A method to evaluate the properties of turbulent flow in proximity to the vehicle and close to the ground surface has been elaborated.Numerical simulations have been performed on the basis of the Unsteady Reynolds-ave...A method to evaluate the properties of turbulent flow in proximity to the vehicle and close to the ground surface has been elaborated.Numerical simulations have been performed on the basis of the Unsteady Reynolds-averaged Navier-Stokes equations(URANS)written with respect to an arbitrary curvilinear coordinate system.These equations have been solved using the Spalart-Allmaras differential one-parametric turbulence model.The method of artificial compressibility has been used to improve the coupling of pressure and velocity in the framework of a finite volume approach.Time-averaged distributions of pressure fields,velocity components,streamlines in the entire area and near the tractor-trailer,as well as integral and distributed characteristic parameters(such as coefficients of pressure,friction and drag force)are presented.According to our results,the turbulent flow accelerates in the area of the tractor cabin and in the gap between surfaces.Above the driver’s cabin,a pressure drop occurs due to a sharp acceleration of flow in this area.Downstream,pressure is restored and becomes almost constant in proximity to the edge of the trailer.The dimensions of the separation area exceed the length of the transport system several times.Though agreement with experimental results is relatively limited due to the two-dimensional nature of the numerical simulations,the present approach succeeds in identifying the main physical effects involved in the considered dynamics.It might be used in future studies for initial approximate assessments of the influence of the vehicle shape on its aerodynamic characteristics.展开更多
Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system ...Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system to drive autonomously.Owing to the properties of being highly nonlinear and nonholonomic with complex dynamics,the tractor-trailer system poses great challenges to the development of motion-planning algorithms.In this study,an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer vehicle.The indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality,obstacle-free trajectory using quintic polynomial spline,speed profile optimization,forward simulation,and properly designed cost functions.Simulations under different driving scenarios and trajectories with different driving requirements are conducted to validate the performance of the proposed framework.展开更多
为方便液罐半挂汽车列车(Tractor Semi-trailer Tank Vehicle, TSTTV)罐-车整体的优化设计匹配,综合提高整车的侧倾稳定性、侧向动力学稳定性及操纵特性,基于Lagrange方法和椭圆规摆等效机械液体晃动模型建立TSTTV的整车侧向耦合动力学...为方便液罐半挂汽车列车(Tractor Semi-trailer Tank Vehicle, TSTTV)罐-车整体的优化设计匹配,综合提高整车的侧倾稳定性、侧向动力学稳定性及操纵特性,基于Lagrange方法和椭圆规摆等效机械液体晃动模型建立TSTTV的整车侧向耦合动力学模型,其典型特征是实现罐内液体侧向晃动与车辆横摆运动、侧向运动、悬挂质量的侧倾运动及非线性侧向轮胎力的集成一体化建模,贯通液体晃动动力学与车辆侧向动力学稳定性之间的联系。通过开环正弦停滞转向输入操作响应对所建立的模型进行分析评价,考察车辆横摆角速度、质心侧偏角、侧倾角、侧向载荷转移率及液体晃动角等状态量在2种充液比(F_L=40%,80%)及2种罐体椭圆率(Δ=1.0,1.3)下的响应。研究结果表明:所建立的TSTTV模型可以实现液体侧向晃动作用下的车辆侧向耦合动力学仿真分析,能够反映充液比、罐体截面椭圆率等运输条件和罐体几何参数对整车侧倾稳定性、侧向动力学稳定性及操纵特性的影响;基于该模型可以针对液体介质、充液比及道路环境等运输条件因素的影响,研究以提高整车侧向动力学稳定性为目标的TSTTV灌-车整体的优化设计匹配问题,这对提升液罐车的设计性能、提高行驶的安全性和运输效率具有重要意义。展开更多
文摘A method to evaluate the properties of turbulent flow in proximity to the vehicle and close to the ground surface has been elaborated.Numerical simulations have been performed on the basis of the Unsteady Reynolds-averaged Navier-Stokes equations(URANS)written with respect to an arbitrary curvilinear coordinate system.These equations have been solved using the Spalart-Allmaras differential one-parametric turbulence model.The method of artificial compressibility has been used to improve the coupling of pressure and velocity in the framework of a finite volume approach.Time-averaged distributions of pressure fields,velocity components,streamlines in the entire area and near the tractor-trailer,as well as integral and distributed characteristic parameters(such as coefficients of pressure,friction and drag force)are presented.According to our results,the turbulent flow accelerates in the area of the tractor cabin and in the gap between surfaces.Above the driver’s cabin,a pressure drop occurs due to a sharp acceleration of flow in this area.Downstream,pressure is restored and becomes almost constant in proximity to the edge of the trailer.The dimensions of the separation area exceed the length of the transport system several times.Though agreement with experimental results is relatively limited due to the two-dimensional nature of the numerical simulations,the present approach succeeds in identifying the main physical effects involved in the considered dynamics.It might be used in future studies for initial approximate assessments of the influence of the vehicle shape on its aerodynamic characteristics.
基金the National Natural Science Foun-dation of China(No.61873165/U1764264)the Shanghai Automotive Industry Science and Technology Development Foundation(No.1807)。
文摘Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system to drive autonomously.Owing to the properties of being highly nonlinear and nonholonomic with complex dynamics,the tractor-trailer system poses great challenges to the development of motion-planning algorithms.In this study,an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer vehicle.The indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality,obstacle-free trajectory using quintic polynomial spline,speed profile optimization,forward simulation,and properly designed cost functions.Simulations under different driving scenarios and trajectories with different driving requirements are conducted to validate the performance of the proposed framework.
基金Supported by National Natural Science Foundation(NNSF)of China(51007003,51075010)general program of Science and Technology Project of Beijing Municipal Education Commission(KM201110005010,KZ200910005007)
文摘为方便液罐半挂汽车列车(Tractor Semi-trailer Tank Vehicle, TSTTV)罐-车整体的优化设计匹配,综合提高整车的侧倾稳定性、侧向动力学稳定性及操纵特性,基于Lagrange方法和椭圆规摆等效机械液体晃动模型建立TSTTV的整车侧向耦合动力学模型,其典型特征是实现罐内液体侧向晃动与车辆横摆运动、侧向运动、悬挂质量的侧倾运动及非线性侧向轮胎力的集成一体化建模,贯通液体晃动动力学与车辆侧向动力学稳定性之间的联系。通过开环正弦停滞转向输入操作响应对所建立的模型进行分析评价,考察车辆横摆角速度、质心侧偏角、侧倾角、侧向载荷转移率及液体晃动角等状态量在2种充液比(F_L=40%,80%)及2种罐体椭圆率(Δ=1.0,1.3)下的响应。研究结果表明:所建立的TSTTV模型可以实现液体侧向晃动作用下的车辆侧向耦合动力学仿真分析,能够反映充液比、罐体截面椭圆率等运输条件和罐体几何参数对整车侧倾稳定性、侧向动力学稳定性及操纵特性的影响;基于该模型可以针对液体介质、充液比及道路环境等运输条件因素的影响,研究以提高整车侧向动力学稳定性为目标的TSTTV灌-车整体的优化设计匹配问题,这对提升液罐车的设计性能、提高行驶的安全性和运输效率具有重要意义。
