某微车悬架K&C特性研究及其对整车操纵稳定性的影响
|
摘要
操纵稳定性是汽车的主要性能之一,悬架K&C特性对操纵稳定性有重要影响。结合国内某企业微车底盘平台开发项目,针对悬架硬点坐标、衬套刚度与悬架K&C特性的关系以及其对整车操纵稳定性的影响展开研究。利用吉林大学汽车动态模拟国家重点实验室自行研制开发的整车单轴悬架K&C特性试验台进行了对标车前、后悬架K&C特性试验研究。基于ADAMS/Car建立了悬架及整车模型,并进行仿真与试验对比验证。利用试验优化方法分析原型车前悬架硬点与前悬架K特性之间的关系,提出改进方案使原型车前悬架K特性达到目标值。利用试验优化方法分析原型车后悬架在给定硬点情形下衬套刚度与后悬架C特性之间的关系,为悬架C特性改进设计以及整车调校打下基础。应用建立的面向结构的93自由度车辆动力学模型分析了后悬架硬点和衬套刚度变动对整车操纵稳定性的影响。应用基于总成特性的14自由度车辆动力学模型分析了前悬架K&C特性变动对整车操纵稳定性的影响。
As a crucial feature of the system assembly, the kinematics and compliance of the suspension system in a vehicle have direct influence on the vehicle handling stability and its ride performance. They are hot focuses in the field of traditional dynamic study in China and oversea. The so-called suspension kinematics (K characteristic in short in the following paper) describes the movement of the wheels due to the springs transform and the wheels turn. And the so-called suspension compliance (C characteristic in short) describes the wheel location parameters changes caused by the forces and moments occurred between the wheels and the road. These two together are called Kinematics and Compliance (K&C characteristics in short). The Study and analysis of suspension K&C characteristics can provide an important theoretical and experimental foundation and a guide for designing the suspension reasonably, tuning and optimizing of vehicle performance, balancing the controversy between vehicle NVH requirements and handling stability target, as well as improving the vehicle performance quality.
Associated with the project of a mini-car chassis platform development in a certain domestic OEM, this dissertation aims to carry out a study on the suspension K&C characteristics and its influence on the vehicle handling stability. Applying reverse engineering mainly, the newly-developed prototype car is designed in reference with a benchmark car. Choosing a same suspension structure type as the benchmark car, the prototype car has a McPherson independent front suspension and a five-pole spiral spring dependent rear suspension.
Firstly, the structure-oriented model of the front and rear suspensions of the benchmark car is set up by using ADAMS/Car. And the experimental study of the K&C characteristics of the front and rear suspensions of the benchmark car is carried out by applying the vehicle uni-axial suspension K&C characteristics test bench developed independently by ADSL. Theoretical explained, the suspension K&C characteristics analysis is a quasi static analysis. So the suspension K characteristic analysis should include the bush influence. During the reverse engineering, the bush original transformation influence should be considered when the vehicle model is validated. A mounts of test data of suspension K&C characteristics are got in the experimental work, which provide real and reliable basis for the study of suspension K&C characteristics and its influence on the vehicle handling stability.
Secondly, the given aim of suspension K&C characteristics is achieved by studying the disposal of the hard point of the prototype car and the selection of the bush rates. This lays the basis for the design improvement and adjustment of the suspension. On the basis of introducing the control mechanism of the suspension K&C characteristics, the differences between the suspension K&C characteristics of the prototype car and the target characteristics (namely, the testing data of suspension K&C characteristics of the benchmark car) are compared, and studied. Sensibility analysis is carried out to determine the influence degree of design factors such as the hard point coordinates and the bush rates on the suspension K&C characteristics responses. And then, key design parameters can be selected for improvement. The regression model of hard points V.S. K&C characteristics of the front suspension of the prototype car is set up by applying testing optimizing method. According to this, an improvement plan is put forward and parts of the hard points are adjusted to make the suspension K&C characteristics of the front suspension of the prototype car match the target values. Using DOE method, the influence of the bush rate changes on the suspension K&C characteristics of the rear suspension of the prototype car is analyzed in the case of that hard points are given.
Then, by using ADAMS/Car, a structure-oriented dynamic model of the benchmark car is set up. There are 93 degrees of freedom in the system. The comparisons of the simulation and testing data in 6 items of international handling stability working conditions show satisfied matching results. The steering system model considers the steer inertia, hard rates, transmission ratios, impetus and friction. But steering damping and gap are excluded. The UniTire model is adopted as the tire model, which has good extensibility, and the parameters are achieved through tire dynamic characteristic testing data identification.
Finally, the conceptual suspension module in ADAMS/Car is introduced, which provides a functional suspension modeling method based on the assembly characteristics and in no need of detailed information of hard points and bush. By using the conceptual suspension module, a vehicle dynamic model is set up, which has only 14 degrees of freedom while still a multi-body system by nature. The differences in vehicle handling stability performance between prototype car and benchmark car caused by the suspension K&C characteristics are compared, and the influence of K&C characteristics of the front suspension on the vehicle handling stability is studied by applying the conceptual suspension module. The influence of the rear suspension hard points and bush on the vehicle handling stability is analyzed by using structure-oriented suspension model.
Major Innovations of the Dissertation:
(1) The relation between hard points and K characteristic of the front suspension of the prototype car is analyzed by using DOE method, and the improvement plan is put forward to make the K characteristic of the prototype car match the target value.
