基于虚拟样机的ATV舒适性仿真分析
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摘要
传统的产品设计过程是一个样机试制,到测试评估,再到反馈设计的循环反复过程。这其中的每次循环,都伴随着有物理样机的建造或修改,和伴之而来的产品开发周期的延长和开发成本的增长。随着多体动力学技术的发展和计算机应用水平的提高,使得利用多体动力学原理进行产品整机虚拟样机设计成为可能。
行驶平顺性是全地域车最重要的使用性能之一。本文以多体动力学理论和有限元法为基础,以某公司生产的400型全地域车为研究对象,在UG中建立了该车的主要零部件三维实体模型和反映人体质量分布的人体模型,将人体模型和主要零部件进行了装配导入到ADAMS中,建立了该车的多刚体动力学模型。对全地域车车架进行有限元分析,将车架柔性文件导入到ADAMS中,替换刚性车架,建立了全地域车的刚柔耦合模型。在MATLAB中利用谐波叠加法计算了用来作平顺性仿真的B级路面。分析了发动机激励,在ADAMS中实现了发动机激振力的模拟。在同时作用路面激励和发动机激励的条件下对全地域车的刚体模型和柔体模型进行了整车平顺性仿真计算,对两种模型的仿真分析结果在频域内进行了对比,将仿真结果利用编制的平顺性评价程序进行了评价,并比较了两种模型的评价结果。按照国家标准对全地域车进行了平顺性道路试验,并将试验结果与仿真结果进行比较,结果表明仿真结果与试验结果有一定差异,但整体趋势保持一致。最终对比分析说明车架弹性效应对全地域车平顺性有一定影响,将车架处理为柔性体更加接近全地域车实际情况,但差别不大。与刚体模型相比,柔体模型的精度得到了进一步的提高,仿真计算结果具有更好的参考价值。
采用正交试验法对全地域车柔体模型座椅、悬架特性参数在低频段进行了分析,结果表明全地域车前后悬阻尼对座位处和手把处振动影响很大,座椅的刚度阻尼对座位处振动影响较大大,前后悬架参数的相互作用也不容忽视。
The traditional product design is a repeated and circulatory process of prototypetrial-manufacture, test evaluation and feedback design. During the every circulation of the process, the physical prototype needs to be rebuilt or modified, causing the extended product developing period and higher cost. With the development of the multi-body-dynamics and the widely use of computer, it enabled the virtual prototype to be developed for entire machine.
Ride comfort is one of the main performances for All Terrain vehicles. Based on the theories of the multi-body-dynamics and finite element method, researching on a 400 ATV a company produced, the main parts of the ATV and a body model reflecting the mass distribution of the body was built in UG, then the three-dimensional full model of ATV was built after assembling those parts. After imported 3d full model into ADAMS with required format, a multi-rigid-body dynamics model of the ATV in ADAMS was built. The MNF of the frame was imported into ADAMS after doing the modal analysis of the frame for replacing the rigid frame to build the multi body dynamics model integrated the flexible frame. Grade B road file in ADAMS were created for riding comfort test according to the method of superposition of harmonic wave in MATLAB. The engine exciting was analyzed and then the simulation for engine exciting in ADAMS was achieved. Considered engine exciting and road roughness, riding comfort simulation of the multi-rigid-body dynamics model and the multi body dynamics model integrated the flexible frame were carried out. The results of the two models were contrasted in frequency domain. It also were analyzed and evaluated using riding comfort evaluation programme created before, and the evaluated results of the two models were contrasted. The ride comfort tests of ATV on the road were carried out according to the national standards. The results of experiments had some differences from the simulation, but there whole trends were consistent. By contrasting, the flexibility of the frame had some influences for the ride comfort. Regarding the frame as a flexible part was closer to the fact, but the difference was little. Compared with the rigid model, the model integrated flexible frame had higher accuracy, and the results of the simulation had better worthwhile.
Aiming at low frequency vibration of ATV caused by road surface roughness, the parameters of front and rear suspensions and the seat suspension were studied by the method of orthogonal experiment, the results indicated that the influence of damping of the front and rear suspensions to the seat and handle vibration were biggest, the influence of the stiffness and damping of the seat suspension were bigger, the reaction of the front and rear suspensions could not be neglected.
