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2011 

  5

 

 

 

 

 

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UDC 

10497 

       

 

    Study for the Independent Suspension System

  of an Off-road Vehicle Based on ADAMS

 

 

  430070

 

   

 

2011 5   2011 6  

2011 5

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  I

 

ADAMS CAR 

UA  

ANSYS  

ADAMS ADAMS

 

ADAMS/CAR  sayers

matlab  

 

 

 

 

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  II

 

 

People pay more and more attention on the ride comfort of the off-road

vehicles as they care about the ride comfort of cars. The suspension system which

transfers all kinds of forces and torques from tires to vehicle body is the most

important and direct factor that influents the vehicle’s ride comfort. The

suspension system research includes two areas. One is called suspension system

dynamics and the other is called suspension system kinematics and

compliance.The area of suspension system dynamics researchs the force

characteristics of spring elements and damping components for improving ride

comfort. This paper is specially to study the dynamics characteristics of an

off-road vehicle independent suspension system and some special conditions ’ 

simulations including including driving the vehicle through vertical step, pothole

and grade.

This paper is based on multi-body dynamic theory software ADAMS/CAR and

uses this software to build a rigid whole multi-body model which includes front

and rear double wishbone independent suspension systems,parallel link

steering,antilroll bar,seat system,bodyfour-wheel drive powertrain and UA tires.

Considering the front and rear double wishbones’ low arms and the antiroll bar as

flexible parts and using the ANSYS software flexing them ,then transforms the

flexible parts into ADAMS and bulid a rigid- flexible whole multi-body model.

This paper introduces the people’s reactions to vibration and evaluation

method of ride comfort. This paper uses the ADAMS/CAR 

s road profile

generation tool which is based on sayers mathematical model to generate the road

 profiles,does ride comfort simulations for the rigid whole multi-body model and

the rigid- flexible whole multi-body model,calculate results by the MATLAB

 program which is using for evaluating the ride comfort and compares the two

modles’s ride comfort lastly.Let the two whole multi-body model experence pulse

inputting simulations and compares the two modles’s ride comfort again. This

 paper proves the elastic action of the flexible whole multi-body model’s flexible

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  III

 parts’s to the ride comfort and the improvement of the modle’s precision according

to the simulation results.

This paper also does some special conditions’ simulations including including

driving the vehicle through vertical step, pothole and grade aiming at off-road

vehicle’s complex driving conditons.

off-road vehicle, independent suspention system, the ride comfort,

special condition simulation 

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  IV

 

 

............................................................................................................. 1 

1.1 ...................................................................................... 1

1.2 ................................................................................ 2

.............................................................................. 2

.................................................. 3

.......................................................................................... 5

.............................................................. 5

.................................................................. 7

1.3 .............................................................................. 8

 

............................................. 10 

2.1 RCL ........................................................... 10

2.2 .............................................................................................11

2.3 ........................................................................................ 12

2.4 ISO2631-1(1991).................................................................................... 12

2.5 ISO2631-1(1997).................................................................................... 13

2.6 GB/T4970-1996 .................. 15

2.7 GB5902-86 ......................... 17

2.8 ................................................................................ 17

2.9 ........................................................................................ 19

2.10 ............................................................................ 21

2.11 ................................................................................................ 21

 

............................................................. 22 

3.1 ADAMS/CAR  ............................................................... 22

3.2 ................................................................................ 25

3.3 ................................................................................ 27

3.4 ................................................................................................ 29

3.5 ............................................................................................ 30

3.6 ................................................................................ 31

3.7 ................................................................................ 32

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  V

3.8 ............................................................................ 32

3.9 ................................................................................................ 33

3.10 ............................................................................ 36

3.11 ................................................................................ 37

3.12 ................................................................................................ 41

  ..................................................................................... 42 

4.1 ADAMS/CAR RIDE .................................................................. 42

4.2 ........................................................................................ 43

4.3 .................................................................... 44

............................................................. 45

............................................................ 48

4.4 ................................................................ 53

4.5 ..................................................................................................... 58

 