(2) The relation between bush rates and C characteristic of the rear suspension of the prototype car is analyzed by applying the DOE method in case of given the hard points in order to lay the base for the improvement of the suspension C characteristic and the vehicle adjustment. The system statistic regression model got from the calculation in the DOE method is convenient in analysis and foretelling the influence of simultaneous changes of many design parameters on the system response and also can determine the optimised value of the design parameters under the given target response. This method helps engineers to get much more direct knowledge of suspension and have more choices. It has advantages in checking and when necessary adjusting the deviations of hard point coordinates and bush rates in reverse engineering. Of cause, it may also be applied in forward design of new suspension system.
(3) The influence of the hard points and bush rates of the rear suspension on the vehicle handling stability is analyzed by using the established structure-oriented vehicle dynamic model which has 93 degrees of freedom.
(4) The influence of K&C characteristics of the front suspension on the vehicle handling stability is analyzed by applying the 14 degrees of freedom vehicle dynamic model on the basis of assembly characteristics. This method helps to conveniently investigate the influence of a single factor on the vehicle handling stability.
As a crucial feature of the system assembly, the kinematics and compliance of the suspension system in a vehicle have direct influence on the vehicle handling stability and its ride performance. They are hot focuses in the field of traditional dynamic study in China and oversea. The so-called suspension kinematics (K characteristic in short in the following paper) describes the movement of the wheels due to the springs transform and the wheels turn. And the so-called suspension compliance (C characteristic in short) describes the wheel location parameters changes caused by the forces and moments occurred between the wheels and the road. These two together are called Kinematics and Compliance (K&C characteristics in short). The Study and analysis of suspension K&C characteristics can provide an important theoretical and experimental foundation and a guide for designing the suspension reasonably, tuning and optimizing of vehicle performance, balancing the controversy between vehicle NVH requirements and handling stability target, as well as improving the vehicle performance quality.
Associated with the project of a mini-car chassis platform development in a certain domestic OEM, this dissertation aims to carry out a study on the suspension K&C characteristics and its influence on the vehicle handling stability. Applying reverse engineering mainly, the newly-developed prototype car is designed in reference with a benchmark car. Choosing a same suspension structure type as the benchmark car, the prototype car has a McPherson independent front suspension and a five-pole spiral spring dependent rear suspension.
Firstly, the structure-oriented model of the front and rear suspensions of the benchmark car is set up by using ADAMS/Car. And the experimental study of the K&C characteristics of the front and rear suspensions of the benchmark car is carried out by applying the vehicle uni-axial suspension K&C characteristics test bench developed independently by ADSL. Theoretical explained, the suspension K&C characteristics analysis is a quasi static analysis. So the suspension K characteristic analysis should include the bush influence. During the reverse engineering, the bush original transformation influence should be considered when the vehicle model is validated. A mounts of test data of suspension K&C characteristics are got in the experimental work, which provide real and reliable basis for the study of suspension K&C characteristics and its influence on the vehicle handling stability.
Secondly, the given aim of suspension K&C characteristics is achieved by studying the disposal of the hard point of the prototype car and the selection of the bush rates. This lays the basis for the design improvement and adjustment of the suspension. On the basis of introducing the control mechanism of the suspension K&C characteristics, the differences between the suspension K&C characteristics of the prototype car and the target characteristics (namely, the testing data of suspension K&C characteristics of the benchmark car) are compared, and studied. Sensibility analysis is carried out to determine the influence degree of design factors such as the hard point coordinates and the bush rates on the suspension K&C characteristics responses. And then, key design parameters can be selected for improvement. The regression model of hard points V.S. K&C characteristics of the front suspension of the prototype car is set up by applying testing optimizing method. According to this, an improvement plan is put forward and parts of the hard points are adjusted to make the suspension K&C characteristics of the front suspension of the prototype car match the target values. Using DOE method, the influence of the bush rate changes on the suspension K&C characteristics of the rear suspension of the prototype car is analyzed in the case of that hard points are given.
Then, by using ADAMS/Car, a structure-oriented dynamic model of the benchmark car is set up. There are 93 degrees of freedom in the system. The comparisons of the simulation and testing data in 6 items of international handling stability working conditions show satisfied matching results. The steering system model considers the steer inertia, hard rates, transmission ratios, impetus and friction. But steering damping and gap are excluded. The UniTire model is adopted as the tire model, which has good extensibility, and the parameters are achieved through tire dynamic characteristic testing data identification.
Finally, the conceptual suspension module in ADAMS/Car is introduced, which provides a functional suspension modeling method based on the assembly characteristics and in no need of detailed information of hard points and bush. By using the conceptual suspension module, a vehicle dynamic model is set up, which has only 14 degrees of freedom while still a multi-body system by nature. The differences in vehicle handling stability performance between prototype car and benchmark car caused by the suspension K&C characteristics are compared, and the influence of K&C characteristics of the front suspension on the vehicle handling stability is studied by applying the conceptual suspension module. The influence of the rear suspension hard points and bush on the vehicle handling stability is analyzed by using structure-oriented suspension model.
Major Innovations of the Dissertation:
(1) The relation between hard points and K characteristic of the front suspension of the prototype car is analyzed by using DOE method, and the improvement plan is put forward to make the K characteristic of the prototype car match the target value.
(2) The relation between bush rates and C characteristic of the rear suspension of the prototype car is analyzed by applying the DOE method in case of given the hard points in order to lay the base for the improvement of the suspension C characteristic and the vehicle adjustment. The system statistic regression model got from the calculation in the DOE method is convenient in analysis and foretelling the influence of simultaneous changes of many design parameters on the system response and also can determine the optimised value of the design parameters under the given target response. This method helps engineers to get much more direct knowledge of suspension and have more choices. It has advantages in checking and when necessary adjusting the deviations of hard point coordinates and bush rates in reverse engineering. Of cause, it may also be applied in forward design of new suspension system.
