非公路车辆前轴油气悬架系统动力学特性研究
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摘要
与小汽车、客车和载重车相比,农用车辆、林业车辆、拖拉机、部分工程车辆等无悬架非公路车辆的振动尤为剧烈。随着车辆行驶速度的逐渐提高,这一问题将会更加突出,同时随着车辆向着大型化、高速化、舒适性方向发展,其舒适性已经成为消费者关注的主要内容之一。研究表明,结合无悬架非公路车辆的结构特点,就目前经济和技术水平来看,安装合适的前轴悬架系统特别是前轴油气悬架系统是改变这种现状的有效措施之一。因此,深入研究前轴油气悬架系统设计理论及其振动特性,对前轴油气悬架车辆的研究与开发具有重要的意义。
本文以江苏常发集团生产的CF200拖拉机作为样车,在试验测定车辆系统的质量属性参数、轮胎刚度与阻尼系数等的基础上,建立了无悬架和前轴悬架非公路车辆系统振动的数学模型,分析了系统的固有频率,运用Matlab/Simulink进行了系统的振动特性仿真研究和前轴悬架系统的参数匹配研究。结合样车的结构特点和参数特征,研制了适用于样车的阻尼可调前轴油气悬架系统,建立了其数学模型,并进行了油气悬架系统的静刚度、阻尼特性、输出力特性的仿真研究和油气悬架系统的动态输出力特性试验,同时通过台架试验进行了前轴油气悬架车辆的动态特性的试验研究。所完成的主要工作以及取得的主要结论如下
1、参照有关国家标准,对样车的质量、质心位置、车辆绕质心位置的俯仰转动惯量等质量属性参数和车辆前、后轮胎的刚度与阻尼系数等进行了测定。
2、在分析了无悬架车辆系统的振动微分方程和车辆系统固有频率的基础上,结合测得的车辆自身参数计算得到车辆的垂直振动固有频率和俯仰角振动固有频率；以积分白噪声D级随机路面作为激励,利用MATLAB/Simulink软件,分析研究了无悬架车辆系统质心位置的垂直振动加速度、俯仰振动角位移、角加速度,并对车辆前、后轴处的垂直振动位移、垂直振动加速度进行了比较,结果表明：前、后轴处垂直振动位移幅值基本接近,而前轴的垂直振动加速度明显高于后轴。
3、考虑到驾驶员重量对非公路车辆的质心位置和绕质心的俯仰转动惯量的影响,建立了与样车结构参数相匹配的前轴悬架非公路车辆振动数学模型,运用MATLAB/Simulink通过改变前轴悬架的参数,对前轴悬架车辆的振动特性和悬架系统的阻尼和刚度参数的匹配问题进行了仿真研究。
4、基于流体力学和气体状态方程等相关理论,建立了阻尼可调油气悬架的数学模型,并对油气悬架的静刚度特性进行了理论分析,通过改变蓄能器气体的初始工作压力和体积、正弦激振频率和幅值、活塞阻尼孔直径、单向阀直径、可调阻尼阀直径等参数,应用MATLAB/Simulink对油气弹簧的阻尼、动态输出力和悬架缸各腔压力等非线性特性进行了仿真研究。
5、构建了前轴油气悬架车辆振动特性综合试验台,基于LabVIEW开发了试验台测控系统,可进行油气悬架静刚度、动态输出力等特性试验和油气悬架系统的位移传递率、垂直振动加速度、悬架动挠度、悬架动载荷、油气悬架各腔动压力等动态性能的试验研究工作。
6、确定了阻尼可调式前轴油气悬架的整体结构和主要零部件参数,进行了蓄能器内气体不同初始工作压力和初始工作体积下的油气悬架静特性试验,通过改变气体初始工作压力和体积、正弦激振幅值和频率、可调阻尼阀阀芯转角和单向阀组阀口开度,进行了油气悬架的动态特性试验。
7、在构建和分析了车辆前轴1/2悬架振动系统数学模型的基础上,进行了车辆前轴油气悬架系统的台架试验,通过改变蓄能器内气体初始工作体积、可调阻尼阀阀芯转角、单向阀组阀口开度、正弦激励幅值等参数,试验研究了各参数对簧上质量垂直振动的位移传递率、加速度均方根值以及车轮动载荷等振动特性的影响规律。
通过本课题的研究,为前轴油气悬架非公路车辆系统的研究提供了理论基础和技术支持。
The vibration of non-suspension off-road vehicles, such as agricultural vehicles, forestry vehicles, tractors and some engineering vehicles, is more poignant than cars, buses and trucks. With the increasing of running speed, this problem is increasingly outstanding. More attention will be paid to the comfort of vehicle with the development direction aimed to large-scale, highspeed and comfort. Some investigations indicated that one of the effective methods to change present situation is to fix suitable front axle suspension, based on the structural characteristics of non-suspension off-road vehicle and the present economy and technology level. To deeply study the design theory and vibration characteristics of front axle hydro-pneumatic suspension system has important significance to the research and development of front axle hydro-pneumatic suspension vehicle.
