Wheel Force Research Articles

The relevance of shock absorber friction on the total friction of a MacPherson suspension system during lateral manoeuvres

The friction potential of the suspension is typically considered to be invariant as the vertical dynamics of a vehicle are analysed. However, the current research on MacPherson suspensions indicates a strong dependence of the suspension friction on the present driving situation, which is primarily characterised by the wheel deflection relative to the chassis, and the tyre forces. Although it is well known that the shock absorber is generally subjected to side loads that can vary and initiate a certain amount of friction, the precise contribution of the shock absorber friction to the total suspension friction has yet to be investigated in detail. It is therefore essential to conduct a quantitative study on the importance of the shock absorber in the context of specific driving situations regarding the development of new, friction optimised shock absorber generations. The present study investigates the relationship between total suspension friction and the friction of the shock absorber, with a particular focus on the case of wheel lateral forces that aim to represent a simplified cornering manoeuvre of the vehicle. This is realised by using a multi-body simulation approach and a strain gauge application in order to estimate the side force at the shock absorber’s top mount. Subsequently, the shock absorber friction is determined using a test setup that considers the realistic load and mounting situation from the perspective of the MacPherson suspension subsystem. The combination of simulation and shock absorber friction measurement is sufficient to fully explain the characteristic friction trend on suspension (subsystem) level. The contribution of the shock absorber friction to the total suspension friction is determined to be a maximum of 80%, emphasising the importance of considering the side force at the shock absorber while aiming for suspension friction minimisation and ride comfort performance enhancement. On the other hand, the shock absorber’s contribution is also observed to be limited depending on the actual wheel force, indicating that the friction of the other components remains a crucial factor in the MacPherson suspension concept.

Simulation analysis of force and fatigue life of circular wheel of crawler vehicle

During loading and driving, the wheels bear the vertical load from the body mass and the excitation load generated by uneven road surface on the one hand, and bear the driving torque on the other hand. The load-bearing methods of wheels are generally divided into bottom load-bearing and top load-bearing. This paper describes the structural characteristics of the track system of the articulated track vehicle and the interaction relationship between the main components of the track system. Finite element calculation is carried out based on ANSYS software to obtain the stress distribution of each key component under various loading methods. It can be seen from the results that all key components of the track system can meet the strength and rigidity requirements; although there are also areas with large local stress, they are all within the safe range, which is mainly caused by stress concentration. Safe life is obtained through fatigue analysis.

An Experimental and Numerical Study on the Lateral Stiffness Limits of Straddle-Type Monorail Tour-Transit Systems

The development of the straddle-type monorail tour-transit system (MTTS) has received keen attention. Regarding the unspecified regulations on the lateral stiffness limit of steel substructures, which is essential for the design of MTTSs, this work presents a comprehensive assessment of the issue. Firstly, a wind–vehicle–bridge coupling model was established, integrating multibody dynamics and finite element methods. This model was then validated against field test results, considering measured track irregularities and simulated wind loadings as the excitations. Afterwards, a trend analysis and a variance-based sensitivity analysis was performed to investigate the effect of various factors on the dynamic response of the MTTS. Results indicate that the pier height significantly impacts the lateral displacement of the pier top, accounting for 87% of the first-order sensitivity index and 75% of the total sensitivity index. In comparison, the lateral stiffness of track beams contributes over 70% to the maximum responses at the mid-span. Based on this, two responses, the lateral displacement of the pier top and the lateral deflection–span ratio of the track beam, were utilized as evaluation indicators. With the analysis of indicators in terms of lateral acceleration, Sperling index, and lateral wheel force, the limited values for the two indicators were determined as 8.04 mm and L/4200, respectively. These findings can serve as valuable references for future research and designs in this field.

Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network

Ensuring the stability of heavy multi-axle vehicles necessitates the accurate calibration and decoupling of Multi-axis Wheel Force Sensors (MWFS). Traditional methods often neglect the temporal coupling present in MWFS output data, leading to reduced accuracy. This paper introduces an Improved Decoupling Algorithm (IDI) based on the Informer network, designed to temporally decouple MWFS and enhance precision. The Decoupling embedding layer (DE) performs linear decoupling of the MWFS, while the Token embedding layer (TE) and Informer encoder extract timing coupling features. The highway network and linear fully-connected layer then provide nonlinear decoupling compensation. Experimental results demonstrate that the IDI algorithm significantly outperforms traditional methods like Extreme Learning Machine (ELM) and Back Propagation Network (BPNN), achieving at least a 41.12% improvement in accuracy in the highly coupled Mz channel. In conclusion, the IDI algorithm not only achieves high-precision decoupling of MWFS but also presents a robust framework for modeling various sensor types.

Experimental study on grinding process of Al-Mg2Si aluminum matrix composites

As an aluminum-based reinforcement, Mg2Si particles have excellent properties such as high hardness, high melting point, and high elastic modulus compared with other reinforcements and are widely used in aerospace and automobile fields. However, there is little research on the cutting mechanism of this material. In order to explore the surface grinding mechanism of Mg2Si/Al composites, Grinding simulation of low-volume fraction Mg2Si/Al composites was carried out by ABAQUS, and the influence of different positions of matrix and particle removal on the surface quality of Mg2Si/Al composites was expounded. The plane reverse grinding test was carried out by using CBN (boron nitride) grinding wheel. The L16(43) orthogonal test and three groups of single factor tests were designed. The orthogonal results show that the linear velocity of the grinding wheel has the greatest influence on the surface roughness, and the feed rate and grinding depth are significantly smaller. The range analysis shows that the optimal grinding parameters are: vs = 35 m/s, vw = 0.75 m/min, ap = 0.015 mm. The regression equation for surface roughness was established by using MATLAB. The single factor results show that the surface quality is obviously improved by increasing the linear velocity of the grinding wheel and reducing the feed rate and grinding depth through the observation of the morphology of the processed specimen. The analysis results show that defects such as pits, protrusions, burrs, and a small amount of fish-scale-like on the machined surface are mainly caused by the linear velocity of the grinding wheel, the pulling force of the grinding wheel, and the adhesion of the debris. The defects such as particle micro-cracks, particle pull-out, and matrix cracking on the subsurface, are mainly caused by the compressive stress of the grinding wheel and the stress concentration of the particles. The research results have guiding significance for future composite material cutting research and actual cutting processing.

Research on the strain gauge mounting scheme of track wheel force measurement system based on high-speed wheel/rail relationship test rig

PurposeThis paper aims to analyze the stress and strain distribution on the track wheel web surface and study the optimal strain gauge location for force measurement system of the track wheel.Design/methodology/approachFinite element method was employed to analyze the stress and strain distribution on the track wheel web surface under varying wheel-rail forces. Locations with minimal coupling interference between vertical and lateral forces were identified as suitable for strain gauge installation.FindingsThe results show that due to the track wheel web’s unique curved shape and wheel-rail force loading mechanism, both tensile and compressive states exit on the surface of the web. When vertical force is applied, Mises stress and strain are relatively high near the inner radius of 710 mm and the outer radius of 1110 mm of the web. Under lateral force, high Mises stress and strain are observed near the radius of 670 mm on the inner and outer sides of the web. As the wheel-rail force application point shifts laterally toward the outer side, the Mises stress and strain near the inner radius of 710 mm of the web gradually decrease under vertical force while gradually increasing near the outer radius of 1110 mm of the web. Under lateral force, the Mises stress and strain on the surface of the web remain relatively unchanged regardless of the wheel-rail force application point. Based on the analysis of stress and strain on the surface of the web under different wheel-rail forces, the inner radius of 870 mm is recommended as the optimal mounting location of strain gauges for measuring vertical force, while the inner radius of 1143 mm is suitable for measuring lateral force.Originality/valueThe research findings provide valuable insights for determining optimal strain gauge locations and designing an effective track wheel force measurement system.

