车路环境耦合作用下侧向动力学模型可靠性估计
|
摘要
车辆侧向动力学旨在研究车辆主动安全的预测和控制。根据道路环境激励载荷对车辆侧向动力学的影响,建立车路环境耦合动力学模型,综合考虑车辆动态参数、道路和外部环境参数建立车辆危险状态极限方程。在此基础上,根据激励载荷作用下的参数摄动分布函数,求解车辆动态系统的可靠性,进而采用蒙特卡洛方法对模型求解进行验证。结果显示该模型具有良好的准确度。最后,实例分析了在道路环境激励载荷作用下车辆侧向动力学响应特性。
Vehicle lateral dynamics aims to study the prediction and control of vehicle active safety. According to the influence of excitative load of road and environment on vehicle lateral dynamics, a vehicle-road-environment coupling model is built, and the limit equation of vehicle risk state is established with concurrent considerations of vehicle dynamic parameters and road and exterior environment parameters. On this basis, according to the distribution function of parameter perturbation under the action of excitative load, the reliability of vehicle dynamic system is solved and Monte Carlo approach is adopted to verify the model. The results show that the model built has good accuracy. Finally, a case study is given to analyze the lateral dynamics response characteristics of vehicle under the action of excitative load of road and environment.
Vehicle lateral dynamics aims to study the prediction and control of vehicle active safety. According to the influence of excitative load of road and environment on vehicle lateral dynamics, a vehicle-road-environment coupling model is built, and the limit equation of vehicle risk state is established with concurrent considerations of vehicle dynamic parameters and road and exterior environment parameters. On this basis, according to the distribution function of parameter perturbation under the action of excitative load, the reliability of vehicle dynamic system is solved and Monte Carlo approach is adopted to verify the model. The results show that the model built has good accuracy. Finally, a case study is given to analyze the lateral dynamics response characteristics of vehicle under the action of excitative load of road and environment.
引文
[1] 许海亮,袁勇,屈铁军,等.考虑路面不平整度因素的车路耦合振动模型的建立[J].振动与冲击,2014,33(19):152-156.
[2] 黄晨,陈龙,袁朝春,等.模型参数摄动下的车辆侧向动力学混沌研究[J].东南大学学报:自然科学版,2012,42(6):1111-1116.
[3] ZHU Q,ISHITOBI M,Chaos and bifurcations in a nonlinear vehicle model[J].Journal of Sound and Vibration,2004,275:1136-1146.
[4] GASPAR P,SZASZI I,BOKOR J,Reconfigurable control structure to prevent the rollover of heavy vehicles[J].Control Engineering Practice,2005,13:699-711.
[5] GASPAR P,SZABO Z,BOKOR J,Side force coefficient estimation for the design of active brake control[C].Proceedings of the 2006 American Control Conference,IEEE,Minneapolis,USA,June 14-16,2006:2927-2932.
[6] SUN Lu.Dynamics of plate generated by moving harmonic loads[J].Transactions of the ASME,2005,72:772-777.
[7] 谢伯元,王建强,秦晓辉,等.基于车路协同的车辆状态估计方法[J].汽车工程,2014,36(8):968-973.
[8] 张锋,冯德成,凌贤长,等.重载汽车-路面-路基垂向耦合动力学模型[J].中国公路学报,2015,28(4):1-12.
[9] 秦大同,周志刚,杨军,等.随机风载作用下风力发电机齿轮传动动态可靠性分析[J].机械工程学报,2012,48(3):1-8.
[10] NAVIN F P D.Safety factors for road design:can they be estimated?[J].Transportation Research Record,1990(1280):181-189.
[11] 游克思,孙璐,顾文钧.公路平曲线半径可靠性设计理论与方法[J].交通运输工程学报,2012,12(6):1-6.
[12] RICHL L,SAYED T.Evaluating the safety risk of narrow medians using reliability analysis[J].Journal of Transportation Engineering,2006,132(5):366-375.
[13] SARHAN M,HASSAN Y.Threee-dimensional,probabilistic highway design:sight distance application[J].Transportation Research Record,2008,2060:10-18.
[14] 陈超,吕植勇,等.国内外车路协同系统发展现状综述[J].交通信息与安全,2011,29(1):102-105.
[15] 喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2005.
[16] Gillespie T D.车辆动力学基础[M].赵六奇,金达峰,译.北京:清华大学出版社,2006.
