State Estimation of Drive-by-Wire Chassis Vehicle Based on Dual Unscented Particle Filter Algorithm

Accurate vehicle dynamic information plays an important role in vehicle driving safety.However,due to the characteristics of high mobility and multiple controllable degrees of freedom of drive-by-wire chassis vehicles,the current mature application of traditional vehicle state estimation algorithms can not meet the requirements of drive-by-wire chassis vehicle state estimation.This paper proposes a state estimation method for drive-by-wire chassis vehicle based on the dual unscented particle filter algorithm,which make full use of the known advantages of the four-wheel drive torque and steer angle parameters of the drive-by-wire chassis vehicle.In the dual unscented particle filter algorithm,two unscented particle filter transfer information to each other,observe the vehicle state information and the tire force parameter information of the four wheels respectively,which reduce the influence of parameter uncertainty and model parameter changes on the estimation accuracy during driving.The performance with the dual unscented particle filter algorithm,which is analyzed in terms of the time-average square error,is superior of the unscented Kalman filter algorithm.The effectiveness of the algorithm is further verified by driving simulator test.In this paper,a vehicle state estimator based on dual unscented particle filter algorithm was proposed for the first time to improve the estimation accuracy of vehicle parameters and states.

Research on X-by-Wire Chassis Technology for Intelligent Driving of New Energy Vehicles

As China’s economy develops,new energy technologies and intelligent driving have become a trend in the automobile industry.The development of new energy vehicles has accelerated,with X-by-wire chassis technology becoming the core technology for intelligent driving.This technology includes steer-,brake-,shift-,and throttle-by-wire systems.It is not only the key technology for new energy vehicles but also an important support for promoting their sustainable development.This article presents an in-depth study on X-by-wire chassis technology in new energy vehicles and its basic working principle.

Robot driver for vehicle durability emission test on chassis dynamometer

A method for a vehicle durability emission test using a robot driver insteadof human drivers on the chassis dynamometer is presented. The system architecture of vehicledurability emission test cell, the road load simulation strategy and the tele-monitoring systembased on Browser/Client structure are described. Furthermore, the construction of the robot driver,vehicle performance self-learning algorithm, multi-mode vehicle control model and vehicle speedtracking strategy based on fuzzy logic arealso discussed. Besides, the capability of controlparameters self-compensation on-line makes it possible to compensate the wear of vehicle componentsand the variety of clutch true bite point during the long term test. Experimental results show thattherobot driver can be applicable to a wide variety of vehicles and the obtained results stay withina tolerance band of ± 2 km/h. Moreover the robot driver is able to control tested vehicles withgood repeatability and consistency; therefore, this methodpresents a solution to eliminate theuncertainty of emission test results by human drivers and to ensure the accuracy and reliability ofemission test results.

基于ADAMS/Chassis的汽车操纵稳定性能仿真分析及优化

应用多体动力学仿真软件ADAMS的chassis模块建立了车辆虚拟样机模型,根据ISO标准进行了稳态回转和方向盘角阶跃两项试验的仿真,计算并分析了两种试验状态下车辆状态参数的变化情况。最后对车辆模型进行了优化,优化结果表明,悬架的结构及材料对操纵稳定性能有一定的影响。

Virtual Prototype Simulation and Reliability Analysis for Drive System of Armored Chassis

Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service reliability of drive system in training or battle missions,a new kind of dynamic simulation model and driving simulation platform of the complete drive system were established based on virtual prototype and finite element technology in this paper. Using the platform, the kinematics and dynamic characteristics of drive system were studied and analyzed in detail,the dynamic load spectrum of key components was obtained,the service life was predicted, and the service reliability evaluation results were provided. A simulation example of transmission gear was shown to illustrate the simulation and evaluation process. The result proves that the simulation method not only can be used to compute and evaluate the service reliability of complex mechanical mechanism, but also has high precision and reasonable computational cost. Therefore,simulation and reliability analysis based on virtual prototype of the armored chassis drive system will provide scientific reference for the formulation of armored chassis reasonable repair cycle.

