In order to fulfill the requirement of vehicle dynamics performance and real-time capability in driving simulator, modeling and simulation method of a four-wheeled vehicle model based on multi body dynamics software Vortex was studied. Fundamental construction and dynamics properties of the model such as body, chassis, wheels, power train, suspension and tyre model were described. The model was tested to simulate on the C grade of road. The results indicate that the model and simulation method can well represent vehicle dynamics performance and high real-time capability of simulation, and is worthy to apply to driving simulator in the future.
Step-type compound planetary gear sets are widely applied in vehicle systems. Comprehensive dynamic model of step-type compound planetary gear sets, which includes translational, rotational vibrations and static transmission errors, was established. Natural vibration characteristics of the system, such as natural frequencies and vibration modes, were analyzed. Belt shape distribution characteristics of its natural frequencies was researched. According to vibration characteristics of both central components and planets, natural vibration modes of the system are classified into three types: central components translational vibration and planets random vibration, central components rotational vibration and planets identical vibration, central components static and adjacent planets reverse vibration mode.
Through analyzing the specialty and limitation of the current driving simulators, the main factors affecting fidelity of driving simulators are summarized. Then, a new driving simulator of high fidelity based on the multi-body dynamics is proposed, with focus on the dynamics modeling and the road feel. Furthermore, a control algorithm of the road feel is designed and by the means of co-simulations in MATLAB/Simulink and ADAMS environment, the measuring steering wheel torque proves the control algorithm of road feel is reasonable. The control algorithm has been put into practice and got satisfactory results.
In driving simulator, the driver manipulating the steering wheel can not only be feeling authentic as the real vehicle but also get additional information of the vehicle state and road conditions. For this purpose, a steeling wheel system was detailed designed. A bicycle model was used to analyze the dynamic behaviour of a simplified four-wheel vehicle model and applied to compute the reaction torque. After modeling the steering column and the feedback motor, the state equation of the steering wheel was deduced. The control without PID, with ordinary PID and RBF network PID were adopted to control the feedback motor to generate desired torque. Simulation in matlab/simulink shows that the steering wheel has good performance and the RBF network PID controller has better performance and can satisfy the requirement of the reaction torque. This study will be a guide research for future driving simulator.
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