Taken CF200tractor made in Changfa Groupe of Jiangsu province as prototype, based on the parameters of mass properties of vehicle system and vibrational characteristics of tires obtained by test, the vibrational mathematical models of non-suspension and front axle suspension vehicle system were put forward in this paper. At the same time, the natural frequencies of system were analysized and the research of vibrational characteristics of vehicle system and parameter matching of front axle suspension system were made using MATLAB/Simulink. Taken the structural and parameter characteristics of model vehicle into account, damping-adjustable front axle hydro-pneumatic suspension suitable for model vehicle was designed and machined. The simulation investigation of static stiffness and damping characteristics and output force characteristics and the experiment investigation of output force characteristics of hydro-pneumatic suspension system were made, and the experimental dynamic characteristic research of front axle hydro-pneumatic suspension vehicle system was made by test. The finished work and achieved results are generalized as following:
1. Referring to relevant national standard, the mass parameters, such as quality, centroid position and pitching rotational inertia etal, and stiffness and damping coefficients of front and rear tires were determined.
2. The natural frequencies of vertical vibration and pitching angle vibration were calculated, based on the analysis of vibrational differential equation and natural frequencies of non-suspension vehicle system. Taken integral white noise random road of grade D as excitation, the displacement and acceleration of vertical vibration and pitching angle vibration were studied using MATLAB/Simulink. The comparison of displacement and acceleration of vertical vibration was made in this paper, the result showed that the amplitude of vertical vibration displacement of front axle was nearly equal to that of rear axle, but the vertical vibration acceleration of front axle was greater than that of rear axle obviously.
3. Taken the influence of driver's mass on centroid position and pitching rotational inertia of off-road vehicle into account, the vibrational mathematical model of front axle suspension vehicle system suitable to structural parameters was put forward. Changing parameters of front suspension, the simulation of vibrational characteristics of front axle suspension and parameter matching problem of damping and stiffness of suspension system were studied using MATLAB/Simulink.
4. Based on related theories of fluid mechanics and gas state equation, the mathematical model of damping-adjustable hydro-pneumatic suspension was established, and the static stiffness characteristics of hydro-pneumatic suspension was analyzed. Non-linear characteristics of damping, dynamic output force and pressure of every cavity of hydro-pneumatic suspension were simulated using MATLAB/Simulink by changing initial working pressure and volume of Nitrogen, frequency and amplitude of sine excitation, the diameter of piston damping, check valve and adjustable damping valve.
5. The test-bed of vibrational characteristics was constructed, and the measurement and control system of test-bed was developed based on Lab VIEW, through which the characteristics experiment of hydro-pneumatic such as static stiffness and dynamic output can be completed. The experiment of dynamic parameters such as dynamic amplification factor and vertical vibration acceleration of hydro-pneumatic suspension, dynamic deflection and dynamic load of suspension system, dynamic pressure of every cavity etal also can be completed on this test-bed.
6. The whole structure of hydro-pneumatic suspension with adjustable damping and the parameters of main parts were determined. The static characteristic experiment of hydro-pneumatic under various initial working pressures and volume of Nitrogen was carried out. The experiment of dynamic parameters was carried out by changing initial working pressure and volume of Nitrogen, frequency and amplitude of sine excitation, the diameter of piston damping, check valve and adjustable damping valve etal.
