estimation of steerability and cornering stability of ... · static and dynamical tests (gost...
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F2014-IVC-048
The Russian Federation
Nizhny Novgorod State Technical University named after R.Y. Alekseev
Transport Systems Institute
FISITA 2014, The Netherlands, Maastricht – Tuesday, 3 June
Estimation of Steerability and Cornering Stability
of Light Commercial Vehicles
by Results of Road Tests and Simulation
Ksenia Shashkina - presenter
Anton Tumasov, Galina Konikova, Anatoly Groshev,
Alexander Bezrukov, Yuri Trusov
Cooperation between NNSTU and GAZ
Governmental support of R&D
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
NNSTU – the best traditions of Russian engineering
Moscow
Nizhny Novgorod
400km
GAZ – Russian producer of LCVs
R&D financed by The Ministry of Education and
Science of the Russian Federation
Contract №02.G25.31.006 from 12.02.2013
Governmental Regulation №218 from 09.04.2010
Parameters which affect steerability and
stability
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
Centre of gravity d2
d1
h
a
b
L
C1
C2
C1 and C2 – stiffness of spring elements of rear and front suspensions
d1 and d2 – diameters of antiroll bars of front and rear suspensions
LCV market in Russia
Variety of LCV basic modifications
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
The Russian LCV Market
Tested LCV
Preparation for experimental research
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
LCV weighing
LCV ballasting GAZ A21R22 NEXT:
Test equipment installation
Demands of safety regulation
Static and dynamical tests (GOST 31507-2012)
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
Static rollover test Dynamical road tests
Angle of a rotary platform
All dimensions in meters. SS – speed sensors
“Going into the corner” test “Lane-changing” test
Simulation
Analysis of static stability in ADAMS/CAR
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
Front independent
suspension LCV simulation model
Rear dependent
suspension
= 0° = 20° = 44,11°
Studied configurations for verification
of the model
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
• Total permissible mass, front and rear antiroll
bars
• Total permissible mass, front antiroll bar
• Total permissible mass, without antiroll bars
Comparative analysis of static rollover test
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
Total permissible mass
– the angle of a rotary platform at the moment of kick off of both outer wheels
Configuration Rollover test, degrees Simulation, degrees Discrepancy, %
2 antiroll bars 38,83 40,042 3,07
Front antiroll bar 39,483 40,4 2,30
Without antiroll bars 40,85 42,11 3,04
= the roll angle of a vehicle spring mass - the angle of a rotary platform
2 antiroll bars 6,23 5,89 5,61
Front antiroll bar 6,85 6,56 4,33
Without antiroll bars 6,75 6,4 5,32
Simulation
Analysis of dynamic stability
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
“Lane-changing” test “Going into the corner” test
Comparative analysis of steering angle
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
-200
-150
-100
-50
0
50
100
150
200
0 1 2 3 4 5 6
Ste
eri
ng
angl
e, d
egr
ee
s
Time, s
Simulation
Road test
Comparative analysis of lateral
accelerations
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
-8
-6
-4
-2
0
2
4
6
8
0 1 2 3 4 5 6 7 8
Late
ral a
cce
lera
tio
n, m
/s2
Time, s
Simulation
Road test
Comparative analysis of speeds
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
Total permissible mass
Going into the corner R=35м (regulated 60 km/h)
Configuration Critical speed (road
tests), km/h
Critical speed
(simulation), km/h Discrepancy, %
2 antiroll bars 62,0 60,2 2,9
Front antiroll bar 61,8 60,0 2,9
Without antiroll bars 60,4 59,0 2,3
Lane-changing S=20м (regulated 70 km/h)
2 antiroll bars 73,5 70,8 3,7
Front antiroll bar 73,5 70,2 4,5
Without antiroll bars 71 70,2 2,8
Analysis of simulation results
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
Influence of LCV parameters on T value
1 – “going into the corner”; 2 – “lane-changing”
T – relative vertical wheel reaction
h - height of the center of gravity
C - ratio between vertical stiffness of spring elements of front and rear
suspensions
d - ratio between diameters of antiroll bars of front and rear suspensions
b – ration between horizontal distance, between LCV’s center of gravity and rear
axle and wheelbase
Summary and Conclusions
IVC Vehicle dynamics and intelligent vehicle controls F2014-IVC-048
• Specific Russian standards in the field of estimation
stability and cornering stability include three certification
tests.
• After any design modification or for entering the Russian
market the manufacturer should confirm the compliance to
the Standards.
• Adequate simulation model can help to make express
estimation of the influence of some parameters on stability
and steerability.
The results of the study could be used by engineers at the
preliminary stage of design of a new range of LCVs.
F2014-IVC-048
The Russian Federation
Nizhny Novgorod State Technical University named after R.Y. Alekseev
Transport Systems Institute
Thank you for attention!
603950, Russia, Nizhny Novgorod
NNSTU n.a. R.Y. Alekseev
Minin str., 24
www.en.nntu.ru www.its.nntu.ru
Transport Systems Institute
Anton Tumasov – vice-director for development
+7-905-19-20-576