重型商用车转向系统建模及整车动力学仿真研究
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摘要
汽车转向系统是影响汽车动态性能的重要系统,动力转向系统的匹配分析与设计研究是汽车研发中的一项重要技术课题。本文将对重型商用车液压助力转向系统建模与仿真分析、基于CFD的转向系统动态特性、考虑侧偏角的双前桥转向系统优化设计、液压助力转向系统与整车动力学模型耦合特性等四个方面进行研究。主要研究内容如下：
1)对液压助力转向系统进行了深入研究,建立了液压助力系统模型,在液压助力系统试验台架上进行了试验测试,并与仿真结果进行了对比,验证了模型的准确性。对耦合了液压助力系统的整个转向机构的系统特性进行了较为深入的研究,分析了液压助力系统参数如转阀切口、扭杆刚度、设计间隙等对转向系统响应的影响。
2)采用三维CFD方法和液-固耦合方法对转阀的静、动态助力特性进行了研究。采用三维稳态CFD分析方法研究了转阀的压力、速度、汽蚀特性,在此基础上提取了转阀的助力特性曲线,并详细分析了流量、转角等参数对转阀内外特性的影响。通过建立转阀全三维液固耦合分析模型,求解了转阀实际工作时的液固耦合动态响应。分析结果表明：液-固耦合方法能够更好的反应真实的转阀动态特性。
3)考虑到侧偏角的存在,对转向阿克曼条件进行了修正,提出了传统阿克曼条件的修正方法,研究了双前桥转向系统的杆系设计与优化问题,提出了双前桥转向系统的杆系关键铰接点位置的设计与优化方法；针对双前桥转向系统,建立了详细的多体动力学模型,模型中考虑了板簧的导向作用对转向系统的影响,利用该模型详细研究了双桥转向系统中各杆件的受力,对比了第二桥助力油缸的不同助力特性对杆系受力的影响；建立了十分详细的包含双前桥转向系统的整车多体动力学模型,针对双前桥转向系统进行了原地转向仿真分析,得到了各杆系合理的受力分配；对双前桥转向系统进行了试验研究,同时也对以上仿真分析的结论进行了必要的试验验证。
4)对液压助力转向系统和整车动力学耦合问题进行了研究,重点研究了转向系统参数,包括转向系统的摩擦、阻尼、转动惯量、扭杆刚度以及液压系统参数对商用车动力学的影响。使用了统计学中的方差分析方法,进行了正交试验,分别对中间位置操纵稳定性,稳态回转和转向回跳中的指标进行了灵敏度分析,定量地确定了这些参数对整车性能的影响。
The steering system can affect the dynamic performance of the commercial vehicle. The design and optimization of the steering system is a key technology for the vehicle research and design. This dissertation presents the research on the modeling and simulation of heavy-duty truck steering system and vehicle dynamics analysis, such as the modeling and simulation of the hydraulic power steering system, the three-dimensional CFD (Computational Fluid Dynamics) and FSI (Fluid-Structure Interface) methods to simulation the static and dynamic characteristics of the rotary valve of a hydraulic power steering system, the optimization of the double-axle steering system and the simulation of the heavy truck. The main contents are listed as follows.
1) The dissertation presents the modeling and simulation of the hydraulic power steering system. The experiments were carried out to verify the model. The simulation results fit the experiment data very well, and illustrated the correctness of the model. Some design parameter such as the width of the groove, the stiffness of the torsion bar and the gap, etc. are analysed to study the performance of the steering system.
2) The three-dimensional CFD (Computational Fluid Dynamics) and FSI (Fluid-Structure Interface) methods are introduced to simulation the static and dynamic characteristics of the rotary valve of a hydraulic power steering system in this dissertation. The power steering curve is derived based on a steady CFD simulation which analyzes the pressure, velocity and cavitation features of the true rotary valve. A full 3D FSI model is constructed to analyze the dynamic response considering the transient fluid and solid interaction. The simulation results indicate that the FSI model will obtain a more accuracy dynamic characteristics of the rotary valve which is assembled in a hydraulic power steering system.
3) With design and optimization of the double-axle steering mechanism, a modified steering Ackermann theory considering the wheel slip angle effect is presented to optimize the key point position of steering system. For the double-axle steering mechanism, a detailed multibody model which included the leafspring interfering effect to the steering system is presented. With the detailed multibody model of the steering system the loads in the links are studied, and loads in the links are comparied with different assisted oil cylinder performance. A detailed full vehicle multibody model which including the double-axle steering mechanism is presented, the steering returnability in low-speed cornering is simulated and the uniform loads are acquired on the links. The experiment with double-axle steering mechanism is persented to validate the simulation results.
