Dynamics and Wheel's Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height

The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.

Identification of Maximum Road Friction Coefficient and Optimal Slip Ratio Based on Road Type Recognition

The identification of maximum road friction coefficient and optimal slip ratio is crucial to vehicle dynamics and control.However,it is always not easy to identify the maximum road friction coefficient with high robustness and good adaptability to various vehicle operating conditions.The existing investigations on robust identification of maximum road friction coefficient are unsatisfactory.In this paper,an identification approach based on road type recognition is proposed for the robust identification of maximum road friction coefficient and optimal slip ratio.The instantaneous road friction coefficient is estimated through the recursive least square with a forgetting factor method based on the single wheel model,and the estimated road friction coefficient and slip ratio are grouped in a set of samples in a small time interval before the current time,which are updated with time progressing.The current road type is recognized by comparing the samples of the estimated road friction coefficient with the standard road friction coefficient of each typical road,and the minimum statistical error is used as the recognition principle to improve identification robustness.Once the road type is recognized,the maximum road friction coefficient and optimal slip ratio are determined.The numerical simulation tests are conducted on two typical road friction conditions（single-friction and joint-friction）by using CarSim software.The test results show that there is little identification error between the identified maximum road friction coefficient and the pre-set value in CarSim.The proposed identification method has good robustness performance to external disturbances and good adaptability to various vehicle operating conditions and road variations,and the identification results can be used for the adjustment of vehicle active safety control strategies.

Influence of Tire Dynamics on Slip Ratio Estimation of Independent Driving Wheel System

The independent driving wheel system, which is composed of in-wheel permanent magnet synchronous motor（I-PMSM） and tire, is more convenient to estimate the slip ratio because the rotary speed of the rotor can be accurately measured. However, the ring speed of the tire ring doesn’t equal to the rotor speed considering the tire deformation. For this reason, a deformable tire and a detailed I-PMSM are modeled by using Matlab/Simulink. Moreover, the tire/road contact interface（a slippery road） is accurately described by the non-linear relaxation length-based model and the Magic Formula pragmatic model. Based on the relatively accurate model, the error of slip ratio estimated by the rotor rotary speed is analyzed in both time and frequency domains when a quarter car is started by the I-PMSM with a definite target torque input curve. In addition, the natural frequencies（NFs） of the driving wheel system with variable parameters are illustrated to present the relationship between the slip ratio estimation error and the NF. According to this relationship, a low-pass filter, whose cut-off frequency corresponds to the NF, is proposed to eliminate the error in the estimated slip ratio. The analysis, concerning the effect of the driving wheel parameters and road conditions on slip ratio estimation, shows that the peak estimation error can be reduced up to 75% when the LPF is adopted. The robustness and effectiveness of the LPF are therefore validated. This paper builds up the deformable tire model and the detailed I-PMSM models, and analyzes the effect of the driving wheel parameters and road conditions on slip ratio estimation.

A Fuzzy-based Sliding Mode Control Approach for Acceleration Slip Regulation of Battery Electric Vehicle

Due to quick response and large quantity of electric motor torque,the traction wheels of battery electric vehicle are easy to slip during the initial phase of starting.In this paper,a sliding mode control approach of acceleration slip regulation is designed to prevent the slip of the traction wheels.The wheel slip ratio is used as the state variable for the formulation of system dynamics model.The fuzzy algorithm is utilized to adjust the switch function of sliding mode controller.After stability and robustness analysis,the sliding mode control law is transferred into C code and downloaded into vehicle control unit,which is validated under wet and dry road conditions.The experimental results with a small overshoot and a quick response during starting indicate that the sliding mode controller has good control efect on the slip ratio regulation.This article proposes an acceleration slip regulation method that improves the safety during acceleration for battery electric vehicle.

