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为实现履带车辆主动悬挂减振性能和能耗达到综合最优,基于正交试验方法开展履带车辆主动悬挂多点布置优化设计。首先,建立了履带车辆悬挂系统动力学模型,并通过道路模拟试验验证了该模型的合理性;其次,开展了履带车辆悬挂系统正交试验,分析了4种典型路面下各子悬挂对悬挂系统减振性能影响的敏感性;最后,设计了主动悬挂作动器的6个布置方案,通过建立基于线性二次最优(linear quadratic regulator,简称LQR)控制的履带车辆主动悬挂动力学模型,分析了典型路面下各布置方案对悬挂系统减振性能的影响规律及能耗变化规律。结果表明,通过对履带车辆主动悬挂作动器的布置优化,可以实现悬挂减振性能和能耗之间的平衡。 相似文献
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履带车辆悬挂系统不仅直接影响到车辆的平顺性和舒适性,而且对履带车辆的稳定性能和行进间射击精度有着重要的影响。基于履带车辆建立了路面模型和车辆悬挂系统的二自由度动力学模型,采用Simulink对悬挂系统动力学模型进行仿真计算,并通过改变悬挂的阻尼刚度和弹簧刚度来分析其对车辆稳定性和车辆射击精度的影响,为悬挂系统的设计提供基础。 相似文献
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《机械工程学报》2015,(18)
为建立一种简单高效的履带车辆动力学分析模型,提出一种车辆悬挂系统当量化方法。该当量化方法通过研究悬挂系统中各构件间的关系,基于虚功原理建立悬挂系统的当量刚度和当量阻尼的计算公式,在此基础上建立一个8自由度履带车辆平面数学模型;采用小波域阈值滤波的方法对高频路面进行滤波处理,以反映履带对高频路面的滤波作用。在Recur Dyn软件中分别建立履带车辆单轮悬挂系统及整车的多体动力学模型并进行仿真,对采用悬挂系统当量化方法及平面数学模型分析得到的结果与在同一条件下基于Recur Dyn所做的动力学仿真结果进行比较。结果表明,悬挂系统当量化计算刚度与阻尼与仿真得到的悬挂系统的刚度和阻尼非常吻合;车辆行驶时,采用平面数学模型分析得到的平衡肘、质心竖直方向以及车体俯仰方向的运动学和动力学参数与基于Recur Dyn所做的整车动力学仿真结果具有很好的一致性。上述结果验证了悬挂系统当量化方法以及基于此方法所建立的平面数学模型的正确性。 相似文献
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采用多体动力学仿真软件Recurdyn建立油气悬挂式履带车辆多体动力学模型,重点对履带车辆在两种软地面上的高速转向过程进行了动力学仿真和对比分析,讨论了履带车辆在软地面高速转向的动力学特性.研究结果表明:履带车辆在软地面高速转向稳定性差,在干沙路面转向半径比黏土路面大,干沙路面的剪切阻力角比黏土路面大,造成履带受到相对更大的侧向加速度,使得履带车辆更易发生侧翻现象;转向行驶时履带张紧力变化明显,主动轮所需扭矩较大,容易发生脱轮的状况. 相似文献
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基于多体动力学仿真的履带车辆转向性能分析 总被引:1,自引:0,他引:1
以多体系统动力学理论和方法为基础,基于RecurDyn软件建立高速履带车辆多体动力学模型及路面模型,对履带车辆在硬、软两种地面的高速转向过程进行动力学仿真和对比分析。重点分析车辆在转向过程中履带预张紧力、转向半径和路面工况这3方面因素对转向特性的影响。研究结果表明:履带车辆高速转向时,软地面转向性差,易发生车辆侧翻、脱轮等现象;车辆以20 km/h的速度,转向半径r>B/2软地转向时,两侧履带滑移(滑转)现象不明显,转向稳定性最好,当选取车重力的10%(20 kN)作为预张紧力时,履带动态张紧力波动变化小,车辆转向角加速度没有出现幅值突变,转向平稳。 相似文献
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为了提高馈能悬架的能量回收效果及动力学性能,提出了一种车辆电液馈能型互联悬架结构。根据流量/压降之间的关系,建立了整车7自由度与电液馈能型互联悬架的耦合数学模型,通过正弦激励对车辆电液馈能型互联悬架进行阻尼特性和馈能特性仿真。以四轮随机路面为输入,分析悬架对车辆的平顺性、行驶稳定性的影响。结果表明:阻尼力、馈能功率与激励频率、幅值成正比,馈能功率波动与之成反比,馈能效率随幅值、频率增大而先增大后减小;随机路面下,与被动悬架相比,电液馈能型互联悬架的俯仰模式、侧倾模式均可以改善动力学性能的同时实现振动能量的回收。 相似文献
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基于虚拟试验场(VPG)技术进行汽车平顺性仿真.建立了整车多体动力学虚拟仿真模型和随机输入路面模型,利用LS-DYNA对仿真结果进行计算,得到时域信号下的车身加速度曲线和频域信号下的车身加速度功率谱,采用总加权加速度均方根值法分析试验结果,并通过改变悬架刚度和阻尼大小,研究悬架系统对汽车平顺性影响,进一步对仿真车辆的平顺性进行评价.试验结果表明,基于VPG技术进行汽车平顺性仿真能够真实地反映实车试验工况,分析结果准确、可靠. 相似文献
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《Mechanical Systems and Signal Processing》2006,20(2):363-372
To carry out the dynamic response prediction of a vehicle subjected to excitation from a stochastic road in a time domain, it is necessary to simulate time series of road irregularities. Based on the frequency domain model, power spectral density (PSD) function of roads, this study focuses on regenerating the time domain model of roads by using a white noise filtration method, especially on the temporally and spatially correlative bilateral track model by taking the coherence between the road tracks into consideration. As a typical time series of road irregularity, the resulting model was theoretically discussed and numerically simulated. A numerical example showed that the method was highly efficient and accurate, even when very long sequences were simulated. Finally, several conclusions were drawn. 相似文献
