Frequency weighting for the evaluation of steering wheel rotational vibration

The human perception of rotational hand–arm vibration has been investigated by means of a test rig consisting of a rigid frame, an electrodynamic shaker unit, a rigid steering wheel, a shaft assembly, bearings and an automobile seat. Fifteen subjects were tested while seated in a driving posture. Four equal sensation tests and one annoyance threshold test were performed using sinusoidal excitation at 18 frequencies in the range from 3 to 315 Hz. In order to guarantee the generality of the equal sensation data, the four tests were defined to permit checks of the possible influence of three factors: reference signal amplitude, psychophysical test procedure and temporary threshold shift caused by the test exposure. All equal sensation tests used a reference sinusoid of 63 Hz at either 1.0 or 1.5 m/s² r.m.s. in amplitude. The four equal sensation curves were similar in shape and suggested a decrease in human sensitivity to hand–arm rotational vibration with increasing frequency. The slopes of the equal sensation curves changed at transition points of approximately 6.3 and 63 Hz. A frequency weighting, called W_s, was developed for the purpose of evaluating steering wheel rotational vibration. The proposed W_s has a slope of 0 dB per octave over the frequency range from 3 to 6.3 Hz, a slope of −6 dB per octave from 6.3 to 50 Hz, a slope of 0 dB per octave from 50 to 160 Hz and a slope of −10 dB per octave from 160 to 315 Hz. W_s provides a possible alternative to the existing W_h frequency weighting defined in International Standards Organisation 5349-1 (2001) and British Standards Institution BS 6842 (1987).

Relevance to industry

For the manufacturers of tyres, steering systems and other vehicular components the proposed W_s frequency weighting provides a more accurate representation of human perception of steering wheel rotational vibration than the W_h weighting of ISO 5349-1 and BS6842.     

转向柱管承载能力的试验研究

在分析转向柱管花键部位应力集中情况的基础上,通过对某厂生产的转向柱管扭转破坏的试验研究,得到如下结论:①转向柱管的承载能力与其外花键齿与方向盘中心内花键齿之间的非接触区长度有关,以花键端部过渡圆弧的直径大小为宜;②安装方向盘总成时所施加在安装螺母上的拧紧力矩在70N.m左右时,转向柱管的承载能力最大。     

Asymptotic reduced-dimensional steering strategies for CMG singularity-free control

The geometric singularity problem is one of principal difficulty when using single-gimbal control moment gyros as spacecraft attitude control devices. To overcome singularity, new steering logics are suggested in this paper which results in a reduction in the difficulty of generating gimbal rates around a singular state. One of the suggested steering laws presented is the reduced dimensional singular value decomposition steering law, which adopts the singular value decomposition in reduced dimensional forms. Two other steering laws make use of the least square method in reduced dimensional forms. All of the suggested steering laws have been generated for the compensation of the torque insufficiency. These logics are verified mathematically and simulations at a singular condition and non-singular condition are performed to see how well they work.     

带材的纠偏控制

本文对带钢生产线上常见的带材跑偏现象，进行了详细的分析。对带钢跑偏的原因，进行了研究。同时，对带钢跑偏应采取的措施，也给出了相应的方法。     

Evaluation of four steering wheels to determine driver hand placement in a static environment

While much research exists on occupant packaging both proprietary and in the literature, more detailed research regarding user preferences for subjective ratings of steering wheel designs is sparse in published literature. This study aimed to explore the driver interactions with production steering wheels in four vehicles by using anthropometric data, driver hand placement, and driver grip design preferences for Generation-Y and Baby Boomers. In this study, participants selected their preferred grip diameter, responded to a series of questions about the steering wheel grip as they sat in four vehicles, and rank ordered their preferred grip design. Thirty-two male participants (16 Baby Boomers between ages 47 and 65 and 16 Generation-Y between ages 18 and 29) participated in the study. Drivers demonstrated different gripping behavior between vehicles and between groups. Recommendations for future work in steering wheel grip design and naturalistic driver hand positioning are discussed.     

驾驶员转向特性分类与在线辨识研究

针对汽车驾驶员转向特性分类与在线辨识问题,基于驾驶模拟器实验台,设计典型实验工况,选取具有一定驾驶经验的驾驶员进行实验研究。采集驾驶员转向过程实验数据并提取特征值,应用模糊C均值聚类算法将驾驶员转向特性分为谨慎型、一般型和激进型三类;根据分类实验数据应用BP神经网络算法建立驾驶员转向特性辨识模型,对模型辨识准确度进行离线验证,并基于辨识模型设计在线辨识方法。实验结果表明:研究方法能够实现对驾驶员转向特性的合理分类和在线准确辨识。     

压铸镁合金在汽车方向盘上的应用研究

通过对SC6380客车方向盘生产所用镁合金系的选择、方向盘服役模型建立、弹性有限元分析、结构再设计、压铸工艺虚拟设计及数值模拟等步骤，初步探索了镁合金方向盘的开发过程，为倡导镁合金等新材料在方向盘上的合理应用提供了技术支撑平台，通过以上步骤能有效的缩短产品开发周期。     

基于80C196KC单片机的舞蹈机器人控制系统设计

介绍了基于80C196KC单片机的舞蹈机器人控制系统的设计，详细阐述了系统的硬件实现方案和软件设计思想，该系统采用分时复用的方法，利用PWM信号对驱动电机进行控制。     

多轴转向车辆转向杆系的受力分析

某采用机械式液压助力转向的多轴转向车辆,经常出现转向杆系损坏的现象.为了分析转向杆系损坏的原因,进一步提高系统的可靠性,通过大型工程分析软件ADAMS对转向杆系进行虚拟样机建模.利用模型对转向杆系进行了虚拟试验分析,给出了各杆件受力分析的仿真结果.仿真结果分析表明造成转向杆系损坏的原因是由于受力过大,并提出了相应的改进措施.通过改进后测试,对虚拟样机的仿真结果进行了对比,证明虚拟样机模型是正确的,改进措施是有效的.结果使整个杆系最大受力降低了30%.     

Development of vehicle maneuvering system for autonomous driving

Recently, autonomous driving technology has received significant interest, and consequently, various autonomous driving algorithms have been developed by researchers. An experimental (conventional) vehicle verifies the strategy for autonomous driving by testing the performance and feasibility of the corresponding algorithms. Implementation of the autonomous driving strategy in the conventional vehicle system requires modification of the electronic control unit (ECU); however, this is limited by security issues and the high cost of development.In this paper, a maneuvering system that can control the steering angle, braking force, and accelerating signal so that autonomous driving does not operate via the ECU is proposed. Because the steering angle is an important factor in terms of the vehicle motion behavior, a robust angle controller based on the disturbance observer is adopted. Moreover, to ensure safety and user convenience, a user intention recognition algorithm is proposed. Based on this algorithm, the maneuvering system can be disabled during control without using any perception sensor. Finally, several experiments are conducted to evaluate the functions of the maneuvering system. A scenario-based driving test is also performed to verify the feasibility of the maneuvering system.