Research of features of oscillating process’ behavior in the nonlinear system of individual traction drive of an electrobus

Cover Page


Cite item

Full Text

Abstract

BACKGROUND: When a vehicle is in motion, self-oscillations which properties are dependent on slip rate in a contact patch may occur in the area of tire interaction with ground surface. Oscillations frequency will vary in dependence with value of wheel slip relative to ground surface. Soft self-oscillations are excited by variable set of initial conditions at full slip in traction and driven wheel rolling modes as well as in mixed braking mode with partial slip. Hard mode of self-oscillations occurs at full wheel slip in braking mode. These processes have a negative impact on the processes in electric drive and mechanical drivetrain reducing their efficiency and may cause damage of components. Oscillations in the system are excited by interaction forces of an elastic tire with ground surface featuring vertical oscillations due to elastic behavior of its interaction with road unevenness.

AIMS: Research of features of oscillating process’ behavior in the nonlinear system of individual traction drive of an electrobus.

METHODS: Simulation of self-oscillation excitation processes in the area of contact interaction of a wheel and road was carried out in the MATLAB/Simulink software package.

RESULTS: The article features the results of simulation and experimental studies of self-oscillation excitation processes of the KAMAZ 6282 electrobus moving on asphalt-concrete surface. It was found that vertical wheel displacement when moving through unevenness lead to oscillating behavior of vertical reaction forces in contact patches and, as a consequence, to oscillating behavior of longitudinal reaction forces, torque and rotation velocity of the shaft of the traction electric motor of the individual drive. It was defined that tire oscillation frequency is 6–7 Hz that coincides with electric motor shaft rotation oscillation frequency and this value is the same for both experiment and simulation.

CONCLUSIONS: Practical value of the study lies in ability of using the study results at development of self-oscillation processes exclusion algorithms as a part of vehicle control system.

About the authors

Alexandr V. Klimov

KAMAZ Innovation Center; Moscow Polytechnic University

Author for correspondence.
Email: Aleksandr.Klimov@kamaz.ru
ORCID iD: 0000-0002-5351-3622
SPIN-code: 7637-3104

Cand. Sci. (Tech.), Head of the Electric Vehicles Department

Russian Federation, Moscow; Moscow

Akop V. Antonyan

KAMAZ Innovation Center; Moscow Polytechnic University

Email: AntonyanAV@kamaz.ru
ORCID iD: 0000-0002-5566-6569
SPIN-code: 4797-9808

Cand. Sci. (Tech.), Lead Software and Simulation Engineer, Associate Professor of the Advanced Engineering School of Electric Transport

