油气悬挂缸的力学特性数学模型构建方法
|
摘要
研究单气室油气接触式悬挂系统的输出力学特性,讨论其数学模型的建立方法。通过建立3个子系统的数学模型,包括气体部分状态模型、油液流经缝隙及小孔的节流方程模型、摩擦力模型,建立较完整的数学模型。以实验数据为基础,分析油气混合过程对气体压力的影响,建立考虑油液弹性的油液压力计算模型。采用参数识别的方式研究摩擦力模型。研究结果表明:在持续激励条件下,气体在油液中的溶解和析出过程对气体状态影响并不显著;考虑油液弹性的模型,能够更准确地反映悬挂缸在较高频率激励条件下油液压力变化过程;摩擦力模型是构成悬挂缸输出力模型的重要组成部分。由所建立的力学输出模型获得的结果与实验结果相吻合,说明所建立的力学输出模型能够正确表征此类悬挂缸的力学特性。
The output mechanical properties of a single-chamber hydropneumatic suspension system were studied, and the establishment of mathematical models was discussed. To establish a more complete mathematical model, the mathematical model of three subsystems, including the gas state model, the throttling equation model of oil flowing through the gap and the orifice, and the friction model, were established. Based on the experimental data, the influence of oil-gas mixing process on gas pressure was analyzed. The oil pressure calculation model based on oil-elasticity was established. The friction model was studied by means of parameter identification. The results show that the influence of gas re-solution and releasing process in oil on gas pressure is not distinguished. The oil pressure calculation model considering oil-elasticity is more accurate on explaining oil pressure during high frequency excitation. The established friction model is an important part of the output force model of suspension cylinder. The results calculated by output force model are consistent with the experimental results and the output force model can correctly represent the mechanical properties of such suspension cylinders.
The output mechanical properties of a single-chamber hydropneumatic suspension system were studied, and the establishment of mathematical models was discussed. To establish a more complete mathematical model, the mathematical model of three subsystems, including the gas state model, the throttling equation model of oil flowing through the gap and the orifice, and the friction model, were established. Based on the experimental data, the influence of oil-gas mixing process on gas pressure was analyzed. The oil pressure calculation model based on oil-elasticity was established. The friction model was studied by means of parameter identification. The results show that the influence of gas re-solution and releasing process in oil on gas pressure is not distinguished. The oil pressure calculation model considering oil-elasticity is more accurate on explaining oil pressure during high frequency excitation. The established friction model is an important part of the output force model of suspension cylinder. The results calculated by output force model are consistent with the experimental results and the output force model can correctly represent the mechanical properties of such suspension cylinders.
引文
[1]封士彩,王国彪.工程车辆油气悬架新型数学模型[J].矿山机械,2001,29(2):21-23.FENG Shicai,WANG Guobiao.Research on new math model of oil-gas pendant of engineering vehicles[J].Mining&Processing Equipment,2001,29(2):21-23.
[2]封士彩,徐勇.工程车辆油气悬挂刚度和阻尼特性分析[J].工程机械,2001,32(7):11-13,53.FENG Shicai,XU Yong.An analysis about the stiffness and damping characteristics of oil-gas suspensions on construction vehicles[J].Construction Machinery and Equipment,2001,32(7):11-13,53.
[3]FARJOUD A,AHMADIAN M,CRAFT M,et al.Nonlinear modeling and experimental characterization of hydraulic dampers:effects of shim stack and orifice parameters on damper performance[J].Nonlinear Dynamics,2012,67(2):1437-1456.
[4]CHO J R,LEE H W,YOO W S,et al.Study on damping characteristics of hydropneumatic suspension unit of tracked vehicle[J].Journal of Mechanical Science and Technology,2004,18(2):262-271.
[5]程祥瑞,高钦和,刘志浩,等.单气室油气弹簧阻尼特性及其影响因素分析[J].液压与气动,2016(8):95-101.CHENG Xiangrui,GAO Qinhe,LIU Zhihao,et al.Analysis on damping characteristics and effect factors of single chamber hydro-pneumatic spring[J].Chinese Hydraulics&Pneumatics,2016(8):95-101.
[6]王慧,蒋成吉,刘琦.单气室油气弹簧工作特性的建模与仿真分析[J].计算机仿真,2016,33(6):197-200.WANG Hui,JIANG Chengji,LIU Qi.Modeling and simulation analysis of single chamber hydragas spring working characteristics[J].Computer Simulation,2016,33(6):197-200.
[7]刘桓龙,陈曦,樊友权,等.单气室油气悬架的阻尼特性分析[J].机床与液压,2014(16):59-62.LIU Huanlong,CHEN Xi,FAN Youquan,et al.Damping characteristics analysis on the single chamber oil and gas suspension[J].Machine Tool&Hydraulics,2014(16):59-62.
[8]成大先.机械设计手册:液压控制[M].北京:化学工业出版社,2017:19-50.CHENG Daxian.Mechanical design manual:Hydraulic control[M].Beijing:Chemical Industry Press,2017:19-50.
[9]封士彩,王国彪.工程车辆油气悬架刚度特性的研究[J].矿山机械,2001,29(3):25-26.FENG Shicai,WANG Guobiao.Research on the rigidity performance of oil-water suspension frame for engineering vehicles[J].Mining&Processing Equipment,2001,29(3):25-26.
[10]MOUNIER-POULAT F,GUILHAMAT L.Hydro-pneumatic suspension systems:US,US 3387856 A[P].1968-06-11.
[11]FARJOUD A,AHMADIAN M,CRAFT M,et al.Nonlinear modeling and experimental characterization of hydraulic dampers:effects of shim stack and orifice parameters on damper performance[J].Nonlinear Dynamics,2012,67(2):1437-1456.
