机械式消扭悬架系统应用效果的仿真分析
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摘要
本文结合郭孔辉院士的国家自然科学基金项目《消除多余约束的高越野汽车全局耦合悬架系统的研究》子项目——全局耦合机械式消扭悬架系统的研究来进行。
经常行驶于崎岖不平路面上的越野汽车会出现各轮负荷不均匀的情况,这将导致车身受到一个动态扭转载荷,使车身产生过度变形,甚至出现裂纹等早期损坏现象。针对这种情况,郭孔辉院士提出了一种新型的机械式悬架系统,以改善不平地面上各个车轮载荷的均匀性,减轻车身受到的扭转和动载荷,提高车辆的平顺性和接地性。
为了研究这种新型悬架系统的应用效果,本论文首先完成了机械式消扭悬架系统在选定车型上的改装布置,并在ADAMS/View下建立了选定车辆和安装了机械式消扭悬架后的车辆的多体动力学模型,进行了改装前后车辆模型的操纵稳定性开环仿真,以分析机械式消扭悬架对车辆的操纵稳定性的影响。接下来,设计典型工况,进行改装前后车辆模型的仿真对比,经过分析,证明机械式消扭悬架系统能够降低并平均通过不平路面时的轮荷、提高平顺性和接地能力。最后,对影响机械式消扭悬架应用效果的因素进行分析。
For those high off-road vehicle that mostly work on specially rugged and complex road , dynamic loads rised by uneven ground will cause the torsion of the body and lead to the early fatigue wreck of vehicles' components,even the rupture of the body .Furthermore for the high mobility wheeled vehicles that are requested to have high off-road ability, dynamic loads rised by uneven ground will damage the performance of the contact between wheel and the ground,then directly influence vehicles' running and high-speed cross-country performance. In this situation , it's necessary to study how to avoid the deteriorate of vechile performance and the damage of vehicles' components caused by dynamic loads of uneven ground .
In order to avoid the deteriorate of vechile performance and the asymmetrical distribution of wheel load caused by dynamic loads of uneven ground , lighten the torsion and dynamic loads received by the body of the vehicle , enhance the the contact between wheel and the ground, Prof. Konghui Guo invented a new kind of mechanical suspension system.
Baseing on the elimination torsion principle developped by Prof. Konghui Guo, the paper researches high off-road vehicles' whole-coupling suspensionsystem of eliminating redundant constraint combining with the subproject of National Natural Science Foundation of China—"Study on whole-coupling mechanical elimination torsion suspension system". The purpose of the dissertation is to validate that , with the precondition of not reducing of controllability and stability of the vehicle ,to greatly reduce the shock stress and torsion of the body , improve the evenness of wheel loads and enhance wheel ground adhesion.
The main work and advancement of this dissertation are as following:
Firstly,introduce the concept of elimination torsion mechanical suspension system,and analyse its function and working theory.According to the existing condition,select the BJ2020s as prototype vehicle. With the reference of diferrent kinds of mechanical elimination torsion suspension system design proposal designed by Prof. Konghui Guo,design the joints of the mechanical elimination torsion suspension and so on, lay the mechanical elimination torsion suspension to the selected vehicle .Test the static and dynamic application effect of the mechanical elimination torsion suspension ,and analyse the movement and force of mechanical elimination torsion suspension with those four kinds of specialy road inputs.
Secondly, build the virtual prototype of the BJ2020s and the BJ2020s with mechanical elimination torsion suspension with ADAMS/View .To validate the influence of handling and stability for off-road vehicles equipped with elimination torsion suspension, fulfill the Open-Loop test simulation of steady state steering and steering angle step input experment. It’s easy to find through the results of simulations that the steady and instantaneous steering performances on uneven road were not damaged. IV
Then, to look into the p application effect of the mechanical elimination torsion suspension ,analyze the road to several types, anylse the application effect of the mechanical elimination torsion suspension on those different road types one by one. Find out that the mechanical elimination torsion suspension works only when the inputs on the cross are not the same.the application effect of the mechanical elimination torsion suspension is,greatly reduce the shock stress of the road and the height of the body, and torsion of the body, equilibrate the wheel loads and greatly reduce the torsion of the body, enhance the contact of the wheel and the ground.Designed the road with ten pairs of symmetry heaves ,according to the GB/T12543-90,do the accelerating and braking simulation under the fixed gear .the simulation result show that performance of wheel ground adhesion of the elimination torsion mechanical suspension vehicle is better than that without mechanical elimination torsion suspension, the power of the vehicle is also enhanced.
