
浏览全部资源
扫码关注微信
1. 北京理工大学 机械与车辆学院, 北京 100081
2. 中国北方车辆研究所 传动系统技术部, 北京 100072
Received:29 July 2024,
Published Online:28 August 2025,
Published:31 August 2025
移动端阅览
Wenhao LI, Huilong YU, Yuchuan LU, et al. Dynamics Modeling and Simulation of Multi-axle Wheeled Vehicle with Coupled Top Loads[J]. Acta Armamentarii, 2025, 46(8): 240647.
Wenhao LI, Huilong YU, Yuchuan LU, et al. Dynamics Modeling and Simulation of Multi-axle Wheeled Vehicle with Coupled Top Loads[J]. Acta Armamentarii, 2025, 46(8): 240647. DOI: 10.12382/bgxb.2024.0647.
多轴轮式车辆动力学模型是新型车辆快速开发及车辆设计参数优化、控制算法搭建的基础。目前普遍采用商用软件搭建
其动力学方程及模型梯度信息难以获取
无法将其应用于整车全局设计与控制参数的动态优化
且现有商业软件及理论建模研究对上装载荷动力学影响考虑较少。针对上述问题
基于拉格朗日动力学
考虑簧下质量纵横向运动及上装载荷反作用力对整车动力学的影响
应用矢量化建模方法搭建8×8轮式车辆24自由度动力学模型
分别基于C++和M语言进行软件开发。在变加速、阶跃转向、双移线、正弦扫频等多种工况下与商业软件TruckSim进行全面对比。研究结果表明
自主开发的仿真模型其轮胎力、悬架力及空气阻力、纵横垂向运动等与商业软件高度一致
最大误差小于5%
验证了新方法的准确性。
Multi-axle wheeled vehicle dynamics model is the basis for the rapid development of new vehicle equipment
the optimization of vehicle design parameters and the construction of control algorithms.The commonly used commercial software is difficult to obtain the dynamic equations and model gradient information so that it cannot be used for the dynamic optimization of vehicle global design and control parameters.And the effects of top-loading dynamics have been given less consideration in existing commercial software and theoretical modelling studies.In order to address the aforementioned issues
a vectorized modeling method is employed to construct a 24-degrees-of-freedom dynamics model of an 8×8 wheeled vehicle based on Lagrangian dynamics
which considers the influences of the longitudinal and lateral motions of unsprung mass and the reaction force of top load on the vehicle dynamics.The modeling is based on Lagrangian dynamics
and the software is developed using C++ and M languages
respectively.The proposed model is comprehensively compared with the commercial software TruckSim under a variety of working conditions
including variable acceleration
step steering
double lane change
swept sine steering.The results demonstrate that the tire force
suspension force and air resistance
as well as the longitudinal
lateral and vertical motions of the proposed simulation model exhibit high consistency with those of the commercial software with an error of less than 5%.This verifies the accuracy of the methodology.
李嘉麒 , 魏曙光 , 廖自力 , 等 . 陆战平台全电化关键技术发展综述 [J ] . 兵工学报 , 2021 , 42 ( 10 ): 2049 - 2059 . DOI: 10.3969/j.issn.1000-1093.2021.10.001 http://doi.org/10.3969/j.issn.1000-1093.2021.10.001 为进一步推进陆战平台全电化技术的发展,介绍了全电化陆战平台的基本特点和主要技术,面向未来陆战战场和新型战争形态阐述全电化技术在提高陆战平台机动性能、持续作战、战斗能力等方面的功能和作用,分析陆军装备轻型化、智能化、无人化的发展趋势。结合我军陆战装备的发展概况,从全电化陆战平台的驱动电机及其控制技术、车载综合电力系统、电磁武器、电磁装甲防护4个方面详细剖析陆战平台全电化的主要内容和关键技术,探究以上关键技术的研究现状,揭示全电化陆战平台持续发展的技术瓶颈,提出陆战平台在电机、电力系统、电磁等方向的发展思路,探索陆战平台全电化技术的运用前景。
LI J Q , WEI S G , LIAO Z L , et al . Review on the key technologies and development of all-electric land warfare platform [J ] . Acta Armamentarii , 2021 , 42 ( 10 ): 2049 - 2059 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.10.001 http://doi.org/10.3969/j.issn.1000-1093.2021.10.001 The basic characteristics and key technologies of an all-electric land warfare platform are introduced, and the importance of the all-electric technologies for improving the performance of land warfare platform is elaborated in terms of vehicular mobility,sustainability,and combat capability. The development tendency of light-weight, intelligent and unmanned land warfare platform is further analyzed. The key technologies of all-electric land warfare platform are investigated in terms of drive motor and its control,integrated power system,electromagnetic weapon,and electromagnetic armor. The technical background and current bottlenecks are studied,and the developing direction of land warfare platform,which includes motor,power system,electromagnetism,are put forward. Finally,the potential future applications of all-electric technologies are explored.