............................................................................. 59 

5.1 ........................................................................ 59

5.2 ........................................................................ 63

5.3 ................................................................................ 66

5.4 .................................................................................................... 70

  ............................................................................................. 72 

6.1 .................................................................................................... 72

6.2 ............................................................................................................ 73 

................................................................................................................. 75 

.......................................................................................................................... 78 

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1

off-road Vehicle

 

ADAMS

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2

“” 4

0.5 25Hz

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3

1935 1948 Janeway Janeway 1957 Dieckman  

K   3

1968 Pradko Lee (Absorbed Power)

“”

41976 Griffin

  5 (1986)

1/3  

1974

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4

IS02631  —  6

1997  

2631 1:1997( ) ISO E −  —   ——  5

 

1976

“”

20 ISO2631

1982

“”

1985 GB5902-86

“

” 1990  

QC/T474-1999 GB/T4970-1996

 

1997

2000

Cgv Cgv  

 

IS02631 GB/T4970-1996

31-36  

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5

Olley 2k    [34]

Olley Criteria[38]

  30% 6.5% 

1.2

 

1.3Hz 6  

  

 

ε  1

 

 β =0

 

1

 

1

 

20 70

80

Chac

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6

42 15 Bradford  Hegazy

94 15  

20 80

1993   18

101998

13 “”

 

2000

3

18 ;2005

76

10

 

80

90

22

 

2006

MSC.Nastran

MSC.Adams

27

 

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7

2007 ADAMS

25 

2008 ADAMS

:

21.5%  71.3% 10% 15% 20%

30 

Metealf    VanDensen Lins 30

90 

 

“

”

ISO/TC108/SC2N67

17

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8

(

  17 

 

 1. ADAMS car  

car  

 powertrain

 

2.

ISO2631-1  

 

3. ANSYS  

ADAMS ADAMS

 

4. GB/T4970-1996

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9

MATLAB

GB/T5902-86

 

5

   

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10

adams/car 

 

 

ISO2631   GB/T4970-1996

 

 

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11

  RCL    

20  

10  

 

0

1( ) ( )

T 

av AP Lim F t V t dt T 

= ∫  

( )F t    V(t) 

 

2

0

( ) N 

av i

i

 AP K Airms=

= ∑  

( )2

 Airms     iK   

 

:()

;

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12

 

 

1976 Griffin

1986

Griffin  

ISO2631/CD 1991

 

1 12

3 3

3 12

 

2

 

3 

 

 

ISO2631-1(1991)

3  

(1)

 

(2)

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13

 

(3) 

1-80Hz

1/3

 

(1)

 

(2) IHz

 

(3)  

(4)  

 

 

ISO2631  

2631 1:1997( ) ISO E −   0.5 80Hz

3   3

3

3

3 12  

4 12.5 Hz   s z  

4 8Hz ; 8

12.5Hz

s x  

  s y   0.5 2Hz 3Hz

 

2631 1:1997( ) ISO E −   0.5~80 Hz

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14

12 

 

2631 1:1997( ) ISO E −   9 14

( )w

a t      wa  

 

1.  

 

(1) ( )a t    ( )W f     

( )wa t     

21/ 2

0

1[ ]

T 

w wa a dt  T 

= ∫   (2-3)

T 120s 

2-4 2-7 ( )W f   

 f  Hz

0.5 (0.5 2)

/ 4 (2 4)( )

1 (4 12.5)

12.5 / (12.5 80)

k 

 f 

 f f W f 

 f 

 f f 

<

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15

(3)   s x     s y     s z  

 

2 2 2 1/ 2[(1.4 ) (1.4 ) ]w xw yw zwa a a a= + +   (2-9)

(4)   aw L   2-10   aw L     wa

 

020lg( / )

aw w L a a=   (2-10)

0

a   6 20

10 /a m s−=  

2-2     aw L     wa  

  2-2

  aw L     wa    

  wa2( )m s−     aw L   dB    

2.0 126  

2.  

9 2631 1:1997( ) ISO E −   4

 

4 1/ 4 1.75

0[ ( ) ] /

T 

wVDV a t dt ms−= ∫   (2-11)

 

1. 

