基于参数辨识的矿用自卸车平顺性优化
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摘要
矿用自卸车行驶路况非常恶劣,为改善某型矿用自卸车的平顺性,需要得到油气悬架非线性刚度阻尼特性。利用具有紧支撑正交特性的Daubechies小波和最小二乘法原理辨识油气悬架物理参数,将时变刚度阻尼离散为正交尺度函数下的线性组合,从而把辨识时变物理参数的"黑箱"问题转化为已知尺度函数序列和系统的输入输出来估计线性组合中的时不变系数问题。为验证辨识的刚度阻尼值,在Adams/view中建立整车多体动力学模型,得知辨识参数下的加速度时域响应和功率谱密度与试验结果相差无几,从而验证了该方法的有效性。借助遗传算法优化油气悬架的物理参数,将辨识结果作为优化变量的初始条件,以座椅垂直方向加速度方均根值为目标,优化后目标值下降了51.84%,达到了改善平顺性的目的。
In order to optimize mining dump truck ride comfort for bad driving traffic,nonlinear stiffness and damping characteristics of hydro-pneumatic suspension are needed.Time-varying stiffness and damping with linear combination under a series scaling function is scattered,based on Daubechies wavelet's compactness and regularization and least-square method.This means to turn "black problem" of identifying time-varying parameters into identifying invariant coefficients when the scaling function sequence and the input and output of system are known.The multi-rigid body dynamic model of whole truck is built in Adams/view for the sake of testing stiffness and damping of identifying.Time-acceleration and power spectral density under identifying parameter are found to be extremely close to the result of experiment,which implies validity of this method.The physical parameters of hydro-pneumatic suspension by genetic algorithm is optimized,which makes the identifying parameter as the initial condition and makes the root mean square value of the seat acceleration as optimization objective.After optimizing,the value is descended by 51.84%,which achieves the purpose of improving the ride comfort.
In order to optimize mining dump truck ride comfort for bad driving traffic,nonlinear stiffness and damping characteristics of hydro-pneumatic suspension are needed.Time-varying stiffness and damping with linear combination under a series scaling function is scattered,based on Daubechies wavelet's compactness and regularization and least-square method.This means to turn "black problem" of identifying time-varying parameters into identifying invariant coefficients when the scaling function sequence and the input and output of system are known.The multi-rigid body dynamic model of whole truck is built in Adams/view for the sake of testing stiffness and damping of identifying.Time-acceleration and power spectral density under identifying parameter are found to be extremely close to the result of experiment,which implies validity of this method.The physical parameters of hydro-pneumatic suspension by genetic algorithm is optimized,which makes the identifying parameter as the initial condition and makes the root mean square value of the seat acceleration as optimization objective.After optimizing,the value is descended by 51.84%,which achieves the purpose of improving the ride comfort.
引文
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[18]江浩斌,王波,黄炯.考虑道路友好性的载货汽车悬架参数优化仿真[J].计算机仿真,2009,26(5):291-295.JIANG Haobin,WANG Bo,HUANG Jiong.Optimizingsimulation of truck suspension parameters based on roadfriendliness[J].Computer Simulation,2009,26(5):291-295.
[19]赵旗,车华军,李杰.基于遗传算法的汽车行驶平顺性优化仿真[J].机械设计与制造,2009(3):203-205.ZHAO Qi,CHE Huajun,LI Jie.Automobile rideoptimization simulation based on genetic algorithm[J].Machinery Design and Manufacture,2009(3):203-205.
[20]陈无畏,祝辉.基于状态识别的整车操作性和平顺性的协调控制[J].机械工程学报,2011,47(6):121-129.CHENG Wuwei,ZHU Hui.Coordinated control ofvehicle ride comfort and handling stability based on stateidentification[J].Journal of Mechanical Engineering,2011,47(6):121-129.
[2]LIU K.Identification of linear time-varying systems[J].Journal of Sound and Vibration,1997,206(4):487-500.
[3]LIU K,DENG L.Experimental verification of analgorithm for identification of linear time-varyingsystems[J].Journal of Sound and Vibration,2004,279(3):1170-1180.
[4]庞世伟,于开平,邹经湘.识别时变结构模态参数的改进子空间方法[J].应用力学学报,2005,2(2):184-188.PANG Shiwei,YU Kaiping,ZOU Jingxiang.Improvedsubspace method application in linear time-varyingstructural modal parameter identification[J].ChineseJournal of Applied Mechanics,2005,2(2):184-188.