(3) The influence of the hard points and bush rates of the rear suspension on the vehicle handling stability is analyzed by using the established structure-oriented vehicle dynamic model which has 93 degrees of freedom.
(4) The influence of K&C characteristics of the front suspension on the vehicle handling stability is analyzed by applying the 14 degrees of freedom vehicle dynamic model on the basis of assembly characteristics. This method helps to conveniently investigate the influence of a single factor on the vehicle handling stability.
引文
[1]郭孔辉.汽车操纵动力学[M].吉林科学技术出版社,1991:7.
[2]余志生.汽车理论(第三版)[M].机械工业出版社,2002.
[3]陈家瑞.汽车构造(第三版)[M].机械工业出版社,2002.
[4] Jornsen Reimpell, HelutStoll. Automotive Chassis: Engineering Principles [M]. London: Arnold, 1996.
[5]郭孔辉.汽车底盘平台集成与调校技术[C].汽车底盘集成匹配设计高级研修班讲义,2007.
[6]拂晓.2001年我国道路交通事故统计及重大事故案例[J].商用汽车,2005.05.
[7] Yoshiroh Tateishi et al. The Effects of the Tire Camber Angle on Vehicle Controlability and Stability[C]. SAE Paper No 860245, 1986.
[8] Joseph Nemeth. Front Wheel Suspension for Buses and Coaches[C]. SAE Paper No.872266, 1987.
[9]耶尔森.赖姆帕尔[著],张洪欣,余卓平[译].汽车底盘基础[M].北京:科学普及出版社,1992.
[10]阿达姆.措莫托[著],黄锡朋,解春阳[译].汽车行驶性能[M].北京:科学普及出版社,1992.9.
[11] Thomas D Gillespie. Fundamental of Vehicle Dynamics [M].Society of Automotive Engineer Inc, 2002.
[12]安部正人[著],陈幸波[译].汽车的运动与操纵[M].北京:机械工业出版社,1998.
[13]宇野高明[著],郝长文等[译].汽车行驶性能和底盘机构[M].长春:第一汽车集团公司技术中心,1994.
[14] Matschinsky, Wolfgang.Die Radführungen der Strassfahrzeug[J].Verlag Tuev Reihland, 1987.
[15] Jornsen Peimpell. Federung und Fahrwerkmechik[M].Germany Nachdr,1983.
[16] Donald Bastow. Car Suspension and Handling [M].Pentech Press,1986.
[17] M.Mitschke.Dynamik der Krafifahrzeuge[M].Germany,1990.
[18] Joonhong Park, Dennis A Guenther, Gary J. Heydinger. Kinematic Suspension Modelapplicable to Dynamic Full Vehicle Simulation[C].SAE Paper, 2003-01-0859.
[19] Stefano J Cassara, David C Anderson and J Magnus Olofsson. A Multi-Level Approachfor the Validation of a Tractor-Semitrailer Ride and Handling Model[C] .SAE Paper, 2004-01-2694.
[20] Prashaut S Rao, David Roccaforte, Ron Campbell.Developing an ADAMS Model of Anautomobile Using Test Data[C].SAE Paper,2002-01-1567.
[21] Matschinsky, Wolfgang.Die Radführungen der Strassfahrzeug[M].Verlag Tuev Reihland, 1987.
[22]林逸,陈欣,王望予.独立悬架中的橡胶减振元件对汽车性能的影响[J].吉林工业大学学报,1993.3.
[23]陈欣,林逸等.弹性元件对奥迪轿车前悬架力学特性及顺从性的影响[J].汽车工程,1995.3.
[24]陈欣,林逸,王焕明等.悬架元件对悬架性能的影响[J].长春:汽车技术,1996.5.
[25]张越今.汽车多体动力学及计算机仿真[M].吉林科学技术出版社,1998.
[26]凌雯.桑塔纳轿车悬架运动学/弹性运动学ADAMS仿真分析[D].同济大学,1999.5.
[27]吕振华,徐建国.五连杆悬架的刚体运动学与弹性运动学分析[J].汽车技术,2002.5.
[28]赵振东,雷雨成.橡胶元件在汽车悬架中的应用分析[J] .汽车工程,2005.8.
[29]王蠡.K&C悬架试验台设计及操纵稳定性分析[D].长春吉林大学,2007.
[30]蔡章林.基于VPD技术的悬架设计及整车试验优化[D].长春:吉林大学,2007.
[31]王鹏.汽车实时动力学仿真中转向回正特征建模方法研究[D].长春:吉林大学,2008.
[32] Steven C. Bell et al. Suspension Testing Using the Suspension Parameter Measurement Device. SAE Paper No.870577 , 1987.
[33] Nedley A L and Wilson W J A New Laboratory Facility for Measuring Vehicle Parameters Affecting Understeer and Brake Steer[C].SAE720473.
[34] Winkler C B and Hagan M A.A Test Facility for the Measurement of Heavy Vehicle Suspension Parameters[C].SAE Paper No. 800906, August 1980.
[35] Ellis J R.The Design of a Suspension Parameter Measurement Device[C].SAE 870576.
[36] Coovert D A., Chen H F and Guenther D A.Design and Operation of a New-Type Suspension Parameter Measurement Device[C]. SAE Paper No.920048, February 1992.