2631 1:1997 ISO   −   GB/T4970-1996

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16

  s x     s y  

s z     s z     k w  

4~12.5Hz 4 8Hz ;

8 12.5Hz

  s x     s y   0.5 2Hz 3Hz

 

2. 

  xwa     ywa     zwa  

0wa  

 

  wa  

 

(1) 0wa  

( )aG f    ( )a t   

  wa    

902 1/ 2

0.9[ ( ) ( ) ]

w aa W f G f df  = ∫   (2-12)

( )W f     

 

0.5 (0.5 2)

( ) 1 (4 8)

8 / (8 )

ci ci

 N ci ci

ci ci

 f f 

W f f 

 f f 

⎧   < <

⎪⎪= <

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17

2 2 2 1/ 2

0 [(1.4 ) (1.4 ) ]w xw yw zwa a a a= + +   (2-15)

  xwa   X 2/m s     ywa   Y

2/m s     zwa   Z

2/m s    

 

GB5902-86

max Z 

v

 

max Z 

v

max Z v−

 

max Z v−

  max Z v−

2-16

max Z 

 8

max max

1

1

8 j

 j

 Z Z =

=   ∑

  (2-16)

max Z 

2/m s    

max j Z 

 j 2/m s  

 

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18

U    { }1 2, , , mU u u u=   L  

 A   { }1 2, , , m A a a a=   L  

V    { }1 2, , , nV v v v=   L  

 B   { }1 2, , , n B b b b=   L  

 R

11 12 1

21 22 2

1 2

n

n

m m mn

r r r 

r r r  R

r r r 

⎡ ⎤⎢ ⎥⎢ ⎥=⎢ ⎥⎢ ⎥⎢ ⎥⎣ ⎦

L

L

M M M M

L

  (2-17) 

1( ) ( 1,2, , )

m

 j i iji

b a r j n=

= ∨ ∧ =   L   (2-18) 

  ∨   ∧

1( ) ( 1,2, , )

m

 j i iji

b a r j n=

= ∨ =   L   (2-19)

1

( 1,2, , )m

 j i ij

i

b a r j n=

= ∧ =∑   L   (2-20) 

1

( 1,2, , )m

 j i ij

i

b a r j n

=

= =∑   L   (2-21) 

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19

U  V 

 R  B

 B

 

GB/T4970-1996

0.5 (1 4)

( ) 1 (4 8)

8 / (8 80)

ci ci

 N ci ci

ci ci

 f f 

W f f 

 f f 

⎧   < ≤⎪⎪

= < ≤⎨⎪ < ≤⎪⎩

  (2-12)  

  f    maxa   1

max( )w N cia W f aμ −=   μ 

μ 

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20

1

1

1

( ) ( , )

m

 j ij m j

wi jm j

ij

 j

v n A a v p i j

n

=

=

=

= =∑ ∑∑

  (2-23)  

( )wi A a   i   wia  

ijn   i  j

 jv    j 1

1

 j

 jv

m

−=

− 

m

5 5m =    

1

m

ij

 j

n=

∑    

,

1

( , ) /m

i j ij

 j

 p i j n n=

=   ∑    

 

min

2 2

ln

2

lnln

(ln( / ) 0.5 )1( ) exp[ ] ( )22

w

wiu a A a v u du

uμ σ 

σ π σ 

∞   − += ∫   (2-24)

 

wa    2

ln ln(1 )σ δ = +   δ  δ  0.1~0.5 

( )v u    

min

min max

max

( ) 0

( ) ln( ) ,

( ) 1,

v u u u

v u a u b u u u

v u u u

=

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21

 

ISO2631

 

 ISO2631-1(1997)

ADAMS TABLE EXCEL

Matlab Matlab

 

GB5902-86

 

 

ISO2631 GB/T4970-1996

 

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22

ADAMS/CAR 

ADAMS/CAR 

ANSYS  

 

