Analysis of human arm movement during vehicle steering maneuver

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion

     

基于滑模变结构理论的车辆主动横向稳定杆控制

为实现对车辆的侧倾控制,自主设计了主动横向稳定杆（AARB）装置。针对车辆在侧倾中存在的非线性、时变性特点,采用滑模变结构控制理论建立了滑模控制器从而实现对理想侧倾角的跟踪,并采用鱼钩与双移线转向工况进行了仿真试验。仿真结果表明,该主动横向稳定杆装置与传统被动横向稳定杆装置相比,能有效减小车辆的侧倾,同时具有良好反馈特性以,有利于驾驶员对车身姿态的判断,从而大大提高了车辆行驶的安全性与乘坐舒适性。     

汽车转向的力输入控制与角输入控制及其对驾驶员—汽车闭环系统的影响

讨论两种与不同驾驶员转向控制策略相应的人－车才环系统的运动特征。在描述驾驶员操纵汽车时可以认为驾驶员有两种操纵方式，即通过给转向盘施加转向力矩或通过使转盘转地定定角度来实施其转向策略，分别称这两控制方式为力输入控制与角输出控制。仿真计算表明，当不足转向度小的汽车高速行驶时，驾驶员采用力输入控制策略具有更小的跟随误差，在力输入控制下，驾驶员校正参数的变化范围也比采用角输入控制策略的小得多，这说明力输     

基于H点的大型工程车辆驾驶室操作装置的布局设计

为了改善驾驶员操作的安全性、高效性和舒适性,在对H点内涵分析的基础上,结合人机工程学的理论及国家和行业的相关标准,探讨了基于H点的驾驶室操作装置布局设计的人机关系,从座椅设计、方向盘设计、脚踏板设计三个方面提出了驾驶室布局设计中的相关位置、角度和尺度的设计原则及规律。可为大型工程车辆驾驶室的人性化设计提供参考依据。     

汽车EPS和AFS衰减路面冲击集成控制

为衰减车辆行驶时受到的路面冲击,建立了人-车-路闭环系统数学模型,设计了电动助力转向(EPS)和主动前轮转向(AFS)集成控制算法,运用阻尼补偿控制和最优控制分别设计了电动助力转向和主动前轮转向子系统。在MATLAB/Simulink中的仿真结果表明,单独主动前轮转向控制不能衰减驾驶员把持力矩振动,单独电动助力转向阻尼控制对转向盘角速度振动和车辆横摆角速度振动衰减效果不佳,而集成系统可以很好地同时抑制驾驶员把持力矩振动、转向盘角速度振动和车辆横摆角速度振动,提高了驾驶舒适性、操纵稳定性和行驶安全性。     

基于灰色关联分析的操纵装置操纵舒适性评价

针对操纵装置操纵舒适性定量分析与客观评价困难的问题,通过对人机接触界面操纵力力学特征的分析,以均方差最小为选取原则,提取操纵舒适性特征参数,形成操纵舒适性评价指标集。在此基础上,运用离差权法和灰色关联分析法建立操纵舒适性评价模型,以实现对操纵舒适性的客观评价。最后,通过实例验证了该方法的可行性与合理性。     

Real-time Tire Parameters Observer for Vehicle Dynamics Stability Control

The performance of the vehicle dynamics stability control system(DSC) is dominated by the accurate estimation of tire forces in real-time.The characteristics of tire forces are determined by tire dynamic states and parameters,which vary in an obviously large scope along with different working conditions.Currently,there have been many methods based on the nonlinear observer to estimate the tire force and dynamic parameters,but they were only used in off-line analysis because of the computation complexity and the dynamics differences of four tires in the steering maneuver conditions were not considered properly.This paper develops a novel algorithm to observe tire parameters in real-time controller for DSC.The algorithm is based on the sensor-fusion technology with the signals of DSC sensors,and the tire parameters are estimated during a set of maneuver courses.The calibrated tire parameters in the control cycle are treated as the elementary states for vehicle dynamics observation,in which the errors between the calculated and the measured vehicle dynamics are used as the correcting factors for the tire parameter observing process.The test process with a given acceleration following a straight line is used to validate the estimation method of the longitudinal stiffness;while the test process with a given steering angle is used to validate the estimated value of the cornering stiffness.The ground test result shows that the proposed algorithm can estimate the tire stiffness accurately with an acceptable computation cost for real-time controller only using DSC sensor signal.The proposed algorithm can be an efficient algorithm for estimating the tire dynamic parameters in vehicle dynamics stability control system,and can be used to improve the robustness of the DSC controller.     