[37] Chen H F, Coovert D A, and Guenther D A.Suspension Testing on the New Type Suspension Parameter Measurement Device[C]. SAE Paper No. 920049, February 1992.
[38] Holdmann P, K?hn P and M?ller B.Suspension Kinematics and Compliance Measuring and Simulation[C]. SAE Paper No. 980897.
[39] Lotus Engineering. K&C PCFs USER GUIDE, 2004.
[40] Best T, Neads S J, Whitehead J P and Willows I R.Design and Operation of a New Vehicle Suspension Kinematics and Compliance Facility[C]. SAE Paper No. 970096.
[41] 4 wheel station SPMM MANUAL. Anthony Best Dynamics Ltd, 2004.
[42] Jeff Warfford and Norman Frey.A Facility for the Measurement of Heavy Truck Chassis and Suspension Kinematics and Compliances[C].SAE Paper No. 2004-01-2609.
[43] MTS Kinematic And Compliance Deflection Measurement System Provides.MTS company, 2007.11.
[44] Lanchester F W.Some Problems Peculiar to the Design of an Automobile [J].Proceedings of the Institution of Automobile Engineers, 1908,vol.2: 187-257.
[45] Lanchester F W.Automobile Steering Gear Problems and Mechanism [J]. Proceedings of the Institution of Automobile Engineers, 1928, vol.22: 726-741.
[46] Lanchester F W.Motor Car Suspension and Independent Springing [J]. Automobile Engineers, 1936, vol. 15: 668-762.
[47] Olley M.Independent Wheel Suspensions– its Whys and Wherefores[C].SAE, 1934, 34(3):73-81.
[48] Segel L.Some Reflections on Early Efforts to Investigate the Directional Stability and Control of the Motor Car, unpublished, 1990: 7.
[49] Bradley J and Allen R F. The Behaviour of Rubber-tyre Wheels[J].Automobile Engineers, vol.21,1931.
[50] Evans R D.Properties of Tyres Affecting Riding, Steering and Handling [C].SAE, Vol36, No.2, February 1935:41-49.
[51] Dixon J C.Tyres, Suspension and Handling [J].Cambridge University Press, 1991.
[52] Stonex L. Theoretical Prediction and Experimental Substantiation of the Response of the Automobile to Steering Control [J].Proceedings of ImechE. Automobile Division, No.7, 1956-1957:310-330.
[53] Whitcomb D W and Milliken W F .Design Implications of a General Theory of Automobile Stability and Control [J].Proceedings of ImechE. Automobile Division, 1956.
[54] Rieckert P and Schunk T E .Zur Fahrmechanik des Gummibereiften Kraftfahrzeugs[J]. Ingenieur Archiv,Vol.11,1940.12.
[55] Milliken W F and Whitcomb D W .General Introduction to a Program of Dynamic Research [J].Proceedings of ImechE. Automobile Division, 1956:287-309.
[56] Segel L.Research in the Fundamentals of Automobile Control and Stability[C]. SAE, 1956, Vol.65:527-540.
[57] Segel L. Theoretical Prediction and Experimental Substantiation of the Response of the Automobile to Steering Control [J].Proceedings of ImechE. Automobile Division, 1956-1957, No.7: 310-330.
[58] D J Segal.Highway Vehicle Object Simulation Model.Programmers Manual, 1976.
[59] D J Segal.Highway Vehicle Object Simulation Model.Users Manual, 1976.
[60] D J Segal.Highway Vehicle Object Simulation Model.Validation, 1976.
[61] ADI Technical Staff. Seventeen-Degree-of-freedom Motor Vehicle Simulation [R].Application Report.
[62] Michael W Sayers.A Generic Mutibody Vehicle Model for Simulating Handling and Braking [J] .Vehicle System Dynamics.1996 vol (25) Suppl: 599-613.
[63] Michael W Sayers.Vehicle Models for RTS Applications [J].Vehicle System Dynamics, 1999 Vol (32): 421-438.
[64] ADSL.汽车运动动力学实时仿真模型理论手册[R].长春:吉林工业大学.
[65]林逸.带有非完整约束的汽车多刚体系统动力学研究[D].长春:吉林工业大学,1989.
[66]上官文斌,黄虎,刘德清.多刚体系统动力学在汽车独立悬架运动分析中的应用[J].汽车工程,1992.
[67]刘红军.计及弹性体运动的多体力学方法初探及在整车动力学上的应用[D].北京:清华大学,1994.
[68] Shabana A. Flexible Multibody Dynamics: Review of Past and Recent Development[J].Multibody System Dynamics, 1997.1.
[69]管欣.汽车整车集成与性能匹配的虚拟样机技术[C].汽车底盘集成匹配设计高级研修班讲义.2007.
[70] Ferry William B.Combining Virtual Simulation and Physical Vehicletest Data to Optimize Automotive Durability Testing [D].University of Windsor (Canada).M.S degree thesis, 2004.
[71]赵又群,郭孔辉.汽车操纵稳定性评价的发展研究意义与基本问题[J].汽车技术,1998(5):1-4.
[72]郭孔辉.驾驶员-汽车闭环系统操纵运动的预瞄最优曲率模型[J].汽车工程,1984(3).
[73]郭孔辉,丁海涛,宗长富.人-车闭环操纵性评价与优化的研究进展[J].机械工程学报,2003(10):27-35.
[74]郭孔辉.驾驶员-汽车闭环系统主动安全性的综合评价指标和优化设计[J].汽车技术,1993(4).
[75]喻凡,林逸.汽车系统动力学[M].机械工业出版社2005.