At last ,study the factors which infect the performance of the mechanical elimination torsion suspension-- speed and the friction of the joint .Those will help to the practical production of the mechanical elimination torsion suspension vehicle.
经常行驶于崎岖不平路面上的越野汽车会出现各轮负荷不均匀的情况,这将导致车身受到一个动态扭转载荷,使车身产生过度变形,甚至出现裂纹等早期损坏现象。针对这种情况,郭孔辉院士提出了一种新型的机械式悬架系统,以改善不平地面上各个车轮载荷的均匀性,减轻车身受到的扭转和动载荷,提高车辆的平顺性和接地性。
为了研究这种新型悬架系统的应用效果,本论文首先完成了机械式消扭悬架系统在选定车型上的改装布置,并在ADAMS/View下建立了选定车辆和安装了机械式消扭悬架后的车辆的多体动力学模型,进行了改装前后车辆模型的操纵稳定性开环仿真,以分析机械式消扭悬架对车辆的操纵稳定性的影响。接下来,设计典型工况,进行改装前后车辆模型的仿真对比,经过分析,证明机械式消扭悬架系统能够降低并平均通过不平路面时的轮荷、提高平顺性和接地能力。最后,对影响机械式消扭悬架应用效果的因素进行分析。
For those high off-road vehicle that mostly work on specially rugged and complex road , dynamic loads rised by uneven ground will cause the torsion of the body and lead to the early fatigue wreck of vehicles' components,even the rupture of the body .Furthermore for the high mobility wheeled vehicles that are requested to have high off-road ability, dynamic loads rised by uneven ground will damage the performance of the contact between wheel and the ground,then directly influence vehicles' running and high-speed cross-country performance. In this situation , it's necessary to study how to avoid the deteriorate of vechile performance and the damage of vehicles' components caused by dynamic loads of uneven ground .
In order to avoid the deteriorate of vechile performance and the asymmetrical distribution of wheel load caused by dynamic loads of uneven ground , lighten the torsion and dynamic loads received by the body of the vehicle , enhance the the contact between wheel and the ground, Prof. Konghui Guo invented a new kind of mechanical suspension system.
Baseing on the elimination torsion principle developped by Prof. Konghui Guo, the paper researches high off-road vehicles' whole-coupling suspensionsystem of eliminating redundant constraint combining with the subproject of National Natural Science Foundation of China—"Study on whole-coupling mechanical elimination torsion suspension system". The purpose of the dissertation is to validate that , with the precondition of not reducing of controllability and stability of the vehicle ,to greatly reduce the shock stress and torsion of the body , improve the evenness of wheel loads and enhance wheel ground adhesion.
The main work and advancement of this dissertation are as following:
Firstly,introduce the concept of elimination torsion mechanical suspension system,and analyse its function and working theory.According to the existing condition,select the BJ2020s as prototype vehicle. With the reference of diferrent kinds of mechanical elimination torsion suspension system design proposal designed by Prof. Konghui Guo,design the joints of the mechanical elimination torsion suspension and so on, lay the mechanical elimination torsion suspension to the selected vehicle .Test the static and dynamic application effect of the mechanical elimination torsion suspension ,and analyse the movement and force of mechanical elimination torsion suspension with those four kinds of specialy road inputs.
Secondly, build the virtual prototype of the BJ2020s and the BJ2020s with mechanical elimination torsion suspension with ADAMS/View .To validate the influence of handling and stability for off-road vehicles equipped with elimination torsion suspension, fulfill the Open-Loop test simulation of steady state steering and steering angle step input experment. It’s easy to find through the results of simulations that the steady and instantaneous steering performances on uneven road were not damaged. IV
Then, to look into the p application effect of the mechanical elimination torsion suspension ,analyze the road to several types, anylse the application effect of the mechanical elimination torsion suspension on those different road types one by one. Find out that the mechanical elimination torsion suspension works only when the inputs on the cross are not the same.the application effect of the mechanical elimination torsion suspension is,greatly reduce the shock stress of the road and the height of the body, and torsion of the body, equilibrate the wheel loads and greatly reduce the torsion of the body, enhance the contact of the wheel and the ground.Designed the road with ten pairs of symmetry heaves ,according to the GB/T12543-90,do the accelerating and braking simulation under the fixed gear .the simulation result show that performance of wheel ground adhesion of the elimination torsion mechanical suspension vehicle is better than that without mechanical elimination torsion suspension, the power of the vehicle is also enhanced.
