• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (16): 114-122.doi: 10.3901/JME.2019.16.114

• 运载工程 • 上一篇    下一篇

车辆纵-侧-垂向动力学统一建模及实车验证

张亮修1, 吴光强1,2, 王宇1   

  1. 1. 同济大学汽车学院 上海 201804;
    2. 东京大学生产技术研究所 东京 153-8505 日本
  • 收稿日期:2018-10-10 修回日期:2019-06-02 出版日期:2019-08-20 发布日期:2019-08-20
  • 通讯作者: 吴光强(通信作者),男,1965年出生,博士,教授,博士研究生导师。主要研究方向为汽车现代设计理论与方法及整车动力学控制。E-mail:wuguangqiang@tongji.edu.cn
  • 作者简介:张亮修,男,1982年出生,博士研究生。主要研究方向为智能车辆动力学建模及控制。E-mail:zhangliangxiu@163.com
  • 基金资助:
    国家重点研发计划资助项目(2016YFB0100905)。

Unified Modelling and Verification of Vehicle Longitudinal/Lateral/Vertical Dynamics

ZHANG Liangxiu1, WU Guangqiang1,2, WANG Yu1   

  1. 1. School of Automotive Studies, Tongji University, Shanghai 201804;
    2. Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan
  • Received:2018-10-10 Revised:2019-06-02 Online:2019-08-20 Published:2019-08-20

摘要: 目前车辆动力学模型多从各运动方向或关注的运动姿态来分别建立,缺乏纵-侧-垂向动力学统一建模思路。为全面描述车辆多系统耦合下的复杂系统非线性动力学行为,研究一种车辆纵-侧-垂向动力学统一建模方法。建立包含发动机动态特性、传动系统和车轮的动力传动系统模型,在分析车体运动学特性的基础上,采用拉格朗日分析力学方法建立同时反映车辆纵向、侧向和垂向运动特性的强非线性统一动力学模型,并建立悬架和轮胎模型求得作用于车体的广义力。利用某车型的标准数据和实测数据,进行车辆纵-侧-垂向动力学统一模型的多工况仿真验证和实车验证,所建立的车辆动力学模型能够精确模拟实际车辆的复杂动力学行为特性,验证了车辆纵-侧-垂向动力学统一建模方法的有效性和可行性。可为智能车辆控制系统设计和功能验证提供高保真度的仿真载体,缩短控制算法开发时间。

关键词: TiN薄膜, 残余应力, 结合性能, 曲率法, 车辆动力学, 拉格朗日方程, 实车验证, 统一建模

Abstract: At present, vehicle dynamics model is usually expressed separately in different directions or attitudes, which lacks a unified longitudinal-lateral-vertical dynamics modeling idea. To describe the nonlinear dynamic behavior of complex systems with multi-system coupling, a unified modeling method considering vehicle longitudinal/lateral/vertical dynamics is investigated. A powertrain system model is built which includes the dynamic characteristics of the engine, the driveline system and the wheels. Based on the analysis of chassis kinematic characteristics, Lagrange analytical mechanics method is used to establish a strong nonlinear unified dynamics model of vehicle that reflects synchronously the longitudinal, lateral and vertical kinetic characteristics. The suspensions and tires models are built to obtain the generalized force that acting on the chassis. Both simulation modeling and real vehicle verification of the unified model that consider longitudinal/lateral/vertical dynamics are carried out using the standard data and the measured data of a vehicle. Results show that the vehicle dynamic model can accurately simulate the complex dynamic behavior of the actual vehicle, and the feasibility and effectiveness of the proposed modeling method are verified. A high fidelity simulation carrier is provided for intelligent vehicle control system design and function verification, and the development time of control algorithm is shorten.

Key words: adhesion strength, curvature method, residual stress, TiN coatings, lagrange equation, model verification, unified modelling, vehicle dynamics

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