NguyenVietThuan TV pdf INSTITUT DES SCIENCES ET TECHNIQUES DE VALENCIENNES Formation Master Automatique, Automobile Et Moteurs Hybrides Année 2014 – 2015 MEMOIRE DE STAGE Présenté et soutenue par NGUY[.]
INSTITUT DES SCIENCES ET TECHNIQUES DE VALENCIENNES Formation Master Automatique, Automobile Et Moteurs Hybrides Année 2014 – 2015 MEMOIRE DE STAGE Présenté et soutenue par : NGUYEN Viet Thuan Le 09 Septembre 2015 À l’Institut des Sciences et Techniques de Valenciennes TITRE Modélisation et estimation de la résistance au roulement d'un véhicule pour la réduction de sa consommation de carburant Tuteurs : J LAUBER et M BOUTELDJA Laboratoire : Centre d’études et d’expertise sur les risques, l’environnement, la mobilité et l’aménagement (CEREMA) Table of contents ACKNOWLEDGEMENT LIST OF SYMBOLS LIST OF ABBREVIATIONS LIST OF FIGURES INTRODUCTION 1.1 CENTRE D’ETUDES ET D’EXPERTISE SUR LES RISQUES, L’ENVIRONNEMENT, LA MOBILITE ET L’AMENAGEMENT (CEREMA) 1.2 CONTEXT 1.3 OBJECTIVE AND METHODOLOGY 1.4 LITERATURE REVIEW 1.4.1 The dependence of rolling resistance on external factors 1.4.2 Sliding mode observers for vehicle dynamics 11 MODEL OF VEHICLE DYNAMICS AND ROLLING RESISTANCE COEFFICIENT 12 2.1 MODEL OF ࢘࢘ AND DYNAMICS OF TIRE TEMPERATURE 12 2.2 QUARTER-CAR MODEL 13 2.2.1 Vertical part 13 2.2.2 Longitudinal part 14 2.3 PLANAR VEHICLE DYNAMICS MODEL [2] 15 SLIDING MODE OBSERVERS 16 3.1 NON-LINEAR SYSTEM TRANSFORMATION [18] 16 3.1.1 Relative degree 16 3.1.2 Transformation to normal form 17 3.2 OBSERVABILITY OF NON-LINEAR SYSTEM [19] 17 3.3 SECOND ORDER SLIDING MODE OBSERVER FOR MECHANICAL SYSTEM [13], [17] 18 DESIGN OBSERVERS FOR VEHICLE SYSTEMS 19 4.1 ESTIMATION ࢘࢘ USING QUARTER-CAR MODEL 19 4.1.1 Results without noise measurement 20 4.1.2 Results with noise measurements 21 4.2 ESTIMATION OF TIRE TEMPERATURE USING QUARTER-CAR MODEL 21 4.3 ESTIMATION OF VEHICLE PARAMETERS USING BICYCLE MODEL 22 4.3.1 Observer for front and rear lateral force [14] 23 4.3.2 Observer for lateral velocity and sideslip angle 23 4.3.3 Observers for wheel longitudinal force and rolling resistance force 24 4.3.4 Simulation and experimental results 24 CONCLUSION AND PERSPECTIVE 28 BIBLIOGRAPHY 29 Acknowledgement First and foremost, I would like to express gratitude to my internship tutors, Mr Mohamed BOUTELDJA and Professor Jimmy LAUBER Without their assistance and dedicated involvement during last 06 months internship, this thesis would have never been accomplished I would like to thank you very much for your support I place on record, my sincere thank you to Professor Mohamed DJEMAI, for his introduction this internship to me I would also like to show gratitude to the staffs at CEREMA for their cordial support and valuable