[17] GILLERON P,NOGER C.Contribution to the analysis of transient aerodynamic effects acting on vehicles[C].SAE Paper 2004-01-1311.
[18] 冯永华,赵又群,吴杰.非稳态侧风对高速汽车操纵稳定性影响的仿真研究[J].农业装备与车辆工程,2006(11):14-17.
[19] COLEMAN S A,BAKER C J.An experimental study of the aerodynamic behavior of high sided lorries in cross winds[J].Journal of Wind Engineering and Industrial Aerodynamics,1994,53(3):401-429.
[20] 贺宜,褚端峰,吴超仲,等.路面附着条件对车辆横向稳定性影响的量化分析[J].武汉理工大学学报:交通科学与工程版,2014,38(4):784-787.
[21] 郭孔辉,隋军.轮胎垂直载荷分布与侧向力模型及纵向力之间的关系[J].汽车工程学报,1995(1):22-25.
[22] 董安正,赵国藩.人工神经网络在短期资料风速估计方面的应用[J].工程力学,2003,20(5):10-13.
[2] 黄晨,陈龙,袁朝春,等.模型参数摄动下的车辆侧向动力学混沌研究[J].东南大学学报:自然科学版,2012,42(6):1111-1116.
[3] ZHU Q,ISHITOBI M,Chaos and bifurcations in a nonlinear vehicle model[J].Journal of Sound and Vibration,2004,275:1136-1146.
[4] GASPAR P,SZASZI I,BOKOR J,Reconfigurable control structure to prevent the rollover of heavy vehicles[J].Control Engineering Practice,2005,13:699-711.
[5] GASPAR P,SZABO Z,BOKOR J,Side force coefficient estimation for the design of active brake control[C].Proceedings of the 2006 American Control Conference,IEEE,Minneapolis,USA,June 14-16,2006:2927-2932.
[6] SUN Lu.Dynamics of plate generated by moving harmonic loads[J].Transactions of the ASME,2005,72:772-777.
[7] 谢伯元,王建强,秦晓辉,等.基于车路协同的车辆状态估计方法[J].汽车工程,2014,36(8):968-973.
[8] 张锋,冯德成,凌贤长,等.重载汽车-路面-路基垂向耦合动力学模型[J].中国公路学报,2015,28(4):1-12.
[9] 秦大同,周志刚,杨军,等.随机风载作用下风力发电机齿轮传动动态可靠性分析[J].机械工程学报,2012,48(3):1-8.
[10] NAVIN F P D.Safety factors for road design:can they be estimated?[J].Transportation Research Record,1990(1280):181-189.
[11] 游克思,孙璐,顾文钧.公路平曲线半径可靠性设计理论与方法[J].交通运输工程学报,2012,12(6):1-6.
[12] RICHL L,SAYED T.Evaluating the safety risk of narrow medians using reliability analysis[J].Journal of Transportation Engineering,2006,132(5):366-375.
[13] SARHAN M,HASSAN Y.Threee-dimensional,probabilistic highway design:sight distance application[J].Transportation Research Record,2008,2060:10-18.
[14] 陈超,吕植勇,等.国内外车路协同系统发展现状综述[J].交通信息与安全,2011,29(1):102-105.
[15] 喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2005.
[16] Gillespie T D.车辆动力学基础[M].赵六奇,金达峰,译.北京:清华大学出版社,2006.
[17] GILLERON P,NOGER C.Contribution to the analysis of transient aerodynamic effects acting on vehicles[C].SAE Paper 2004-01-1311.
[18] 冯永华,赵又群,吴杰.非稳态侧风对高速汽车操纵稳定性影响的仿真研究[J].农业装备与车辆工程,2006(11):14-17.
[19] COLEMAN S A,BAKER C J.An experimental study of the aerodynamic behavior of high sided lorries in cross winds[J].Journal of Wind Engineering and Industrial Aerodynamics,1994,53(3):401-429.
[20] 贺宜,褚端峰,吴超仲,等.路面附着条件对车辆横向稳定性影响的量化分析[J].武汉理工大学学报:交通科学与工程版,2014,38(4):784-787.
[21] 郭孔辉,隋军.轮胎垂直载荷分布与侧向力模型及纵向力之间的关系[J].汽车工程学报,1995(1):22-25.
[22] 董安正,赵国藩.人工神经网络在短期资料风速估计方面的应用[J].工程力学,2003,20(5):10-13.