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Simulation Analysis of a Dual-Purpose Intelligent Mobile Platform for Highway and Railway

Nan Sun
University of Science & Development-Wenming Zhang
Published 2019-06-05 by SAE International in United States
Railways play a huge role in China's transportation industry. In order to ensure intelligence, advanced technology and high efficiency in functions such as railway inspection, rescue and transportation, a dual-purpose intelligent mobile platform for both roads and railways was developed. Due to the height limitation of this platform, resilient wheels and rubber dampers with short stroke are used as the suspension system for the rail chassis. Based on this special suspension form, the dynamic model of the whole platform is derived, and the simulation model of the whole platform is established in the simulation software. The effects of resilient wheels’ axial stiffness, radial stiffness and vertical stiffness, lateral stiffness of rubber dampers on the vertical and lateral stability of the platform were studied. It is found that the increase of the radial stiffness of the resilient wheels will deteriorate the vertical stability and lateral stability of the platform. The increase in the axial stiffness of the resilient wheels will deteriorate the vertical stability of the platform and the lateral stability will be improved. The increase…
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Study of Hydraulic Steering Process for Intelligent Autonomous Articulated Vehicle

University of Science & Technology of China-Tao xu, Yanhua Shen, Jincheng Xie, Wenming Zhang
Published 2018-04-03 by SAE International in United States
Intelligent autonomous articulated vehicles (IAAVs), the most important transportations of intelligent mining system, are the future direction of mining industry. Though it could realize the unmanned drive, without supports of hydraulic steering process analyses and vehicle dynamic researches, there are no references for the IAAVs to adjust the steering angle in certain driving error. It still has to check the signal from the angle sensor repeatedly to track the planned path in the working process, which lead to the low control accuracy. In this paper, the theories of hydraulic steering process and vehicle model will be developed for the vehicle intelligent control with the analyses of road and tire characteristics based on the principle of least resistance. With the vehicle model, the relationships between steering wheel angle and vehicle steering angle, the motion trajectory, the force of tire, and steering system will be conducted, which are the most important reference for the path planning and tracking of IAAVs. Meanwhile, some problems that produce motion fluctuation are performed. Under these discussions of control problems and steering…
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Robust Path Tracking Control for Autonomous Heavy Vehicles

Ohio State University-Haoan Wang, Levent Guvenc
Univ. of Sci. & Tech. Beijing-Yu Gao, Yanhua Shen, Wenming Zhang
Published 2018-04-03 by SAE International in United States
With high maneuverability and heavy-duty load capacity, articulated steer vehicles (ASV) are widely used in construction, forestry and mining sectors. However, the steering process of ASV is much different from wheeled steer vehicles and tractor-trailer vehicles. Unsuitable steering control in path following could easily give rise to the “snaking” behaviour, which greatly reduces the safety and stability of ASV. In order to achieve precise control for ASV, a novel path tracking control method is proposed by virtual terrain field (VTF) method. A virtual U-shaped terrain field is assumed to exist along the reference path. The virtual terrain altitude depends on the lateral error, heading error, preview distance and road curvature. If the vehicle deviates from the reference line, it will be pulled back to the lowest position under the influence of additional lateral tire forces which are caused by the virtual banked road. By converting the lateral tire forces to the controlled steering wheel angle, the path following control based on VTF method can be realized. The influence of sideslip angle is considered during curved…
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In-Situ Steering Dynamics Analysis of Skid Steering for Articulated Motor-Driven Vehicle

SAE International Journal of Passenger Cars - Mechanical Systems

University of Science and Technology Beijing-Tao Xu, Yanhua Shen, Wenming Zhang
  • Journal Article
  • 2016-01-1646
Published 2016-04-05 by SAE International in United States
The traditional hydraulic steering mode in articulated motor-driven vehicle makes the vehicle structure complex. Further more, the forces between the front and rear part of the articulated vehicle could damage the articulated joint body in the process of vehicle steering. However, skid steering mode could make the vehicle steer with the different speed of each wheel, which is flexible without hydraulic steering system. The purpose of this paper is to introduce the principle of skid steering mode in articulated motor-driven vehicle. In this paper, the theory of traditional wheeled vehicle’s skid-steering mode and hydraulic steering mode of articulated vehicle are used to establish the in-situ skid-steering kinematic and dynamic model. Based on the model, the vehicle trajectory and the dynamic relationships among the body structure of the vehicle, longitudinal forces, lateral forces of each wheel are described. With these analyses, the kinematic and dynamic simulations are implemented according to the parameters of an underground mine articulated vehicle, which could provide references for the designing and studying of articulated motor-driven vehicle with skid steering mode.
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Relative Performance Analyses of Independent Front Axle Suspensions for a Heavy-Duty Mining Truck

