso le caratteristiche di stabilit`a per due configurazioni di velivoli di riferimento, se ne calcolano le leggi orarie a partire da condizioni di equilibrio significative. Il lavoro termina con lo studio di un traferimento orbitale aeroassistito al fine di valutare i limiti a questa manovra dovuti al riscaldamento aerodinamico.     

Numerical modeling of the effect of geometric asymmetry on the damping aerodynamic characteristics of supersonic sectional flight vehicles

A method for calculating the steady inviscid supersonic flow past equivalent bodies is applied to the analysis of the time-dependent aerodynamic characteristics of sectional flight vehicles with an asymmetric rear stabilizer. The stabilizer asymmetry can be caused by either its deflection or a change in its shape due to heat-shield coating removal, boundary layer displacement thickness, developed separation flow zones, local deformations, or other distortions in the baseline form. Amathematical apparatus for modeling asymmetric sectional configurations by means of ruled surfaces with arbitrary contours of the reference cross-sections is developed. The uniform perfect-gas M_∞ = 6 flow past sectional vehicles performing plane oscillations about the zero angle of attack is calculated (the adiabatic exponent γ = 1.4). The calculated results demonstrate the effect of various asymmetries in the body shape on the aerodynamic coefficients.     

Stabilization of coordinated motion for underwater vehicles

This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest(unstable) axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.     

Dynamics of vehicles with high gravity centre

The vehicles with high gravity centre are more prone to roll over. The paper deals with a method of dynamics analysis of fire engines which is an example of these types of vehicle. Algorithms for generating the equations of motion have been formulated by homogenous transformations and Lagrange's equation. The model presented in this article consists of a system of rigid bodies connected one with another forming an open kinematic chain. Road maneuvers such as a lane change and negotiating a circular track have been presented as the main simulations when a car loses its stability. The method has been verified by comparing numerical results with results obtained by experimental measurements performed during road tests.     

The applicability of ride comfort standards to off-road vehicles

The correlation between objective methods for determining ride comfort and subjective comments from crew driving in vehicles were investigated. For objective measurements, the ISO 2631, BS 6841, Average Absorbed Power and VDI 2057 methods were used. The emphasis was on the ride comfort of military vehicles operated under off-road conditions over typical terrains. An experiment was devised and executed in order to obtain both objective and subjective ride comfort values. The correlation between the different methods, measuring positions, measurement directions and calculation methods was determined. It is concluded that all the methods can be used to specify and evaluate ride comfort, but that acceptable ride comfort limits vary. The vertical measurement direction was dominant. Due to the frequency content of the measured acceleration, the specific weighing curve is not very important for the type of vehicle considered.     

Development of high-mobility tracked vehicles for over snow operations

This paper describes a detailed investigation into the effects of some of the major design features on the mobility of tracked vehicles over snow. The investigation was carried out using the latest version of an advanced computer simulation model, known as NTVPM, developed under the auspices of Vehicle Systems Development Corporation (VSDC), Ottawa, Ontario, Canada. Results show that the road wheel system configuration, initial track tension (i.e., the tension in the track system when the vehicle is stationary on a level, hard ground) and track width have significant effects on vehicle mobility over snow. On deep snow where the vehicle belly (hull) contacts the snow surface, the location of the centre of gravity (C.G.) of the sprung weight in the longitudinal direction has a noticeable effect on vehicle mobility, as it affects the attitude of the belly and the belly–snow interaction. Based on the investigation, a conceptual high-mobility tracked vehicle for over snow operations is discussed. Results of this study will provide the vehicle designer with guiding principles for the development of high-mobility tracked vehicles. It also demonstrates that NTVPM is a useful and effective tool for design and performance evaluation of tracked vehicles from a traction perspective.     

气体模型对再入飞行器气动力热环境影响的数值研究

复杂外形再入飞行器的设计,需对气动力热环境进行预测,由于不同的气体模型会对预测的结果产生影响,所以气动设计时就必须考虑这一影响.采用热化学平衡气体模型和双温度热化学非平衡气体模型对复杂外形再入飞行器的气动力热环境进行了数值计算;分析了气体模型对气动力、壁面热流等值线、驻点线平动温度、振动温度、组分质量分数等特征量的影响...     