[76] Blundell M and Harty D.The Multibody Systems Approach to Vehicle Dynamics[C]. SAE International, 2004.
[77] A Short Course on Multibody System Dynamics (Ahmed A. Shabana) 2002.
[78] E J Haug.Computer Aided Kinematics and Dynamics of Mechanical Systems [Vol.1: Basic Methods].1989.
[79] Blundell M V .The Influence of Rubber Bush Compliance on Vehicle Suspension Movement [J]. Materials and Design vol.19: pp29-37, 1998.
[80] Wolfgang Matschinsky. Road Vehicle Suspensions [M]. London, UK: Professional Engineering Pub., 2000.
[81]任露泉.优化技术[M].北京:机械工业出版社,1987: 1-5.
[82] Montgomery, Douglas C and Raymond H Myers. Response Surface Methodology: Process and Product in Optimization Using Designed Experiments [J]. John Wiley & Sons, 1995. ISBN 0-471-58100-3.
[83] Draper, Norman R and Harry Smith. Applied Regression Analysis [J]. John Wiley & Sons, 1998. ISBN 0-471-17082-8.
[84] Xiaobo Yang and Sudhakar Medepalli.Sensitivities of Suspension Bushings on Vehicle Impact Harshness Performances[C].SAE Paper No. 2005-01-0827.
[85] Hall A S, Jr. Kinematics and Linkage Design, Prentice Hall, Inc., Englewood Cliffs, NJ, 1961.
[86] Dijksman E A. Motion Geometry of Mechanisms, Cambridge University.
[87] William F Milliken and Douglas L Milliken.Race Car Vehicle Dynamics[C]. SAE (1999): 792.
[88] Edmund Halfmann, Ford Corp.Verification of Vehicle Dynamics CAE Methods on System and Vehicle Level[C]. MSC.Software年会.
[89] W Keith Adams and Richard W Topping. The Steering Characterizing Functions (SCFs) andTheir Use in Steering System Specification, Simulation, and Synthesis[C]. SAE 2001-01-1353.
[90] Gary P Bertollini, General Motors Corp and Robert M Hogan, Raytheon Systems Co. Applying Driving Simulation to Quantify Steering Effort Preference as a Function of Vehicle Speed[C]. SAE 1999-01-0394.
[91] M Kamel Salaani. Modeling and Implementation of Steering System Feedback for the National Advanced Driving Simulator[C].SAE 2002-01-1573.
[92] J W Post and E H. Procedure for the Characterization of Friction in Automobile Power Steering Systems[C]. SAE 960933.
[93] Andrew Heathershaw. Optimizing Variable Ratio Steering for Improved On-Center Sensitivity and Cornering Control[C]. SAE 2000-01-0821.
[94]姚革,郭孔辉.汽车转向轻便性仿真模拟[J].汽车技术,1997,No.2.
[95]管欣.汽车主动安全性与汽车动态仿真技术报告[R].2000.7.
[96]施国标.电动助力转向助力特性仿真与控制策略研究[D].吉林大学,2002.12.
[97]郭孔辉.汽车操纵性能的闭环动力学仿真评价与控制[R].福特—中国研究与发展基金资助项目研究报告,1997.
[98]郭孔辉.用于汽车全工况动力学分析的非稳态轮胎六分力模型[R]:[汽车动态模拟国家重点实验室内部报告].长春:吉林工业大学,1997.
[99]刘青.用于车辆动力学分析的轮胎模型[D].长春,吉林工业大学,1998.
[100] E Bakker, H B Pacejka and L Lidner. A New Tire Model with an Application in Vehicle Dynamics Studies[C].SAE paper890087, 1989.
[101] H B Pacejka.The tyre as a vehicle component J]. Proceedings of XXVI Fisita Congress. Prague, Czech Republic, June 16-23, 1996.
[102] H B Pacejka and I J M Besselink.Magic Formula Tyre Model with Transient Properties[C].2nd International Colloquium on Tyre Models for Vehicle Dynamic Analysis, Berlin, Germany, February 20-21,1997, Vehicle System Dynamics, Vol. 27 supplement, 1996: 234-249.
[103] Guo K .A Uified Tire Model for Vehicle Dynamic Simulation Relating to Steering Braking and Driving J], In, Proc of IPC-5, 1989.
[104]郭孔辉.用于汽车制动、驱动与转向运动模拟的轮胎力学统一模型[J].汽车技术,1992,(1)
[105] Guo K and Sui J. A Theoretical Observation on Empirical Expression of Tire Shear Forces[C]. In, Proc of 14th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, Ann Arbor, 1995.
[106] Guo K and Liu Q. Modeling and Simulation of Non-steady State Cornering Properties and Identification of Structure Parameters of Tyres [J]. Vehicle System Dynamics, 1997, 27 (supplement): 80-93.
[107] Guo K and Ren L. A Unified Semi-empirical Tire Model with Higher Accuracy and LessParameters [C]. SAE Technical Paper Series, 1999, 1999-01-0785.
[108] Guo K and Ren L. A Non-steady and Non-linear Tire Model under Large Lateral Slip Condition[C]. SAE Technical Paper Series, 2000, 2000-01-0358.
[109] K H Guo, Dang Lu, L Ren. A Unified Non-steady Non-linear Tyre Model under Complex Wheel Motion Inputs Including Extreme Operating Conditions[C]. JSAE Review, 2001, Vol22, Iss 4:396-402.
[110]金凌鸽.统一轮胎模型与动力学软件的连接[D].长春:吉林大学,2006: 9.