Experimental Study on the Ride Comfort of a Crawler Power Chassis Scale Model Based on the Similitude Theory

The ride comfort experimental assessment of crawler off-road vehicle is relatively overlooked, and is expensive and difficult to execute with higher and higher ride comfort performance requirements. To trade off between precise and cost, an experimental method based on the similitude theory is proposed. Under the guidance of the similitude theory, a 1：5 crawler power chassis scale model equipped with a kind of variable stiffness suspension system is used. The power spectrum density（PSD）, the root mean square（RMS） of weighed acceleration, peak factor, average absorbed power（AAP） and vibration dose value（VDV） are selected as ride comfort evaluation indexes, and tests results are transformed via similarity indexes to predict the performance of full-scale power chassis. PSD shows that the low-order natural frequency of the vertical natural frequency（z axis） is 1.1 Hz, and the RMS, AAP and VDV values indicate the ride comfort performance of this kind of power chassis is between the ＂A little uncomfortable＂ and ＂Rather uncomfortable＂. From the results, low-order vertical natural frequency, obtained by PSD, validates that the similarity relationship between two models is satisfied, and 1：5 scale model used in experiment meets the similarity relationship with the full-scale model; consequently, the ride comfort prophase evaluation with the 1：5 scale model is feasible. The attempt of applying the similitude theory to crawler vehicle ride comfort test study decreases the cost and improves the test feasibility with sufficient test precise.

Chassis Coordinated Control for Full X-by-Wire Vehicles-A Review

An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.

An improved LuGre model for calculating static steering torque of rubber tracked chassis

Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.

Structure analysis of levitation chassis of medium-to-low speed maglev vehicles based on left-right decoupling

Levitation chassis, as an extremely important component of maglev vehicles, provides functions of transmitting levitation force and steering force, and directly affects the safety performance of the vehicle. Based on the vertical dynamics model of the levitation chassis, kinetic equations of the model are established, and a simulation program is designed to analyze the structural decoupling function of the chassis, especially under the influence of elastic constraints between the left and right modules, which are exclusively owned by maglev vehicles. A finite element model of the levitation chassis based on left-right decoupling is constructed. Analysis results of the model show that the mechanical properties of the chassis tailored for the vehicle meet the design requirements, and the stiffness and strength is adequate to bear the weight of the whole vehicle.

Chassis tra fficability simulation and experiment of a LY1352JP forest tracked vehicle

Based on the analysis of complex terrains and current forest transportation equipment,a forest tracked vehicle prototype LY1352 JP was developed.The road model and the virtual prototype of the chassis were constructed using dynamic simulation software RecurDyn.The optimal tension of the vehicle as well as its capabilities for crossing trenches,climbing vertical walls,uphill and downhill slopes were simulated.The simulation results showed that the optimum tension force of the chassis of the vehicle was 63 kN(kilonewton),accounting for 45%of the total vehicle weight.The maximum trench crossing width and vertical obstacle climbing height were 1.35 m and 0.45 m,respectively.The maximum uphill and downhill angles were 50°and 45°,respectively.Tests on the prototype capacity for crossing trenches,and uphill and downhill driving were carried out.The test results were in agreement with the simulation results.A cross-country performance of a fire truck based on the tracked vehicle chassis was conducted in an old-growth forest.Tests verified that the vehicle has a strong forest trafficability performance and can meet the needs for forest transportation.

A flexible multi-body model of a surface miner for analyzing the interaction between rock-cutting forces and chassis vibrations

The discontinuous nature of rock cutting can easily cause unwanted vibrations in the structure of a surface miner.If these vibrations are not properly addressed,the related stress cycles can gradually damage the chassis resulting in fatigue failures.These events can seriously undermine the safety of operators and digging operations may be stopped for days,with an obvious economic impact.This work presents an analysis of the dynamics of a surface miner,focusing on the interaction between cutting machine dynamics and cutting forces,which is a new approach for this type of machine.For this purpose,the authors developed a numerical model of the cutting process made up of(1)a multi-body model of the cutting machine,which takes into account the chassis's flexibility;(2)a model of the rotating cutting head;and(3)a model of the interaction between the cutting head and rock,based on Shao's model.The model was compared with experimental results and then used to investigate the effects of cutting speed and cutting depth on the machine dynamics.