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The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller has not been proposed for the MR full-vehicle suspension system, and a systematic analysis method has not been established for evaluating the multi-objective suspension performances of MR full-vehicle vertical, pitch and roll motions. For this purpose, according to the 7-degree of freedom (DOF) fullvehicle dynamic system, a generalized 7-DOF MR and passive full-vehicle dynamic model is set up by employing the modified Boucwen hysteretic force-velocity (F-v) model of the MR damper. A semi-active controller is synthesized to realize independent control of the four MR quarter-vehicle sub-suspension systems in the full-vehicle, which is on the basis of the proposed modified skyhook damping scheme of MR quarter-vehicle sub-suspension system. The proposed controller can greatly simplify the controller design complexity of MR full-vehicle suspension and has merits of easy implementation in real application, wherein only absolute velocities of sprung and unsprung masses with reference to the road surface are required to measure in real time when the vehicle is moving. Furthermore, a systematic analysis method is established for evaluating the vertical, pitch and roll motion properties of both MR and passive full-vehicle suspensions in a more realistic road excitation manner, in which the harmonic, rounded pulse and real road measured random signals with delay time are employed as different road excitations inserted on the front and rear two wheels, by considering the distance between front and rear wheels in full-vehicle. The above excitations with different amplitudes are further employed as the road excitations inserted on left and right two wheels for evaluating the roll motion property. The multi-objective suspension performances of ride comfort and handling safety of the proposed MR full-vehicle suspensi 相似文献
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建立了车辆两自由度非线性动力学模型及包含悬架刚度立方非线性的运动微分方程,运用Runge-Kutta方法求出了被动悬架与半主动悬架系统对水泥路面、搓板路面、卵石路、鱼鳞坑路4种路谱的响应,采用模拟计算法得出车身竖直振动加速度的均方根值,并将被动悬架与半主动悬架系统的响应进行比较,在振动舒适度改进的同时,悬架弹簧的变形量增大,因此应该合理选择系统参数为汽车的动态设计提供了理论依据. 相似文献
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《Mechanical Systems and Signal Processing》2007,21(3):1422-1436
Comfort and road handling of a passenger car can be improved by replacing its passive suspension by a controlled semi-active suspension. The selection of an appropriate control structure is crucial, since it determines the complexity of the control design and parameter tuning process.This paper presents a flexible and transparent model-free control structure based on (1) physical insights in the car and semi-active suspension dynamics used to linearise and decouple the system, and (2) decentralised linear feedback. The resulting controller can be tuned on-line intuitively using a limited number of physically interpretable parameters.The simplicity of the control structure and the absence of any model of either the car or the shock absorber yields that the code of the controller can run on a low-cost DSP with a minimum amount of memory. The evaluation of experienced test-pilots states that the car with tuned controller behaves naturally, yields comfortable ride on a wide variety of calibrated evaluation tracks and yet is well controlled during all handling manoeuvres. 相似文献
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建立了7自由度线性时不变车辆系统动力学的理论模型。对其悬架系统在不同 路况下的动态特性进行了时域仿真研究。讨论了悬架系统在不同路况下的系统参数 匹配性等问题。 相似文献