Dynamic Balance Simulation and Optimization of Electric Vehicle Scroll Compressor Rotor System

In order to solve the problem of imbalance of internal forces in the system caused by the gravity force of the eccentric wheel and the orbiting scroll close to the drive bearing and the rotational inertia force during the operation of the electric scroll compressor, a dynamic model of the rotor system of the scroll compressor that takes into account the effect of the gas force was established using the multibody dynamics software ADAMS/View 2020. Dynamic simulation analysis of the rotor system is carried out, focusing on the force of the drive bearing; a parametric optimization method is adopted to optimize the position of the center-of-mass coordinates of the eccentric wheel of the relevant components, and the relevant parameters are derived after optimization. The results show that by adjusting the center-of-mass position of the eccentric wheel it is possible to optimize the unbalance force and unbalance moment of the main shaft drive system; compared with the pre-optimization, the force fluctuation ranges of the drive bearing in the horizontal and vertical directions are reduced, the peak value is reduced by 18%, and the impact force of the drive bearing during the initial period of compressor operation is effectively relieved. Through optimization calculation, the vibration and noise of the system are reduced, the operating stability of the scroll compressor is improved, and analytical methods and theoretical guidance are provided for the design and prediction of the dynamic behavior of the scroll compressors.

Evaluating vehicle trafficability on soft ground using wheel force information

In the areas of aerospace and military industry, wheeled vehicles are expected to have the ability of passing various ground surfaces, including lunar soil, sand, marsh, mud flat, etc. This makes vehicle trafficability on soft ground become a very hot research topic. There are very a few difficulties in the present research of vehicle trafficability on soft ground, such as obtaining wheel-ground interaction information, inaccurate identification of soil mechanical characteristics parameters, and single evaluation index. In this paper, a novel approach of evaluating the vehicle trafficability on soft ground using wheel force information is proposed. As parts of the proposed approach, the methods of obtaining wheel force information, identification of soil mechanical characteristics parameters and integated method of trafficability evaluation, are discussed in detail. The proposed approach was validated through a practical test.

Prediction of rolling resistance and wheel force for a passenger car tire: A comparative study on the use of different material models and numerical approaches

In this research, the characteristics of tire-road interaction of a 185/65R14 88H passenger car tire are investigated using the Finite Element Method in Abaqus commercial software. Moreover, the effect of various material models on tire performance is studied by implementing Visco-Hyperelastic, Parallel Rheological Framework, and Mullins effect. The novelty of this research is devoted to the development of the complex material models particularly considering the Mullins effect of the rubber compounds in the tire structure for the load-displacement criteria. For this purpose, a tire finite element model was generated using Abaqus/Standard command line in two different methods including an Arbitrary Lagrangian-Eulerian formulation for steady state rolling and implementing a pure Lagrangian approach for the transient dynamic analysis carried out implicit and explicit process respectively. Rolling resistance force was computed according to ISO 28580 with 210 kPa inflation pressure and 4155 N vertical load. The footprint test results were extracted in both static and transient dynamic analyses. Additionally, the wheel reaction force was predicted using an indirect method by extracting the tire-terrain contact patch reaction force in Abaqus/Explicit to observe the effect of the material convection along with stress softening phenomena of the rubber compounds of tire structure. In the post-processing analysis, the wheel reaction was filtered by implementing SAE60 filter to reduce the numerical noise in the final response.

Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – a Case Study

A problem of influence of three types of soft ground on longitudinal motion of a lightweight four-wheeled mobile robot is considered. Kinematic structure, main design features of the robot and its dynamics model are described. A numerical model was elaborated to simulate the dynamics of the robot's multi-body system and the wheel-ground interaction, taking into account the soil deformation and stresses occurring on the circumference of the wheel in the area of contact with the deformable ground. Numerical analysis involving four velocities of robot motion and three cases of soil (dry sand, sandy loam, clayey soil) is performed. Within simulation research, the motion parameters of the robot, ground reaction forces and moments of force, driving torques, wheel sinkage and slip parameters of wheels were calculated. Aggregated research results as well as detailed results of selected simulations are shown and discussed. As a result of the research, it was noticed that wheel slip ratios, wheels’ sinkage and wheel driving torques increase with desired velocity of motion. Moreover, it was observed that wheels’ sinkage and driving torques are significantly larger for dry sand than for the other investigated ground types.