农用三轮摩托车平顺性仿真及优化设计研究

利用Adams/View建立三轮车的多刚体动力学模型,并在其中添加驾驶员模型,通过驾驶员控制方向把的转角对跑偏现象进行实时的反馈和调节,从而精确模拟实际车辆在道路上的行驶情况。然后对车辆的平顺性能进行仿真分析,得其振动的加速度,参考汽车的平顺性评价指标,对其平顺性进行评价。在此基础上,以驾驶员座椅垂向加速度均方根值作为目标函数,对三轮车的行驶平顺性进行优化设计,得到前后减振器的刚度、阻尼的最优值,使其乘坐舒适性得到大幅度提高。     

基于肌肉生理信号的操纵舒适性评价

从操纵者人机交互过程中肌肉生理信号角度出发,针对目前操纵舒适性评价方法的不足,提出一种基于肌肉生理信号特征参数,运用正则化RBF网络,对人机交互操纵舒适性进行评价的方法。以典型人机交互过程驾驶操作系统为例,进行实验与数据统计,通过正则化RBF网络对实验测得的操纵者肌肉生理信号特征参数和主观舒适度评分构成的样本进行学习和训练,建立操纵舒适性评价模型。实验结果验证了该方法的可行性和合理性。     

汽车最速操纵问题的逆动力学研究

提出了一种汽车操纵逆动力学仿真研究方法。基于最优控制理论,以驾驶员对汽车施加的转角输入和驱动力/制动力为控制变量,以最短时间完成双移线过程为控制目标,通过改进的直接多重打靶方法将最优控制问题转化为非线性规划问题之后,运用序列二次规划方法求解。仿真结果表明,该方法能够解决汽车的最速操纵问题,可以比较不同汽车以最短时间完成双移线过程的操纵性能,且计算结果与ADAMS/Car虚拟样机试验结果具有良好的一致性。     

Variable structure controller design for steer-by-wire system of a passenger car

The electric power steering (EPS) system was developed and the steer-by-wire (SBW) system achieves the purposes of EPS. The advantages of SBW are packaging flexibility, advanced vehicle control system, and superior performance. No mechanical linkage exists between the steering gear and steering column in the SBW system. The steering wheel and front-wheel steering can be controlled independently. The SBW system consists of two motors controlled by an electronic control unit (ECU). One motor is in the steering wheel and develops the steering feel of the driver and the other motor is in the steering linkage and improves vehicle maneuverability and stability. Moreover, the active front steering (AFS) system can be added to the SBW system. AFS reduces the difference between actual and estimated vehicle yaw rate. Up-to-date information from the steering wheel enables drivers to identify road conditions through the tire force, which should be fed back to the steering wheel. Furthermore, several control algorithms related to the vehicle and motor can be used together through the self-aligning torque, which is fed back to the steering wheel. This study proposes a method to control the vehicle yaw rate through an SBW system. This control method is based on a PID control method for the steering-wheel-motor controller, as well as on a sliding mode control (SMC) method for the front-wheel-motor controller and yaw stability controller. The SBW system is modeled using a bond graph method. Results imply that the controllers are robust enough when in contact with nonlinear properties of tire and road conditions. This study is expected to guide further research on the SBW system.     

基于典型相关分析的操纵杆操纵疲劳分析

以人机系统操纵杆操纵疲劳定量评价为研究目标,从操纵杆操纵力与人体相关生理信号的关联关系出发,提取特征参数,形成评价指标集。采用典型相关分析算法建立操纵杆操纵疲劳评价模型,实现对人机系统操纵疲劳的预测与评价分析。     

BODY PRESSURE DISTRIBUTION OF AUTOMOBILE DRIVING HUMAN MACHINE CONTACT INTERFACE

Aiming at the fatigue and comfort issues of human-machine contact interface in automo- bile driving and based on physiological and anatomical principle,the physiological and biochemical process of muscles and nerves in the formation and development of fatigue is analyzed systematically. The fatigue-causing physiological characteristic indexes are mapped to biomechanical indexes like muscle stress-strain,the compression deformation of blood vessels and nerves etc.from the perspec- tive of formation mechanism.The geometrical model of skeleton and parenchyma is established by applying CT-scanned body data and MRI images.The general rule of comfort body pressm'e distribu- tion is acquired through the analysis of anatomical structure of buttocks and femoral region.The comprehensive test platform for sitting comfort of 3D adjustable contact interface is constructed.The test of body pressure distribution of human-machine contact interface and its comparison with subjec- tire evaluation indicates that the biomechanical indexes of automobile driving human-machine con- tact interface and body pressure distribution rule studied can effectively evaluate the fatigue and comfort issues of human-machine contact interface and provide theoretical basis for the optimal de- sign of human-machine contact interface.     