行驶平顺性是全地域车最重要的使用性能之一。本文以多体动力学理论和有限元法为基础,以某公司生产的400型全地域车为研究对象,在UG中建立了该车的主要零部件三维实体模型和反映人体质量分布的人体模型,将人体模型和主要零部件进行了装配导入到ADAMS中,建立了该车的多刚体动力学模型。对全地域车车架进行有限元分析,将车架柔性文件导入到ADAMS中,替换刚性车架,建立了全地域车的刚柔耦合模型。在MATLAB中利用谐波叠加法计算了用来作平顺性仿真的B级路面。分析了发动机激励,在ADAMS中实现了发动机激振力的模拟。在同时作用路面激励和发动机激励的条件下对全地域车的刚体模型和柔体模型进行了整车平顺性仿真计算,对两种模型的仿真分析结果在频域内进行了对比,将仿真结果利用编制的平顺性评价程序进行了评价,并比较了两种模型的评价结果。按照国家标准对全地域车进行了平顺性道路试验,并将试验结果与仿真结果进行比较,结果表明仿真结果与试验结果有一定差异,但整体趋势保持一致。最终对比分析说明车架弹性效应对全地域车平顺性有一定影响,将车架处理为柔性体更加接近全地域车实际情况,但差别不大。与刚体模型相比,柔体模型的精度得到了进一步的提高,仿真计算结果具有更好的参考价值。
采用正交试验法对全地域车柔体模型座椅、悬架特性参数在低频段进行了分析,结果表明全地域车前后悬阻尼对座位处和手把处振动影响很大,座椅的刚度阻尼对座位处振动影响较大大,前后悬架参数的相互作用也不容忽视。
The traditional product design is a repeated and circulatory process of prototypetrial-manufacture, test evaluation and feedback design. During the every circulation of the process, the physical prototype needs to be rebuilt or modified, causing the extended product developing period and higher cost. With the development of the multi-body-dynamics and the widely use of computer, it enabled the virtual prototype to be developed for entire machine.
Ride comfort is one of the main performances for All Terrain vehicles. Based on the theories of the multi-body-dynamics and finite element method, researching on a 400 ATV a company produced, the main parts of the ATV and a body model reflecting the mass distribution of the body was built in UG, then the three-dimensional full model of ATV was built after assembling those parts. After imported 3d full model into ADAMS with required format, a multi-rigid-body dynamics model of the ATV in ADAMS was built. The MNF of the frame was imported into ADAMS after doing the modal analysis of the frame for replacing the rigid frame to build the multi body dynamics model integrated the flexible frame. Grade B road file in ADAMS were created for riding comfort test according to the method of superposition of harmonic wave in MATLAB. The engine exciting was analyzed and then the simulation for engine exciting in ADAMS was achieved. Considered engine exciting and road roughness, riding comfort simulation of the multi-rigid-body dynamics model and the multi body dynamics model integrated the flexible frame were carried out. The results of the two models were contrasted in frequency domain. It also were analyzed and evaluated using riding comfort evaluation programme created before, and the evaluated results of the two models were contrasted. The ride comfort tests of ATV on the road were carried out according to the national standards. The results of experiments had some differences from the simulation, but there whole trends were consistent. By contrasting, the flexibility of the frame had some influences for the ride comfort. Regarding the frame as a flexible part was closer to the fact, but the difference was little. Compared with the rigid model, the model integrated flexible frame had higher accuracy, and the results of the simulation had better worthwhile.
Aiming at low frequency vibration of ATV caused by road surface roughness, the parameters of front and rear suspensions and the seat suspension were studied by the method of orthogonal experiment, the results indicated that the influence of damping of the front and rear suspensions to the seat and handle vibration were biggest, the influence of the stiffness and damping of the seat suspension were bigger, the reaction of the front and rear suspensions could not be neglected.
引文
[1] 2006-2007年2月全国摩托车产品产量统计. http://www.chinaeir.com.cn/freedata/200771984928.html.
[2]郑林.日本最新型四轮摩托车[J].摩托车技术, 1994,第一期, 25-27.