MSC.ADAMS

  MDIMechanical DynamicsInc2002   MSC

ADAMS  

MSC.ADAMS/Solve

MSC.ADAMS/View  

ADAMS/Solver  ADAMS/View

  ADAMS/View  

MSC.ADAMS

“ ”

MSC.ADAMS/Aircraft MSC.ADAMS/Car  MSC.ADAMS/Engine  

ADAMS

 

ADAMS

17 

MSC.ADAMS/Car 

ADAMS/CAR  MDI

ADAMS/Car  ADAMS/Tire

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23

ADAMS/Slove () ADAMS/PostProcessor ()

ADAMS/CAR 

ADAMS/SOVER 

ADAMS/PostProcessor ADAMS/CAR 

 

ADAMS/CAR 

 

 

(1)

Topological Structure

General Part 

(2)

HardPoint

(3)

3 x y z   x I      y I      z I   

3 3  

(4) Geometry

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24

(5) Constrain

 

(6) Actuators Parameters variable

 

(7) Communicator 

 

(8) Subsystem 

(9) (Subsystem)

(Suspension Test Rig) Full Vehicle Test Rig

Aride Four Post Test Rig (Suspension

Assembly)Full Vehicle Assembly 

 

1. 

2.

 Model display update at every iteration=  

ADAMS  

 

3.

 

4. 

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25

 

    ADAMS/CAR double-wishbone

X Y Z

3-1  

3-1  

V

[34]-[35]

  ADAMS

3-2  

3-3 235.9N/mm, 3-4

3-5  

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26

 

3-2  

3-3  

3-4  

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27

 

3-5  

 

mtl(r)_tierod_to_body

3-6 439.5N/mm 3-7

3-8  

3-9  

 

3-6

 

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28

 

3-7  

3-8  

3-9  

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29

 

 

ADAMS UA SWIFT

FTire Fiala MF-tire Pacejka

Fiala UA

Fiala

UA

Fiala

UA UA

3-10 3-1  

3-10  

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30

 

 parallel_link_steering

( recirculating ball steering gear )

( sector ) ( rack )

( ball screw )(input shaft)

1

 

adams/car  parallel_link_steering

3-11  

   

UNLOADWED-RADIUS()mm 470

WIDTH mm  318

 ASPECT-RATIOmm  0.8

VERTICAL-STIFFNESSN/m  350000

VERTICAL-DAMPING () Ns/m  50

ROLLING-RESISTANGE  0.003

CSLIP N/m  780000

CALPHA N/rad  57000

CGAMMA N/rad  3000

UMIN   0.7

UMAX   0.95

REL-LEN-LON   0.6

REL-LEN-LAT   0.5

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31

 

3-11  

 

 

ADAMS  brake_system_4wdisk 

suspension_upright ( caliper )

( suspension upright )( rotor )

rotor_to_wheel

( point_torque actuators )

 

 brake_system_4wdisk 

/

/ /

3-12  

3-12  

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32

 

adams/car 

antiroll_simple

3-13 3-14  

3-13   3-14  

 

adams/car 

 

65Kg

1

requests

3-15  

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33

 

3-15  

 

T0 T0 Tf 

Tr 

Tfl   Tfr    Trl   Trr 

  3-16  

3-16

 

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34

 

0 M     

 

1 2 0

1

2 M M M = =   3-1 

0

 M   

1 M   

 2

 M   

 0

12

r  M M  M   −

=  (3-2)

02

2

r  M M  M   +

=  (3-3)

  r  M   

:1 f i     mmT   

0i     mf T      mr T   

0

1

( ) f 

 f mm

 f 

iT T T 

i += −

  ( 3-4 )

0

1

1( )

r mm

 f 

T T T i +

= +

  ( 3-5 )

  mmT  --- N m    

 

00.5 ( ) fl f mf T i T T  = ⋅ ⋅ −   ( 3-6 )

00.5 ( ) fr f mf T i T T  = ⋅ ⋅ +   ( 3-7 )

00.5 ( )rl r mr  T i T T  = ⋅ ⋅ −   ( 3-8 )