At last ,study the factors which infect the performance of the mechanical elimination torsion suspension-- speed and the friction of the joint .Those will help to the practical production of the mechanical elimination torsion suspension vehicle.
引文
[1] M.G.培克,《陆用车辆行驶原理》
[2] 余志生,《汽车理论》,机械工业出版社,1995 年 5 月第 2 版
[3] 李东江、宋良玉,《现代汽车电子控制技术》,科学技术文献出版社,1998
[4] 陈家瑞等,《汽车构造》,机械工业出版社,2002 年 1 月第一版
[5] 吴涛、过学迅,重型越野车辆油气悬架的设计,专用汽车,2000
[6] 侯金钟,浅析军用越野汽车的越野性能,重型汽车,1996.12, 8-10
[7] 陈国椿,《基于 ADAMS 的油汽消扭悬架系统仿真分析》,吉林大学硕士学位论文,2005.6.1
[8] 吴学雷,国内外军用汽车发展历史、现状及趋势综述(一),导弹与航天运载技术,2001, (3): 18~22
[9] 吴学雷. 国内外军用汽车发展历史、现状及趋势综述(三),导弹与航天运载技术,2001, (5): 26~40
[10] 张志涌主编,《Unigraphics V18.0 入门与实例应用》,中国铁道出版社
[11] [德]耶尔森莱姆帕尔著,张洪欣、余卓平 译 汽车底盘基础 科学普及出版社,1992
[12] 阿达姆.措莫托著,黄锡朋、解春阳译,汽车行驶性能,科学普及出版社,1992
[13] 洪嘉振著,计算多体系统动力学,高等教育出版社,1999.7
[14] 张越今,汽车多体动力学及计算机仿真,吉林科学技术出版社,1998
[15] 张越今,宋健等,多体系统动力学分析的两大软件—ADAMS 和 DADS,汽车技术,1997
[16] 王国强等,.虚拟样机技术及其在 ADAMS 上的实践, 西安,西北工业大学出版社,2002
[17] 封飚,汽车动力学特性仿真分析与 ADAMS 软件,城市车辆,2001
[18] 王树凤、张俊友、余群,应用 ADAMS 设计汽车操纵稳定性试验,中国农业大学学报,2001.06 期
[19] 廖永升,《桑塔纳制动系统在 ADAMS 中的建模》,吉林大学硕士学位论文,2002.3.1
[20] 刘红军、明平顺等,ADAMS 在汽车操纵稳定性中的应用研究,武汉理工大学学报
[21] ADAMS机械系统运动学与动力学仿真分析软件,美国MSC公司,1994
[22] 金凌鸽,《统一轮胎模型与动力学软件的连接》,吉林大学硕士学位论文,2006.6.1
[23] 郑建荣,ADAMS—虚拟样机技术入门与提高,机械工业出版社,2002
[24] 李军,邢俊文,覃文洁等,《ADAMS 实例教程》,北京理工大学出版社,2002. 7.1
[25] 郭孔辉,汽车操纵动力学,吉林科学技术出版社,1991
[26] 汽车操纵稳定性试验方法——GB/T 13047-91:汽车操纵稳定性指标限值与评价方法;
[27] 汽车操纵稳定性试验方法——GB/T 6323.1-94:汽车操纵稳定性试验方法蛇行试验;
[28] 汽车操纵稳定性试验方法——GB/T 6323.2-94:汽车操纵稳定性试验方法转向瞬态响应试验(转向盘角阶跃输入);
[29] 汽车操纵稳定性试验方法——GB/T 6323.4-94:汽车操纵稳定性试验方法转向回正性能试验;
[30] 汽车操纵稳定性试验方法——GB/T 6323.6-94:汽车操纵稳定性试验方法稳态回转试验;
[31] 王爽,《悬架运动学及与弹性运动学建模、分析与评价》,吉林大学硕士学位论文,吉林,长春,2004
[32] 蒋先平,《汽车主要总成参数关于操纵稳定性的灵敏度分析及优化》,吉林大学硕士学位论文,吉林,长春,2004
[33] 汽车标准汇编 1994,中国汽车技术研究中心,1997 年 1 月 1 日
[34] 汽车工程手册编辑委员会,汽车工程手册(试验篇),人民交通出版社,2000
