基于双重扩展自适应卡尔曼滤波的汽车状态和参数估计

准确实时地获取行驶过程中的状态信息是汽车动态控制系统研究的关键,为此提出了一种新的汽车状态估计器。建立了包含不准确模型参数和未知时变统计特性噪声的非线性汽车动力学模型,针对该非线性系统提出一种双重扩展自适应卡尔曼滤波算法（DEAKF）。该算法采用两个卡尔曼滤波器并行运算,状态估计和参数估计互相更新,同时将带遗忘因子的噪声统计估值器嵌入到状态校正过程和参数校正过程之间,以解决系统的噪声时变问题。基于ADAMS的虚拟试验和实车试验结果表明,该算法的状态估计精度高于EKF方法和DEKF方法的状态估计精度,同时具有良好的模型参数校正能力,对汽车动态控制系统中估计器的设计具有理论指导意义。
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Dual-rotary fretting wear behavior of 7075 aluminum alloy

Friction and wear behavior of dual-rotary fretting (DRF) combined by torsional and rotational fretting modes have been investigated. Such fretting mode is essentially achieved by changing tilt angles of the rotary axis and varying rotary angular displacement amplitudes The DRF behavior has been characterized from the dynamic behavior, wear damage, third-body behavior, wear mechanisms. The running condition fretting map (RCFM) of DRF fretting wear was established by using the tilt angles and angular displacement amplitudes. The evolution of the wear volume vs the tilt angle under varied angular displacement amplitudes was quantificationally measured. In addition, the competition between the local wear and fatigue (cracking, wear) has been discussed in detail. The results indicated that the damage of 7075 aluminum alloy induced by DRF was strongly dependent upon the tilt angle and the angular displacement amplitude.     

桨-毂轴承材料扭动微动磨损行为研究

采用面接触扭动微动形式,以动力定位系统可调距螺旋桨桨-毂轴承摩擦副材料(CuNiAl-42CrMo4)为对象,以不同的角位移幅值模拟海水波动影响下的微动磨损行为,并结合扫描电子显微镜和超景深三维显微镜对磨痕形貌进行分析,探究桨-毂轴承摩擦副材料扭动微动磨损规律。结果表明,随着角位移幅值的增加,扭动微动依次运行于部分滑移区、混合区、滑移区,摩擦因数减小,同时磨损量增加,微动损伤中剥层机制所占的比例逐渐增加,且由于疲劳裂纹扩展的不利影响,实际运行过程中要尽量避开混合区。     

Study on rotational fretting wear of 7075 aluminum alloy

Rotational fretting wear tests in a ball-on-flat configuration have been successfully realized on a special rotational fretting rig developed from an ultra-low-speed reciprocating rotational driver. The rotational fretting behavior of 7075 aluminum alloy against 52 100 steel was studied under different angular displacement amplitudes and normal loads. The results showed that both F_t?θ and F_t/F_n curves can be used to characterize the rotational fretting running behavior, which exhibited different curve shapes and variation trends in different fretting running regimes. The rotational fretting behavior of 7075 aluminum alloy was strongly dependent on the angular displacement amplitude, normal load and number of cycles. The wear of 7075 aluminum alloy was characterized by slight attrition in the partial slip regime, while a combination of delamination, abrasive and oxidative wear was found in the slip and mixed fretting regimes. The formation of a central bulge probably due to plastic flow was observed under gross slip condition of the rotational fretting mode.     

Research on torsional fretting wear behaviors and damage mechanisms of stranded-wire helical spring

Wear on the local area of steel wires’ surface is attributed to torsional fretting on the working process of stranded-wire helical spring. A mathematical model to calculate normal contact force and angular displacement amplitude among the wires is established first when the spring is impacted. With the experimental parameters obtained from the model, the torsional fretting test, which stimulates torsional fretting among the wires in the working process of the spring, is realized successfully on a newly developed fretting tester. Torsional fretting behaviors are strongly dependent upon normal contact force, angular displacement amplitude, and number of cycles. There are three basic types of T-θ curves (short for torque), angular displacement curves during the process of torsional fretting, namely, parallelogram, elliptic, and linear T-θ curves. To analyze the damage mechanisms, distribution maps of oxygen in the wear scar of spring wires under different working conditions are revealed. The damage gets slight in the partial slip region, mainly with the abrasive wear and the slight oxidative wear, whereas the wear mechanisms are mainly the abrasive wear, the oxidative wear, and the delamination, accompanied with obvious plastic deformation in the mixed fretting and slip regions.

