Steady-state analysis of multibody systems with reference to vehicle dynamics

This paper presents a systematic methodology and formulation for determining the steady-state response of multibody systems. The equations of motion for a general multibody system are described in terms of a set of relative joint accelerations. Then, the differential equations of motion are converted to a set of algebraic equations for the steady-state response. These equations are derived based upon a set of conditions that must exist for the steady state. The application of this formulation in determining the steady-state response of a vehicle moving in a circular path is shown. The multibody model of the vehicle for two- or four-wheel steering is presented. The results of the steady-state simulation are compared with those obtained from a transient dynamic analysis.     

A method of optimal wheel torque determination for independent wheel drive vehicles

A method of optimal wheel torque determination for electric motor vehicles is presented. Electric motor vehicles are increasing with the rise of public interest in environmental protection. In the case of vehicles driven by controllable motors on each individual wheel, the determination of the wheel torque is an essential factor for efficient driving. In this research, a method of optimal torque determination has been formulated by using the variational principle to minimize frictional work done by the tires with the ground contact. Optimal torque on each wheel for a four-wheel vehicle was numerically obtained by solving the equations under several driving conditions. The result of the numerical simulation is useful as a guide to control the motor torque of electric vehicles for efficient driving.     

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.      

Multi-objective traction optimization of vehicles in loose dry sand using the generalized reduced gradient method

A work optimization strategy is combined with algorithms within the vehicle-terrain interface (VTI) model to maximize the traction of a four-wheel vehicle operating on loose dry sand. The optimization model distributes traction among the steered and non-steered wheels with the work optimum coefficient (WOC) of each wheel treated as an independent design objective. Drawbar pull (DBP), motion resistance (MR), longitudinal traction coefficient (LTC), lateral force coefficient (LFC), tire deflection, and wheel slip are key parameters that appear in the VTI model for traction performance analysis. The analysis includes wheels of different diameters, widths, heights, and inflation pressures, under variable wheel slips. A multi-objective optimization problem is formulated over a thirteen-dimensional search space bounded by eight design constraints. The generalized reduced gradient method is used to predict optimal values of the design variables as well as ground and traction parameters such as DBP, MR, LTC, and LFC for maximum slope climbing efficiency. The WOCs are maximized for lateral slip angles between 0° and 24° to find a set of Pareto optimal solutions over a wide range of weight factors. A method to apply the optimization results for predicting vehicle performance and traction control on dry sand is presented and discussed.     

Design and development of a variable ground clearance,variable wheel track self-leveling hillside vehicle power chassis (V2-HVPC)

This paper presents a design of hillside vehicle power chassis with the balance rocker suspension mechanism. The objective of design is to achieve a variable ground clearance, variable wheel track and self-leveling chassis adapted to the various types of crop grown ridge section and height. The V2-HVPC design consists of the main body, the balance rocker suspension, two driving axles and the steering system. Those assemblies form an H-type chassis structure where both sides of the driving axle and the main body are connected to power transmission. The ground clearance and wheel track have the adjustable function. The balance rocker suspension is a novel mechanism which ensures full-time four-wheel drive in a complex road environment while maintaining the main body level always in the angle bisector of the two driving axle. According to the hillside terrain and agronomic characteristics of various crops, the ground clearance and the wheel track can be adjusted continuously and smoothly by hydraulic system. The topology diagram and power transmission system diagram are all given correspondingly. Moreover simulation analysis and basic experiments have been carried out to verify the mobility and dynamic performance of the V2-HVPC. The results show that the concept of V2-HVPC is approved reasonable and the design and testing methods are feasible and practical.     

The optimum height of application of force and eccentricity of a wheeled vehicle running on a loose sandy soil

In earthmoving sites, multi-wheeled vehicles are used to excavate a sandy soil or to pull other construction machinery. In this paper, the mechanism of a 5.88 kN weight, two-axle, four-wheel vehicle running on a loose sandy soil is theoretically analysed. For given terrain-wheel system constants, the combination of the effective braking force of the front wheel during pure rolling state and the effective driving force of the rear wheel during driving action will clarify the relation between effective effort of the vehicle and slip ratio and the relation between amounts of sinkage the front and rear wheels and slip ratio, etc. The maximum effective tractive effort of the vehicle varies with the height of application force and the position of the center of gravity of the vehicle. The optimum height of application of force and the eccentricity of the center of gravity to obtain the largest value of the maximum effective tractive effort can be explained with an analytical simulation program. Results of this study showed that the optimum height of application force should be 30 cm and the optimum eccentricity of the center of gravity is 0.05 for a vehicle considered for this study.     