[35] Ronald K. Seike, The design of suspension that eliminates warp mode resistance,1/26/2004
[36] [德]HP 威鲁麦特著, 车辆动力学模拟及其方法,北京理工大学出版社,1998.5
[37] 乌斯诺斯基,汽车悬架设计,朱德照译,人民交通出版社,1980.9
[38] 石琴,货车扭转载荷的计算与分析,合肥工业大学学报(自然科学版),1995
[39] Michelberger P,PalkovicsL,Bokor J. Robust Design of Active Suspension System,int J. of Vehicle Design,1993,14(2/3): 145～165
[40] Rill G. The influence of correlated random road excitation process on vehicle vibration. Processings Of The 8th IAVSD Symposium,1983
[41] Eusama-Recommendation for a performance test specification of an ‘on car’vehicle suspension testing system-Ts-02-76
[42] 杨景义等译,机动车悬架手册,国防工业出版社,1987
[43] 汽车工程手册编辑委员会,汽车工程手册(设计篇),人民交通出版社,2001.6
[44] 雷雨成,汽车系统动力学及仿真,国防工业出版社,1997
[45] 练宏俊,“载重汽车平衡悬架特性分析”,同济大学硕士学位论文,2002 72
[46] 丁海涛,轮胎附着极限下汽车稳定性控制的仿真研究,吉林大学博士学位论文,2003
[47] 翟宏敏,程军,车辆动力学建模及模拟的研究,汽车研究与开发,1998
[48] Using ADAMS/Solver, Version9.0,MDI,1997
[49] 周学建,周志立,张文春,车辆动力学仿真中的轮胎数学模型研究,拖拉机与农用运输车,2002
[50] [日] 小林 明等编,汽车振动学(第二分册),机械工业出版社,1984
[51] 左莉、李杰敏,汽车行驶时悬架动行程的统计分析,汽车技术,1986,3
[2] 余志生,《汽车理论》,机械工业出版社,1995 年 5 月第 2 版
[3] 李东江、宋良玉,《现代汽车电子控制技术》,科学技术文献出版社,1998
[4] 陈家瑞等,《汽车构造》,机械工业出版社,2002 年 1 月第一版
[5] 吴涛、过学迅,重型越野车辆油气悬架的设计,专用汽车,2000
[6] 侯金钟,浅析军用越野汽车的越野性能,重型汽车,1996.12, 8-10
[7] 陈国椿,《基于 ADAMS 的油汽消扭悬架系统仿真分析》,吉林大学硕士学位论文,2005.6.1
[8] 吴学雷,国内外军用汽车发展历史、现状及趋势综述(一),导弹与航天运载技术,2001, (3): 18~22
[9] 吴学雷. 国内外军用汽车发展历史、现状及趋势综述(三),导弹与航天运载技术,2001, (5): 26~40
[10] 张志涌主编,《Unigraphics V18.0 入门与实例应用》,中国铁道出版社
[11] [德]耶尔森莱姆帕尔著,张洪欣、余卓平 译 汽车底盘基础 科学普及出版社,1992
[12] 阿达姆.措莫托著,黄锡朋、解春阳译,汽车行驶性能,科学普及出版社,1992
[13] 洪嘉振著,计算多体系统动力学,高等教育出版社,1999.7
[14] 张越今,汽车多体动力学及计算机仿真,吉林科学技术出版社,1998
[15] 张越今,宋健等,多体系统动力学分析的两大软件—ADAMS 和 DADS,汽车技术,1997
[16] 王国强等,.虚拟样机技术及其在 ADAMS 上的实践, 西安,西北工业大学出版社,2002
[17] 封飚,汽车动力学特性仿真分析与 ADAMS 软件,城市车辆,2001
[18] 王树凤、张俊友、余群,应用 ADAMS 设计汽车操纵稳定性试验,中国农业大学学报,2001.06 期