Russian Federation, Moscow; Moscow

References

  1. Vil’ke VG, Shapovalov IL. Self-oscillations in the braking process of a vehicle. Moscow University Mechanics Bulletin. 2015;70(4):33–39. (in Russ). doi: 10.3103/S0027133015040019
  2. Svetlitsky VA. Random oscillations of mechanical systems. Moscow: Mashinostroenie; 1976. (in Russ).
  3. Kruchinin PA, Magomedov MKh, Novozhilov IV. Mathematical model of an automobile wheel for antilock modes of motion. Mech. Solids. 2001;36(6):63–69.
  4. Awrejcewiez J, Dzyubak L, Grehori C. Estimation of chaotic and regular (stick-slip and ship-slip) oscillations exhibited by coupled oscillations with dry friction. Nonlinear Dyn. 2005;42(2):383–394. doi: 10.1007/s11071-005-7183-0
  5. Pascal M. Dynamics and stability of a two degrees of freedom oscillator with an elastic stop. J. Comput. Nonlinear Dynam. 2006;1(1):94–102. doi: 10.1115/1.1961873
  6. Shin K, Brennan MJ, Oh J-E, Harris CJ. Analysis of disk brake noise using a two-degrees-of-freedom model. Journal of Sound and Vibration. 2002;254(5):837–848. doi: 10.1006/jsvi.2001.4127
  7. Kotiev GO, Padalkin BV, Kartashov AB, et al. Designs and development of Russian scientific schools in the field of cross-country ground vehicles building. ARPN Journal of Engineering and Applied Sciences. 2017;12(4):1064–1071. Available from: http://www.arpnjournals.org/jeas/research_papers/rp_2017/jeas_0217_5726.pdf
  8. Ergin AA, Kolomeitseva MB, Kotiev GO. Anti-lock brake control system of the vehicle wheel. Pribory i sistemy. Upravlenie, kontrol, diagnostika. 2004;9:11–13. (in Russ).
  9. Soliman A, Kaldas M. An Investigation of Anti-lock Braking System for Automobiles. SAE Technical paper. 2016. doi: 10.4271/2012-01-0209
  10. Sun C, Pei X. Development of ABS ECU with Hardware-in-the-Loop Simulation Based on Labcar System. SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 2015;8(1):14–21. doi: 10.4271/2014-01-2524
  11. Sabbioni E, Cheli F, d’Alessandro V. Politecnico di Milano Analysis of ABS/ESP Control Logics Using a HIL Test Bench. SAE Technical paper. 2016. doi: 10.4271/2011-01-0032
  12. Hart P.M. Review of Heavy Vehicle Braking Systems Requirements (PBS Requirements), Draft Report, 24 April 2003.
  13. Marshek K, Cuderman J, Johnson M. Performance of Anti-Lock Braking System Equipped Passenger Vehicles – Part I: Braking as a Function of Brake Pedal Application Force. SAE Technical Paper. 2002. doi: 10.4271/2002-01-0304
  14. Wellstead PE, Pettit NBOL. Analysis and redesign of an antilock brake system controller. IEE Proceedings - Control Theory and Applications. 1997;144(5):413-426. doi: 10.1049/ip-cta:19971441
  15. Zhileikin MM. Study of self-oscillatory processes in the zone of interaction of an elastic tire with a solid support base. Izvestiya VUZov. Ser. «Mashinostroenie». 2021;10:3–15. (in Russ). doi: 10.18698/0536-1044-2021-10-3-15
  16. Vibrations in engineering: A reference book in 6 volumes. Vol. 2. Oscillations of non-linear mechanical systems. Ed. II Blechman. Moscow: Mashinostroenie; 1979. (in Russ).
  17. Characteristics of the electric bus KAMAZ 6282. Naberezhnye Chelny: PAO «KAMAZ»; 2021. (in Russ). Accessed: 15.10.2022. Available from: https://kamaz.ru/upload/bus/Электробус%20KAMAZ-6282.pdf
  18. Gorelov VA, Komissarov AI, Miroshnichenko AV. 8×8 wheeled vehicle modeling in a multibody dynamics simulation software. Procedia Engineering. 2015;129:300–307. doi: 10.1016/j.proeng.2015.12.066
  19. Keller AV, Gorelov VA, Anchukov VV. Modeling truck driveline dynamic loads at differential locking unit engagement. Procedia Engineering. 2015;129:280–287. doi: 10.1016/j.proeng.2015.12.063
  20. Volskaya VN, Zhileykin MM, Zakharov AY. Mathematical model of rolling an elastic wheel over deformable support base. IOP Conf. Ser.: Mater. Sci. Eng. 2018;315:012028. doi: 10.1088/1757-899X/315/1/012028
  21. Belousov B, Ksenevich TI, Vantsevich V, Komissarov D. 8×8 platform for studing terrain mobility and traction performance of unmanned articulated ground vehicles with steered wheels. SAE Technical Papers. 2013. doi: 10.4271/2013-01-2356
  22. Belousov BN, Shelomkov SA, Ksenevich TI, et al. Experimental verification of a mathematical model of the wheel-supporting surface interaction during nonstationary rolling motion. J. Mach. Manuf. Reliab. 2009;38:501–505. doi: 10.3103/S1052618809050161
  23. Wong JY. Theory of Ground Vehicles. New York: Wiley IEEE; 2001.
  24. Antonyan A, Zhileykin M, Eranosyan A. The algorithm of diagnosing the development of a skid when driving a two-axle vehicle. IOP Conf. Ser.: Mater. Sci. Eng. 2020;820:012003. doi: 10.1088/1757-899X/820/1/012003

Supplementary files

Supplementary Files
Action
1. JATS XML
Download
2. Fig. 1. Scheme of interaction of an elastic wheel with ground surface (a) and scheme of drive (b): 1 — mass M of sprung parts at a wheel; 2 — wheel mass m, 3 — rollers for frictionless longitudinal movement of a wheel; 4 — an elastic element (longitudinal tire compliance); 5 — ground surface; 6 — a rolling wheel; 7 — a traction electric motor.

Download (189KB)
Indexing metadata
3. Fig. 2. The simulation model of the individual traction electric drive.

Download (206KB)
Indexing metadata
4. Fig. 3. Samples of torque of the traction electric motor (а), angular velocity of a driving wheel (b) and tire radial deformation (c).

Download (356KB)
Indexing metadata
5. Fig. 4. Energy spectral densities of the traction electric motor (а), angular velocity of the driving wheel (b) and tire radial deformation (c).

Download (329KB)
Indexing metadata
6. Fig. 5. A typical sample of torque of the traction electric motor obtained during the electrobus testing.

Download (75KB)
Indexing metadata
7. Fig. 6. A typical sample of torque of the traction electric motor resulting from the electrobus motion simulation.

Download (89KB)
Indexing metadata
8. Fig. 7. Energy spectral density of experimentally obtained torque of the traction electric motor.

Download (58KB)
Indexing metadata
9. Fig. 8. A typical sample of angular velocity of the driving wheel obtained during the electrobus testing.

Download (68KB)
Indexing metadata
10. Fig. 9. A typical sample of angular velocity of the driving wheel resulting from the electrobus motion simulation.

Download (49KB)
Indexing metadata
11. Fig. 10. Energy spectral density of experimentally obtained angular velocity of the driving wheel.

Download (45KB)
Indexing metadata

Copyright (c) 2023 Eco-Vector

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This website uses cookies

You consent to our cookies if you continue to use our website.

About Cookies