臧克茂 . 陆战平台全电化技术研究综述 [J ] . 装甲兵工程学院学报 , 2011 , 25 ( 1 ): 1 - 7 .
ZANG K M . Study on the all-electric technology of land warfare platform [J ] . Journal of Academy of Armored Force Engineering , 2011 , 25 ( 1 ): 1 - 7 . (in Chinese)
邹明虎 , 刘长江 , 彭顺堂 , 等 . 现代战斗车辆能量体系结构研究 [J ] . 兵工自动化 , 2019 , 38 ( 4 ): 15 - 19 .
ZOU M H , LIU C J , PENG S T , et al . Primary study on the technical status quo and key technology development of the electrical drive of the armored vehicles [J ] . Ordnance Industry Automation , 2019 , 38 ( 4 ): 15 - 19 . (in Chinese)
DAL B N , BERTOLAZZI E , BIRAL F , et al . Comparison of direct and indirect methods for minimum lap time optimal control problems [J ] . Vehicle System Dynamics , 2019 , 57 ( 5 ): 665 - 696 .
WISCHNEWSKI A , EULER M , GÜMÜS S , et al . Tube model predictive control for an autonomous race car [J ] . Vehicle System Dynamics , 2022 , 60 ( 9 ): 3151 - 3173 .
YUAN D R , YU X Y , LI S Y , et al . Safe-by-construction autonomous vehicle overtaking using control barrier functions and model predictive control [J ] . International Journal of Systems Science , 2024 , 55 ( 7 ): 1283 - 1303 .
HE S Y , ZENG J , ZHANG B K , et al . Rule-based safety-critical control design using control barrier functions with application to autonomous lane change [C ] // Proceedings of 2021 American Control Conference . New Orleans,LA,US : IEEE , 2021 : 178 - 185 .
GOH J Y M , THOMPSON M , DALLAS J , et al . Beyond the stable handling limits:nonlinear model predictive control for highly transient autonomous drifting [J ] . Vehicle System Dynamics , 2024 , 62 ( 10 ): 2590 - 2613 .
REINA G , LEANZA A , MANTRIOTA G . Model-based observers for vehicle dynamics and tyre force prediction [J ] . Vehicle System Dynamics , 2022 , 60 ( 8 ): 2845 - 2870 .
TIAN M J , ZHANG Q X , TIAN D Y , et al . Pre-stability control for in-wheel-motor-driven electric vehicles with dynamic state prediction [J ] . IEEE Transactions on Intelligent Vehicles , 2024 , 9 ( 3 ): 4541 - 4554 .
MALLIKARJUNARAO C , SEGEL L . A study of the directional and roll dynamics of multiple-articulated vehicles [M ] // FROHLING R,edited. The Dynamics of Vehicles on Roads and on Tracks . London,UK : Routledge , 2018 : 81 - 96 .
JOHNSON P , MILLIKEN G A . A simple procedure for testing linear hypotheses about the parameters of a nonlinear model using weighted least squares [J ] . Communications in Statistics-Simulation and Computation , 1983 , 12 ( 2 ): 135 - 145 .
CASTELLANOS M L M , MANCA R , HEGDE S , et al . Predictive handling limits monitoring and agility improvement with torque vectoring on a rear in-wheel drive electric vehicle [J ] . Vehicle System Dynamics , 2023 , 62 ( 9 ): 1 - 25 .
REINA G , GENTILE A , MESSINA A . Tyre pressure monitoring using a dynamical model-based estimator [J ] . Vehicle System Dynamics , 2015 , 53 ( 4 ): 568 - 586 .
KAROGAL I S . Independent torque distribution management systems for vehicle stability control [M ] . Clemson,CA,US : Clemson University , 2008 .
