Driving safety analysis of semi-trailer train at circular curve section in mountain area
-
摘要: 根据山区圆曲线路段的特点, 分析了轮胎的受力和变形情况, 建立了半挂汽车列车与山区圆曲线路段的耦合动力学模型。以牵引车和半挂车的轮胎侧偏角和折叠角为指标, 运用提出的动力学仿真法分析了不同车速下圆曲线路段半径、超高、滑动附着系数对半挂汽车列车行驶安全性的影响, 并与运行速度法和理论极限速度法的计算结果进行对比。仿真结果表明: 当圆曲线半径为125m, 路面超高为2%, 滑动附着系数分别为0.20、0.35、0.50、0.80时, 运用动力学仿真法求得的临界安全车速分别为20、35、55、72km·h-1, 运用运行速度法求得的临界安全车速均为50km·h-1, 运用理论极限速度法求得的临界安全车速分别为18、20、25、30km·h-1; 当圆曲线半径为250m, 滑动附着系数为0.35, 超高分别为0、2%、4%、6%时, 运用动力学仿真法求得的临界安全车速分别为35、38、25、20km·h-1, 运用运行速度法求得的临界安全车速均为60km·h-1, 运用理论极限速度法求得的临界安全车速分别为30、31、32、33km·h-1; 当路面超高为6%, 滑动附着系数为0.50, 圆曲线半径分别为125、250、400、650m时, 运用动力学仿真法求得的临界安全车速分别为58、62、70、72km·h-1, 运用运行速度法求得的临界安全车速分别为50、60、68、71km·h-1, 运用理论极限速度法求得的临界安全车速分别为28、37、48、60km·h-1。可见, 提出的动力学仿真法考虑了车辆悬架动力学特性、天气与路面条件, 可以准确描述半挂汽车列车的运行状态。Abstract: According to the characteristics of circular curve section for mountain area, the stress and deformation conditions of tire were analyzed, and the dynamics coupling model of semi-trailer train and the circular curve section in mountain area was established. The tire slip angles and articulation angle of tractor and semi-trailer were taken as indexes, the influences of the radius, superelevation and sliding adhesion coefficient of circular curve section on the driving safety of semi-trailer train under various speeds were analyzed by using the proposed dynamics simulation method, and the calculation results among running speed method, theoretic limit speed method and dynamics simulation method were compared. Simulation result shows that when the circular curve radius is 125 m, the superelevation is 2 %, the sliding adhesion coefficients are 0. 20, 0. 35, 0. 50 and 0.80 respectively, the critical safe speeds are 20, 35, 55, 72 km · h-1 by using dynamics simulation method, all the critical safe speeds are 50 km · h-1 by using running speed method, and the critical safe speeds are 20, 35, 55, 72 km· h-1 by using theoretic limit speed method respectively. When the circular curve radius is 250 m, the sliding adhesion coefficient is 0. 35, the superelevation are O, 2%, 40/40 and 6% respectively, the critical safe speeds are 35, 38, 25, 20 km · h-1 by using dynamics simulation method respectively, all the critical safe speeds are 60 km · h-1 by using running speed method, and the critical safe speeds are 30, 31, 32, 33 km · h-1 by using theoretic limit speed method respectively. When the superelevation is 6%, the sliding adhesion coefficient is O. 50, the circular curve radii are 125, 250, 400, 650 m respectively, the critical safe speeds are 58, 62, 70, 72 km ~ h-~ by using dynamics simulation method respectively, the critical safe speeds are 50, 60, 68, 71 km ·h-1 by using running speed method respectively, and the critical safe speeds are 28, 37, 48, 60 km · h-1 by using theoretic limit speed method respectively. In the proposed dynamics simulation method, the vehicle suspension dynamics characteristic, weather and road conditions are considered, and the running state of semi-trailer train can be described accurately.