[3]李陆山.宗申ZS100ST全地域车特点介绍[J].摩托车技术, 2002, 05:26.
[4]李陆山.建设推出JS400“悍虎”全地形车[J].摩托车技术, 2005, 05:30.
[5] P.Moroney, M.Doyle, K.Mealy. All-terrain vehicles-unstable, unsafe and unregulated A prospective study of ATV-related trauma in rural Ireland.Injury, Int. J.Care Injured 2003, 34:203–205.
[6] Gregory B. Rodgers. The characteristics and use patterns of all-terrain vehicle drivers in the United States. Accident Analysis and Prevention 31 (1999) 409-419.
[7] A Trebi-Ollennu, J M Dolan and P K Khosla. Adaptive fuzzy throttle control for an all-terrain vehicle. Proc InstnMech Engrs Vol 215 Part I.
[8] Farshid A. Forouhar. All-Terrain Vehicles Frequency Domain Response Analysis and Rider Behavior. Proceedings of the 1997 EEE International Conference on Control Applications Hartford, CT October 5-7, 1997,183-188.
[9] Jan van der BURG and Pierre BLAZEVIC. Anti-Lock Braking and Traction Control Concept for All-Terrain Robotic Vehicles. Proceedings of the 1997 IEEE International Conference on Robotics and Automation Albuquerque, New Mexico. April 1997.1400-1405.
[10]姚淑梅.沙滩摩托车车架的有限元分析及减振方法研究[D].哈尔滨工业大学, 2005.
[11]赵志平,李新勇.虚拟样机技术及其应用和发展[J].机械研究与应用, 2006, 19(1):6-7.
[12]李鹏辉.虚拟样机技术在车辆动力学中的应用[J].大众科技, 2005, 11:91-92.
[13]张越今.汽车多体动力学及计算机仿真[M].长春:吉林科学技术出版社, 1998.
[14] Hans Prem. Off-Highway Mine Haul Truck Dynamics Simulation[C]. SAE981982.
[15]刘红军. ADAMS在汽车操纵稳定性中的应用研究[J].武汉理工大学学报, 2003, 25(4):50-53.
[16] Tommi Hammarberg, Mikko Liukkula and Heikki Handroos. Simulation of the Forwarder Dynamics[C]. SAE 1999-01-2783.
[17]周水清,何天明,赵礼为. .基于虚拟样机的汽车平顺性仿真分析[J].汽车科技, 2005, (3): 28-30.
[18]马岳峰.轿车ASR的ADAMS/CAR和MATLAB联合仿真[J].计算机仿真.2005,22(4) :100-104.
[19]宋明,刘昭度,梁鹏霄.汽车制动防抱死系统的ADAMS/SIMULINK联合仿真[J].计算机仿真, 2004,21(10):163-166.
[20] P.Lemerle, P.Boulanger and R.Poirot. A simplified method to design suspended cabs for counterbalance trucks[J]. Journal of sound and vibration (2002) 253(1), 283-293.
[21]黄康,钱德猛,赵韩.汽车空气悬架一转向机构的运动学分析及优化[J].哈尔滨工业大学学报, 2005, 37(12):1732-1734.
[22]余志生.汽车理论(第2版)[M].北京:机械工业出版社.
[23] R.G. Dong, A.W. Schopper, T.W. McDowell etc. Vibration Energy Absorption(VEA) in Human Fingers-hand-arm System [J]. Medical Engeneering&Physics, 2004, (26): 483:492.
[24] ISO2631-1:1997. Mechanical vibration and shock-Evaluation of human exposure to whole-body vibration-Partl:General requirements[S].
[25] GB/T4970-1996《汽车平顺性随机输人行试验方法》[S].
[26]洪嘉振.多体系统动力学理论、计算方法和应用[M].上海交通大学出版社. 1992.
[27]袁士杰,吕哲勤等.多刚体系统动力学[M].北京理工大学出版社. 1989.
[28]李智锋.汽车整车多体系统动力学仿真[D].同济大学, 2000.
[29]陆佑方.柔性多体系统动力学(第1版) [M].北京:高等教育出版社. 1996.
[30]陈立平.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社. 2005.