轮毂式电动汽车电子差速复合控制方法

为实现轮毂式电动汽车在弯道的稳定转向,解决传统控制方法对汽车行驶速度的局限性,提出一种高-低速复合电子差速控制方法。当汽车处于低速行驶状态时,根据Ackermann转向模型获取驱动轮期望转速,提出一种模糊PID控制方法,实现轮速的稳定跟踪;当汽车处于高速行驶状态时,以驱动轮的相对滑移率作为反馈控制量,提出一种基于模糊逼近的滑移率优化控制方法,无需建立精确的系统状态空间模型,同时根据LQR理论保证了汽车驱动轮相对滑移率最小。Matlab/Carsim联合仿真证明,所提出的高-低速复合控制方法能够使汽车在不同行驶速度下实现稳定转向。

基于响应面法的汽车翼子板冲压成形工艺多目标优化

为解决汽车翼子板冲压成形时出现的破裂、表面凹陷及滑移线等质量问题,利用Autoform软件对拉延成形过程进行数值模拟,基于响应面法的中心复合设计,选取压边力、摩擦因数、拉延筋阻力系数为优化变量,以最大减薄率、主次应变、表面滑移线最大滑移距离为优化目标,建立优化变量对优化目标影响的响应面模型,确定最优工艺参数组合为:压边力700 kN,摩擦因数0.15,拉延筋1、拉延筋2、拉延筋3和拉延筋4的阻力系数分别为0.45、0.45、0.35和0.45 N·mm^(-1)。基于最优工艺参数的模拟结果,通过设计加强拉延筋将表面滑移线最大滑移距离降为4.94 mm。对比模拟结果和实际试模样件的检测结果发现,两者基本一致,制件的最大减薄率、主次应变、表面滑移线最大滑移距离均满足技术要求,从而验证了响应面法优化冲压工艺的可行性和有效性。

硬度匹配对轮轨滚动接触疲劳损伤行为的影响规律研究

随着我国铁路的高速发展,轮轨在服役过程中的疲劳损伤问题愈加突出,因此,本工作利用MJP-30A滚动磨损与接触疲劳试验机研究轮轨滑差率、轮轨硬度比对滚动接触疲劳裂纹发展的影响。结果表明:滑差率较小时,疲劳裂纹较短,且裂纹沿着表面小角度扩展;滑差率大时,切向力增大,表层裂纹会被磨掉。循环转数小时,裂纹均停留在试样表层,扩展不明显;循环转数过大时,枝裂纹扩展相互连接形成网状。对比不同硬度材料的裂纹扩展试验发现:不同硬度匹配对裂纹扩展有着较大影响,硬度高的材料表面塑性变形较小,裂纹扩展速度慢,裂纹长度、宽度以及深度都较小;硬度低的材料裂纹扩展速度快,裂纹长度、宽度以及深度都有所增加。裂纹在试样中不同深度处的扩展速度有着较大差异,在靠近试样表面的裂纹需要克服的扩展阻力较大,故大多裂纹都停留在塑性变形层区域;一旦裂纹突破至基体区域,裂纹的扩展速度就会急剧增加。

TEQC与Anubis的数据质量检核性能分析

作为主流的数据质量分析软件,TEQC和Anubis(转换、编辑和质量检查软件)具备对不同格式版本的观测数据进行质量分析的功能。本研究利用这一功能,对RINEX(与接收机无关的交换格式)2.11版本的观测数据进行了数据完整率、周跳比、多路径效应和信噪比四项指标的分析。在此基础上,还利用Anubis对多样化内容的RINEX3.04格式数据进行了多系统多频点的分析。研究结果显示:Anubis和TEQC的数据完整率在观测数据未缺失时差异小于0.3%,而在多路径效应、周跳比和信噪比方面,由于其计算方法和软件特性的影响,其指标存在较大差异。Anubis在完整率、多路径效应和周跳比指标方面相比TEQC其数据质量分析性能更优,而信噪比在2个软件中均未统计出弱信号强度,其软件间的差异性影响较小,分析性能相当。此外,Anubis能够对多样化数据进行多系统多频点的分析,且通过其内置的可视化功能进行更直观和全面的数据质量分析。这对于实现高精度GNSS定位具有重要意义。