GHIKE C , SHIM T . 14 degree-of-freedom vehicle model for roll dynamics study [R ] . Warrendale,PA,US : SAE Technical Paper , 2006 .
YU H L , CHELI F , CASTELLI-DEZZA F . Optimal design and control of 4-IWD electric vehicles based on a 14-DOF vehicle model [J ] . IEEE Transactions on Vehicular Technology , 2018 , 67 ( 11 ): 10457 - 10469 .
KIM W , YI K , LEE J . Drive control algorithm for an independent 8 in-wheel motor drive vehicle [J ] . Journal of Mechanical Science and Technology , 2011 , 25 ( 6 ): 1573 - 1581 .
FAUROUX J C , VASLIN P . Modeling , experimenting,and improving skid steering on a 6×6 all-terrain mobile platform [J ] . Journal of Field Robotics , 2010 , 27 ( 2 ): 107 - 126 .
ZHANG Y B , HUANG Y J , WANG H , et al . A comparative study of equivalent modelling for multi-axle vehicle [J ] . Vehicle System Dynamics , 2018 , 56 ( 3 ): 443 - 460 .
DING J Q , GUO K H . Development of a generalised equivalent estimation approach for multi-axle vehicle handling dynamics [J ] . Vehicle System Dynamics , 2016 , 54 ( 1 ): 20 - 57 .
AOKI A , MARUMO Y , KAGEYAMA I . Effects of multiple axles on the lateral dynamics of multi-articulated vehicles [J ] . Vehicle System Dynamics , 2013 , 51 ( 3 ): 338 - 359 .
VANTSEVICH V V . Vehicle systems:coupled and interactive dynamics analysis [J ] . Vehicle System Dynamics , 2014 , 52 ( 11 ): 1489 - 1516 .
ZHANG Y B , KHAJEPOUR A , HUANG Y J . Multi-axle/articulated bus dynamics modeling:a reconfigurable approach [J ] . Vehicle System Dynamics , 2018 , 56 ( 9 ): 1315 - 1343 .
LI E H , YU H L , XI J Q , et al . Stability-guaranteed model predictive path tracking of autonomous tractor semi-Trailers under extreme conditions [J ] . IEEE Transactions on Intelligent Vehicles , 2024 , 99 : 1 - 14 .
刘明春 . 8×8轮毂电机驱动车辆操纵稳定性分析与控制研究 [D ] . 北京 : 北京理工大学 , 2015 .
LIU M C . Study on handling stability analysis and control for 8×8 in-wheel motor drive Vehicle [D ] . Beijing : Beijing Institute of Technology , 2015 . (in Chinese)
贾明琛 . 8×8分布式轮毂电驱动车辆复合转向系统建模与仿真研究 [D ] . 北京 : 北京理工大学 , 2021 .
JIA M C . Modeling and simulation on composite steering system of 8×8 distributed inwheel motor drive vehicle [D ] . Beijing : Beijing Institute of Technology , 2021 . (in Chinese)
叶玉博 . 8×8分布式电驱动车辆转向工况驱动力矩分配控制研究 [D ] . 北京 : 北京理工大学 , 2019 .
YE Y B . Research on drive torque distribution control of 8×8 distributed electric vehicles under steering conditions [D ] . Beijing : Beijing Institute of Technology , 2019 . (in Chinese)
张猛 . 8×8轮毂电机驱动车辆转向稳定性控制策略研究 [D ] . 北京 : 北京理工大学 , 2018 .
ZHANG M . Research on steering stability control for 8×8 in-wheel motor drive vehicle [D ] . Beijing : Beijing Institute of Technology , 2018 . (in Chinese)
刘光远 . 8×8分布式驱动车辆直驶稳定性控制策略研究 [D ] . 北京 : 北京理工大学 , 2020 .
LIU G Y . Research on straight driving stability control for 8×8 in-wheel motor drive vehicle [D ] . Beijing : Beijing Institute of Technology , 2020 . (in Chinese)
PACEJKA H B . Tire and vehicle dynamics [M ] . Delft,Nederland : Delft University of Technology Consultant TNO Automotive Helmond the Netherlands , 2006 .
0
Views
167
下载量
0
CNKI被引量
Publicity Resources
Related Articles
Related Author
Related Institution
京公网安备11010802024360号