考虑迟滞特性的轮胎纵向动力学模型

doi:10.3901/JME.2023.12.364

机械工程学报 ›› 2023, Vol. 59 ›› Issue (12): 364-372.doi: 10.3901/JME.2023.12.364

• 运载工程 • 上一篇

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考虑迟滞特性的轮胎纵向动力学模型

段顺昌^1,2,3, 许男⁴, 石琴^1,2,3, 白先旭^1,2,3

1. 合肥工业大学自动驾驶汽车安全技术安徽省重点实验室合肥 230009;
2. 合肥工业大学安徽省智慧交通车路协同工程研究中心合肥 230009;
3. 合肥工业大学汽车与交通工程学院合肥 230009;
4. 吉林大学汽车仿真与控制国家重点实验室长春 130022

收稿日期:2022-10-10 修回日期:2023-03-20 出版日期:2023-06-20 发布日期:2023-08-15
通讯作者: 白先旭(通信作者),男,1984年出生,博士,教授。主要研究方向为汽车动力学与控制、智能网联汽车预期功能安全。E-mail:bai@hfut.edu.cn
作者简介:段顺昌,男,1995年出生,博士研究生。主要研究方向为汽车动力学与控制。E-mail:duan@mail.hfut.edu.cn
基金资助:
安徽省新能源汽车与智能联网汽车创新(JZ2021AFKJ00002)、中国汽车产业创新发展联合基金(U1864206)和中央高校基本科研业务费专项资金(JZ2023YQTD0073)资助项目。

Longitudinal Dynamic Model of Tire Considering Hysteresis Characteristics

DUAN Shunchang^1,2,3, XU Nan⁴, SHI Qin^1,2,3, BAI Xianxu^1,2,3

1. Laboratory for Automated Vehicle Safety Technology of Anhui Province, Hefei University of Technology, Hefei 230009;
2. Engineering Research Center for Intelligent Transportation and Cooperative Vehicle-Infrastructure of Anhui Province, Hefei University of Technology, Hefei 230009;
3. Department of Vehicle Engineering, Hefei University of Technology, Hefei 230009;
4. State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun 130022

Received:2022-10-10 Revised:2023-03-20 Online:2023-06-20 Published:2023-08-15

摘要/Abstract

摘要： 轮胎是汽车唯一接地部件，提供汽车运动需要的所有驱动、转向和制动力。轮胎模型是汽车动力学的基础，汽车动力学及其控制技术的进一步发展有赖于精确的轮胎模型技术。为此提出一种考虑轮胎变形迟滞特性的轮胎简化物理模型，结合电容-电阻(Resistor-Capacitor，RC)迟滞算子，分析轮胎胎体压缩回弹和制动力加载卸载两个层面的迟滞特性，并分别建立纵滑工况下的轮胎稳态模型HysTire和动态模型Dyn-HysTire。为了验证HysTire模型和Dyn-HysTire模型的准确性，对某型号Pirelli轮胎纵滑工况下的试验数据进行建模。结果显示，稳态模型HysTire提供了与魔术公式相似的拟合精度，而引入滑移率变化率的动态Dyn-HysTire模型的拟合结果的均方差(Mean square error，MSE)值相比于魔术公式降低了约30%，显著提高了轮胎的仿真精度。另外Dyn-HysTire模型同样提供了堪比LuGre模型和PAC2002模型对轮胎动态特性的表达能力。最后在1/4车辆ABS仿真中进一步验证，相比于魔术公式，考虑迟滞特性的Dyn-HysTire模型更能反映出轮胎的真实力学特性，提高了车辆动力学的仿真精度。

关键词: 半经验轮胎模型, 迟滞特性, 纵向动力学, 稳态, 动态

Abstract: Tires are the only earthed part of the vehicle, which provide all the driving, steering, and braking force needed by the vehicle to move. The tire model is the basis for automobile dynamics, the further development of vehicle dynamics and control technology depends on accurate tire modeling technology. A simplified tire physical model considering the tire deformation hysteresis is proposed. Combined with the resistor-capacitor(RC) hysteresis operator, hysteresis characteristics of the tire in compression and rebound of the body, loading and unloading of braking force are analyzed, and the tire steady-state model HysTire and dynamic model Dyn-HysTire under longitudinal slip conditions are established respectively. To verify the accuracy of HysTire model and Dyn-HysTire model, the Pirelli tire test data of longitudinal slip condition are modeled. The modeling results show that the steady-state HysTire model and the Magic Formula(MF) have similar fitting precision, while the Mean Square Error(MSE) value of the dynamic Dyn-HysTire model which introduces the slip change rate decreases by about 30% comparing to MF, which significantly improves the tire simulation accuracy. In addition, Dyn-HysTire model also can express tire unsteady characteristics comparable to LuGre model and PAC2002 model. Finally, it is further verified in the 1/4 vehicle ABS simulation. The results show that compared with the MF, the Dyn-Hystire model with hysteresis characteristics can better reflect the real mechanical characteristics of tires, and the simulation accuracy of vehicle dynamics is improved.

Key words: semi-empirical tire model, hysteresis characteristics, longitudinal dynamics, steady state, dynamic state

中图分类号:

U461

段顺昌, 许男, 石琴, 白先旭. 考虑迟滞特性的轮胎纵向动力学模型[J]. 机械工程学报, 2023, 59(12): 364-372.

DUAN Shunchang, XU Nan, SHI Qin, BAI Xianxu. Longitudinal Dynamic Model of Tire Considering Hysteresis Characteristics[J]. Journal of Mechanical Engineering, 2023, 59(12): 364-372.

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考虑迟滞特性的轮胎纵向动力学模型

Longitudinal Dynamic Model of Tire Considering Hysteresis Characteristics

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