面齿轮轴间限滑差速器构型设计与性能分析

为解决现有轴间限滑差速器限滑能力有限、构型复杂且加工困难等问题,提出了一种新型的面齿轮轴间限滑差速器设计方案。对差速器构型原理和运动特性进行理论分析,建立了面齿轮轴间限滑差速器的力学平衡方程和锁紧系数理论模型;基于面齿轮加工成型原理和轴间差速器工作特性,设计搭建了三维实体模型和Adams虚拟样机模型,并利用Adams仿真软件进行了多体动力学分析。结果表明,面齿轮轴间限滑差速器对前后轴的锁紧系数分别可达到6.5和5;在良好路面行驶时,前后轴输出转矩与预设转矩分配比40∶60基本吻合;在双附着系数路面行驶时,可迅速锁紧打滑侧车轴并将转矩更多分配至未打滑侧车轴,实现转矩分配的自动调节,对前后轴的最大转矩分配分别可达73%和79%。结果验证了面齿轮轴间限滑差速器的可行性,为面齿轮轴间限滑差速器的设计应用提供了依据。

新型可拆卸式钢-UHPC组合板的抗弯性能

为探究钢-薄层超高性能混凝土(ultra-high performance concrete,UHPC)轻型组合桥面体系在局部轮载下的抗弯性能,设计并开展了4块基于高强螺栓连接的可拆卸式钢-UHPC组合板的四点弯曲试验,研究了钢板类型、抗剪连接件间距对可拆卸式钢-UHPC组合板的破坏模式、荷载-挠度曲线、界面相对滑移、裂缝宽度、截面应变分布等影响规律,研究结果表明:在正弯矩荷载作用下,采用Q355钢板的组合板的破坏模式为高强螺栓被剪断,而采用负泊松比(negative Poisson’s ratio,NPR)钢板的组合板的破坏模式为部分高强螺栓被剪断、部分预埋带垫加长螺母被拔出、UHPC板由于失稳大面积压溃等;在相同的高强螺栓间距下,采用NPR钢板的组合板的板端相对滑移较小,说明NPR钢板有效延缓并限制了钢板与UHPC板的相对滑移,从而提升两者的协同变形能力,继而提高组合板的抗弯刚度及承载力等;由截面应变分析可知,由于NPR钢板的负泊松比效应、高刚度、高屈服强度,整个加载过程NPR钢板与底部UHPC层的拉应变保持着应变协调性,随着荷载的增大截面塑性中和轴的上移幅度可忽略不计。因此,在采用NPR钢板提升钢-UHPC组合板抗弯性能的前提下,应使UHPC厚度与NPR钢板的性能进行匹配,充分发挥两者的材料性能,避免失稳破坏先于UHPC材料强度破坏。

弹性环式挤压油膜阻尼器一体化圆柱滚子轴承保持架振动特性分析

航空发动机主轴中滚动轴承为了降低系统振动经常与弹性环式挤压油膜阻尼器(elastic ring squeeze film damper, ERSFD)联合使用。基于滚动轴承动力学理论和流体力学控制方程,采用变步长积分算法建立圆柱滚子轴承与ERSFD耦合的动力学分析模型,对外圈带ERSFD的圆柱滚子轴承保持架振动特性和打滑率进行研究。研究结果表明:与未装配ERSFD的圆柱滚子轴承相比,ERSFD可以提高圆柱滚子轴承保持架的稳定性。过大或过小的弹性环凸台数量与宽度都不利于圆柱滚子轴承保持架的稳定性,需要选择合适的凸台数量和宽度。径向载荷与转速对带弹性环的圆柱滚子轴承保持架稳定性影响显著,保持架涡动频率的谐波次数随着径向载荷的增加而减少,其对应的幅值也减小;保持架涡动频率的谐波次数随着转速的增加而增加,其对应幅值也增加。