7. Based on the construction and analysis of mathematical model for front axle half suspension system of vehicle, the experiment of front axle hydro-pneumatic suspension system was carried out using a test set. Effect of various parameters of suspension system on the dynamic amplification factor and root mean square value of acceleration of sprung mass and dynamic load of wheel were studied, and these parameters include the initial working volume of Nitrogen, amplitude of sine excitation, the diameter of check valve and adjustable valve of damper.
This work provides theoretical basis and technical support for the research of off-road vehcile with front axle hydro-pneumatic suspension system.
本文以江苏常发集团生产的CF200拖拉机作为样车,在试验测定车辆系统的质量属性参数、轮胎刚度与阻尼系数等的基础上,建立了无悬架和前轴悬架非公路车辆系统振动的数学模型,分析了系统的固有频率,运用Matlab/Simulink进行了系统的振动特性仿真研究和前轴悬架系统的参数匹配研究。结合样车的结构特点和参数特征,研制了适用于样车的阻尼可调前轴油气悬架系统,建立了其数学模型,并进行了油气悬架系统的静刚度、阻尼特性、输出力特性的仿真研究和油气悬架系统的动态输出力特性试验,同时通过台架试验进行了前轴油气悬架车辆的动态特性的试验研究。所完成的主要工作以及取得的主要结论如下
1、参照有关国家标准,对样车的质量、质心位置、车辆绕质心位置的俯仰转动惯量等质量属性参数和车辆前、后轮胎的刚度与阻尼系数等进行了测定。
2、在分析了无悬架车辆系统的振动微分方程和车辆系统固有频率的基础上,结合测得的车辆自身参数计算得到车辆的垂直振动固有频率和俯仰角振动固有频率；以积分白噪声D级随机路面作为激励,利用MATLAB/Simulink软件,分析研究了无悬架车辆系统质心位置的垂直振动加速度、俯仰振动角位移、角加速度,并对车辆前、后轴处的垂直振动位移、垂直振动加速度进行了比较,结果表明：前、后轴处垂直振动位移幅值基本接近,而前轴的垂直振动加速度明显高于后轴。
3、考虑到驾驶员重量对非公路车辆的质心位置和绕质心的俯仰转动惯量的影响,建立了与样车结构参数相匹配的前轴悬架非公路车辆振动数学模型,运用MATLAB/Simulink通过改变前轴悬架的参数,对前轴悬架车辆的振动特性和悬架系统的阻尼和刚度参数的匹配问题进行了仿真研究。
4、基于流体力学和气体状态方程等相关理论,建立了阻尼可调油气悬架的数学模型,并对油气悬架的静刚度特性进行了理论分析,通过改变蓄能器气体的初始工作压力和体积、正弦激振频率和幅值、活塞阻尼孔直径、单向阀直径、可调阻尼阀直径等参数,应用MATLAB/Simulink对油气弹簧的阻尼、动态输出力和悬架缸各腔压力等非线性特性进行了仿真研究。
5、构建了前轴油气悬架车辆振动特性综合试验台,基于LabVIEW开发了试验台测控系统,可进行油气悬架静刚度、动态输出力等特性试验和油气悬架系统的位移传递率、垂直振动加速度、悬架动挠度、悬架动载荷、油气悬架各腔动压力等动态性能的试验研究工作。
6、确定了阻尼可调式前轴油气悬架的整体结构和主要零部件参数,进行了蓄能器内气体不同初始工作压力和初始工作体积下的油气悬架静特性试验,通过改变气体初始工作压力和体积、正弦激振幅值和频率、可调阻尼阀阀芯转角和单向阀组阀口开度,进行了油气悬架的动态特性试验。
7、在构建和分析了车辆前轴1/2悬架振动系统数学模型的基础上,进行了车辆前轴油气悬架系统的台架试验,通过改变蓄能器内气体初始工作体积、可调阻尼阀阀芯转角、单向阀组阀口开度、正弦激励幅值等参数,试验研究了各参数对簧上质量垂直振动的位移传递率、加速度均方根值以及车轮动载荷等振动特性的影响规律。
通过本课题的研究,为前轴油气悬架非公路车辆系统的研究提供了理论基础和技术支持。
The vibration of non-suspension off-road vehicles, such as agricultural vehicles, forestry vehicles, tractors and some engineering vehicles, is more poignant than cars, buses and trucks. With the increasing of running speed, this problem is increasingly outstanding. More attention will be paid to the comfort of vehicle with the development direction aimed to large-scale, highspeed and comfort. Some investigations indicated that one of the effective methods to change present situation is to fix suitable front axle suspension, based on the structural characteristics of non-suspension off-road vehicle and the present economy and technology level. To deeply study the design theory and vibration characteristics of front axle hydro-pneumatic suspension system has important significance to the research and development of front axle hydro-pneumatic suspension vehicle.