[111] I J M Besselink, H B Pacejka, A J C Schmeitz and S T H Jansen.The SWIFT tyre model: overview and applications[C]. pp. 525-530, AVEC’04.
[112] Konghui Guo.Development of Nonlinear Handling Tire Model [R]. Project Status Report for Task1, 2004.
[113]袁忠诚. UniTire轮胎稳态模型研究[D].吉林大学,2006:66.
[2]余志生.汽车理论(第三版)[M].机械工业出版社,2002.
[3]陈家瑞.汽车构造(第三版)[M].机械工业出版社,2002.
[4] Jornsen Reimpell, HelutStoll. Automotive Chassis: Engineering Principles [M]. London: Arnold, 1996.
[5]郭孔辉.汽车底盘平台集成与调校技术[C].汽车底盘集成匹配设计高级研修班讲义,2007.
[6]拂晓.2001年我国道路交通事故统计及重大事故案例[J].商用汽车,2005.05.
[7] Yoshiroh Tateishi et al. The Effects of the Tire Camber Angle on Vehicle Controlability and Stability[C]. SAE Paper No 860245, 1986.
[8] Joseph Nemeth. Front Wheel Suspension for Buses and Coaches[C]. SAE Paper No.872266, 1987.
[9]耶尔森.赖姆帕尔[著],张洪欣,余卓平[译].汽车底盘基础[M].北京:科学普及出版社,1992.
[10]阿达姆.措莫托[著],黄锡朋,解春阳[译].汽车行驶性能[M].北京:科学普及出版社,1992.9.
[11] Thomas D Gillespie. Fundamental of Vehicle Dynamics [M].Society of Automotive Engineer Inc, 2002.
[12]安部正人[著],陈幸波[译].汽车的运动与操纵[M].北京:机械工业出版社,1998.
[13]宇野高明[著],郝长文等[译].汽车行驶性能和底盘机构[M].长春:第一汽车集团公司技术中心,1994.
[14] Matschinsky, Wolfgang.Die Radführungen der Strassfahrzeug[J].Verlag Tuev Reihland, 1987.
[15] Jornsen Peimpell. Federung und Fahrwerkmechik[M].Germany Nachdr,1983.
[16] Donald Bastow. Car Suspension and Handling [M].Pentech Press,1986.
[17] M.Mitschke.Dynamik der Krafifahrzeuge[M].Germany,1990.
[18] Joonhong Park, Dennis A Guenther, Gary J. Heydinger. Kinematic Suspension Modelapplicable to Dynamic Full Vehicle Simulation[C].SAE Paper, 2003-01-0859.
[19] Stefano J Cassara, David C Anderson and J Magnus Olofsson. A Multi-Level Approachfor the Validation of a Tractor-Semitrailer Ride and Handling Model[C] .SAE Paper, 2004-01-2694.
[20] Prashaut S Rao, David Roccaforte, Ron Campbell.Developing an ADAMS Model of Anautomobile Using Test Data[C].SAE Paper,2002-01-1567.
[21] Matschinsky, Wolfgang.Die Radführungen der Strassfahrzeug[M].Verlag Tuev Reihland, 1987.
[22]林逸,陈欣,王望予.独立悬架中的橡胶减振元件对汽车性能的影响[J].吉林工业大学学报,1993.3.
[23]陈欣,林逸等.弹性元件对奥迪轿车前悬架力学特性及顺从性的影响[J].汽车工程,1995.3.
[24]陈欣,林逸,王焕明等.悬架元件对悬架性能的影响[J].长春:汽车技术,1996.5.
[25]张越今.汽车多体动力学及计算机仿真[M].吉林科学技术出版社,1998.
[26]凌雯.桑塔纳轿车悬架运动学/弹性运动学ADAMS仿真分析[D].同济大学,1999.5.
[27]吕振华,徐建国.五连杆悬架的刚体运动学与弹性运动学分析[J].汽车技术,2002.5.
[28]赵振东,雷雨成.橡胶元件在汽车悬架中的应用分析[J] .汽车工程,2005.8.
[29]王蠡.K&C悬架试验台设计及操纵稳定性分析[D].长春吉林大学,2007.
[30]蔡章林.基于VPD技术的悬架设计及整车试验优化[D].长春:吉林大学,2007.
[31]王鹏.汽车实时动力学仿真中转向回正特征建模方法研究[D].长春:吉林大学,2008.
[32] Steven C. Bell et al. Suspension Testing Using the Suspension Parameter Measurement Device. SAE Paper No.870577 , 1987.
[33] Nedley A L and Wilson W J A New Laboratory Facility for Measuring Vehicle Parameters Affecting Understeer and Brake Steer[C].SAE720473.
[34] Winkler C B and Hagan M A.A Test Facility for the Measurement of Heavy Vehicle Suspension Parameters[C].SAE Paper No. 800906, August 1980.
[35] Ellis J R.The Design of a Suspension Parameter Measurement Device[C].SAE 870576.
[36] Coovert D A., Chen H F and Guenther D A.Design and Operation of a New-Type Suspension Parameter Measurement Device[C]. SAE Paper No.920048, February 1992.
[37] Chen H F, Coovert D A, and Guenther D A.Suspension Testing on the New Type Suspension Parameter Measurement Device[C]. SAE Paper No. 920049, February 1992.
[38] Holdmann P, K?hn P and M?ller B.Suspension Kinematics and Compliance Measuring and Simulation[C]. SAE Paper No. 980897.
[39] Lotus Engineering. K&C PCFs USER GUIDE, 2004.