[5]闵志华,孙利民,孙智,等.环境激励下基于小波变换和奇异值分解的结构模态参数识别[J].振动工程学报,2009,22(2):142-149.MIN Zhihua,SUN Limin,SUN Zhi,et al.Structuralmodal parameter identification using wavelet transformand singular value decomposition under ambientexcitation[J].Journal of Vibration Engineering,2009,22(2):142-149.
[6]ALFI A,FATEH M M.Parameter identification based ona modified PSO applied to suspension system[J].J.Software Engineering&Applications,2010(3):221-229.
[7]VYASARAYANI C P,UCHIDA T.Parameteridentification in dynamic systems using the homotopyoptimization approach[J].Multibody Syst.Dyn.,2011(5):1-14.
[8]任宜春,易伟建.结构物理参数识别的多尺度参数卡尔曼滤波方法[J].工程力学,2008,25(5):1-5.REN Yichun,YI Weijian.Identification of physicalparameter by multi-scale parameter KALMAN filter[J].Engineering Mechanics,2008,25(5):1-5.
[9]代煜,孙和义,李慧鹏,等.基于小波变换的弱非线性阻尼和刚度辨识方法[J].振动与冲击,2009,28(2):51-55.DAI Yu,SUN Heyi,LI Huipeng,et al.Identification ofweak nonlinear damping and stiffness based on wavelettransform[J].Journal of Vibration and Shock,2009,28(2):51-55.
[10]SORSA A,PELTOKANGAS R,LEIVISK K.Real-coded genetic algorithms and nonlinear parameteridentification[C]//The 4th International IEEE Conference“Intelligent Systems”,2008:1042-1047.
[11]李会娜,史治宇.基于自由响应数据的时变系统物理参数识别[J].振动工程学报,2007,20(4):348-352.LI Huina,SHI Zhiyu.Identification of physical parameterof time-varying system based on free response data[J].Journal of Vibration Engineering,2007,20(4):348-352.
[12]TSATSANIS M K,GIANNAKIS G B.Time-varyingsystem identification and model validation usingwavelets[J].Transaction on Signal Processing,1993,41(12):3512-3523.
[13]任宜春.小波分析在土木工程结构损伤识别中的应用[M].长沙:湖南师范大学出版社,2010.REN Yichun.Application of wavelet analysis inidentification of damage detection of buildingengineering[M].Changsha:Hunan Normal UniversityPress,2010.
[14]邹甲军.小波技术在机械系统参数识别中的应用[D].兰州:兰州大学,2005.ZOU Jiajun.The application of wavelet in parameteridentification of mechanical systems[D].Lanzhou:Lanzhou University,2005.
[15]徐长发,李国宽.实用小波方法[M].3版.武汉:华中科技大学出版社,2009.XU Changfa,LI Guokuan.Practical wavelet method[M].3rd ed.Wuhan:Huazhong University of Science andTechnology Press,2009.
[16]任宜春,易伟建,谢献忠.地震作用下结构时变物理参数识别[J].地震工程与工程振动,2007,27(4):98-102.REN Yichun,YI Weijian,XIE Xianzhong.Identificationof time-variant physical parameters of structure underearthquake loading[J].Journal of Earthquake Engineeringand Engineering Vibration,2007,27(4):98-102.
[17]王超,任伟新,黄天立.基于离散小波变换的时变结构物理参数识别[J].中南大学学报,2010,41(2):655-660.WANG Chao,REN Weixin,HUANG Tianli.Physicalparameter identification of time-varying structure basedon discrete wavelet transform[J].Journal of Central SouthUniversity,2010,41(2):655-660.
[18]江浩斌,王波,黄炯.考虑道路友好性的载货汽车悬架参数优化仿真[J].计算机仿真,2009,26(5):291-295.JIANG Haobin,WANG Bo,HUANG Jiong.Optimizingsimulation of truck suspension parameters based on roadfriendliness[J].Computer Simulation,2009,26(5):291-295.
[19]赵旗,车华军,李杰.基于遗传算法的汽车行驶平顺性优化仿真[J].机械设计与制造,2009(3):203-205.ZHAO Qi,CHE Huajun,LI Jie.Automobile rideoptimization simulation based on genetic algorithm[J].Machinery Design and Manufacture,2009(3):203-205.
[20]陈无畏,祝辉.基于状态识别的整车操作性和平顺性的协调控制[J].机械工程学报,2011,47(6):121-129.CHENG Wuwei,ZHU Hui.Coordinated control ofvehicle ride comfort and handling stability based on stateidentification[J].Journal of Mechanical Engineering,2011,47(6):121-129.
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