Wheel slip-sinkage and its prediction model of lunar rover

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

基于预设性能的飞机全电刹车系统滑模控制

针对飞机全电防滑刹车系统具有较强的非线性特征,以及机电作动器(EMA)中存在的干扰不利于系统稳定性,提出一种有限时间预设性能反演滑模控制方法。在合理简化的基础上,建立含滑移率子系统和EMA子系统的飞机全电防滑刹车系统的数学模型,并引入有限时间预设性能函数;利用预设性能反演控制方法设计滑移率控制器,获得参考刹车压力控制率,保证滑移率跟踪误差在有限时间内收敛到预设范围内;为跟踪参考刹车压力,利用非奇异终端滑模控制方法设计EMA控制器,针对EMA中存在的干扰,设计扩张状态观测器估计,并在控制器中进行补偿,提高控制器的鲁棒性和控制精度;通过干跑道和冰跑道2种情况下的数值仿真验证所提方法控制效果。

滚刀滑移状态下的受力与磨损仿真分析

为探究滚刀滑移状态下破岩的受力与磨损的变化规律,基于离散单元法,建立了同时考虑滚刀自转和绕刀盘公转的滚动圆周切割模型。定义了一个滑移率参数η用于描述滚刀的滑移状态,对不同滑移率工况下滚刀破岩受力和磨损进行了对比分析,并结合工程实例对数值仿真结论进行了验证,结果表明:数值仿真中垂直力F_(V)和滚动力F_(R)在CSM模型计算值附近波动,两者较为吻合,表明了本文模型的合理性。数值仿真结果表明,随着滑移率η的增大,垂直力F_(V)呈轻微减小趋势,滚动力F_(R)明显变大,从滚动破岩到滑动破岩,垂直力F_(V)降幅为23.6%,滚动力F_(R)增幅达83.7%,滑动破岩将导致滚刀偏磨。工程实测数据表明,刀盘上大量滚刀处于正常磨损状态时,主要表现为推力增大。大量滚刀处于偏磨状态时,主要表现为扭矩增大,其中偏磨滚刀占比19.05%和28.57%时,扭矩增幅分别为55.85%和261.51%。滚刀正常磨损和偏磨均大量存在时,表现为扭矩推力同步增大,其中偏磨滚刀占比21.43%时,扭矩增幅为80.89%。数值仿真和实测数据表现出较高的一致性。综合4次开仓换刀结果,可将刀盘扭矩增幅超过50%作为判定大量滚刀发生偏磨的重要依据。

四驱电动汽车变附着路面行驶操稳性控制研究

针对四轮驱动电动汽车行驶时路面峰值附着系数和附着利用率变化的问题,提出利用直接横摆力矩控制提高操纵稳定性的控制策略。该策略采用分层控制,上层控制器负责目标车速的追踪、滑移率调整力矩的计算、以及根据行驶危险程度实现对质心侧偏角和横摆角速度的协调控制,下层控制器包括以轮胎利用率最优为目标的分配算法及集成滑移率控制的分配算法,根据滑移率大小实时切换。Carsim-Simulink联合仿真结果表明,在对开路面行驶时,相比于转矩平均分配控制策略,该控制策略能够使车辆具有良好操稳性的同时保持各车轮处于最佳滑移率区间内,有效改善了车辆性能。

ABS系统多路况下液压制动性能研究

ABS制动系统是保障汽车安全性能的重要部分,针对制动系统在制动过程中的非线性和时变性等问题,进行了汽车ABS控制策略对比研究。对直线制动过程进行研究分析,基于AMESim建立了单轮的防抱死液压系统,利用Simulink建立单车轮动力学模型,并采用以滑移率误差及变化率为输入的模糊PID控制策略和以制动力矩变化率为输入的自寻优控制策略。两种控制策略分别在单一干路面、湿路面和制动后1.5 s湿路面突变成干路面多路况,以车速为90 km/h进行ABS制动仿真,将制动结果进行对比。结果表明,模糊PID与自寻优两种控制方法能在制动过程中防止车轮抱死,自寻优控制方法不仅制动时间更短,而且能更好应对路况突变,验证了自寻优控制具有更强的鲁棒性和更佳的制动效果。

Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains

The wheel-rail adhesion control for regenerative braking systems of high speed electric multiple unit trains is crucial to maintaining the stability,improving the adhesion utilization,and achieving deep energy recovery.There remain technical challenges mainly because of the nonlinear,uncertain,and varying features of wheel-rail contact conditions.This research analyzes the torque transmitting behavior during regenerative braking,and proposes a novel methodology to detect the wheel-rail adhesion stability.Then,applications to the wheel slip prevention during braking are investigated,and the optimal slip ratio control scheme is proposed,which is based on a novel optimal reference generation of the slip ratio and a robust sliding mode control.The proposed methodology achieves the optimal braking performancewithoutthewheel-railcontactinformation.Numerical simulation results for uncertain slippery rails verify the effectiveness of the proposed methodology.

在役斜拉索粘滞阻尼器力学性能与控制效果研究

针对在役斜拉索粘滞阻尼器长期服役后易产生液体泄漏的问题,采用性能试验和有限元法定量评估并分析液体泄漏对阻尼器力学性能和减振控制效果的影响。首先,采用性能试验的方法分析实桥液体泄漏粘滞阻尼器力学性能,研究滑移产生的机理;然后,引入缝隙单元并与粘壶单元串联,建立液体泄漏粘滞阻尼器力学模型,确定模型参数并通过试验验证;最后,基于该力学模型,采用数值模拟方法建立斜拉索-液体泄漏粘滞阻尼器的系统模型,分析液体泄漏对斜拉索附加模态阻尼比的影响。结果表明:液体泄漏导致粘滞阻尼器阻尼力滞回曲线出现明显的滑移现象;液体泄漏后粘滞阻尼器内部出现空隙,当活塞杆经过空隙时无法产生正常的阻尼力,导致阻尼力滞回曲线出现滑移平台,显著削弱了阻尼器的耗能能力;随着滑移量的增大,粘滞阻尼器能够实现的一阶附加模态阻尼比逐渐减少,降低了其对斜拉索的减振控制效果。

往复荷载作用下锈蚀钢筋与混凝土黏结性能研究

采用梁式试件进行25次往复荷载(25%、45%和65%极限荷载)作用下锈蚀钢筋(理论锈蚀率为2%、4%和6%)混凝土间黏结性能试验研究。结果表明:钢筋混凝土梁式试件均发生劈裂破坏;钢筋混凝土间的滑移在前十个往复荷载循环周期内基本完成,而后试件加载前后滑移差逐渐缩小,滑移量基本不再增加;在试件所受荷载等级一定时,试件加载端与自由端钢筋混凝土间的滑移随着锈蚀率增加而增大;而控制纵筋的锈蚀率不变,试件纵筋与混凝土之间自由端和加载端的滑移量随着荷载等级的提高而增加明显;往复荷载等级对于试件滑移量的影响较钢筋锈蚀相比更加明显。

汽车ABS模糊变结构控制设计

针对汽车制动过程中防抱死制动系统(ABS)存在的难以充分利用地面附着系数和高度非线性的问题,提出了一种基于路面识别的ABS模糊变结构控制策略。利用Burckhardt轮胎模型设计路面识别算法,并通过模糊变结构控制调节路面识别算法识别出的最优滑移率。仿真实验结果表明,路面识别算法响应速度快、准确率高;在跃变路面条件下,模糊变结构控制比变结构控制的制动时间减少7%,制动距离缩短6%,控制器输出的抖振幅度得到有效削弱.