Search Results

In this paper, a gain-scheduling optimal control approach is proposed to enhance yaw stability of articulated commercial vehicles through active braking of the proper wheel(s). For this purpose, an optimal feedback control is used to design a family of yaw moment controllers considering a broad range of vehicle velocities. The yaw moment controller is designed such that the instantaneous tractor yaw rate and articulation angle responses are forced to track the target values at each specific vehicle velocity. A gain scheduling mechanism is subsequently constructed via interpolations among the controllers. Furthermore, yaw moments derived from the proposed controller are realized by braking torque distribution among the appropriate wheels. The effectiveness of the proposed yaw stability control scheme is evaluated through software-in-the-loop (SIL) co-simulations involving Matlab/Simulink and TruckSim under lane change maneuvers.

The larger chassis space requirements of hybrid vehicles necessitates considerations of the suspension synthesis with limited lateral space, which may involve complex compromises among performance measures related to vehicle ride and handling. This study investigates the influences of suspension linkage geometry on the kinematic and dynamic responses of the vehicle including the wheel load in order to facilitate synthesis of suspension with constrained lateral space. A kineto-dynamic half-car model is formulated incorporating double wishbone suspensions with tire compliance, although the results are limited to kinematic responses alone. An optimal synthesis of the suspension is presented to attain a compromise among the different kinematic performance measures with considerations of lateral space constraints. In the kineto-dynamic model, the struts comprising linear springs and viscous dampers are introduced as force elements.

Human-seat interactions are investigated through measurement and analysis of distribution of interface contact force and area under vertical vibration. The time histories of dynamic ischium pressure, effective contact area and contact force on a soft seat revealed significant asymmetry, under large magnitude vibration excitations occurring near the resonant frequency of the human-seat system. The asymmetric response characteristics of the cushion are mostly attributed to the nonlinear force-deflection properties of polyurethane foam materials, contour shape of human buttocks, body-hop motion and cushion bottoming tendencies. The results are utilized to propose a nonlinear and asymmetric seat cushion model incorporating body hop motion and cushion bottoming under vertical vibration. A combined human-seat model is derived upon integrating the proposed cushion model with a bio-dynamic model of the seated occupant.

The influences of fluidic X-coupling of hydro-pneumatic suspension struts on the various suspension properties are investigated for a sport utility vehicle (SUV). The stiffness and damping properties in the bounce, pitch, roll and warp modes are particularly addressed together with the couplings between the roll, pitch, bounce and warp modes of the vehicle. The proposed X-coupled suspension configuration involves diagonal hydraulic couplings among the different chambers of the four hydro-pneumatic struts. The static and dynamic forces developed by the struts of the unconnected and X-coupled suspensions are formulated using a simple generalized model, which are subsequently used to derive the stiffness and damping properties. The properties of the X-coupled suspension are compared with those of the unconnected suspension configuration, in terms of four fundamental vibration modes, namely bounce, roll, pitch and warp, to illustrate the significant effects of fluidic couplings.

This study investigates the performance potentials of hydro-pneumatic suspensions interconnected in the pitch plane of a heavy vehicle. Different configurations of interconnected suspensions comprising pneumatic, hydraulic or hybrid fluidic couplings between the front-and rear-suspension struts are proposed and analyzed. A 7-DOF pitch plane vehicle model is formulated to explore the relative vertical and pitch properties of different suspension configurations, as well as the dynamic responses of the vehicle under braking and road inputs. The mathematical formulations of strut forces due to both the unconnected and pitch-connected suspensions are derived. Relative performance potentials of different configurations are evaluated in terms of sprung mass pitch angle, suspension travel and stopping distance characteristics under different braking inputs and road conditions. The vertical ride quality is further assessed under a range of road roughness excitations and vehicle speeds.

The optimal damping design of roll plane interconnected hydro-pneumatic suspension is investigated, in order to improve vertical ride and road-friendliness of heavy vehicles, while maintaining enhanced roll stability. A nonlinear roll plane vehicle model is developed to study vertical as well as roll dynamics of heavy vehicles. The damping valves and gas chamber are integrated within the same suspension strut unit to realize compact design. The influence of variations in damping valve threshold velocity on relative roll stability is explored, under centrifugal acceleration excitations arising from steady turning and lane change maneuvers, as well as crosswind. The effects of damping valve design parameters on the vertical ride vibration and vehicle-road interaction characteristics are also investigated under a medium rough road input and two different vehicle speeds.

Automotive suspensions invariably exhibit asymmetric damping properties in compression and rebound, which is partly attributed to asymmetric damping and in-part to the suspension linkage kinematics together with tire lateral compliance. Although automotive suspensions have invariably employed asymmetric damping, the design guidelines and particular rationale for such asymmetry has not been explicitly defined. The influences of damper asymmetry together with the suspension kinematics and tire lateral compliance on the dynamic responses of a vehicle are investigated analytically under bump and pothole excitations, and the results are interpreted in view of potential design guidance. A quarter-car kineto-dynamic model of the road vehicle employing a double wishbone type suspension comprising a strut with linear spring and multiphase asymmetric damper is formulated for the analyses.