[19] 廖永升,《桑塔纳制动系统在 ADAMS 中的建模》,吉林大学硕士学位论文,2002.3.1
[20] 刘红军、明平顺等,ADAMS 在汽车操纵稳定性中的应用研究,武汉理工大学学报
[21] ADAMS机械系统运动学与动力学仿真分析软件,美国MSC公司,1994
[22] 金凌鸽,《统一轮胎模型与动力学软件的连接》,吉林大学硕士学位论文,2006.6.1
[23] 郑建荣,ADAMS—虚拟样机技术入门与提高,机械工业出版社,2002
[24] 李军,邢俊文,覃文洁等,《ADAMS 实例教程》,北京理工大学出版社,2002. 7.1
[25] 郭孔辉,汽车操纵动力学,吉林科学技术出版社,1991
[26] 汽车操纵稳定性试验方法——GB/T 13047-91:汽车操纵稳定性指标限值与评价方法;
[27] 汽车操纵稳定性试验方法——GB/T 6323.1-94:汽车操纵稳定性试验方法蛇行试验;
[28] 汽车操纵稳定性试验方法——GB/T 6323.2-94:汽车操纵稳定性试验方法转向瞬态响应试验(转向盘角阶跃输入);
[29] 汽车操纵稳定性试验方法——GB/T 6323.4-94:汽车操纵稳定性试验方法转向回正性能试验;
[30] 汽车操纵稳定性试验方法——GB/T 6323.6-94:汽车操纵稳定性试验方法稳态回转试验;
[31] 王爽,《悬架运动学及与弹性运动学建模、分析与评价》,吉林大学硕士学位论文,吉林,长春,2004
[32] 蒋先平,《汽车主要总成参数关于操纵稳定性的灵敏度分析及优化》,吉林大学硕士学位论文,吉林,长春,2004
[33] 汽车标准汇编 1994,中国汽车技术研究中心,1997 年 1 月 1 日
[34] 汽车工程手册编辑委员会,汽车工程手册(试验篇),人民交通出版社,2000
[35] Ronald K. Seike, The design of suspension that eliminates warp mode resistance,1/26/2004
[36] [德]HP 威鲁麦特著, 车辆动力学模拟及其方法,北京理工大学出版社,1998.5
[37] 乌斯诺斯基,汽车悬架设计,朱德照译,人民交通出版社,1980.9
[38] 石琴,货车扭转载荷的计算与分析,合肥工业大学学报(自然科学版),1995
[39] Michelberger P,PalkovicsL,Bokor J. Robust Design of Active Suspension System,int J. of Vehicle Design,1993,14(2/3): 145～165
[40] Rill G. The influence of correlated random road excitation process on vehicle vibration. Processings Of The 8th IAVSD Symposium,1983
[41] Eusama-Recommendation for a performance test specification of an ‘on car’vehicle suspension testing system-Ts-02-76
[42] 杨景义等译,机动车悬架手册,国防工业出版社,1987
[43] 汽车工程手册编辑委员会,汽车工程手册(设计篇),人民交通出版社,2001.6
[44] 雷雨成,汽车系统动力学及仿真,国防工业出版社,1997
[45] 练宏俊,“载重汽车平衡悬架特性分析”,同济大学硕士学位论文,2002 72
[46] 丁海涛,轮胎附着极限下汽车稳定性控制的仿真研究,吉林大学博士学位论文,2003
[47] 翟宏敏,程军,车辆动力学建模及模拟的研究,汽车研究与开发,1998
[48] Using ADAMS/Solver, Version9.0,MDI,1997
[49] 周学建,周志立,张文春,车辆动力学仿真中的轮胎数学模型研究,拖拉机与农用运输车,2002
[50] [日] 小林 明等编,汽车振动学(第二分册),机械工业出版社,1984
[51] 左莉、李杰敏,汽车行驶时悬架动行程的统计分析,汽车技术,1986,3