Taken CF200tractor made in Changfa Groupe of Jiangsu province as prototype, based on the parameters of mass properties of vehicle system and vibrational characteristics of tires obtained by test, the vibrational mathematical models of non-suspension and front axle suspension vehicle system were put forward in this paper. At the same time, the natural frequencies of system were analysized and the research of vibrational characteristics of vehicle system and parameter matching of front axle suspension system were made using MATLAB/Simulink. Taken the structural and parameter characteristics of model vehicle into account, damping-adjustable front axle hydro-pneumatic suspension suitable for model vehicle was designed and machined. The simulation investigation of static stiffness and damping characteristics and output force characteristics and the experiment investigation of output force characteristics of hydro-pneumatic suspension system were made, and the experimental dynamic characteristic research of front axle hydro-pneumatic suspension vehicle system was made by test. The finished work and achieved results are generalized as following:
1. Referring to relevant national standard, the mass parameters, such as quality, centroid position and pitching rotational inertia etal, and stiffness and damping coefficients of front and rear tires were determined.
2. The natural frequencies of vertical vibration and pitching angle vibration were calculated, based on the analysis of vibrational differential equation and natural frequencies of non-suspension vehicle system. Taken integral white noise random road of grade D as excitation, the displacement and acceleration of vertical vibration and pitching angle vibration were studied using MATLAB/Simulink. The comparison of displacement and acceleration of vertical vibration was made in this paper, the result showed that the amplitude of vertical vibration displacement of front axle was nearly equal to that of rear axle, but the vertical vibration acceleration of front axle was greater than that of rear axle obviously.
3. Taken the influence of driver's mass on centroid position and pitching rotational inertia of off-road vehicle into account, the vibrational mathematical model of front axle suspension vehicle system suitable to structural parameters was put forward. Changing parameters of front suspension, the simulation of vibrational characteristics of front axle suspension and parameter matching problem of damping and stiffness of suspension system were studied using MATLAB/Simulink.
4. Based on related theories of fluid mechanics and gas state equation, the mathematical model of damping-adjustable hydro-pneumatic suspension was established, and the static stiffness characteristics of hydro-pneumatic suspension was analyzed. Non-linear characteristics of damping, dynamic output force and pressure of every cavity of hydro-pneumatic suspension were simulated using MATLAB/Simulink by changing initial working pressure and volume of Nitrogen, frequency and amplitude of sine excitation, the diameter of piston damping, check valve and adjustable damping valve.
5. The test-bed of vibrational characteristics was constructed, and the measurement and control system of test-bed was developed based on Lab VIEW, through which the characteristics experiment of hydro-pneumatic such as static stiffness and dynamic output can be completed. The experiment of dynamic parameters such as dynamic amplification factor and vertical vibration acceleration of hydro-pneumatic suspension, dynamic deflection and dynamic load of suspension system, dynamic pressure of every cavity etal also can be completed on this test-bed.
6. The whole structure of hydro-pneumatic suspension with adjustable damping and the parameters of main parts were determined. The static characteristic experiment of hydro-pneumatic under various initial working pressures and volume of Nitrogen was carried out. The experiment of dynamic parameters was carried out by changing initial working pressure and volume of Nitrogen, frequency and amplitude of sine excitation, the diameter of piston damping, check valve and adjustable damping valve etal.
7. Based on the construction and analysis of mathematical model for front axle half suspension system of vehicle, the experiment of front axle hydro-pneumatic suspension system was carried out using a test set. Effect of various parameters of suspension system on the dynamic amplification factor and root mean square value of acceleration of sprung mass and dynamic load of wheel were studied, and these parameters include the initial working volume of Nitrogen, amplitude of sine excitation, the diameter of check valve and adjustable valve of damper.
This work provides theoretical basis and technical support for the research of off-road vehcile with front axle hydro-pneumatic suspension system.
引文
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