     

Fretting wear behaviors of a railway axle steel

Fretting damage was one of the most important reasons for the failure of the railway axle. Fretting wear (tangential fretting mode) tests of a railway axle steel (LZ50 steel) flats against 52 100 steel balls were carried out under different normal loads and displacement amplitudes on a hydraulic fretting wear rig. Dynamic analyses in combination with microscopic examinations have been performed. The experimental results showed that the fretting regimes of the LZ50 steel were strongly dependent upon the imposed normal loads and displacement amplitudes. The F_t/F_n curves exhibited different variation trends in different fretting running regimes. The fretting scars presented slight damage in partial slip regime. In mixed fretting regime, the trace of the plowing and plastic deformation flow can be observed on the fretting scars. The wear mechanism during this regime was the combination of the abrasive wear, oxidative wear and delamination accompanied with obvious plastic deformation. The detachment of particles and plowing traces were the main phenomena in slip regime. And, thicker debris layer covered the contact zone of the scar. The severe degradation in slip regime presented the main wear mechanisms of abrasive wear, oxidative wear and delamination.     

Fretting wear behaviors of steel wires under friction-increasing grease conditions

Fretting wear tests were performed on the self-made fretting wear rig to investigate fretting wear behaviors of steel wires under friction-increasing grease conditions. The results demonstrated that the fretting regimes were dependent on displacement amplitudes and normal loads. The friction coefficient exhibited different variation trends in different fretting regimes. Friction-increasing grease changed the fretting running behavior and had a very good wear resistance for steel wires. Wear was slight in partial slip regime. Mixed regime was characterized by plastic deformation, fatigue cracks and abrasive wear. Slip regime presented main damage mechanisms of abrasive wear, fatigue wear and oxidation.     

690合金材料的微动磨损特性研究

利用微动磨损试验机,在载荷50N以及位移幅值为60μm、100μm、150μm的工况下,研究了690合金材料在常温下的微动磨损行为及其动力学特性,采用激光共焦扫描显微镜(LCSM)和扫描电子显微镜(SEM)观察磨痕微观形貌。结果表明,载荷和位移幅值对微动特征有很大的影响,微动运行完全处于滑移状态。在滑移区,滑移磨损严重、磨痕面积大。690合金材料的磨损机制主要表现为磨粒磨损与剥层的共同作用。     

Torsional Fretting Wear Behavior of Bonded MoS2 Solid Lubricant Coatings

The effects of applying a bonded MoS₂ solid lubricant to a 1050 steel substrate were investigated using a torsional fretting wear apparatus. Tests were conducted under a normal load of 50 N with angular displacement amplitudes ranging from 0.1 to 5°. Wear scars were examined using scanning electron microscopy, energy-dispersive X-ray spectrometry, optical microscopy, and surface profilometry. The MoS₂ coating exhibited different torsional fretting regimes than those of the substrate. Fretting regimes of the coating were primarily in the partial slip regime (PSR) and the slip regime (SR) with no mixed fretting regime. The width of the PSR narrowed. Due to the lubricating effects of the coating, the friction torque was consistently lower than that of the substrate. The damage to the coating in the PSR was very slight, and its granular structure remained even after 1,000 cycles. The damage mechanism to the SR coating was a combination of abrasive wear, oxidative wear, and delamination. The MoS₂ coating had potential to alleviate torsional fretting wear.     

Experimental Study of the Fretting Wear Behavior of Incoloy 800 Alloy at High Temperature

The fretting wear behavior of the nuclear power material Incoloy 800 was investigated in this study. A PLINT high-temperature fretting tester was used on an Incoloy 800 cylinder against a 304SS cylinder at vertical cross contact under different temperatures (25, 300, and 400°C). During testing, a normal load of 80 N was applied, and the displacement amplitudes ranged from 2 to 40 µm. The fretting wear mechanism at high temperatures and the kinetic character of the materials of the Incoloy 800 steam generator tube were analyzed. Results showed that the fretting running regimes varied little with ncreasing temperature, and some microcracks were observed in both the mixed fretting regime (MFR) and the partial slip regime (PSR) at high temperatures. Slight abrasive wear and microcracks were the main wear mechanisms of the Incoloy 800 alloy in PSR, whereas those in the MFR and the gross slip regime were oxidative wear, abrasive wear, and delamination.     

