Multi-axle heavy-duty special vehicles have the characteristics of large load and highe center of mass, which result the possibility of steering instability under high maneuvering conditions. The sideslip angle and yaw rate are the key criteria for measuring vehicle handling stability. If it is measured directly by on-board sensors, there are problems such as difficult measurement, high cost and long-term error. Therefore, the research on the state estimation of five-axle heavyduty vehicles is carried out. Firstly, based on the nonlinear three-degree-of-freedom vehicle model, a multi-axis heavyduty vehicle state observer based on Extended Kalman Filter is established to predict and estimate the yaw rate, sideslip angle and longitudinal speed of the vehicle. Then, a 13-degree-of-freedom dynamic model of a five-axle special vehicle is built based on Matlab/Simulink, and the driving state monitoring system is used to conduct real vehicle experiments to verify the accuracy of the model, which provides a theoretical basis for estimating the model and a verification simulation platform. Finally, the 13-degree-of-freedom model is used as the simulation platform to verify the fishhook condition, the double-line moving condition and the sinusoidal input condition. The research results show that the state estimator based on the nonlinear three-degree-of-freedom vehicle model can realize the dynamic estimation of the parameters of longitudinal velocity, yaw rate and sideslip angle.
In order to improve the maneuverability and stability of a certain type of multi-axle special vehicle under low adhesion coefficient and high-speed conditions, an active steering controller is designed with this type of multi-axle special vehicle as the research object. Firstly, the dynamic model of this type of special vehicle is built based on Trucksim, and the accuracy of the model is verified by real vehicle experiments, which lays a foundation for the research on active steering control. Then, an active steering controller is designed based on the Ackerman steering principle with the zero centroid slip angle as the control objective. Finally, the model of the controller is built through simulink, and the cosimulation with the vehicle dynamics model of Trucksim is carried out to verify the designed active steering controller. The simulation results show that the designed active steering controller has an ideal control effect on the roll stability and handling stability of the vehicle under high speed conditions and low adhesion road coefficient.
Vibration of the automotive engine has the characteristics of wide frequency band, multi-vibration sources and multi-main frequencies. Limited capability of passive mounting systems can be provided for engine vibration isolation. A MR semiactive mounting system for automotive engines is investigated in this paper. The dynamic model of the vertical vibration isolation system for the engine and an efficient damping control model of the MR mount are established. The frequency characteristics of the engine vibration are analyzed. The fuzzy control algorithm for the MR mounting system is designed, and the isolation performance of the MR mounting system is analyzed based on the developed experimental setup in Hefei University of Technology.
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