Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one contro...Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.展开更多
Bituminous materials are heat-sensitive, and their mechanical properties vary with temperature. This variation in properties is not without consequences on the performance of flexible road structures under the repeate...Bituminous materials are heat-sensitive, and their mechanical properties vary with temperature. This variation in properties is not without consequences on the performance of flexible road structures under the repeated passage of multi-axles. This study determines the influence of seasonal variations on the rate of permanent deformation, the rut depth of flexible pavements and the effect of alternating loading of heavy goods vehicles following the temperature variations on the durability of roads. Thus, an ambient and pavement surface temperature measurement was carried out in 2022. The temperature profile at different layers of the modelled pavement, the evaluation of deformation rates and rutting depth were determined using several models. The results show that the permanent deformation and rutting rates are higher at the level of the bituminous concrete layer than at the level of the asphalt gravel layer because the stresses decrease from the surface to the depth of the pavement. On the other hand, the variations in these rates, permanent deformations and ruts between the hot and so-called cold periods are more pronounced in the bitumen gravel than in bituminous concrete, showing that gravel bitumen is more sensitive to temperature variations than bituminous concrete despite its higher rigidity. Of these results, we suggested a periodic and alternating loading of the different types of heavy goods vehicles. These loads consist of fully applying the WAEMU standards with a tolerance of 15% during periods of high and low temperatures. This regulation has increased 2 to 3 times in the durability of roadways depending on the type of heavy goods vehicle.展开更多
The multiplication of heavy vehicle axles and road overloads are phenomena that are becoming increasingly important on the road network of the WAEMU community. These phenomena, although framed by standards, have an im...The multiplication of heavy vehicle axles and road overloads are phenomena that are becoming increasingly important on the road network of the WAEMU community. These phenomena, although framed by standards, have an impact on the durability of pavements. In this manuscript it is a question of evaluating the life of the road under the effect of traffic of these multi-axle vehicles and the different tolerances of overloads observed on the road network. To achieve this, a modeling of a bituminous pavement was made with the software ALIZE Lcpc Version 231 based on the principle of the French method of sizing. An inventory of multi-axle heavy goods vehicles was also made on a road with a weighing station. This traffic counting made it possible to classify heavy goods vehicles into three categories, namely: 1) trucks, 2) dual-wheeled semi-trailers and 3) single-wheeled semi-trailers. The results obtained show that in terms of aggressiveness, single-wheeled semi-trailers are the most aggressive, followed by heavy goods vehicles in the category of trucks with more than five axles and semi-trailers with dual wheels with more than seven axles. The durability of the road depends on the aggressiveness of heavy goods vehicles, it was found that the tolerance threshold for overloads of 15% of the total permissible rolling weight (TARW) or the total permissible laden weight (TALW) currently granted in the Community area needs to be reviewed. For durable road surfaces, this tolerance may only be allowed for heavy goods vehicles of type P11, P12 and P13. The 5% tolerance can be applied to all vehicles except heavy goods vehicles with single wheels.展开更多
A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexib...A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.展开更多
A whole vehicle dynamic model is built, and the modeling method of connected hydragas spring suspension and multi-axle grouping steer system is also explained. Firstly, a kinematical analysis of suspension is implemen...A whole vehicle dynamic model is built, and the modeling method of connected hydragas spring suspension and multi-axle grouping steer system is also explained. Firstly, a kinematical analysis of suspension is implemented to achieve optimized suspension geometry parameters according to the stable requirement. Then, based on the evaluation of whole vehicle handling character with regard to various tire characters, driving configurations and super structures, the design rules are summarized to improve the stability of multi-axle vehicle.展开更多
From the analysis of experiment data of the multi-axle vehicle chassis searching process, it is less accurate to predict multi-axle vehicle dynamic characteristic with simplified two-axle vehicle model. So it is impor...From the analysis of experiment data of the multi-axle vehicle chassis searching process, it is less accurate to predict multi-axle vehicle dynamic characteristic with simplified two-axle vehicle model. So it is important to find out a more effective modeling method in the study of multi-vehicle stability. In the development of heat transfer fluid（HTF） six-axle vehicle, a whole vehicle multi-body dynamic model is built through collaborate flowchart using Teamcenter Engineering, UG NX3 and MSC.Adams. The modeling method of connected hydragas spring suspension is validated by running test results. Based on this whole vehicle model, a kinematical analysis of suspension is implemented to achieve optimized suspension geometry parameters according to the stable requirement. Then, different handling simulations are carried out with regard to various tire characteristics, driving con- figurations, and equipments. According to the evaluation of whole vehicle handling characteristic, some design rules are summarized to improve the stability of multi-axle vehicle.展开更多
Vertical tire forces are essential for vehicle modelling and dynamic control.However,an evaluation of the vertical tire forces on a multi-axle truck is difficult to accomplish.The current methods require a large amoun...Vertical tire forces are essential for vehicle modelling and dynamic control.However,an evaluation of the vertical tire forces on a multi-axle truck is difficult to accomplish.The current methods require a large amount of experimental data and many sensors owing to the wide variation of the parameters and the over-constraint.To simplify the design process and reduce the demand of the sensors,this paper presents a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control.The estimation system is based on a novel vertical force model and a proposed adaptive treble extend Kalman filter(ATEKF).To adapt to the widely varying parameters,a sliding mode update is designed to make the ATEKF adaptive,and together with the use of an initial setting update and a vertical tire force adjustment,the overall system becomes more robust.In particular,the model aims to eliminate the effects of the over-constraint and the uneven weight distribution.The results show that the ATEKF method achieves an excellent performance in a vertical force evaluation,and its performance is better than that of the treble extend Kalman filter.展开更多
基金National Natural Science Foundation of China(Grant No.51505178)China Postdoctoral Science Foundation(Grant No.2014M561289)
文摘Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.