粘结石墨固体润滑涂层微动磨损性能研究

在不同位移幅值与载荷下研究了粘结石墨固体润滑涂层的微动磨损特性，并利用扫描电镜和X射线衍射仪分析了涂层微动磨斑。结果表明：粘结石墨涂层具有良好的抗微动损伤性能，随循环次数的变化只存在部分滑移区和滑移区，部分滑移区涂层损伤轻微；滑移区损伤严重，主要表现为裂纹萌生和扩展，最终按剥层机制呈层状剥落。     

聚四氟乙烯基粘结固体润滑涂层微动磨损性能研究

在不同位移幅值与载荷条件下研究了酚醛环氧粘结聚四氟乙烯(PTFE)基固体润滑涂层的微动磨损特性，并利用扫描电子显微镜、表面轮廓仪和傅里叶表面红外仪等对涂层磨斑进行分析。结果表明，粘结PTFE基涂层具有良好的抗微动损伤性能，随循环次数的变化只存在部分滑移区和滑移区，部分滑移区的损伤轻微，滑移区的损伤强烈依赖于栽荷，其损伤与PTFE分子链在往复交变载荷作用下的疲劳断裂相关。     

Effect of contact load on fretting fatigue behaviour of steel wires

Abstract

The tension–tension fretting fatigue tests of steel wires were performed on a self-made fretting fatigue test equipment under contact loads ranging from 40 to 70 N and a strain ratio of 0·8. The results showed that when the contact load increased, the fretting regime of steel wires transformed from gross slip regime to mixed fretting regime. The fretting fatigue life in the mixed fretting regime was significantly lower than that in the gross slip regime. The main fretting wear mechanisms in the gross slip regime, where there were serious fretting damage and a lot of wear debris, were abrasive wear and fatigue wear. Microcracks were observed in the fretting scar of the mixed fretting regime, and the main fretting wear mechanisms were adhesive and fatigue wears. The fretting wear scar was the fatigue source region, and the fatigue fracture surface could be divided into three regions.     

Fretting wear behavior of superelastic nickel titanium shape memory alloy

The fretting behavior of superelastic nickel titanium (NiTi) shape memory alloy was studied at various displacement amplitudes on a serve-hydraulic dynamic test machine. The results showed that the superelastic properties of the material played a key role in the observed excellent fretting behavior of NiTi alloy. Due to the low phase transition stress (only 1/4 the value of its plastic yield stress) and the large recoverable phase transition strain (5%) of NiTi, the friction force of NiTi/GCr15 stainless steel pair is smaller than the value of GCr15/GCr15 pair and at the same time the Rabinowicz wear coefficient of NiTi plate is about 1/9 the value of GCr15 plate under the same fretting conditions. For NiTi/GCr15 pair, even NiTi has a much lower hardness than GCr15, the superelastic NiTi alloy exhibits superior fretting wear property than GCr15 steel. It was found that the weak ploughing was the main wear mechanism of NiTi alloy in the partial slip regime. While in the mixed regime and gross slip regime, the wear of NiTi was mainly caused by the abrasive wear of the GCr15 debris in the three-body wear mode.     

Wear analysis of Cu–Al coating on Ti–6Al–4V substrate under fretting condition

Fretting behavior of Cu–Al coating on Ti–6Al–4V substrate was investigated with and without fatigue load. Soft and rough Cu–Al coating resulted in abrasive wear and a large amount of debris remained at the contact surface, which caused an increase in tangential force during the fretting test under gross slip condition. Fretting in the partial slip condition also showed the wear of coating. To characterize wear, dissipated energies during fretting were calculated from fretting loops and wear volumes were obtained from worn surface profiles. Energy approach of wear analysis showed a linear relationship between wear volume and accumulated dissipated energy. This relationship was independent of fatigue loading condition and extended from partial slip to gross slip regimes. As an alternate but simple approach for wear analysis, accumulated relative displacement range was correlated with the wear volume. This also resulted in a linear relationship as in the case of accumulated dissipated energy suggesting that the accumulated relative displacement range can be used as an alternative parameter for dissipated energy to characterize the wear. When the maximum wear depth was equal to the thickness of Cu–Al coating, harder Ti–6Al–4V substrate inhibited further increase in wear depth. Only when a considerable energy was supplied through a large value of the applied displacement, wear in the substrate material could occur beyond the thickness of coating.     