Modeling and Clamping Force Tracking Control of an Integrated Electric Parking Brake System Using Sliding-Mode-Based Observer

This article proposes a hierarchical control strategy to address semi-ABS control as well as the precise clamping force control problems for an integrated electric parking brake (iEPB) system. To this end, a detailed system model, including modeling of the motor, transmission mechanism, friction and braking torque, is constructed for controller and observer design, and a sliding-mode-based observer (SMO) is proposed to estimate the load torque by using the motor rotational speed without installing a force sensor. In addition, a stable and reliable tire–road friction coefficient (TRFC) estimation method is adopted, and the desired slip ratio (DSR) is observed as the target that the rear wheels cycle around. At the upper level of the hierarchical control structure, the desired clamping forces of the rear wheels are generated using a sliding mode control (SMC) technique, and the control objective is to track the DSR to make full use of the road condition. At the lower level, the motor is controlled to track the desired clamping force generated from the upper controller. The hardware-in-the-loop (HIL) experimental results demonstrate the effectiveness and high tracking precision of the proposed strategy under different road conditions, and the estimation parameters based on the proposed observers are timely and accurate to satisfy the control requirements.

Notice of Violation of IEEE Publication Principles: Integrated Control of Braking and Steering Subsystems for Autonomous Vehicle based on an Efficient Yaw Moment Distribution

Notice of Violation of IEEE Publication Principles Control of Braking and Subsystems for Autonomous Vehicle based on an Efficient Yaw Moment by Shaobo Lu, Sheng Cen, Xiaosong Hu, Cheewah Lim and Jinlong Zhang, in the IEEE Transactions on Industrial Electronics, Early Access, May 2017 After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE’s Publication Principles. This paper copies equations from the paper(s) cited below. The content was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission. The lead and the second author of the paper were responsible for the violation. A correction letter for this misconduct was submitted and published at http://ieeexplore.ieee.org/document/8017449 Coordinated Control with Electronic Stability Control and Active Front Using the Optimum Yaw Moment Distribution Under a Lateral Force Constraint on the Active Front Steering by Seongjin Yim, Seungjun Kim and Heesung Yun, in the Proceedings of Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2016, Vol. 230(5) pp. 581-592 This paper presents an Integrated Chassis Control (ICC) strategy for Electronic Stability Control (ESC) and Active Four Wheel (AFWS) based on an efficient optimal yaw moment distribution. To further enhance the handling and lateral stability of vehicle equipped with ESC, a new Weighted Pseudo- inverse Control Allocation (WPCA) based ICC is proposed. The cornering forces of both front and rear wheels are used to cooperate with the ESC braking forces, so as to further extend the operational envelope of the vehicle. A bi-level hierarchical control structure is employed. In the upper level, the sliding mode control with a combined sliding surface is used to generate the desired virtual control. In the lower level, a revised optimal function is defined to tune the control authority of actuators, and an algebraic operation based WPCA method is adopted. To avoid tire forces saturation and enforce a certain stability margin, a boundary layer constraint is further considered in the proposed optimization problem. A severe lane change maneuver is used to investigate the performance via closed-loop driver-vehicle- controller simulations using CarSim and MATLAB/Simulink. Simulation results demonstrate that the proposed algorithm outperforms current control practice without violating the actuators physical limitation.