基于主成分分析的汽车操纵力舒适性分析与评价

以汽车操纵装置的操纵力舒适性客观定量评价为研究目标,运用主成分分析算法,采用加权主成分和价值函数,建立汽车整车操纵力舒适性评价模型。在此基础上,进一步通过多元线性回归分析建立了汽车整车操纵力舒适性与主成分之间的回归方程,实现了对汽车整车操纵力舒适性的预测与评价分析。     

Study of Physiological Parameters and Comfort Sensations During Friction Contacts of the Human Skin

As a living tissue, human skin has a biological response when it rubs against other external surfaces, among which, the comfort sensation attributes during friction contact make an important contribution to one??s quality of life. However, limited quantitative parameters can be used to describe the sensations, and they have rarely been studied scientifically. In this paper, the comfort sensations of human volar forearm skin during friction testing were studied by biofeedback of physiological and psychological responses. A UMT-II tribometer was used to measure tribological parameters of the skin under different normal force of 0.2 and 1.0?N, and corresponding comfort sensations of the skin were assessed quantitatively using BioTrace?+?for physiological signals monitoring: skin conductance, skin temperature, and electroencephalogram (EEG). The psychological responses were characterized qualitatively according to the volunteers?? sensations of pain, drag, and heat. Results showed that the tangential force, amplitudes of EEG signals and psychological responses increased with the normal force increasing. The friction coefficients, differences of skin conductance and temperature, amplitudes of EEG signals, and psychological responses gradually decreased with the number of friction tests increasing. The discomfort sensations of human skin were strongly related to friction conditions, which intensified under the large normal force, and gradually weakened with the number of tests increasing. The physiological responses were in accord with the psychological ones. The comfort sensations during friction testing can be assessed quantitatively by the physiological signals of conductance, temperature, and EEG.     

基于表面肌电的肌肉舒适度评价准则

为了避免操作人员长期处于较差的姿势工作,选取人体上身5个关节进行动作试验,对每个动作变化起主要作用的肌肉块进行了肌电信号测试。通过最大主动收缩法消除不同受试者的肌电信号差异,对肌电百分比值进行归一化和加权平均法处理,根据每个动作变化涉及肌肉的平均生理横断面积,给出复合动作肌肉舒适度指数的计算方法;提出了一套基于表面肌电的肌肉舒适度评价准则,与DELMIA人机仿真软件中的RULA分析结果对比显示,该评价准则具有可行性,适合对操作人员的作业姿势进行评价。     

基于SVR的汽车操纵装置操纵力舒适性预测研究

提出一种基于支持向量回归机（SVR）的操纵装置操纵力舒适性预测方法。将操纵力以及人体生理参数作为预测的输入,分别映射到劳动强度和感知强度两个评价指标,在此基础上建立基于SVR的操纵力舒适性评价模型,输出人体的综合舒适度指标。以变速杆为例,通过模拟变速杆的操纵过程,获取相应的预测样本数据,利用支持向量回归机建立的操纵力舒适性预测模型进行预测,结果显示这一预测方法优于RBF神经网络的预测模型。     

电动助力转向的转向感觉客观综合评价

针对电动助力转向(Electric power steering,EPS)系统进行整车转向感觉主观评价试验,分别对转向轻便性、回正性、中间位置转向和移线性能转向感觉客观评价指标进行分析。由于单个指标与驾驶员整体转向感觉评价之间并没有直接的对应关系。通过主成分分析的方法,获得互不相关的客观综合评价指标,将主观转向感觉量化为客观评价指标值,并且对客观评价指标与驾驶员主观评价进行相关性检验,检验EPS转向感觉客观评价指标的合理性和可靠性。转向感觉客观评价指标的确定便于对EPS转向感觉进行系统全面的评定,提高设计的可预见性。     

基于单点预瞄最优曲率模型的单轨车辆驾驶员模型

单轨车辆动力学特性研究一般需要一个合适的驾驶员模型。基于郭孔辉的单点预瞄最优曲率模型,利用车辆转向时的Ackerman几何关系和稳态转向时横垂面内力的平衡分别确定目标转向角和目标侧倾角,建立适用于单轨车辆的驾驶员模型。模型重点考虑了驾驶员的预瞄、驾驶员对转向手把的转向力矩输入、驾驶员上半身在车座上绕通过髋部的纵向轴线转动的侧倾力矩输入以及驾驶员的动作滞后。为使实际转向角和侧倾角跟随目标转向角和目标侧倾角变化,转向力矩和侧倾力矩皆采用PD控制。采用ADAMS软件建立了驾驶员—车辆闭环动力学模型,并按双移线和蛇行两种典型行驶工况进行仿真。仿真结果表明车辆可以很好地跟随所设定的路径,验证了驾驶员模型的合理性。所建立的驾驶员模型适用于单轨车辆人—车闭环控制模型的动力学仿真研究。     

基于超效率数据包络分析的研究型高校科研效率评价研究

在分析科研绩效的概念和作用的基础上,从科研投入和科研产出两个方面构建了研究型高校科研绩效评价指标体系,提出将超效率DEA模型应用到高等学校科研绩效综合评价中,并以985工程高校中的36所院校为对象进行了科研绩效综合评价实证研究,研究结论证明了方法的科学性和有效性。