文摘Bituminous materials are heat-sensitive, and their mechanical properties vary with temperature. This variation in properties is not without consequences on the performance of flexible road structures under the repeated passage of multi-axles. This study determines the influence of seasonal variations on the rate of permanent deformation, the rut depth of flexible pavements and the effect of alternating loading of heavy goods vehicles following the temperature variations on the durability of roads. Thus, an ambient and pavement surface temperature measurement was carried out in 2022. The temperature profile at different layers of the modelled pavement, the evaluation of deformation rates and rutting depth were determined using several models. The results show that the permanent deformation and rutting rates are higher at the level of the bituminous concrete layer than at the level of the asphalt gravel layer because the stresses decrease from the surface to the depth of the pavement. On the other hand, the variations in these rates, permanent deformations and ruts between the hot and so-called cold periods are more pronounced in the bitumen gravel than in bituminous concrete, showing that gravel bitumen is more sensitive to temperature variations than bituminous concrete despite its higher rigidity. Of these results, we suggested a periodic and alternating loading of the different types of heavy goods vehicles. These loads consist of fully applying the WAEMU standards with a tolerance of 15% during periods of high and low temperatures. This regulation has increased 2 to 3 times in the durability of roadways depending on the type of heavy goods vehicle.
文摘The multiplication of heavy vehicle axles and road overloads are phenomena that are becoming increasingly important on the road network of the WAEMU community. These phenomena, although framed by standards, have an impact on the durability of pavements. In this manuscript it is a question of evaluating the life of the road under the effect of traffic of these multi-axle vehicles and the different tolerances of overloads observed on the road network. To achieve this, a modeling of a bituminous pavement was made with the software ALIZE Lcpc Version 231 based on the principle of the French method of sizing. An inventory of multi-axle heavy goods vehicles was also made on a road with a weighing station. This traffic counting made it possible to classify heavy goods vehicles into three categories, namely: 1) trucks, 2) dual-wheeled semi-trailers and 3) single-wheeled semi-trailers. The results obtained show that in terms of aggressiveness, single-wheeled semi-trailers are the most aggressive, followed by heavy goods vehicles in the category of trucks with more than five axles and semi-trailers with dual wheels with more than seven axles. The durability of the road depends on the aggressiveness of heavy goods vehicles, it was found that the tolerance threshold for overloads of 15% of the total permissible rolling weight (TARW) or the total permissible laden weight (TALW) currently granted in the Community area needs to be reviewed. For durable road surfaces, this tolerance may only be allowed for heavy goods vehicles of type P11, P12 and P13. The 5% tolerance can be applied to all vehicles except heavy goods vehicles with single wheels.
文摘A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.
文摘A whole vehicle dynamic model is built, and the modeling method of connected hydragas spring suspension and multi-axle grouping steer system is also explained. Firstly, a kinematical analysis of suspension is implemented to achieve optimized suspension geometry parameters according to the stable requirement. Then, based on the evaluation of whole vehicle handling character with regard to various tire characters, driving configurations and super structures, the design rules are summarized to improve the stability of multi-axle vehicle.
文摘From the analysis of experiment data of the multi-axle vehicle chassis searching process, it is less accurate to predict multi-axle vehicle dynamic characteristic with simplified two-axle vehicle model. So it is important to find out a more effective modeling method in the study of multi-vehicle stability. In the development of heat transfer fluid（HTF） six-axle vehicle, a whole vehicle multi-body dynamic model is built through collaborate flowchart using Teamcenter Engineering, UG NX3 and MSC.Adams. The modeling method of connected hydragas spring suspension is validated by running test results. Based on this whole vehicle model, a kinematical analysis of suspension is implemented to achieve optimized suspension geometry parameters according to the stable requirement. Then, different handling simulations are carried out with regard to various tire characteristics, driving con- figurations, and equipments. According to the evaluation of whole vehicle handling characteristic, some design rules are summarized to improve the stability of multi-axle vehicle.
基金Supported by Basic and Applied Basic Research Foundation of Guangdong Province of China(Grant No.2019A1515110763).
文摘Vertical tire forces are essential for vehicle modelling and dynamic control.However,an evaluation of the vertical tire forces on a multi-axle truck is difficult to accomplish.The current methods require a large amount of experimental data and many sensors owing to the wide variation of the parameters and the over-constraint.To simplify the design process and reduce the demand of the sensors,this paper presents a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control.The estimation system is based on a novel vertical force model and a proposed adaptive treble extend Kalman filter(ATEKF).To adapt to the widely varying parameters,a sliding mode update is designed to make the ATEKF adaptive,and together with the use of an initial setting update and a vertical tire force adjustment,the overall system becomes more robust.In particular,the model aims to eliminate the effects of the over-constraint and the uneven weight distribution.The results show that the ATEKF method achieves an excellent performance in a vertical force evaluation,and its performance is better than that of the treble extend Kalman filter.