Modal Correlation Based Analysis on Dynamic Characters of a Commercial Semi-Trailer's Chassis Frames

In order to evaluate two different schemes＇ structural dynamic characters, dynamic response analysis of a commercial truck＇s main chassis frames is carried out. On the basis of correlation study between the tested and calculated modal results, the assembled frames＇ finite element analysis （FEA） models with sufficient precision are built up. Random response analysis in frequency domain is carried out with these FEA models, RMS values of yon Mises and main principle stresses of these two frames are obtained. It shows that the analysis resuits of the distributing tendency and concrete value ranges are coincident very well with test results. And from the results, it could be concluded that frames of scheme A endures relative better loading conditions and should be adopted as the final scheme.

Numerical Analysis of Thermal Convection in a CPU Chassis

Flow distribution and the effects of different boundary conditions are achieved for a steady-state conjugate (Conduction & Convection) heat transfer process. A plate fin heat sink with horizontal fin orientation along with a computer chassis is numerically investigated and simulated using software ANSYS CFX. Fin orientation of a heat sink changes the direction of fluid flow inside the chassis. For predicting turbulence of the flow inside the domain, a two-equation based k-ε turbulence model is chosen. The Reynolds number based on inflow velocity and geometry is found 4.2 × 103 that indicates that the flow is turbulent inside the chassis. To get proper thermal cooling, the optimum velocity ratio of inlet/outlet, dimension of inlet/outlet and different positions of outlet on the back sidewall of the chassis are predicted. Aspect velocity ratio between the inlet airflow and the outlet airflow has an effect on the steadiness of the flow. Mass flow rate depends on the dimension of the inlet/outlet. The horizontal fin orientation with 1:1.6 inlet-outlet airflow velocity ratio gives better thermal performance when outlet is located at the top corner of the chassis, near to the inner sidewall. Flow distribution and heat transfer characteristics are also analyzed to obtain the final model.

Seismic response reduction analysis of large chassis base-isolated structure under long-period ground motions

Long-period structures(e.g.Isolated structures)tend to produce pseudo-resonance with low frequency compo-nents of long-period ground motions,resulting in the increase in damage.Stiffness mutation occurs due to the set-back in the upper body of the large chassis structure.In the parts with stiffness mutation,the torsion effect caused by the tower is far greater than that of the chassis itself.In this study,a total of 273 ground motions are collected and then filtered into four types,including the near-field ordinary,near-field pulse,far-field ordinary,and far-field harmonic.An 8-degree(0.2 g)fortified large chassis base-isolated structure is established.Furthermore,ETABS program software is used to conduct nonlinear time history analysis on the isolation and seismic model under bi-directional earthquake ground motions.The comparison results show that the seismic isolation effect of the base-isolated structure under long-period ground motions is worse than that associated with ordinary ground motions when the seismic response reduction rate of the large base floor significantly decreases compared with that of the tower.When the inter-story displacement angle and the displacement of isolation layer of the chassis exceeds the limit of Code for Seismic Design of Buildings(GB 50011-2010),it is recommended to adopt composite seismic isolation technology or add limit devices.Under the condition of long-period ground motions,the base-isolated structure reduces the lateral-torsional coupling effect of the large chassis structure,while the torsion response of large chassis’top layer increases.Under long-period ground motions with the same acceleration peak,the response of the base-isolated structure increases much more than that of the seismic structure and the consideration of this impact is suggested to be added to the Code.

丘陵山地果园全液压遥控式履带动力底盘设计与试验

针对目前丘陵山地果园作业农用底盘整机体积大、行驶作业操作繁琐和通过性差等问题,结合丘陵山地果园开沟、除草和修剪等农艺管理环节的实际需求,设计了一款全液压遥控式履带动力底盘。首先,对动力底盘的整机结构和工作原理进行了阐述;其次,对前置挂载机构、行走系、变幅宽底盘、液压系统、遥控系统等关键部件进行设计和相应的匹配选型;最后,对整机进行了性能试验。试验结果表明:动力底盘在最小幅宽(1220 mm)和最大幅宽(1620 mm)的直线行驶偏移率分别为2.24%和2.2%,均满足相应国家标准(≤6%)要求。底盘的转向机动性能良好,最小幅宽原地转弯半径为905 mm,可适应丘陵山地果园相对狭窄的坡地作业环境。遥控操作上下斜坡、翻越田埂、跨越畦沟等过程平稳,满足丘陵山地果园非结构化地形行走要求。挂载链式开沟器进行开沟作业时,沟深稳定系数为88.5%,沟宽稳定系数为92.5%,满足国家标准(≥85%)要求。整机工作性能满足丘陵果园复杂坡度地形管理作业要求,可为丘陵山地果园田间管理作业的有效实施提供综合应用平台和技术支撑。