膜扑翼飞行器的变形研究

最近昆虫翼的变形成了研究热点,而扑翼飞行器的变形力学研究却几乎无人问津.然而,无论昆虫、鸟类还是扑翼飞行器在飞行时,翼的变形都是存在的,要精确计算翼扑动产生的气动力,必须考虑其变形.本文比较了导致变形产生的膜扑翼飞行器的惯性力和气动力在一个周期中的变化情况,发现它们的峰值比值为2左右,然后提出了在随体坐标系中的固支边界条件,采用有限元法计算了惯性力和气动力分别对变形的影响,发现扑翼飞行器的气动力对变形的影响是不可忽略的重要因素,而惯性力与气动力的合力引起的最大正变形发生在下扑初始阶段,最大负变形发生在上扑初始阶段.本文为扑翼飞行器的设计提供了力学分析基础.     

Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain

Skid-steered tracked vehicles are the favoured platform for unmanned ground vehicles (UGVs) in poor terrain conditions. However, the concept of skid-steering relies largely on track slippage to allow the vehicle to conduct turning manoeuvres potentially leading to overly high slip and immobility. It is therefore important to predict such vulnerable vehicle states in order to prevent their occurrence and thus paving the way for improved autonomy of tracked vehicles. This paper presents an analytical approach to track-terrain modelling and a novel traversability prediction simulator for tracked vehicles conducting steady-state turning manoeuvres on soft terrain. Traversability is identified by predicting the resultant track forces acting on the track-terrain interface and the adopted models are modified to provide an analytical generalised solution. The validity of the simulator has been verified by comparison with available data in the literature and through an in-house experimental study. The developed simulator can be employed as a traversability predictor and also as a design tool to test the performance of tracked vehicles with different vehicle geometries operating on a wide range of soil properties.     

Piezoelectric energy harvesting from morphing wing motions for micro air vehicles

Wing flapping and morphing can be very beneficial to managing the weight of micro air vehicles through coupling the aerodynamic forces with stability and control. In this letter, harvesting energy from the wing morphing is studied to power cameras, sensors, or communication devices of micro air vehicles and to aid in the management of their power. The aerodynamic loads on flapping wings are simulated using a three-dimensional unsteady vortex lattice method. Active wing shape morphing is considered to enhance the performance of the flapping motion. A gradient-based optimization algorithm is used to pinpoint the optimal kinematics maximizing the propellent efficiency. To benefit from the wing deformation, we place piezoelectric layers near the wing roots. Gauss law is used to estimate the electrical harvested power. We demonstrate that enough power can be generated to operate a camera. Numerical analysis shows the feasibility of exploiting wing morphing to harvest energy and improving the design and performance of micro air vehicles.     

Online terrain estimation for autonomous vehicles on deformable terrains

In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on computationally expensive algorithms that are not suitable for real-time estimation. To address these shortcomings, this work develops a reduced-order nonlinear terramechanics model as a surrogate of the Soil Contact Model (SCM) through extending a state-of-the-art Bekker model to account for additional dynamic effects. It is shown that this reduced-order surrogate model is able to accurately replicate the forces predicted by the SCM while reducing the computation cost by an order of magnitude. This surrogate model is then utilized in an unscented Kalman filter to estimate the sinkage exponent. Simulations suggest this parameter can be estimated within 4% of its true value for clay and sandy loam terrains. It is also shown in simulation and experiment that utilizing this estimated parameter can reduce the prediction errors of the future vehicle states by orders of magnitude, which could assist with achieving more robust model-predictive autonomous navigation strategies.     

星敏感器辅助的临近空间飞行器姿态匹配传递对准方法

为解决临近空间飞行器的精确、快速传递对准问题,提出了发射点惯性坐标系下基于星敏感器信息辅助的传递对准方案。根据星敏感器输出的不同形式的姿态信息,如利用TRIAD算法获得的姿态角信息或利用QUEST算法获得的姿态四元数信息,分别建立了基于平台失准角和基于加性四元数的非线性传递对准模型。针对非线性特性模型,采用UKF滤波算法进行了数学仿真。仿真结果表明,在2 s内,两种方案的姿态角误差均可以收敛到20"。仿真验证了两种算法的有效性,为临近空间飞行器的传递对准提供了参考。     

舵布置位置对船舶操纵性影响试验研究

舵合理布置于船尾螺旋桨后方能有效吸收螺旋桨尾流,达到船舶操纵性能优化设计的目的. 根据螺旋桨尾流特征,设计了舵的4个横向和3个纵向,共计6个舵布置位置方案,通过自由自航模型试验考察舵布置位置对操纵性的影响. 在湖上开展了船模回转、Z形操舵和回舵试验,速降和静横倾角的试验结果符合一般操纵性规律,表明试验结果的有效性.