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35

  00.5 ( )rr r mr  T i T T  = ⋅ ⋅ +   ( 3-9 )

  flT      fr T  --- N m    

rlT      rr T  --- N m    

mf T      mr T  ---  N m    

adams/car  powertrain

 powertrain  

3-17

3-2  

3-17  

   

cil_diff_tripot_rear

 

gel(r)_diff_output_rear  

 jol(r)_rev_diff_output_rear

ges_powertrain  

cil(r)_tire_force_rear

 

halfshaft_omega_rear_left  

halfshaft_omega_rear_right  

transmission_omega_rear_front  

transmission_omega_rear_rear  

differential_torque_divider  

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36

   

differential_torque_rear  

gfl(r)_output_torque_rear  

col(r)_output_torque_rear

 

 

adams/car 

FOUR_POST

3-18  

 ADAMS/Car 

 

3-18  

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37

 ADAMS/Car 

UA  

 

 

ANSYS

(MNF) ADAMS ANSYS

ADAMS/CAR 

 

ADAMS ADAMS/Flex ADAMS/Flex ANSYS  

ADAMS/Flex

ANSYS  

ADAMS/Flex

ADAMS  

ANSYS  

ADAMS

(1)

 

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38

(2) ADAMS

ADAMS/Flex

 

(3) ADAMS/Flex

Craig-Bampton

ADAMS/Flex Craig-Bampton

Craig-Bampton Craig-Bampton

 

(4)

ADAMS

ADAMS

ADAMS

[15] 

ANSYS  

solid45  

mass21

20mm 5mm

1900 2100

3-19 3-20 3-3  

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39

 

3-19   3-20  

3-3  

E(pa)  ρ (kg/mm3) μ  

2.1E+011 7.8E-006 0.3

ANSYS

ANSYS ADAMS

ADAMS/Flex

6 10

3-4 10 3-5

10  

3-4  

  1 2 3 4 5 6 7 8 9 10

/Hz 372.3 598.5 985.1 1895.6 2157.7 2876.5 3358.7 3426.8 3489.3 3614.9

 

3-5  

  1 2 3 4 5 6 7 8 9 10

/Hz 395.3 612.5 1120.1 2045.7 2478.2 3045.9 3421.8 3514.8 3542.4 3645.5

 

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40

Adams/FlexMNF ADAMS/car 

MPC

MPC

 

,

,,

3-21

3-6  

3-21  

3-6  

  1 2 3 4 5 6 7 8 9 10

/Hz 80.5 130.4 157.6 162.3 264.1 457.5 501.9 554.4 642.1 751.5

 

 

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41

 

 

(1) adams/car 

 

(2) adams/car   

 

(3)

ansys ANSYS

ADAMS ADAMS/Flex (MNF

) adams/car  

 

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42

adams/car 

adams/car RIDE

 

Ride ADAMS2003 ADAMS/Car 

MSC

Functional Digital Vehicle 17

ADAMS/Car Ride

 building testing  post-processing

 NVH  Noise

Vibration Harshness

25 28 

ADAMS/Car Ride ADAMS/Car 

ADAMS/Vibration

RPCIII RPCIII MTS

Remote Parameter Control 21 

ADAMS/Car Ride ADAMS/Vibration  

ADAMS/Vibration ADAMS/Car Ride

ADAMS/Car Ride

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43

PSD power-spectral-density

PSD ADAMS/Vibration

 

ADAMS/Car  RIDE

Road-Profile Generation ADAMS/Car Ride

Sayers

 

n 4-1

 

2 4( )

(2 ) (2 )

s ad e

G GG n G

n nπ π = + +   (4-1)

 

eG    sG    

aG    

Road-Profile Generation 4 1  

4-1 Road-Profile Generation  

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44

 

  eG     sG     aG  

Sayers  

4-1  

eG   sG     aG  

 

 

 

36( 10 )

m

cycle

−×   6( 10 )m

cycle

−×  61( 10 )

m cycle

−××

  0 6 0

  0 12 0.17

  0.003 20 0.20

  0 1 0

  0.1 20 0.25

  0.1 35 0.3

 