conseils, which help me adapt to new working environment and complete this internship smoothly I take this opportunity to thank Ms Véronique CEREZO and her group for their help and supports during three days of experiments at IFSTTAR, Nantes The experience in these tests are really impressive and important for my future career NGUYEN Viet Thuan List of symbols Symbols Definition ܽ௫ /ܽ௬ Vehicle’s yaw rate ߱௪ rotation speed of wheel, ݅ ൌ ͳ ǥ Ͷ ݀ Vertical displacement of the car body ݀ Road profile ܨ௫ Longitudinal traction force ܨ௫ /ܨ௫ ܨ௬ /ܨ௬ Total lateral traction force of front/rear axes ܨ௫௪ ܨ௬௪ Wheel traction force (along wheel direction) , ݅ ൌ ͳ ǥ Ͷ Wheel lateral force, ݅ ൌ ͳ ǥ Ͷ ߱௭ ݒ௫ /ݒ௬ Vehicle’s longitudinal/lateral aceleration Vehicle’s longitudinal/lateral velocity ݀ Vertical displacement of the wheel Ȟ Wheel torque Total longitudinal traction force of front/rear axes ܬ௪ Wheel inertia ܥ Wheel viscous friction coefficient ܴ Wheel effective radius ߣ Slip ratio ܫ௭ ܥ /ܨ Vehicle inertia Rolling resistance coefficient/force ܨ௭ Vertical force ߤ Tire road friction coefficient ݃ Gravitational acceleration ܯ Total mass of vehicle (or quarter car model) RRC Rolling resistance coefficient RRF Rolling resistance force List of Abbreviations List of figures FIGURE 1: LOGO OF CEREMA FIGURE 2: A COMPARISION AMONG DIFFERENT RESISTANCE FORCES ACTING ON CAR AND HEAVY TRUCK [1] FIGURE 3: VARIATION OF ROLLING RESISTANCE COEFFICIENT AS FUNCTION OF SPEED [5] FIGURE 4: ROLLING RESISTANCE DEPENDS ON TEMPERATURE AND SPEED [5] FIGURE 5: DEPENDENCE OF ROLLING RESISTANCE ON VERTICAL LOAD 10 FIGURE 6: ROLLING RESISTANCE AND TIRE PRESSURE [6] 11 FIGURE 7: TIRE TEMPERATURE DEPENDS ON VEHICLE SPEED 13 FIGURE 8: TIRE TEMPERATURE AND CRR RESPONDS 13 FIGURE 9: VERTICAL PART OF A QUARTER-CAR MODEL [12] 14 FIGURE 10: LONGITUDINAL PART OF QUARTER-CAR MODEL 14 FIGURE 11: TIRE TEMPERATURE AND CRR RESPONSE 15 FIGURE 12: BICYCLE MODEL OF VEHICLE 16 FIGURE 13: STRUCTURE OF OBSERVERS 19 FIGURE 14: ESTIMATION OF ADHESION COEFFICIENT(LEFT) AND RRC (RIGHT) 20 FIGURE 15: ݎݎܥESTIMATION AND DISTRIBUTION OF ERROR IN CASE OF ͳܮൌ ʹܮൌ ͲǤͳ 21 FIGURE 16: ݎݎܥESTIMATION AND DISTRIBUTION OF ERRORS IN CASE OF ͳܮൌ ʹܮൌ ͲǤͲͳ 21 FIGURE 17: ESTIMATION OF ݎݎܥAND TIRE TEMPERATURE 22 FIGURE 18: STRUCTURE OF OBSERVERS TO ESTMATE ROLLING RESISTANCE FORCE 22 FIGURE 19: ESTIMATION OF ݎݎܨACTING ON PASSENGER CAR (LEFT) AND HEAVY VEHICLE (RIGHT) 25 FIGURE 20: ESTIMATION OF LATERAL FORCE OF HEAVY VEHICLE 25 FIGURE 21: ESTIMATION OF LATERAL VELOCITY AND SIDESLIP ANGLE OF HEAVY VEHICLE 25 FIGURE 22: ESTIMATION OF ݎݎܨACTING ON HEAVY VEHICLE (LEFT) AND PASSENGER CAR (RIGHT) 26 FIGURE 23: ESTIMATION OF LONGITUDINAL TIRE FORCE IN LANE CHANGE (LEFT) AND DOUBLE LANE CHANGE (RIGHT) 27