Marcello Domenighini, L. Bartali, Eugeniu Grabovic, M. Gabiccini
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引用次数: 1
摘要
最小单圈时间规划(Minimum lap-time planning, MLTP)是赛车行业中一个公认的问题,它为车手提供指导并优化车辆的设置。在本文中,我们在其全面扩展中处理问题的3D性质,对系统的机制没有简化假设。我们提出了一个用严格的动力学方程描述的多体车辆模型。为了有效地处理由此产生的复杂性,我们设计了一种基于Featherstone关节体算法(ABA)的直接动力学计算方法。为了解决MLTP问题,我们采用了直接搭配技术,将问题离散化,使3D轨迹的所有信息都经过预处理并直接嵌入到离散问题中。这种离散化方法被证明与我们的车辆模型完全兼容,从而在可访问的计算时间框架内得到解决方案。该模型的高细节性使得该方法对复杂轨道上的车辆动力学分析非常有用。为了证实这一分析,我们将其与在n rburgring north dschleife电路上的双轨模型得到的结果进行了比较。与双线轨道定义的平均趋势一致,该模型具有更丰富的动态行为,真实地捕捉了陡角和高度可变的轨道斜率所引起的高阶效应。
Minimum-Lap-Time Planning of Multibody Vehicle Modelsvia the Articulated-Body Algorithm
Minimum lap-time planning (MLTP) is a well-established problem in the race car industry to provide guidelines for drivers and optimize the vehicle’s setup. In this paper, we tackle the 3D nature of the problem in its full extension, making no simplifying assumptions on the mechanics of the system. We propose a multibody vehicle model, described by rigorous dynamical equations. To effectively handle the resulting complexity, we devised an efficient direct dynamics computational method based on Featherstone’s articulated-body algorithm (ABA). To solve the MLTP, we employed a direct-collocation technique, discretizing the problem so that all information of the 3D track is pre-processed and directly embedded into the discrete problem. This discretization approach turns out to be perfectly compatible with our vehicle model, leading to a solution in accessible computational time frames. The high level of detail of the model makes the proposed approach most useful for in-depth vehicle dynamics analyses on complex tracks. To substantiate the analysis, we provide a comparison with the results obtained by a double-track model on the Nürburgring Nordschleife circuit. Consistently with the average trend defined by the double track, the proposed model features a more dynamically rich behavior, realistically capturing the higher-order effects elicited by the sharp corners and the highly variable slope of the track.