-
Key words:
- traffic planning /
- mountain road /
- circular curve section /
- semi-trailer train /
- driving safety
-
图 7 滑动附着系数为0.20时的牵引车轮胎侧偏角与车速的关系
Figure 7. Relationship between tire slip angle of tractor and vehicle speed when sliding adhesion coefficient is 0.20
图 8 滑动附着系数为0.35时的牵引车轮胎侧偏角与车速的关系
Figure 8. Relationship between tire slip angle of tractor and vehicle speed when sliding adhesion coefficient is 0.35
图 9 滑动附着系数为0.50时的牵引车轮胎侧偏角与车速的关系
Figure 9. Relationship between tire slip angle of tractor and vehicle speed when sliding adhesion coefficient is 0.50
图 10 滑动附着系数为0.80时的牵引车轮胎侧偏角与车速的关系
Figure 10. Relationship between tire slip angle of tractor and vehicle speed when sliding adhesion coefficient is 0.80
图 11 滑动附着系数为0.20时的半挂车轮胎侧偏角与车速的关系
Figure 11. Relationship between tire slip angle of semi-trailer and vehicle speed when sliding adhesion coefficient is 0.20
图 12 滑动附着系数为0.35时的半挂车轮胎侧偏角与车速的关系
Figure 12. Relationship between tire slip angle of semi-trailer and vehicle speed when sliding adhesion coefficient is 0.35
图 13 滑动附着系数为0.50时的半挂车轮胎侧偏角与车速的关系
Figure 13. Relationship between tire slip angle of semi-trailer and vehicle speed when sliding adhesion coefficient is 0.50
图 14 滑动附着系数为0.80时的半挂车轮胎侧偏角与车速的关系
Figure 14. Relationship between tire slip angle of semi-trailer and vehicle speed when sliding adhesion coefficient is 0.8
图 15 滑动附着系数为0.20时的折叠角与车速的关系
Figure 15. Relationship between articulation angle and vehicle speed when sliding adhesion coefficient is 0.20
图 16 滑动附着系数为0.35时的折叠角与车速的关系
Figure 16. Relationship between articulation angle and vehicle speed when sliding adhesion coefficient is 0.35
图 17 滑动附着系数为0.50时的折叠角与车速的关系
Figure 17. Relationship between articulation angle and vehicle speed when sliding adhesion coefficient is 0.50
图 18 滑动附着系数为0.80时的折叠角与车速的关系
Figure 18. Relationship between articulation angle and vehicle speed when sliding adhesion coefficient is 0.80
图 19 滑动附着系数与临界安全车速的关系曲线
Figure 19. Relationship ofsliding adhesioncoefficient and critical safespeed
图 20 超高与临界安全车速的关系
Figure 20. Relationship between superelevation and critical safespeed
图 21 不同滑动附着系数下3种方法临界安全车速的比较
Figure 21. Comparison of critical safe speeds for three methods under different sliding adhesion coefficients
图 22 不同超高下3种方法临界安全车速的比较
Figure 22. Comparison of critical safe speeds for three methods under different superelevations
图 23 不同圆曲线半径下3种方法临界安全车速的比较
Figure 23. Comparison of critical safe speeds for three methods under different circular curve radii
表 1 半挂车主要参数
Table 1. Main parameters of semi-trailer
表 2 牵引车主要参数
Table 2. Main parameters of tractor
表 3 运行速度法的计算结果
Table 3. Calculation result by using running speed method
-
[1] 公安部交通管理局. 2013年道路交通事故统计年报[R]. 北京: 公安部交通管理局, 2014.Traffic Management Bureau of Public Security Ministry. Road traffic accident statistics annual report in 2013[R]. Beijing: Traffic Management Bureau of Public Security Ministry, 2014. (in Chinese) [2] CARLSON R C, PAPAMICHAIL I, PAPAGEORGIOU M. Comparison of local feedback controllers for the mainstream traffic flow on freeways using variable speed limits[J]. Journal of Intelligent Transportation Systems: Technology, Planning, and Operations, 2013, 17(4): 268-281. doi: 10.1080/15472450.2012.721330 [3] LUO Zhen-ke, LIU Yue, GUO Chen. Operational characteristics of mixed traffic flow under bi-direction environment using cellular automaton[J]. Journal of Traffic and Transportation Engineering: English Edition, 2014, 1(6): 383-392. doi: 10.1016/S2095-7564(15)30288-9 [4] WEI Da-li, LIU Hong-chao, CHEN Feng. Analysis of asymmetric driving behavior using a self-learning approach[J]. Transportation Research Part B: Methodological, 2013, 47(1): 1-14. [5] 李松龄, 裴玉龙. 冰雪路面公路平曲线路段限速仿真[J]. 