GB/T4970-1996

GB7031 B GB7031

C

ADAMS 5

200Hz

Hamming 1000 8

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45

GB/T4970-1996

40km/h50km/h60km/h70km/h80km/h  

60km/h 

60km/h

adams

FFT

 

4-2  60km/h  

4-3  60km/h  

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46

 

4-4  60km/h  

4-5  60km/h  

4-6  60km/h  

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47

 

4-7 60km/h  

4-8  60km/h  

4-9  60km/h  

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48

 

4-10 60km/h  

adams table

Matlab

 xwa =0.12092/m s     ywa =0.0716

2/m s     zwa   = 0.19242/m s     va =0.2752

2/m s  

  xwa =0.11292/m s     ywa =0.0720

2/m s     zwa   = 0.15982/m s  

va =0.24642/m s   4-2

GB/T4970-1996

30km/h40km/h50km/h60km/h

50km/h 

50km/h

 

4-11  50km/h  

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49

 

4-12  50km/h  

4-13 50km/h  

4-14  50km/h  

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50

 

4-15  50km/h  

4-16 50km/h  

4-17  50km/h  

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51

 

4-18  50km/h  

4-19 50km/h  

50km/h

 xwa =0.12092/m s     ywa =0.0716

2/m s     zwa   = 0.19242/m s     va =0.2752

2/m s  

  xwa =0.11292/m s     ywa =0.0720

2/m s     zwa   = 0.15982/m s  

va =0.2464 2/m s   4-2

 

(1)  

4-12 4-11

 

4-3 4-4, 4-12 4-13 

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4-2  

 

 

 

2( )

 xwam s

−⋅ 

2( )

 ywa

m s−⋅

 2( )

 zwam s

−⋅ 

2( )

vam s

−⋅ 

40km/h 0.0788 0.0465 0.2061 0.2426

50km/h 0.1176 0.0581 0.1492 0.2366

60km/h 0.1209 0.0716 0.1924 0.2752

70km/h 0.0759 0.0510 0.2265 0.2601

 

80km/h 0.0827 0.0556 0.2846 0.3169

40km/h 0.0948 0.0403 0.1889 0.2376

50km/h 0.1098 0.0595 0.1387 0.2232

60km/h 0.1129 0.0720 0.1598 0.2464

70km/h 0.0811 0.0518 0.2006 0.2416

 

80km/h 0.1257 0.0518 0.2388 0.3054

30km/h 0.1312 0.0858 0.1959 0.2941

40km/h 0.0940 0.0733 0.3106 0.3526

50km/h 0.1426 0.0719 0.3304 0.3989

 

60km/h 0.1804 0.0831 0.2945 0.4051

30km/h 0.1099 0.1010 0.1847 0.2789

40km/h 0.1092 0.0719 0.3065 0.3401

50km/h 0.1257 0.0633 0.3079 0.3655

 60km/h 0.2014 0.0744 0.2253 0.3756

 

(2) 

4-5 4-14

4-6 4-7,4-15 4-16

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0.309

0.5~2Hz

 

(3)  

4-8 4-17

4-9 4-10,4-18 4-19

 

(4) 4-2

 

(5) 4-2 40~70km/h

0.315

80km/h 0.3169 0.315

30km/h 0.315

 

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54

GB5902-86

4-20  

4-20  

80mmB road_profile setup

(table functions) 80mm

1m 0.4m

4-21 4-22  

4-21   4-22  

20km/h30krn/h40km/h50km/h60km/h  

4-23 4-28

 

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55

 

4-23 10km/h  

4-24 20km/h  

4-25 30km/h  

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56

 

4-26 40km/h  

4-27 50km/h  

4-28 60km/h  

max Z 

4-3   4-3 max Z 

 

km/h 10 20 30 40 50 60

max Z 

2/mm s   2793 3343 4476 4781 5418 6034

max Z 

2/mm s 2742 3061 3982 4695 5353 5487

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max Z 

v 4-29  

4-29 max Z 

v  

 

(1) [45]

231.44 m/s   231.44~43.02 m/s  

43.02 2/m s  

6.034 2/m s   5.487 2/m s  

 