[31]李军,刑俊文. ADAMS实例教程[M].北京:北京理工大学出版社. 2002.
[32] MSC, Inc: ADAMS/Tire help, 2005.
[33] A.P.KOVACS Computational Vibration Analysis of Vehicle Shimmy by a Power-Work Method Vehicle System Dynamics 1998 Volume 29 pp341-364.
[34]郑建荣.虚拟样机技术[M].北京:机械工业出版社. 2002.
[35] MSC, Inc: ADAMS/View help, 2005.
[36] GB10000-88《中国成年人人体尺寸》[S].
[37] GB/T17245-2004《成年人人体惯性参数》[S].
[38]王国权.虚拟试验技术[M].北京:电子工业出版社. 2004.
[39] MSC, Inc: ADAMS/Flex help, 2005.
[40]林蔚.基于虚拟样机技术的摩托车行驶状态仿真[D].重庆大学, 2004.
[41]周云波,闫清东,李宏才.履带车辆平顺性仿真试验路面谱研究[J].系统仿真学报, 2006, 18(2):95-97.
[42]常志权,罗虹,褚志刚等.谐波叠加路面输入模型的建立及数字模拟[J].重庆大学学报. 2004,27(12):5-8.
[43]张永林.用谐波叠加法重构随机道路不平顺高程的时域模型[J].农业工程学报, 2003,19(6):32-35.
[44] GB7031《车辆振动输入—路面不平度表示方法》[S].
[45]吴炎庭,袁卫平.内燃机噪声振动与控制[M].北京:机械工业出版社. 2005.
[46]董敏,庄志,常思勤.汽车拖拉机发动机(第三版)[M].北京:机械工业出版社. 2000.
[47]郑启福.内燃机动力学[M].北京:国防工业出版社. 1991.
[48] ISO5349-1:2001《人体承受手传振动的测量和评价指南》[S].
[49]徐中明,谭海伟,张志飞.全地形车客观评价[J].重庆大学学报. 2008.31(2):119-122.
[50]徐中明,张志飞,李俊鹏等.应用ISO2631和IS05349评价摩托车平顺性[J].小型内燃机与摩托车, 2006,35(6):5-9.
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[53]陈黎卿,王启瑞.基于ADAMS的脉冲路面输入平顺性仿真分析[J].计算机仿真, 2006.23(12):212-215.
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[2]郑林.日本最新型四轮摩托车[J].摩托车技术, 1994,第一期, 25-27.
[3]李陆山.宗申ZS100ST全地域车特点介绍[J].摩托车技术, 2002, 05:26.
[4]李陆山.建设推出JS400“悍虎”全地形车[J].摩托车技术, 2005, 05:30.
[5] P.Moroney, M.Doyle, K.Mealy. All-terrain vehicles-unstable, unsafe and unregulated A prospective study of ATV-related trauma in rural Ireland.Injury, Int. J.Care Injured 2003, 34:203–205.
[6] Gregory B. Rodgers. The characteristics and use patterns of all-terrain vehicle drivers in the United States. Accident Analysis and Prevention 31 (1999) 409-419.
[7] A Trebi-Ollennu, J M Dolan and P K Khosla. Adaptive fuzzy throttle control for an all-terrain vehicle. Proc InstnMech Engrs Vol 215 Part I.
[8] Farshid A. Forouhar. All-Terrain Vehicles Frequency Domain Response Analysis and Rider Behavior. Proceedings of the 1997 EEE International Conference on Control Applications Hartford, CT October 5-7, 1997,183-188.
[9] Jan van der BURG and Pierre BLAZEVIC. Anti-Lock Braking and Traction Control Concept for All-Terrain Robotic Vehicles. Proceedings of the 1997 IEEE International Conference on Robotics and Automation Albuquerque, New Mexico. April 1997.1400-1405.
[10]姚淑梅.沙滩摩托车车架的有限元分析及减振方法研究[D].哈尔滨工业大学, 2005.
[11]赵志平,李新勇.虚拟样机技术及其应用和发展[J].机械研究与应用, 2006, 19(1):6-7.