SAE International Journal of Commercial Vehicles

Concordia University Montreal-Yiting Kang, Subhash Rakheja
University of Science & Technology Beijing-Wenming Zhang
  • Journal Article
  • 2014-01-2320
Published 2014-09-30 by SAE International in United States
A range of axle suspensions, comprising hydro-pneumatic struts and diverse linkage configurations, have evolved in recent years for large size mining trucks to achieve improved ride and higher operating speeds. This paper presents a comprehensive analysis of different independent front suspension linkages that have been implemented in various off-road vehicles, including a composite linkage (CL), a candle (CA), a trailing arm (TA), and a double Wishbone (DW) suspension applied to a 190 tons mining truck. Four different suspension linkages are modeled in MapleSim platform to evaluate their kinematic properties. The relative kinematic properties of the suspensions are evaluated in terms of variations in the kingpin inclination, caster, camber, toe-in and horizontal wheel center displacements considering the motion of a hydro-pneumatic strut. The results revealed the CL and DW suspensions yield superior kinematic response characteristics compared to the CA and TA suspensions. Toe-in and horizontal wheel center displacements of the CA and TA vary significantly, which could strongly affect the vehicle handling performance and cause greater tire wear. The CL and DW suspensions may thus be…
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Analysis of Articulated Dump Trucks Vibration and Rear Suspension Stiffness Sensitivity

Univ. of Science and Technology of Beijing-Xia xu Huang, Yanhua Shen, Wenming Zhang
Published 2010-04-12 by SAE International in United States
This paper reports on an investigation of articulated dump trucks vibration analysis and rear suspension stiffness sensitivity analysis. Since the frame of the off-highway dump truck is integrated, the impact from the road surface against the rear wheel is transmitted to the cab directly through the hydro pneumatic suspension and the frame, and finally contributes to the ride comfort. Articulated dump trucks are different from rigid-frame off-highway dump trucks, with the frame divided into two parts and jointed by a hinge, which forms two degrees of freedom between the two parts. Compared with rigid-frame dump trucks, the impact from the road surface against the rear wheel of the articulated truck would not transmit directly to the cab through the frame for the attenuation effect of the hinge. This paper studies the truck mass centre vibration characteristic which shows the resonance frequency of the articulated dump truck. The excitation transmitted to the cab through different rear suspension spring stiffness has also been studied to obtain the impact on the cab vibration. A three-dimensional model of an…
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Optimized Design of the Cooling System for an Articulated Dump Truck's Electric Drive System

Department of Vehicle Engineering,USTB-Yan Zhang, Yanhua Shen, Wenming Zhang
Published 2010-04-12 by SAE International in United States
The articulated dump truck with independent suspensions is driven by six AC motors and each wheel is driven by one motor. Cooling system is configured in every electric wheel. The motor is the main heating source in the electric drive system. Hence, the cooling of the motor will affect the reliability and power-density of the whole electric drive system. According to the actual working conditions, the heating calculation about the cooling system has been carried out during the design process. The design concept of embedding spiral-shaped flow path in the shell of the stator has been drawn. The cooling water could pass through the path and accomplish cooling outside the stator. In this paper, the FLUENT has been used for the 3-D numerical simulation of the cooling system. The temperature field distributions of the cooling water and the shell are obtained. To analyze the influence of the shell structure on the cooling effect, the iSIGHT has been used to accomplish the structural and thermal optimization. The simulation and optimization results show that the cooling water…
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Simulation Based Design for Heavy Truck Brake

University of Science and Technology Beijing-Wenming Zhang
Zhejiang University of Technology-Xiaobin Ning, Bin Meng, Jisheng shen
Published 2009-04-20 by SAE International in United States
Begin Brakes in cars and trucks are safety parts. Requirements not only in performance but also in comfort, serviceability and working lifetime are high and rising. Simulation based design (SBD) technology refers to the application of simulation technology in design of products, which means not physical prototype but Virtual Prototype (VP) was made to study the static and dynamic performance of the products. With SBD technology, lower cost, higher quality and shorter design cycle can be expected. An example of SBD of Heavy Truck’s Brake is demonstrated. In order to accurately calculate the braking efficiency factor of drum brake shoe of heavy truck, the finite element analysis software ANSYS and the multi-body system simulation software MSC.ADAMS were used to establish the drum brake virtual prototyping model. The model was built by developing joint program module between the rigid shoe and the flexible lining and nonlinear contact force program module between the lining and the rigid drum. Using this model, the simulation was executed for the drum brake of 32t heavy duty truck. The results show…
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