(2) 4-23~4-28

 

(3) 4-29

 

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(1) adams/car 

 

(2) GB/T4970-1996 [22]

matlab

max Z 

v  

(3)

 

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1

10.8km/h 0.3m 0.3m 10m

30m

  5-1  

5-1  

  5-2~5-9  

5-2~5-4 10.8km h  

 

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60

6.2km h

4s

5-5~5-8

5-9  

30m

 

5-2  

5-3  

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61

 

5-4  

5-5  

5-6  

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62

 

5-7  

5-8  

5-9  

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1 0.3m 0.3m

10m 10.8km/h

30m  5-10  

5-11~5-18  

5-11  

5-10  

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64

 

5-12  

5-13  

5-14  

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65

 

5-15  

5-16  

5-17  

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66

 

5-18  

5-11 10.8km h

5-12 5-13

5-14

10 30m

5-15

5-16~5-18

 

40%

20m 1

10.8m/h 10m

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DCF   5-19  

 ADAMS

  5-20~5-28  

5-20  

5-21  

5-19  

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68

 

5-22  

5-23  

5-24  

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69

 

5-25  

5-26  

5-27  

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70

 

5-28  

5-20

11.75km/h 5-21

5-22 5-23

5-24 5-25

30m 40%

5-26

5-27 5-28

2

o

,

40%

 

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71

40%

 

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72

 ADAMS/CAR

 ANSYS  

 ADAMS/CAR

 

ANSYS ADAMS

ADAMS

  

 

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73

 

1.

 

2.  

3.

 

4.  ADAMS

Matlab Matlab

ADAMS ADAMS

 

5.

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74

 

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75

[1] 2000 

[2] 1992 

[3] 1998 

[4]

1993.3 

[5] 1996 05

[6] Thomas D.Gillespie 2006 

[7] D.E.Newland,General Liner Theory of Vehicle Response to Random Road Roughness 

[8] 1998 

[9] 2000 

[10] 1995 

[11] GB7031-86 

[12] Healey,A.J.,Nathman,E.,Smith,C.C.,An analytical and experimental study of automobile

dynamics with random roadway inputs,Trans.Of the ASME,J.of Dynamics

Systems,Measurement,and Control,December 1997

[13] GB/T4970-1996 

[14] GB/T5902-86 

[15] 1997 

[16] 2003 

[17] 1991 

[18] 2008.2

[19] 2004.5

[20]

2006

[21] 2002.9

[22]

2007

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76

[23] A Study on the Handling Performances of a Large-Sized Bus with the Change of Rear

Suspension Geometry, SAE Paper 2002-01-3071

[24] RX6400 SUV D].  2007

[25] .[D].

2007

[26] . [J].20032 

[27] Real Case of Vehicles Dynamics Simulation during an SUV Suspension Development ,

SAE Paper 2005-01-4177

[28] . ADAMS [D].

2006

[29] Development of a New Suspension, SAE Paper 2000-01-0092

[30] .  [D]. 2007

[31] .[D].

2007

[32] Innovation Component Management for the Air Suspension, SAE Paper 2005-01-1722

[33] Improving the Ride & Handling Qualities of a Passenger Car Via Modification of its Rear

Suspension Mechanism, SAE Paper 2000-02-1630

[34] Investigation into Suspension Dynamic Compliance Characteristics Using Direct

Measurement and Simulation, SAE Paper 2004-01-1065

[35] Steering and Suspension Test and Analysis, SAE Paper 2000-01-1626

[36] . K&C [D]. 2005

[37] . ADAMS [D].

2006

[38] . [J].20011 

[39] . [J].200511 

[40] .[J].20003 

[41] .8X8     [D].

2005

[42]

.

[D].

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77

2005

[43] . [J].20005 

[44] . RX6400 SUV [D]. 2007

[45] . [D]. 2005

[46] . ADAMS/Car   [D].

2007

[47] . . [D].

2007

[48] . [D].

2007

[49] .NJ2045   [D].

2004

[50] . ADAMS   [D].

2001

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78

 

!

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