Modeling and validation of hitch loading effects on tractor yaw dynamics

This paper develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications and for new automated steering control systems. Dynamic equations which use a tire-like model to capture the characteristics of the implement are found to adequately describe the tractor implement yaw dynamics. This model is termed the “3-wheeled” Bicycle Model since it uses an additional wheel (from the traditional bicycle model used to capture lateral dynamics of passenger vehicles) to account for the implement forces. The model only includes effects of lateral forces as it neglects differential longitudinal or draft forces between inner and outer sides of the vehicle. Experiments are taken to verify the hitch model using a three-dimensional force dynamometer. This data shows the implement forces are indeed proportional to lateral velocity and that differential draft forces can be neglected as derived in the “3-wheeled” Bicycle Model. Steady state and dynamic steering data are used for implements at varying depths and speeds to quantify the variation in the hitch loading. The dynamic data is used to form empirical transfer function estimates (ETFEs) of the implements and depths in order to determine the coefficients used in the “3-wheeled” Bicycle Model. Changes in a single parameter, called the hitch cornering stiffness, can capture the various implement configurations. Finally, a model that includes front wheel drive forces is derived. Experiments are taken which provide a preliminary look into the effect of four-wheel drive traction forces, and show a difference with two-wheel versus four-wheel drive, on the yaw dynamics of a tractor with the hitched implement.     

Direct yaw-moment control for 4WID electric vehicle via finite-time control technique

This paper is concerned with the yaw-moment stabilization for four-wheel independent-drive electric vehicle. A second-order sliding mode observer is first designed to estimate the required sideslip angle in a finite time. Then, the finite-time control technique and nonlinear disturbance observer are applied to construct the upper controller to drive both yaw rate and sideslip angle to their desired values. Finally, the lower controller is developed to distribute the torques to the independent four wheels according to the desired yaw moment obtained by the given upper controller. Comparisons among linear, discontinuous and nonsmooth controllers under different working conditions are given by using CarSim software.     

高超声速非定常流动的数值模拟与气动热计算

高超声速飞行器研究中的一个重点问题是飞行器表面的气动加热,它对飞行器的气动、热特性及安全性有重要的影响.受到当前实验技术的限制,地面实验无法准确模拟真实飞行条件,所以采用数值模拟研究气动加热问题成为目前重要的研究手段.本文采用数值方法求解三维N-S方程,得到钝头体再入模型绕流的瞬态流场,驻点温度及表面热流沿轨道变化规律.计算中采用变边界条件模拟沿轨道飞行的非定常性.     

The user and terrain-machine system research

Designing off-road equipment to meet user requirements assumes that research results are brought to bear on real design problems, that the user has been identified, and that the user's needs are communicated to the designer. In the area of military vehicles, these conditions are met. The U.S. Army Mobility Model is an example of how this is done.The Army Mobility Model, a computer simulation technique, allows terrain, vehicle, and driver characteristics to be combined to predict the performance of vehicles according to various criteria such as speed, fuel consumption, etc. The results of the computer analysis appear in map form, and there are also special techniques for finding the optimum route between two points. The data base has been validated by actual vehicle performance measurements.Several recent applications of the Army Mobility Model are discussed. These applications demonstrate that the need for a systematic application of terrain-vehicle research results to vehicle design has been at least partly fulfilled. This simulation technique has developed a stronger communication link between the vehicle designer and user. Establishing this link has created a new demand for a wide variety of vehicle performance predictions for which many predictive relations are not yet fully developed and validated. Adequate research will be necessary to ensure further progress in this direction.     

APPLICATIONS AND CHALLENGES OF STRUCTURAL OPTIMIZATION IN HIGH-SPEED AEROCRAFT 1)

高速飞行器是航空航天领域发展的重要方向,具有重大战略意义和重要经济社会价值。首先,对结构优化技术及其在飞行器零部件和全机结构概念设计中的应用进行综述;然后,根据典型使用环境和设计要求,总结高速飞行器结构设计中存在的主要问题和应用需求,着重介绍近年来在高速飞行器零部件和全机结构概念设计中应用结构优化技术的典型案例;最后,提出近期亟待突破或完善的结构优化技术。结构优化技术与设计经验相结合带来设计理念的变革,将成为先进飞行器设计的必备工具和标准流程。面向重大需求的结构优化理论研究与工程实践对提升我国航空航天核心竞争力具有重要价值。     

汽车工程中的若干力学问题

汽车的设计、开发和使用离不开力学.简述汽车的发展历史、主要组成及其性能.介绍汽车工程中的几个关键力学问题,包括汽车轮胎力学、行驶稳定性分析、驱动与阻力、振动与噪声、碰撞力学与车身耐撞性、撞击损伤生物力学、行人保护力学等.展望了汽车工程中需要关注的力学问题.     

Automatic control system of a rear-wheel drive vehicle moving on a sloped weak sandy terrain

The general mechanism of tractive performance of a four-wheel vehicle with rear-wheel drive moving up and down a sloped sandy soil has been considered theoretically. For the given vehicle dimensions and terrain-wheel system constants, the relationships among the effective tractive or braking effort of the vehicle, the amount of sinkage of the front and rear wheels, and the slip ratio were analysed by simulation. The optimum eccentricity of the vehicle’s center of gravity and the optimum application height of the drawbar-pull for obtaining the largest value of maximum effective tractive or braking effort could be calculated by means of the analytical simulation program. For a 5.88 kN weight vehicle, it was found that the optimum eccentricity of the center of gravity e_opt was 1/6 for the range of slope angle—0βπ/24 rad during driving action of the rear wheel and e_opt was also 1/6 for the range of slope angle—π/24β0 rad during braking action of the rear wheel. The optimum application height H_opt was found to be 35 cm for the range of slope angle 0βπ/24 rad during driving action of the rear wheel and H_opt was 0 cm for the range of slope angle—π/24β0 rad during braking action of the rear wheel.     