[12]CAO D P,RAKHEJA S,SU C Y.Dynamic analyses of roll plane interconnected hydro-pneumatic suspension systems[J].International Journal of Vehicle Design,2008,47(1):51.
[13]YANADA H,SEKIKAWA Y.Modeling of dynamic behaviors of friction[J].Mechatronics,2008,18(7):330-339.
[14]GUO P F,LANG Z Q,PENG Z K.Analysis and design of the force and displacement transmissibility of nonlinear viscous damper based vibration isolation systems[J].Nonlinear Dynamics,2012,67(4):2671-2687.
[15]PFEIFFER F.Dynamics of hydraulic systems[M].Berlin Heidelberg:Springer,2008:187-212.
[16]BAUER W.Hydropneumatic suspension systems[M].Berlin Heidelberg:Springer,2010:56-58.
[17]KARNOPP D.Computer simulation of stick-slip friction in mechanical dynamic systems[J].Journal of Dynamic Systems,Measurement and Control,1985,107(1):100-103.
[18]JOHANASTROM K,CANUDAS-DE-WIT C.Revisiting the Lugre friction model[J].IEEE Control Systems,2008,28(6):101-114.
[19]MáRTON L,FODOR S,SEPEHRI N.A practical method for friction identification in hydraulic actuators[J].Mechatronics,2011,21(1):350-356.
[2]封士彩,徐勇.工程车辆油气悬挂刚度和阻尼特性分析[J].工程机械,2001,32(7):11-13,53.FENG Shicai,XU Yong.An analysis about the stiffness and damping characteristics of oil-gas suspensions on construction vehicles[J].Construction Machinery and Equipment,2001,32(7):11-13,53.
[3]FARJOUD A,AHMADIAN M,CRAFT M,et al.Nonlinear modeling and experimental characterization of hydraulic dampers:effects of shim stack and orifice parameters on damper performance[J].Nonlinear Dynamics,2012,67(2):1437-1456.
[4]CHO J R,LEE H W,YOO W S,et al.Study on damping characteristics of hydropneumatic suspension unit of tracked vehicle[J].Journal of Mechanical Science and Technology,2004,18(2):262-271.
[5]程祥瑞,高钦和,刘志浩,等.单气室油气弹簧阻尼特性及其影响因素分析[J].液压与气动,2016(8):95-101.CHENG Xiangrui,GAO Qinhe,LIU Zhihao,et al.Analysis on damping characteristics and effect factors of single chamber hydro-pneumatic spring[J].Chinese Hydraulics&Pneumatics,2016(8):95-101.
[6]王慧,蒋成吉,刘琦.单气室油气弹簧工作特性的建模与仿真分析[J].计算机仿真,2016,33(6):197-200.WANG Hui,JIANG Chengji,LIU Qi.Modeling and simulation analysis of single chamber hydragas spring working characteristics[J].Computer Simulation,2016,33(6):197-200.
[7]刘桓龙,陈曦,樊友权,等.单气室油气悬架的阻尼特性分析[J].机床与液压,2014(16):59-62.LIU Huanlong,CHEN Xi,FAN Youquan,et al.Damping characteristics analysis on the single chamber oil and gas suspension[J].Machine Tool&Hydraulics,2014(16):59-62.
[8]成大先.机械设计手册:液压控制[M].北京:化学工业出版社,2017:19-50.CHENG Daxian.Mechanical design manual:Hydraulic control[M].Beijing:Chemical Industry Press,2017:19-50.
[9]封士彩,王国彪.工程车辆油气悬架刚度特性的研究[J].矿山机械,2001,29(3):25-26.FENG Shicai,WANG Guobiao.Research on the rigidity performance of oil-water suspension frame for engineering vehicles[J].Mining&Processing Equipment,2001,29(3):25-26.
[10]MOUNIER-POULAT F,GUILHAMAT L.Hydro-pneumatic suspension systems:US,US 3387856 A[P].1968-06-11.
[11]FARJOUD A,AHMADIAN M,CRAFT M,et al.Nonlinear modeling and experimental characterization of hydraulic dampers:effects of shim stack and orifice parameters on damper performance[J].Nonlinear Dynamics,2012,67(2):1437-1456.
[12]CAO D P,RAKHEJA S,SU C Y.Dynamic analyses of roll plane interconnected hydro-pneumatic suspension systems[J].International Journal of Vehicle Design,2008,47(1):51.
[13]YANADA H,SEKIKAWA Y.Modeling of dynamic behaviors of friction[J].Mechatronics,2008,18(7):330-339.
[14]GUO P F,LANG Z Q,PENG Z K.Analysis and design of the force and displacement transmissibility of nonlinear viscous damper based vibration isolation systems[J].Nonlinear Dynamics,2012,67(4):2671-2687.
[15]PFEIFFER F.Dynamics of hydraulic systems[M].Berlin Heidelberg:Springer,2008:187-212.
[16]BAUER W.Hydropneumatic suspension systems[M].Berlin Heidelberg:Springer,2010:56-58.
[17]KARNOPP D.Computer simulation of stick-slip friction in mechanical dynamic systems[J].Journal of Dynamic Systems,Measurement and Control,1985,107(1):100-103.
[18]JOHANASTROM K,CANUDAS-DE-WIT C.Revisiting the Lugre friction model[J].IEEE Control Systems,2008,28(6):101-114.
[19]MáRTON L,FODOR S,SEPEHRI N.A practical method for friction identification in hydraulic actuators[J].Mechatronics,2011,21(1):350-356.