哈尔滨工业大学学报, 2012, 44(10): 66-69. doi: 10.11918/j.issn.0367-6234.2012.10.014LI Song-ling, PEI Yu-long. Speed limit simulation on highway horizontal curve section under the condition of ice and snow pavement[J]. Journal of Harbin Institute of Technology, 2012, 44(10): 66-69. (in Chinese) doi: 10.11918/j.issn.0367-6234.2012.10.014 [6] BOWMAN B L, COLEMAN J A. Grade severity rating system[J]. ITE Journal, 1990, 60(7): 19-24. [7] 翟润平, 周彤梅, 安荷萍. 高速公路限速控制研究[J]. 公安大学学报: 自然科学版, 2001(6): 34-38. doi: 10.3969/j.issn.1672-2140.2001.06.006ZHAI Run-ping, ZHOU Tong-mei, AN He-ping. The speed control research for highway[J]. Journal of Chinese People's Public Security University: Natural Science, 2001(6): 34-38. (in Chinese) doi: 10.3969/j.issn.1672-2140.2001.06.006 [8] 孙会元, 孙黎, 韦干全. 公路车速限制与行车安全视距关系研究[J]. 公路, 2002(2): 72-74. https://www.cnki.com.cn/Article/CJFDTOTAL-GLGL200202021.htmSUN Hui-yuan, SUN Li, WEI Gan-quan. Study on the relationship between highway speed limit and traffic safetydistance[J]. Highway, 2002(2): 72-74. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GLGL200202021.htm [9] 李长城, 张高强, 刘兴旺. 南友公路限速方法研究[J]. 公路, 2009(10): 141-146.LI Chang-cheng, ZHANG Gao-qiang, LIU Xing-wang. A study on speed limits setting for Nanning-Youyiguan Expressway[J]. Highway, 2009(10): 141-146. (in Chinese) [10] 何杰, 刘霞, 陈一锴, 等. 恶劣天气路面条件对行车安全的影响[J]. 交通运输工程学报, 2011, 11(1): 58-63. doi: 10.3969/j.issn.1671-1637.2011.01.010HE Jie, LIU Xia, CHEN Yi-kai, et al. Influence of road condition on running safety in atrocious weather[J]. Journal of Traffic and Transportation Engineering, 2011, 11(1): 58-63. (in Chinese) doi: 10.3969/j.issn.1671-1637.2011.01.010 [11] YOUNG R K, LIESMAN J. Estimating the relationship between measured wind speed and overturning truck crashes using a binary logit model[J]. Accident Analysis and Prevention, 2007, 39(3): 574-580. doi: 10.1016/j.aap.2006.10.002 [12] 彭佳, 何杰, 赵池航, 等. 山体坡度对山体周围高速公路路面风速及行车安全的影响[J]. 东南大学学报: 自然科学版, 2010, 40(1): 201-206. doi: 10.3969/j.issn.1001-0505.2010.01.038PENG Jia, HE Jie, ZHAO Chi-hang, et al. Influence of terrain slope of hilly freeway on surface wind velocity and driving safety[J]. Journal of Southeast University: Natural Science Edition, 2010, 40(1): 201-206. (in Chinese) doi: 10.3969/j.issn.1001-0505.2010.01.038 [13] WEI Da-li, LIU Hong-chao. An adaptive-margin support vector regression for short-term traffic flow forecast[J]. Journal of Intelligent Transportation Systems: Technology, Planning, and Operations, 2013, 17(4): 317-327. doi: 10.1080/15472450.2013.771107 [14] AMBROZ M, kU kTER kIC G, PREBIL I. Creating models of road sections and their use in driving dynamics simulations[J]. Vehicle System Dynamics, 2007, 45(10): 911-924. doi: 10.1080/00423110701538270 [15] 何杰, 彭佳, 李旭宏, 等. 路面随机激励时域模型特性的仿真研究[J]. 武汉理工大学学报: 交通科学与工程版, 2009, 33(5): 919-922. doi: 10.3963/j.issn.1006-2823.2009.05.027HE Jie, PENG Jia, LI Xu-hong, et al. Study on the characteristics of domain models of road irregularity excitation by simulation[J]. Journal of Wuhan University of Technology: Transportation Science and Engineering, 2009, 33(5): 919-922. (in Chinese) doi: 10.3963/j.issn.1006-2823.2009.05.027 [16] YOHIMURA T. A semi-active suspension of passenger cars using fussy reasoning and the field testing[J]. International Journal of Vehicle Design, 1998, 19(2): 150-166. [17] 彭佳, 何杰, 丛颖, 等. 三维随机路面通用模型建立与仿真[J]. 农业机械学报, 2009, 40(3): 1-4, 25. https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200903000.htmPENG Jia, HE Jie, CONG Ying, et al. Modeling and simulation of general 3D virtual stochastic road model[J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(3): 1-4, 25. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-NYJX200903000.htm [18] 郭孔辉, 卢荡. 动态载荷下轮胎侧偏特性的理论及试验研究[J]. 汽车工程, 2005, 27(1): 89-92. doi: 10.3321/j.issn:1000-680X.2005.01.024GUO Kong-hui, LU Dang. The theoretical and experimental study on tire cornering properties under dynamic vertical load[J]. Automotive Engineering, 2005, 27(1): 89-92. (in Chinese) doi: 10.3321/j.issn:1000-680X.2005.01.024 -
下载:
点击查看大图
计量
- 文章访问数: 562
- HTML全文浏览量: 76
- PDF下载量: 736
- 被引次数: 0
