考虑参数不确定性的UniTire轮胎模型与车辆稳定性分析

doi:10.3901/JME.2022.16.247

机械工程学报 ›› 2022, Vol. 58 ›› Issue (16): 247-257.doi: 10.3901/JME.2022.16.247

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考虑参数不确定性的UniTire轮胎模型与车辆稳定性分析

许男¹, 张紫薇¹, 杨宇航², 许家孟¹

1. 吉林大学汽车仿真与控制国家重点实验室长春 130022;
2. 一汽解放汽车有限公司商用车开发院长春 130011

收稿日期:2021-07-20 修回日期:2022-04-10 出版日期:2022-08-20 发布日期:2022-11-03
通讯作者: 许男(通信作者)，男，1988年出生，博士，副教授，博士研究生导师。主要研究方向为轮胎力学、车辆动力学与控制、智能汽车运动控制、节能与新能源汽车。E-mail：xunan@jlu.edu.cn
基金资助:
国家自然科学基金(51875236，61790561)、中国汽车产业创新发展联合基金(U1864206)和吉林省科技发展计划(20210201110GX)资助项目

UniTire Model and Vehicle Stability Analysis Considering Parameter Uncertainty

XU Nan¹, ZHANG Ziwei¹, YANG Yuhang², XU Jiameng¹

1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022;
2. FAW Jiefang Automobile Company Commercial Vehicle Development Institute, Changchun 130011

Received:2021-07-20 Revised:2022-04-10 Online:2022-08-20 Published:2022-11-03

摘要/Abstract

摘要： 极限工况下，轮胎力学特性以及摩擦特性对车辆稳定性的影响至关重要。但是实际行驶中的路面条件和轮胎参数都存在随机不确定性，这种不确定性会对车辆动力学，尤其是极限临界状态下的车辆稳定性产生重要影响。对大量橡胶摩擦试验台和高速轮胎试验台试验数据分析发现轮胎刚度和摩擦系数的不确定性可以分别用均匀分布和正态分布的随机特性进行数学描述。在此基础上借助广义混沌多项式建立考虑参数不确定性的UniTire随机轮胎模型，该模型能够描述不确定性影响下的轮胎力学响应，以提供更加准确的轮胎力学特性预测。为验证不确定性对整车操纵稳定性的影响，将UniTire随机模型嵌入十四自由度车辆模型中，选取极端条件下转向盘阶跃和正弦工况进行仿真分析。结果表明，极限工况下，轮胎状态参数的不确定性变化，会引发轮胎附着能力在一定范围内的随机性，影响车辆临界状态的稳定性。研究成果可为车辆极端条件下的稳定性研究提供理论基础。

关键词: 轮胎随机性, 广义混沌多项式理论, UniTire模型, 操纵稳定性, 极限工况

Abstract: Under extreme conditions, the impact of tire mechanics and friction characteristics on vehicle stability is very important. However, the road conditions and the tire parameters in actual driving are random which importantly affects vehicle dynamics, especially the stability of vehicle under the extreme critical state. Analyzing the test data of a large number of rubber friction test bench and high-speed tire test bench, it is found that the uncertainty of tire stiffness and friction coefficient can be mathematically described by the random characteristics of uniform distribution and normal distribution, respectively. On this basis, a UniTire stochastic model considering parameter uncertainty is established with the help of general polynomial chaos(gPC). The model can describe the tire mechanics response under the influence of uncertainty to provide a more accurate prediction of the mechanics characteristics. In order to verify the impact of uncertainty on the vehicle handling stability, the UniTire random model was embedded in the fourteen-degree-of-freedom vehicle model, and the steering wheel step and sinusoidal conditions under extreme conditions were selected for simulation analysis. The results show that under extreme conditions, the uncertainty of tire state parameters will cause the randomness of tire adhesion within a certain range, and affect the vehicle stability under the critical state. The research results can provide a theoretical basis for vehicle stability research under extreme conditions.

Key words: tire stochasticity, general polynomial chaos (gPC), UniTire model, vehicle handling stability, extreme condition

中图分类号:

TG156

许男, 张紫薇, 杨宇航, 许家孟. 考虑参数不确定性的UniTire轮胎模型与车辆稳定性分析[J]. 机械工程学报, 2022, 58(16): 247-257.

XU Nan, ZHANG Ziwei, YANG Yuhang, XU Jiameng. UniTire Model and Vehicle Stability Analysis Considering Parameter Uncertainty[J]. Journal of Mechanical Engineering, 2022, 58(16): 247-257.

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考虑参数不确定性的UniTire轮胎模型与车辆稳定性分析

UniTire Model and Vehicle Stability Analysis Considering Parameter Uncertainty

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