Modeling of attractive force of magnetic wheel under different wall structure and attitude used for climbing robot

Modeling of attractive force of magnetic wheel under different wall structure and attitude used for climbing robot

An Interpretable Nonlinear Decoupling and Calibration Approach to Wheel Force Transducers

An Interpretable Nonlinear Decoupling and Calibration Approach to Wheel Force Transducers

Assessment of influence of considering the flexibility of the front loader frame on the emerging loads in the multibody system

BACKGROUND: Dynamic models are widely used for vehicle dynamics simulation. Increase of simulation accuracy is achieved with adding flexible bodies in a model, making problem solving more complicated. Therefore, assessment of influence of considering the flexibility of the front loader frame on the emerging loads in the multibody system becomes necessary.
 AIM: Assessment of considering the flexibility of the front loader frame on the emerging loads in the multibody system becomes necessary.
 METHODS: The solution of the problem is presented with the example of a multibody model of a 14.5-ton front loader (FL) with a frame coupled with wheel movers rigidly fixed to the front half-frame and a swinging axle at the rear half-frame. This method of coupling makes it possible to assess the effect of the flexibility of the elements of the FL by comparing the vertical forces that occur in the contact patch of the wheels with the support surface. The multibody models are built in the NX Motion application of the NX 2206 software package.
 RESULTS: The comparison of vertical wheel forces in given load conditions (symmetrical and skew-symmetric) using absolutely rigid and flexible models of the frame is carried out. It is found that the forces for skew-symmetric loading modes can differ by up to 20% depending on the frame stiffness.
 CONCLUSION: As a result of the conducted research, it can be stated that taking into account the suppleness of the load-bearing system of the vehicle significantly affects the results obtained in the process of modeling.

Modelling and simulation of MRR in electro-chemical surface grinding of Al-SiC-Gr using hybrid analytical approach

Electro-Chemical Surface Grinding (ECSG) is a hybrid machining process which utilizes synergic actions of three sub-processes viz. electrochemical dissolution, grinding action of abrasive particles and erosive action of electrolyte flow in inter electrode gap. Since, occurrence of turbulence in machining zone significantly affects the machining performance, it is required to analyze the turbulence phenomenon in ECSG process. The exact solution and Numerical solution–based hybrid analytical approach has been used to predict the Material Removal Rate (MRR) in ECSG of Al-SiC-Gr. In this model, the streaming potential of electrolytic action, abrasive action of grinding wheel and shear force of electrolyte flow between inter electrode gap have been considered. Finite Element Method based Numerical modelling has been carried out to analyze the electrolyte flow in machining zone in order to evaluate the MRR due to erosive action. It was observed that the application of shear force on oxide layer rises with the increase in flow rate of electrolyte. Confirmation experiment has been performed to validate the modelling results. Validation results show a minor error of 8.21% in prediction of MRR using analytical as well as finite element model.

Safe operating envelope based on a single-track model for yaw instability avoidance of articulated heavy vehicles

The electrification of commercial vehicles has led to new wheel torque allocation options for propulsion and braking of articulated heavy vehicles. Each unit or axle can be individually braked or propelled whilst the other units or axles are excluded from such action. This may achieve the best energy efficiency. However, this can also lead to potential yaw stability problems such as jackknifing and trailer swing, especially under bad loading and weather conditions. This paper describes the above instabilities and introduces a nonlinear single-track model to study the vehicle dynamics of the tractor-semitrailer combination. The effects of different vehicle and environment parameters are analysed with this vehicle model. A safe operating envelope for limiting the wheel forces is obtained using this vehicle model. Since the vehicle model introduced in this paper is computationally effective, it can be run online in real vehicles, with an instantaneous safe operating envelope obtained for the momentary conditions. Thus, yaw instabilities such as jackknifing and trailer swing may be avoided.

Using the fatigue crack initiation parameter for prediction of the crack location on a curved track by 3D-FE analysis

Dynamic modeling of wheel-rail interaction is significant in accurate fatigue analysis of railways. Both location and magnitude of the contact stresses in the contact area must be evaluated accurately and efficiently via computational tools. In curved railway tracks, the distribution of the force exerted on the wheel is complex as it is multiaxial rather than uniaxial; thus, a more comprehensive computational model is required. In this work, a numerical procedure is developed to investigate the fatigue crack initiation on the curved tracks. The Universal Mechanism software is used to specify the spectrum of axial wheel force as input to a three-dimensional explicit finite element model to obtain the resulting stresses at the wheel-rail contact region. A critical element with the maximum von Mises stress value is treated as the element where the fatigue crack is most probably to be initiated. In this element, the critical plane method is used to determine the orientation of the crack initiation. The effect of the radius and slip ratio on the exact site of fatigue crack initiation is established in this approach, and the contact point influence on the fatigue crack initiation parameter is investigated. The proposed model successfully predicts a practical wheel-rail dynamic response to cyclic loading, applying the geometry of the curved track.

