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

doi:10.3901/JME.2019.16.114

Abstract

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

CLC Number:

U463

ZHANG Liangxiu, WU Guangqiang, WANG Yu. Unified Modelling and Verification of Vehicle Longitudinal/Lateral/Vertical Dynamics[J]. Journal of Mechanical Engineering, 2019, 55(16): 114-122.

References

[1] TANKUT A. Nonlinear optimal integrated vehicle control using individual braking torque and steering angle with on-line control allocation by using state-dependent Riccati equation technique[J]. Vehicle System Dynamics,2009,47(2):155-177.
[2] FALCONE P,TSENG H E,BORRELLI F,et al. MPC-based yaw and lateral stabilisation via active front steering and braking[J]. Vehicle System Dynamics,2008,46(Supp1.):611-628.
[3] CHO W,YOON J,KIM J,et al. An investigation into unified chassis control scheme for optimised vehicle stability and manoeuvrability[J]. Vehicle System Dynamics,2008,46(Supp1.):87-105.
[4] 张利鹏,李亮,祁炳楠. 轮毂电机驱动电动汽车侧倾稳定性解耦控制[J]. 机械工程学报,2017,53(16):108-118. ZHANG Lipeng,LI Liang,QI Bingnan. Decoupled roll stability control of in-wheel motor drive electric vehicle[J]. Journal of Mechanical Engineering,2017,53(16):108-118. (in Chinese)
[5] LI Daofei,DU Shangqian,YU Fan. Integrated vehicle chassis control based on direct yaw moment,active steering and active stabiliser[J]. Vehicle System Dynamics,2008,46(Supp1.):341-351.
[6] GHIKE C,SHIM T,ASGARIS J,et al. Integrated control of wheel drive-brake torque for vehicle-handling enhancement[J]. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,2009,223(4):439-457.
[7] GASPAR P,SZABO Z,BOKOR J,et al. Toward global chassis control by integrating the brake and suspension systems[J]. IFAC Proceedings Volumes,2007,40(10):563-570.
[8] ZAAL P. Manual control adaptation to changing vehicle dynamics in roll-pitch control tasks[J]. Journal of Guidance Control Dynamics,2016,39(5):1-13.
[9] CHOU H,D'ANDRÉA-NOVEL B. Global vehicle control using differential braking torques and active suspension forces[J]. Vehicle System Dynamics,2005,43(43):261-284.
[10] TRACHTLER A,TRACHTLER A. Integrated vehicle dynamics control using active brake,steering and suspension systems[J]. International Journal of Vehicle Design,2004,36(1):1-12.
[11] 崔胜民,肖利寿,宋宝玉,等. 汽车操纵动力学十八自由度模型仿真研究[J]. 汽车工程,1998,20(4):212-219. CUI Shengmin,XIAO Litao,SONG Baoyu,et al. A research on computer simulation for vehicle handling dynamics with 18 DOFs[J]. Automotice engineering,1998,20(4):212-219.
[12] HEGAZY S,RAHNEJAT H,HUSSAIN K. Multi-body dynamics in full-vehicle handling analysis under transient manoeuvre[J]. Vehicle System Dynamics,2000,34(1):1-24.
[13] 刘刚,陈思忠,王文竹,等. 车辆操稳性与舒适性统一建模研究[J]. 北京理工大学学报,2015,35(9):913-918. LIU Gang,CHEN Sizhong,WANG Wenzhu,et al. Research on unified modeling of vehicle's handling stability and ride comfort[J]. Transactions of Beijing Institute of Technology,2015,35(9):913-918.
[14] HE Zhengyi,JI Xuewu. Nonlinear robust control of integrated vehicle dynamics[J]. Vehicle System Dynamics,2012,50(2):247-280.
[15] 郭孔辉. UniTire统一轮胎模型[J]. 机械工程学报,2016,52(12):90-99. GUO Konghui. UniTire:Unified tire model[J]. Journal of Mechanical Engineering,2016,52(12):90-99.
[16] PACEJKA H B. Tyre and vehicle dynamics[M]. Elsevier Butterworth-Heinemann,2006.
[17] GUO K,GUAN H. Modelling of driver/vehicle directional control system[J]. Vehicle System Dynamics,1993,22(3-4):141-184.
[18] 叶光湖. 汽车半主动空气悬架与ESC的集成控制研究[D]. 上海:同济大学,2014. YE Guanghu. The study of integrated control of automotive semi-active air suspension and esc[D]. Shanghai:Tongji university,2014.