基于BS-TabNet和LSSA的车架智能轻量化设计

为解决传统牵引车车架轻量化设计中设计周期长、设计难度较大和过分依赖工程师经验等问题,提出了一种智能轻量化设计方法.首先,通过试验设计(Design of Experiments,DOE)联合仿真获取车架性能表格数据.其次,基于TabNet算法、贝叶斯优化算法和沙普利增量解释理论(SHapley Additive exPlanation,SHAP)构建出BS-TabNet模型,用于学习车架性能表格数据,生成车架代理模型.最后,采用莱维飞行策略对麻雀搜索算法(Sparrow Search Algorithm,SSA)进行改进,得到莱维麻雀搜索算法(Levy Sparrow Search Algorithm,LSSA),用于求解车架轻量化任务,找到最优车架结构参数.相较于传统机器学习算法,BS-TabNet模型在准确性、稳定性和可解释性三个方面都有着更高的评价,其准确度达到了0.98左右,稳定性提高50%以上,而且具有更强的可解释能力,解决了深度学习在表格型数据上表现较差的问题.相较于传统群智能优化算法,LSSA算法能够寻找到更好的优化结果,在满足其他性能要求的同时,实现了车架质量减轻5.64%的轻量化效果.智能轻量化设计方法将人工智能与车架轻量化设计相结合,能够节省大量设计时间,提高设计效率.

沙漠履带式运输车通过性仿真与试验

为提高沙漠地区车辆运输车能力,通过对沙漠土壤参数和履带车辆在松软地面通过性理论的分析,设计一种配备三角履带板的LY352J型沙漠履带式运输车。该车能够进行人员物资运输、车辆牵引、绞盘牵引作业,主要由三角履带板、绞盘和驾驶室等关键部位组成。通过理论分析和计算,确定各关键部件参数及沙漠履带式运输车在沙漠松软地面下的牵引通过性,应用Creo软件建立该履带车辆的虚拟样机模型,并采用RecurDyn(Recursive Dynamic)动力学仿真软件对车辆履带的最佳张紧力选择、直行、爬坡、转弯进行模拟仿真。结果显示,车重45%的条件下履带最佳张紧力为26.46 kN,能够保证车辆运行平稳且各项性能良好;上坡仿真得到的最大坡度为30°;转向动力学仿真中,车辆在路面上的转向稳定性较优,但在转弯时车辆容易失稳,会出现横向倾斜。最后在试验场地对试验样机进行直行、纵向爬坡和转向试验,验证该车型在沙漠地形实际行走时具有良好通过性能,能够克服轮式运输车在沙地沉陷的弊端,可满足现阶段沙漠地形运输作业的需求。

床椅一体化机器人设计与实现

针对床椅机器人在室内狭小空间灵活行走的问题,研制一款四轮独立驱动转向的床椅一体化机器人。根据室内狭小空间的转向需求,确定了底盘总体布局方案和主要技术参数。对重要部件进行了理论计算、有限元分析,对驱动轮支架进行了应力及形变分析;在ADAMS软件中建立了床椅机器人的动力学仿真模型,进行了稳定性分析。仿真结果表明,驱动轮支架的强度和刚度均满足设计要求,床椅机器人的各项指标符合国家相关标准的规定。样机试验进一步验证了仿真分析的结果,确认了床椅一体化机器人的稳定性、越障性能和在室内狭小空间的转向性能。

水田动力底盘逆向建模与质心验证——基于Geomagic Design X

针对目前农业机械仿真和优化模型精度不高的问题,提出了一种构建精确模型的逆向建模方法。应用光学扫描仪采集点云数据,基于Geomagic Design X处理点云数据并重构零部件模型,在SolidWorks中完成水田动力底盘的装配。以VP6D-CQ型水田动力底盘为例,将测得的实际质心位置与所建的模型质心位置进行比较,并对提出的逆向建模方法进行了试验验证以及误差分析。结果表明:总质量、x坐标、y坐标、z坐标的误差值分别为4.55%、3.62%、2.23%、4.81%,误差值均在5%内。此方法可构建准确的三维模型,为后续仿真优化数据精确性奠定了基础,与传统的研发相比较,可缩短农业机械研发周期、降低设计成本。