4) The dissertation presents the vehicle dynmics coupling with hydraulic power steering system. The influence of some key parameters such as friction force, damping, inertia, and hydraulic parameters, etc. were studied the analysis the relationship to the vehicle dynamic performance. Analysis of variance and design of experiment are adapted to study the analysis of sensitivity. The on-center, steady state and steering kickback maneuver are carried out the study the vehicle dynamics.
1)对液压助力转向系统进行了深入研究,建立了液压助力系统模型,在液压助力系统试验台架上进行了试验测试,并与仿真结果进行了对比,验证了模型的准确性。对耦合了液压助力系统的整个转向机构的系统特性进行了较为深入的研究,分析了液压助力系统参数如转阀切口、扭杆刚度、设计间隙等对转向系统响应的影响。
2)采用三维CFD方法和液-固耦合方法对转阀的静、动态助力特性进行了研究。采用三维稳态CFD分析方法研究了转阀的压力、速度、汽蚀特性,在此基础上提取了转阀的助力特性曲线,并详细分析了流量、转角等参数对转阀内外特性的影响。通过建立转阀全三维液固耦合分析模型,求解了转阀实际工作时的液固耦合动态响应。分析结果表明：液-固耦合方法能够更好的反应真实的转阀动态特性。
3)考虑到侧偏角的存在,对转向阿克曼条件进行了修正,提出了传统阿克曼条件的修正方法,研究了双前桥转向系统的杆系设计与优化问题,提出了双前桥转向系统的杆系关键铰接点位置的设计与优化方法；针对双前桥转向系统,建立了详细的多体动力学模型,模型中考虑了板簧的导向作用对转向系统的影响,利用该模型详细研究了双桥转向系统中各杆件的受力,对比了第二桥助力油缸的不同助力特性对杆系受力的影响；建立了十分详细的包含双前桥转向系统的整车多体动力学模型,针对双前桥转向系统进行了原地转向仿真分析,得到了各杆系合理的受力分配；对双前桥转向系统进行了试验研究,同时也对以上仿真分析的结论进行了必要的试验验证。
4)对液压助力转向系统和整车动力学耦合问题进行了研究,重点研究了转向系统参数,包括转向系统的摩擦、阻尼、转动惯量、扭杆刚度以及液压系统参数对商用车动力学的影响。使用了统计学中的方差分析方法,进行了正交试验,分别对中间位置操纵稳定性,稳态回转和转向回跳中的指标进行了灵敏度分析,定量地确定了这些参数对整车性能的影响。
The steering system can affect the dynamic performance of the commercial vehicle. The design and optimization of the steering system is a key technology for the vehicle research and design. This dissertation presents the research on the modeling and simulation of heavy-duty truck steering system and vehicle dynamics analysis, such as the modeling and simulation of the hydraulic power steering system, the three-dimensional CFD (Computational Fluid Dynamics) and FSI (Fluid-Structure Interface) methods to simulation the static and dynamic characteristics of the rotary valve of a hydraulic power steering system, the optimization of the double-axle steering system and the simulation of the heavy truck. The main contents are listed as follows.
1) The dissertation presents the modeling and simulation of the hydraulic power steering system. The experiments were carried out to verify the model. The simulation results fit the experiment data very well, and illustrated the correctness of the model. Some design parameter such as the width of the groove, the stiffness of the torsion bar and the gap, etc. are analysed to study the performance of the steering system.
2) The three-dimensional CFD (Computational Fluid Dynamics) and FSI (Fluid-Structure Interface) methods are introduced to simulation the static and dynamic characteristics of the rotary valve of a hydraulic power steering system in this dissertation. The power steering curve is derived based on a steady CFD simulation which analyzes the pressure, velocity and cavitation features of the true rotary valve. A full 3D FSI model is constructed to analyze the dynamic response considering the transient fluid and solid interaction. The simulation results indicate that the FSI model will obtain a more accuracy dynamic characteristics of the rotary valve which is assembled in a hydraulic power steering system.
3) With design and optimization of the double-axle steering mechanism, a modified steering Ackermann theory considering the wheel slip angle effect is presented to optimize the key point position of steering system. For the double-axle steering mechanism, a detailed multibody model which included the leafspring interfering effect to the steering system is presented. With the detailed multibody model of the steering system the loads in the links are studied, and loads in the links are comparied with different assisted oil cylinder performance. A detailed full vehicle multibody model which including the double-axle steering mechanism is presented, the steering returnability in low-speed cornering is simulated and the uniform loads are acquired on the links. The experiment with double-axle steering mechanism is persented to validate the simulation results.
4) The dissertation presents the vehicle dynmics coupling with hydraulic power steering system. The influence of some key parameters such as friction force, damping, inertia, and hydraulic parameters, etc. were studied the analysis the relationship to the vehicle dynamic performance. Analysis of variance and design of experiment are adapted to study the analysis of sensitivity. The on-center, steady state and steering kickback maneuver are carried out the study the vehicle dynamics.
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