[12]李鹏辉.虚拟样机技术在车辆动力学中的应用[J].大众科技, 2005, 11:91-92.
[13]张越今.汽车多体动力学及计算机仿真[M].长春:吉林科学技术出版社, 1998.
[14] Hans Prem. Off-Highway Mine Haul Truck Dynamics Simulation[C]. SAE981982.
[15]刘红军. ADAMS在汽车操纵稳定性中的应用研究[J].武汉理工大学学报, 2003, 25(4):50-53.
[16] Tommi Hammarberg, Mikko Liukkula and Heikki Handroos. Simulation of the Forwarder Dynamics[C]. SAE 1999-01-2783.
[17]周水清,何天明,赵礼为. .基于虚拟样机的汽车平顺性仿真分析[J].汽车科技, 2005, (3): 28-30.
[18]马岳峰.轿车ASR的ADAMS/CAR和MATLAB联合仿真[J].计算机仿真.2005,22(4) :100-104.
[19]宋明,刘昭度,梁鹏霄.汽车制动防抱死系统的ADAMS/SIMULINK联合仿真[J].计算机仿真, 2004,21(10):163-166.
[20] P.Lemerle, P.Boulanger and R.Poirot. A simplified method to design suspended cabs for counterbalance trucks[J]. Journal of sound and vibration (2002) 253(1), 283-293.
[21]黄康,钱德猛,赵韩.汽车空气悬架一转向机构的运动学分析及优化[J].哈尔滨工业大学学报, 2005, 37(12):1732-1734.
[22]余志生.汽车理论(第2版)[M].北京:机械工业出版社.
[23] R.G. Dong, A.W. Schopper, T.W. McDowell etc. Vibration Energy Absorption(VEA) in Human Fingers-hand-arm System [J]. Medical Engeneering&Physics, 2004, (26): 483:492.
[24] ISO2631-1:1997. Mechanical vibration and shock-Evaluation of human exposure to whole-body vibration-Partl:General requirements[S].
[25] GB/T4970-1996《汽车平顺性随机输人行试验方法》[S].
[26]洪嘉振.多体系统动力学理论、计算方法和应用[M].上海交通大学出版社. 1992.
[27]袁士杰,吕哲勤等.多刚体系统动力学[M].北京理工大学出版社. 1989.
[28]李智锋.汽车整车多体系统动力学仿真[D].同济大学, 2000.
[29]陆佑方.柔性多体系统动力学(第1版) [M].北京:高等教育出版社. 1996.
[30]陈立平.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社. 2005.
[31]李军,刑俊文. ADAMS实例教程[M].北京:北京理工大学出版社. 2002.
[32] MSC, Inc: ADAMS/Tire help, 2005.
[33] A.P.KOVACS Computational Vibration Analysis of Vehicle Shimmy by a Power-Work Method Vehicle System Dynamics 1998 Volume 29 pp341-364.
[34]郑建荣.虚拟样机技术[M].北京:机械工业出版社. 2002.
[35] MSC, Inc: ADAMS/View help, 2005.
[36] GB10000-88《中国成年人人体尺寸》[S].
[37] GB/T17245-2004《成年人人体惯性参数》[S].
[38]王国权.虚拟试验技术[M].北京:电子工业出版社. 2004.
[39] MSC, Inc: ADAMS/Flex help, 2005.
[40]林蔚.基于虚拟样机技术的摩托车行驶状态仿真[D].重庆大学, 2004.
[41]周云波,闫清东,李宏才.履带车辆平顺性仿真试验路面谱研究[J].系统仿真学报, 2006, 18(2):95-97.
[42]常志权,罗虹,褚志刚等.谐波叠加路面输入模型的建立及数字模拟[J].重庆大学学报. 2004,27(12):5-8.
[43]张永林.用谐波叠加法重构随机道路不平顺高程的时域模型[J].农业工程学报, 2003,19(6):32-35.
[44] GB7031《车辆振动输入—路面不平度表示方法》[S].
[45]吴炎庭,袁卫平.内燃机噪声振动与控制[M].北京:机械工业出版社. 2005.
[46]董敏,庄志,常思勤.汽车拖拉机发动机(第三版)[M].北京:机械工业出版社. 2000.
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