小型飞行器空气动力学

对小型飞行器设计中涉及的空 气动力学问题进行了综述.描述了雷诺数和展弦比对固定翼飞行器的设计以及飞行 性能的影响.在低雷诺数飞行范围,翼型上边界层的特性对飞行器的设计尤为关键. 本文讨论了大量有关层流边界层(包括层流分离泡影响)的实验,作为例子,列举了几 个此飞行雷诺数范围的小型低空无人驾驶飞行器(UAVs).此外,对扑动翼推进的理论 模型进行了简述;其范围涵盖了早期的准定常附着流模型,以及后来计及非定常尾涡、 流动分离以及气动弹性等效应的模型.文中还介绍了那些与理论互补并最终导致扑 翼机设计成功的实验.     

Comparison of the tractive performance of a tractor driving wheel during its first and second passes in the same track

The tractive performance of a conventional 13.6–38 tractor driving wheel tyre was measured in 19 different fields using the NIAE Single Wheel Tester. In each field the performance was measured on the undisturbed ground and again in the rut formed by a previous run with the same tyre. The second run simulated the operation of the rear wheels on a four-wheel drive tractor.The performance during the second pass was generally better than during the first pass. On average, the coefficient of traction increased by 7%, rolling resistance reduced by 11% and maximum tractive efficiency increased by 5%. The improvement increased as ground conditions deteriorated but was never large enough to fully explain the differences in performance between two and four-wheel drive tractors previously measured. It is suggested, therefore, that these differences may be primarily due to the greater ease with which power, weight, implement size and working speed can be matched with four-wheel drive tractors.     

A new quality appearance evaluation technique for automotive bodies including effect of flexible parts tolerances

Part tolerances have a crucial effect on the quality of products. In vehicle design, tolerance analysis is of central importance in quality appearance evaluation of automotive bodies and significantly taken into consideration by manufacturers in recent decades. This paper evaluates the surface quality of a car’s roof as one of the key quality characteristics in vehicle design. Compared to previous research in the area of quality appearance evaluation of automotive bodies, which are based on the assumption of part rigidity, the current research proposes to include part flexibilities in the analysis. The results of this study shows that input tolerances have a considerable effect on the surface quality of the final assembled product.     

On the role of mean maximum pressure as an indicator of cross-country mobility for tracked vehicles

The role of mean maximum pressure (MMP) as an indicator of cross-country mobility is reviewed. The values of MMP under a tracked vehicle are predicted using an empirical formula proposed by Rowland and a computer-aided method, known as NTVPM-86. It is shown that values predicted using NTVPM-86 are in closer agreement with measured data than those predicted using Rowland's formula. The variations of MMP with vehicle weight, track width, number and diameter of roadwheels are predicted using both methods over a clayey soil, snow and muskeg. It is found that in most cases, there is a significant difference in the values of MMP predicted using the two methods. It is also shown that Rowland's method takes into account only a limited number of vehicle design parameters and that it can only be employed to predict vehicle mobility in a qualitative manner. On the other hand, NTVPM-86 takes into account all major vehicle design features and terrain characteristics and can be used to predict quantitatively vehicle tractive performance over soft terrain. It is hoped that this paper will stimulate vehicle engineers in the use of advanced computer-aided methods in their practice and that it will encourage further research in this vital area.     

Measurement of forces acting on 4WD-4WS tractor tires during steady-state circular turning on a paved road

Measuring method and measured results of vertical, longitudinal and lateral forces, which act on tires of a four-wheel drive and four-wheel steering (4WD-4WS) agricultural tractor, are presented in this paper as well as those of longitudinal and lateral slip of the tires. These results were measured during steady-state circular turning, in which a fixed steering wheel angle and a constant running speed were kept, on a paved road. The measurement was also done for a four-wheel drive and two-wheel steering (4WD-2WS) state, disconnecting a rear steering link and fixing the steering angles of the rear tires of the 4WD-4WS tractor to zero. Through the analysis of the results, some turning characteristics of the 4WD-4WS tractor were obtained. A tight corner braking phenomenon was clearly found in the case of 2WS. The 4WS system supplied more efficient turning than the 2WS system. Results obtained from the computer simulation agreed well with the experimental results except in the case of a low speed turn and as to thrusts of tires.     

高速飞行体尾喷焰辐射特性研究进展

本文对飞行器尾喷焰红外辐射特性理论计算的全貌作了系统的论述.讲述了国内外在这一领域的研究近况和国内所取得的成绩.特别对以原子分子理论为基础的物理力学方法研究尾喷焰辐射特性的重要性进行了论述.      

RECOVERY STRATEGY OF LAUNCH VEHICLE BASED ON CONTROLLABLE NETWORK

运载火箭回收技术已经成为热门研究课题,本文提出了一种基于拉网主动控制的运载火箭回收策略,介绍了基本工作原理及组成,给出了初步设计。