The human body is most sensitive to low frequency whole body vibrations. Ride vibrations of off-road vehicles, caused primarily by irregular terrains, predominate in the 0.5 - 5 Hz frequency range. A suspension seat offers the simplest means to improve vehicle ride by reducing ride vibrations transmitted to the driver. A computer model of an off-road vehicle suspension seat was developed which can aid the designer in the selection of optimal suspension parameters. A parametric study was performed to determine the frequency response characteristics of the validated suspension model via computer simulation to investigate the influence of suspension parameters on the vibration transmission performance of suspension seats.

The ride performance potentials of a prototype torsio-elastic axle suspension for an off-road vehicle were investigated analytically and experimentally. A forestry vehicle was fitted with the prototype suspension at its rear axle to assess its ride performance benefits. Field measurements of ride vibration along the vertical, lateral, fore-aft, roll and pitch axes were performed for the suspended and an unsuspended vehicle, while traversing a forestry terrain. The measured vibration responses of both vehicles were evaluated in terms of unweighted and frequency-weighted rms accelerations and the acceleration spectra, and compared to assess the potential performance benefits of the proposed suspension. The results revealed that the proposed suspension could yield significant reductions in the vibration magnitudes transmitted to the operator's station.

A coupled human-seat-suspension model is developed upon integrating asymmetric and nonlinear models of the cushion, suspension and elastic end-stops with a three degrees-of-freedom biodynamic model of the occupant. The validity of the model is examined under harmonic and stochastic vibration excitations of different classes of vehicles, using the laboratory measured data. The suspension performance under continuous and shock excitations, assessed in terms of Seat Effective Amplitude Transmissibility (SEAT) and Vibration Dose Value (VDV) ratio, revealed that attenuation of continuous and shock-type excitations pose conflicting design requirements. It is thus proposed to develop suspension design for optimal attenuation of continuous vibration, while the severity of end-stop impacts caused by shock-type excitations be minimized through design of optimal buffers. Two different optimization problems are formulated to minimize the SEAT and VDV ratios.

The ride dynamics of typical North-American soil compactors were investigated via analytical and experimental methods. A 12-degrees-of-freedom in-plane ride dynamic model of a single-drum compactor was formulated through integrations of the models of various components such as driver seat, cabin, roller drum and drum isolators, chassis and the tires. The analytical model was formulated for the transit mode of operation at a constant forward speed on undeformable surfaces with the roller vibrator off. Field measurements were conducted to characterize the ride vibration environments during the transit mode of operation. The measured data revealed significant magnitudes of whole-body vibration of the operator-station along the vertical, lateral, pitch and roll-axes. The model results revealed reasonably good agreements with ranges of the measured vibration data.

An investigation is carried out to determine the influence of dampers on the performance of race cars. The analysis is carried out in four sequential phases: (i) development of analytical damper model, incorporating gas spring, friction, asymmetric multi-stage damping, fluid compressibility and temperature sensitivity; (ii) development of quarter vehicle model, and determination of performance criteria and coefficients; (iii) validation and analysis of results for candidate damper on quarter car simulator; (vi) parametric analysis of damper parameters relative to performance criteria. It is concluded that the performance is sensitive to temperature changes, particularly the gas spring effect, and that asymmetric multi-stage damping provides nonlinear tuning capability of the system.

To study the generated axial force (GAF) of the drive shaft system more accurately and effectively, this paper introduces the interval uncertainty into the research focusing on the GAF. Firstly, an interval uncertainty model for calculating the GAF is proposed based on the Chebyshev polynomials and an analytical model of the GAF. The input torque, the articulation angle, the rotation angle of the drive shaft system, the pitch circle radius (PCR) of the tripod joint and the friction coefficient are regarded as interval variables. Secondly, the upper and lower bounds of the proposed GAF model under interval uncertainty parameters are calculated quickly with the vertex method. Then the interval uncertainty optimization of the GAF under uncertainty parameters is performed. The upper bound of the response interval of the GAF is taken as the optimization object.

An analytical and experimental study is performed to determine the friction and gas spring characteristics of racing-vehicle suspension dampers. Analytical models are developed to characterize damper properties which include displacement and thermal sensitivities. The necessity of incorporating these models in the damper model is demonstrated. Analytical models are developed with the coefficients determined from experimental measurements. The coefficients for three candidate dampers are presented, and analyzed. Methods to reduce the impact of the thermal sensitivity of the gas spring on the ride height are presented.

This paper proposes a new evaluation method of analyzing stability and design of a controller for an electric power steering (EPS) system. The main purpose of the EPS system’s control design is to ensure a comfortable driving experience of drivers, which mainly depends on the assist torque map. However, the high level of assist gain and its nonlinearity may cause oscillation, divergence and instability to the steering systems. Therefore, an EPS system needs to have an extra stability controller to eliminate the side effect of assist gain on system stability and attenuate the unpleasant vibration. In this paper, an accurate theoretical model is built and the method for evaluating system quality are suggested. The bench tests and vehicle experiments are carried out to verify the theoretical analysis.