Slip Estimation Using Variation Data of Strain of the Chassis of Lunar Rovers Traveling on Loose Soil

The surface of the Moon and planets have been covered with loose soil called regolith, and there is a risk that the rovers may stack, so it is necessary for them to recognize the traveling state such as its posture, slip behavior, and sinkage. There are several methods for recognizing the traveling state such as a system using cameras and Lidar, and they are used in real exploration missions like Mars Exploration Rovers of NASA/JPL. When a rover travels and travels across loose soil with steep slopes like a side wall of a crater on the lunar surface, the rover has side slipping. It means that its behavior makes the rover slip down to the valley direction. Even if this detection uses sensors like a camera and Lidar or other controlling systems like SLAM (Simultaneous Localization and Mapping), it would be too difficult for the rover to avoid slipping down to valley direction, because it is not able to detect the traction or resistance given from ground by individual wheel of the rover, as the traction of individual wheel of the rover is not clear. This means that the movement of the rover appeared by integrating the traction of all wheels mounted on the rover. Even if the localization by sensors is carried out, the location would be the location after slipping down. This is because when traveling on unstable ground, the driving force of each individual wheel cannot be accurately predicted, and the sum of the driving force of all wheels is the motion of the rover, which is detected after the position changes. Therefore, if the rover obtains information on the traction of each wheel, its maneuver to change its posture would work sooner and it would be able to travel more efficiently than in a state without that information. Because the onboard computer of rovers can identify their location and state from the information of the traction of each wheel, they can decide the next work carefully and in detail. From these tasks, we focused on the intrinsic sensation of a biological function like a human body and aimed to develop a system that recognizes the traveling state (slip condition) from the shape deformation of the chassis. In this study, we experimentally verified the relationship between the change in strain, which is the amount of deformation acting on the chassis, and the traveling state while the wheel is traveling. From the experimental results, we confirmed that the strain in the chassis was displaced dynamically and that the strain changed oscillatory while the wheel was traveling. In addition, based on the function of muscle spindles as mechanoreceptors, we discussed two methods of analyzing strain change: nuclear chain fiber analysis and nuclear bag fiber analysis. These analyses mean that the raw data of the strain are updated to detect the characteristic strain elements of a chassis while the wheel is traveling through loose soil. Eventually, the slipping state could be estimated by updating the data of a lot of strain raw data, and it was confirmed that the traveling state could be detected.

Planned Trajectory Classification for Wheeled Mobile Robots to Prevent Rollover and Slip

In this paper, a novel planned trajectory classification method (PTCM) is proposed to evaluate the safety of the car- like four-wheeled mobile robots (4-WMRs) with Ackermann steering and high-stiffness suspensions. To classify a planned trajectory to be safe or unsafe before the 4-WMR actually follows it, the conditions of the wheel forces (WFs: longitudinal, lateral, and normal forces for each wheel) necessary to execute the planned trajectory without rollover and slip are calculated using the passive decomposition of the WMR dynamics with the Pfaffian constraints of the no-rollover and no-slip conditions. Similar to the case of Navier's table problem, only nine-dimensional WFs projected onto the constrained space are identifiable among the twelve-dimensional WFs. This indeterminacy turns out not to affect the rollover prediction, yet does so for the slip prediction. For this, we propose novel optimistic and pessimistic methods, together upper and lower bounding the exact slip prediction. The proposed PTCM classifies the planned trajectory as safe if rollover and slip are not predicted and unsafe otherwise. The proposed PTCM is demonstrated and validated by simulations and outdoor experiments.