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SAE International Journal of Vehicle Dynamics Stability and NVH
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Development, Testing, and Assessment of a Kinematic Path-Following Model for Towing Vehicle Systems

SAE International Journal of Vehicle Dynamics, Stability, and NVH

Mississippi State University, USA-Yucheng Liu, Dennison Iacomini, Brandon Powell, James Gafford, John Ball, Jian Shi
U.S. Army ERDC, USA-Collin Davenport
  • Journal Article
  • 10-03-01-0005
Published 2019-01-07 by SAE International in United States
A kinematic path-following model is developed based on an existing modeling framework established by the authors [1, 2] for prediction of the paths of towing vehicle systems. The presented path-following model determines the path of the towing vehicle using the vehicle’s speed and acceleration data collected by an inertial measurement unit (IMU). An Ackerman steering model was presented to calculate instantaneous directional angles and radii for each towed vehicle based on its geometric data and steering angle. In that model the off-tracking effect is properly captured. A 1:4 scale model for a towing vehicle system was built to test the developed steering model, and it was found that the angles and radii of the towing vehicle and each towed unit calculated using the Ackerman steering model agreed very well with those measured from the scale model. A hitch back model was then developed based on the steering model to simulate the continuous motion of the towing vehicle system and precisely follow its path. An algorithm was developed based on the hitch back model and programmed…
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Study of Riding Assist Control Enabling Self-Standing in Stationary State

SAE International Journal of Vehicle Dynamics, Stability, and NVH

Honda R&D Co., Ltd., Japan-Makoto Araki, Kazushi Akimoto, Toru Takenaka
  • Journal Article
  • 10-03-01-0004
Published 2018-12-04 by SAE International in United States
In motorcycles, when they are traveling at medium to high speed, the roll stability is usually maintained by the restoration force generated by self-steering effect. However, when the vehicle is stationary or traveling in low speed, sufficient restoring force does not occur because some of the forces, such as centrifugal force, become small. In our study, we aimed at prototyping a motorcycle having a roll stability realized by a steering control when the vehicle is stationary or traveling in low speed. When we considered a mathematical control model to be applied, general models of four-degree-of-freedom had a critical inconvenience that the formulae include nonlinear second derivatives making them excessively complicated for deriving a practically applicable control method. Accordingly, we originally constructed a new control model which has equivalent two point masses (upper and lower from the vehicle’s center of gravity). With this model, the formula can be easily converted into mathematical expressions applicable for the actual control. From this model, we found that if the trail length has a negative value, only by steering control,…
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Tire Side Force Characteristics with the Coupling Effect of Vertical Load and Inflation Pressure

SAE International Journal of Vehicle Dynamics, Stability, and NVH

China Automotive Technology and Research Center Co., Ltd., China-Fei Li
GAC Automotive Engineering Institute, China-Chao Yang
  • Journal Article
  • 10-03-01-0002
Published 2018-11-09 by SAE International in United States
The tire vertical load and inflation pressure have great influence on tire steady- and non-steady-state characteristics and, consequently, on the vehicle handling and stability. The objective of this article is to reveal the coupling effect of tire vertical load and inflation pressure on tire characteristics and then introduce an improved UniTire side force model including such coupling effect through experimental and theoretical analysis. First, the influence of the tire vertical load and inflation pressure on the tire characteristics is presented through experimental analysis. Second, the theoretical tire cornering stiffness and lateral relaxation length model are introduced to study the underlying mechanism of the coupling effect. Then, an improved UniTire side force model including the coupling effect of tire vertical load and inflation pressure is derived. Finally, the proposed improved UniTire side force model is validated through tire steady-state and transient data. The coupling effect of tire vertical load and inflation pressure on tire cornering stiffness and lateral relaxation length is decided by the variation of the half length of tire contact patch and the carcass…
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Influence of Intelligent Active Suspension System Controller Design Techniques on Vehicle Braking Characteristics

SAE International Journal of Vehicle Dynamics, Stability, and NVH

Egyptian Armed Forces, Egypt-Ahmed Mahmoud Onsy, Alhossein Mostafa Sharaf, Mahmoud Mohamed Ashrey
Helwan University, Egypt-Samir Mohamed Eldemerdash
  • Journal Article
  • 10-03-01-0003
Published 2018-12-04 by SAE International in United States
This article presents a comprehensive investigation for the interaction between vehicle ride vibration control and braking control using two degrees of freedom (2DOF) quarter vehicle model. A typical limited bandwidth active suspension system with nonlinear spring and damping characteristics of practical hydraulic and pneumatic components is controlled to regulate both suspension and tire forces and therefore provide the optimum ride comfort and braking performance of an anti-lock braking system (ABS). In order to design a suitable controller for this nonlinear integrated system, various control techniques are followed including state feedback tuned using Linear Quadratic Regulator (LQR), state feedback tuned using Genetic Algorithm (GA), Proportional Integral (PI) tuned genetically, and Fuzzy Logic Control (FLC). The ABS control system is designed to limit skid ratio below threshold of 15%. Several simulations are carried out in MATLAB environment to assess the benefits of the designed integrated controller including vehicle body vertical acceleration, dynamic tire load, stopping time, and distance. Furthermore, the proposed control techniques have been examined in terms of robustness, disturbance rejection, and noise attenuation. The obtained…
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Enhanced Lateral and Roll Stability Study for a Two-Axle Bus via Hydraulically Interconnected Suspension Tuning

SAE International Journal of Vehicle Dynamics, Stability, and NVH

Hefei University of Technology, China-Nong Zhang, Minyi Zheng
Hunan University, China-Hengmin Qi, Bangji Zhang
  • Journal Article
  • 10-03-01-0001
Published 2018-11-19 by SAE International in United States
The suspension system has been shown to have significant effects on vehicle performance, including handling, ride, component durability, and even energy efficiency during the design process. In this study, a new roll-plane hydraulically interconnected suspension (HIS) system is proposed to enhance both roll and lateral dynamics of a two-axle bus. The roll-plane stability analysis for the HIS system has been intensively explored in a number of studies, while only few efforts have been made for suspension tuning, especially considering lateral plane stability. This article aims to explore the integrated lateral and roll dynamics by suspension tuning of a two-axle bus equipped with HIS system. A ten-degree-of-freedom (DOF) lumped-mass vehicle model is integrated with either transient mechanical-hydraulic model for HIS or the traditional suspension components, namely, shock absorber and anti-roll bar (ARB). Three novel parameters of HIS system are proposed as the suspension tuning rules which are defined as total roll stiffness (TRS), roll stiffness distribution ratio (RSDR), and roll-plane damping (RPD). Using Fishhook maneuver, dynamic responses of both vehicle models are obtained when they have…
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