[40] Best T, Neads S J, Whitehead J P and Willows I R.Design and Operation of a New Vehicle Suspension Kinematics and Compliance Facility[C]. SAE Paper No. 970096.
[41] 4 wheel station SPMM MANUAL. Anthony Best Dynamics Ltd, 2004.
[42] Jeff Warfford and Norman Frey.A Facility for the Measurement of Heavy Truck Chassis and Suspension Kinematics and Compliances[C].SAE Paper No. 2004-01-2609.
[43] MTS Kinematic And Compliance Deflection Measurement System Provides.MTS company, 2007.11.
[44] Lanchester F W.Some Problems Peculiar to the Design of an Automobile [J].Proceedings of the Institution of Automobile Engineers, 1908,vol.2: 187-257.
[45] Lanchester F W.Automobile Steering Gear Problems and Mechanism [J]. Proceedings of the Institution of Automobile Engineers, 1928, vol.22: 726-741.
[46] Lanchester F W.Motor Car Suspension and Independent Springing [J]. Automobile Engineers, 1936, vol. 15: 668-762.
[47] Olley M.Independent Wheel Suspensions– its Whys and Wherefores[C].SAE, 1934, 34(3):73-81.
[48] Segel L.Some Reflections on Early Efforts to Investigate the Directional Stability and Control of the Motor Car, unpublished, 1990: 7.
[49] Bradley J and Allen R F. The Behaviour of Rubber-tyre Wheels[J].Automobile Engineers, vol.21,1931.
[50] Evans R D.Properties of Tyres Affecting Riding, Steering and Handling [C].SAE, Vol36, No.2, February 1935:41-49.
[51] Dixon J C.Tyres, Suspension and Handling [J].Cambridge University Press, 1991.
[52] Stonex L. Theoretical Prediction and Experimental Substantiation of the Response of the Automobile to Steering Control [J].Proceedings of ImechE. Automobile Division, No.7, 1956-1957:310-330.
[53] Whitcomb D W and Milliken W F .Design Implications of a General Theory of Automobile Stability and Control [J].Proceedings of ImechE. Automobile Division, 1956.
[54] Rieckert P and Schunk T E .Zur Fahrmechanik des Gummibereiften Kraftfahrzeugs[J]. Ingenieur Archiv,Vol.11,1940.12.
[55] Milliken W F and Whitcomb D W .General Introduction to a Program of Dynamic Research [J].Proceedings of ImechE. Automobile Division, 1956:287-309.
[56] Segel L.Research in the Fundamentals of Automobile Control and Stability[C]. SAE, 1956, Vol.65:527-540.
[57] Segel L. Theoretical Prediction and Experimental Substantiation of the Response of the Automobile to Steering Control [J].Proceedings of ImechE. Automobile Division, 1956-1957, No.7: 310-330.
[58] D J Segal.Highway Vehicle Object Simulation Model.Programmers Manual, 1976.
[59] D J Segal.Highway Vehicle Object Simulation Model.Users Manual, 1976.
[60] D J Segal.Highway Vehicle Object Simulation Model.Validation, 1976.
[61] ADI Technical Staff. Seventeen-Degree-of-freedom Motor Vehicle Simulation [R].Application Report.
[62] Michael W Sayers.A Generic Mutibody Vehicle Model for Simulating Handling and Braking [J] .Vehicle System Dynamics.1996 vol (25) Suppl: 599-613.
[63] Michael W Sayers.Vehicle Models for RTS Applications [J].Vehicle System Dynamics, 1999 Vol (32): 421-438.
[64] ADSL.汽车运动动力学实时仿真模型理论手册[R].长春:吉林工业大学.
[65]林逸.带有非完整约束的汽车多刚体系统动力学研究[D].长春:吉林工业大学,1989.
[66]上官文斌,黄虎,刘德清.多刚体系统动力学在汽车独立悬架运动分析中的应用[J].汽车工程,1992.
[67]刘红军.计及弹性体运动的多体力学方法初探及在整车动力学上的应用[D].北京:清华大学,1994.
[68] Shabana A. Flexible Multibody Dynamics: Review of Past and Recent Development[J].Multibody System Dynamics, 1997.1.
[69]管欣.汽车整车集成与性能匹配的虚拟样机技术[C].汽车底盘集成匹配设计高级研修班讲义.2007.
[70] Ferry William B.Combining Virtual Simulation and Physical Vehicletest Data to Optimize Automotive Durability Testing [D].University of Windsor (Canada).M.S degree thesis, 2004.
[71]赵又群,郭孔辉.汽车操纵稳定性评价的发展研究意义与基本问题[J].汽车技术,1998(5):1-4.
[72]郭孔辉.驾驶员-汽车闭环系统操纵运动的预瞄最优曲率模型[J].汽车工程,1984(3).
[73]郭孔辉,丁海涛,宗长富.人-车闭环操纵性评价与优化的研究进展[J].机械工程学报,2003(10):27-35.
[74]郭孔辉.驾驶员-汽车闭环系统主动安全性的综合评价指标和优化设计[J].汽车技术,1993(4).
[75]喻凡,林逸.汽车系统动力学[M].机械工业出版社2005.
[76] Blundell M and Harty D.The Multibody Systems Approach to Vehicle Dynamics[C]. SAE International, 2004.
[77] A Short Course on Multibody System Dynamics (Ahmed A. Shabana) 2002.
[78] E J Haug.Computer Aided Kinematics and Dynamics of Mechanical Systems [Vol.1: Basic Methods].1989.