Oil-Lubricated Fretting Behaviors of 304 Stainless Steels under Different Fretting Strokes and Normal Loads

The influence of oil lubrication on the fretting wear behaviors of 304 stainless steel flat specimens under different fretting strokes and normal loads has been investigated. The results proved that fretting regimes and fretting wear behaviors of 304 stainless steels were closely related to the fretting conditions. In general, the increase in normal load could increase wear damage during sliding wear. However, according to the results, a significant reduction in wear volume and increase in friction coefficient was observed when the normal load was increased to critical values of 40 and 50 N at a fretting stroke of 50 μm due to the transformation of the fretting regime from a gross slip regime to partial slip regime. Only when the fretting stroke further increased to a higher value of 70 μm at 50 N, fretting could enter the gross slip regime. There was low wear volume and a high friction coefficient when fretting was in the partial slip regime, because oil penetration was poor. The wear mechanisms were fatigue damage and plastic deformation. There was high wear volume and low friction coefficient when fretting was in the gross slip regime, because the oil could penetrate into the contact surfaces. Unlike the wear mechanisms in the partial slip regime, fretting damage of 304 stainless steels was mainly caused by abrasive wear in the gross slip regime.     

Torsional fretting wear of a biomedical Ti6Al7Nb alloy for nitrogen ion implantation in bovine serum

Ti6Al7Nb is a high-strength titanium alloy used in replacement hip joints that possesses the excellent biocompatibility necessary for surgical implants. Ti6Al7Nb treated with nitrogen gas (N₂) plasma immersion ion implantation–deposition (PIII–D) was investigated. Torsional fretting wear tests of untreated and nitrogen-ion-implanted Ti6Al7Nb alloys against a Zr₂O ball (diameter 25.2 mm) were carried out under simulated physiological conditions (serum solution) in a torsional fretting wear test rig. Based on the analyses of the frictional kinetics behavior, the observation of 3D profiles, SEM morphologies and surface composition analyses, the damage characteristics of the surface modification layer and its substrate are discussed in detail. The influence of nitrogen ion density on the implantation and torsional angular displacement amplitudes were investigated. The results indicated that ion implantation layering can improve resistance to torsional fretting wear and thus has wide potential application for the prevention of torsional fretting damage in artificial implants. The damage mechanism prevented by the ion implantation layer on the Ti6Al7Nb alloy is a combination of oxidative wear, delamination and abrasive wear. An increase in ion implantation concentration inhibited detachment by delamination.     

Study on rotational fretting wear of bonded MoS2 solid lubricant coating prepared on medium carbon steel

The rotational fretting wear behaviors of the bonded MoS₂ solid lubricant coating and its substrate steel were comparatively studied under varied angular displacement amplitudes, constant normal load, and rotational speed. Dynamic analysis in combination with microscopic examinations was performed through SEM, EDX, XPS, optical microscope, and surface profilometer. The experimental results showed MoS₂ changed the fretting running regimes of substrate. The friction coefficients of MoS₂ were lower than those of the substrate. For MoS₂, the damage in partial slip regime was very slight. The damage mechanism of the coating in slip regime was main abrasive wear, delamination, and tribo-oxidation.     

Nanoscale fretting wear study by scanning probe microscopy

Nanoscale fretting wear was studied by using scanning probe microscopy (SPM) and a newly proposed unified approach of slip index. The production of SiO₂ colloidal probes and the SPM calibration are described. Partial and gross slip fretting with displacement amplitudes from 5 to 500 nm were used for the study. Friction coefficient and nanowear results are presented showing a substantial increase of the friction at the transition from partial to gross slip and a significant difference between damaged surfaces in the two fretting regimes.     

Effect of start-up schemes and amplitude of tangential motion on friction behavior in fretting point contact

The friction coefficient is an important factor in fretting fatigue. The frictional behavior of quenched and tempered steel 34CrNiMo6 was studied in smooth fretting point contact with measurements at partial and gross slip conditions. The effect of the start-up scheme is studied by altering the way the displacement amplitude is developed to the target value. This only has a minor effect on the maximum friction coefficient but it does alter the frictional behavior. The friction coefficient increases as tangential displacement amplitude is increased and it has a maximum value of 1.5-1.6 at the transition to gross sliding.