[79] Blundell M V .The Influence of Rubber Bush Compliance on Vehicle Suspension Movement [J]. Materials and Design vol.19: pp29-37, 1998.
[80] Wolfgang Matschinsky. Road Vehicle Suspensions [M]. London, UK: Professional Engineering Pub., 2000.
[81]任露泉.优化技术[M].北京:机械工业出版社,1987: 1-5.
[82] Montgomery, Douglas C and Raymond H Myers. Response Surface Methodology: Process and Product in Optimization Using Designed Experiments [J]. John Wiley & Sons, 1995. ISBN 0-471-58100-3.
[83] Draper, Norman R and Harry Smith. Applied Regression Analysis [J]. John Wiley & Sons, 1998. ISBN 0-471-17082-8.
[84] Xiaobo Yang and Sudhakar Medepalli.Sensitivities of Suspension Bushings on Vehicle Impact Harshness Performances[C].SAE Paper No. 2005-01-0827.
[85] Hall A S, Jr. Kinematics and Linkage Design, Prentice Hall, Inc., Englewood Cliffs, NJ, 1961.
[86] Dijksman E A. Motion Geometry of Mechanisms, Cambridge University.
[87] William F Milliken and Douglas L Milliken.Race Car Vehicle Dynamics[C]. SAE (1999): 792.
[88] Edmund Halfmann, Ford Corp.Verification of Vehicle Dynamics CAE Methods on System and Vehicle Level[C]. MSC.Software年会.
[89] W Keith Adams and Richard W Topping. The Steering Characterizing Functions (SCFs) andTheir Use in Steering System Specification, Simulation, and Synthesis[C]. SAE 2001-01-1353.
[90] Gary P Bertollini, General Motors Corp and Robert M Hogan, Raytheon Systems Co. Applying Driving Simulation to Quantify Steering Effort Preference as a Function of Vehicle Speed[C]. SAE 1999-01-0394.
[91] M Kamel Salaani. Modeling and Implementation of Steering System Feedback for the National Advanced Driving Simulator[C].SAE 2002-01-1573.
[92] J W Post and E H. Procedure for the Characterization of Friction in Automobile Power Steering Systems[C]. SAE 960933.
[93] Andrew Heathershaw. Optimizing Variable Ratio Steering for Improved On-Center Sensitivity and Cornering Control[C]. SAE 2000-01-0821.
[94]姚革,郭孔辉.汽车转向轻便性仿真模拟[J].汽车技术,1997,No.2.
[95]管欣.汽车主动安全性与汽车动态仿真技术报告[R].2000.7.
[96]施国标.电动助力转向助力特性仿真与控制策略研究[D].吉林大学,2002.12.
[97]郭孔辉.汽车操纵性能的闭环动力学仿真评价与控制[R].福特—中国研究与发展基金资助项目研究报告,1997.
[98]郭孔辉.用于汽车全工况动力学分析的非稳态轮胎六分力模型[R]:[汽车动态模拟国家重点实验室内部报告].长春:吉林工业大学,1997.
[99]刘青.用于车辆动力学分析的轮胎模型[D].长春,吉林工业大学,1998.
[100] E Bakker, H B Pacejka and L Lidner. A New Tire Model with an Application in Vehicle Dynamics Studies[C].SAE paper890087, 1989.
[101] H B Pacejka.The tyre as a vehicle component J]. Proceedings of XXVI Fisita Congress. Prague, Czech Republic, June 16-23, 1996.
[102] H B Pacejka and I J M Besselink.Magic Formula Tyre Model with Transient Properties[C].2nd International Colloquium on Tyre Models for Vehicle Dynamic Analysis, Berlin, Germany, February 20-21,1997, Vehicle System Dynamics, Vol. 27 supplement, 1996: 234-249.
[103] Guo K .A Uified Tire Model for Vehicle Dynamic Simulation Relating to Steering Braking and Driving J], In, Proc of IPC-5, 1989.
[104]郭孔辉.用于汽车制动、驱动与转向运动模拟的轮胎力学统一模型[J].汽车技术,1992,(1)
[105] Guo K and Sui J. A Theoretical Observation on Empirical Expression of Tire Shear Forces[C]. In, Proc of 14th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, Ann Arbor, 1995.
[106] Guo K and Liu Q. Modeling and Simulation of Non-steady State Cornering Properties and Identification of Structure Parameters of Tyres [J]. Vehicle System Dynamics, 1997, 27 (supplement): 80-93.
[107] Guo K and Ren L. A Unified Semi-empirical Tire Model with Higher Accuracy and LessParameters [C]. SAE Technical Paper Series, 1999, 1999-01-0785.
[108] Guo K and Ren L. A Non-steady and Non-linear Tire Model under Large Lateral Slip Condition[C]. SAE Technical Paper Series, 2000, 2000-01-0358.
[109] K H Guo, Dang Lu, L Ren. A Unified Non-steady Non-linear Tyre Model under Complex Wheel Motion Inputs Including Extreme Operating Conditions[C]. JSAE Review, 2001, Vol22, Iss 4:396-402.
[110]金凌鸽.统一轮胎模型与动力学软件的连接[D].长春:吉林大学,2006: 9.
[111] I J M Besselink, H B Pacejka, A J C Schmeitz and S T H Jansen.The SWIFT tyre model: overview and applications[C]. pp. 525-530, AVEC’04.
[112] Konghui Guo.Development of Nonlinear Handling Tire Model [R]. Project Status Report for Task1, 2004.
[113]袁忠诚. UniTire轮胎稳态模型研究[D].吉林大学,2006:66.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |