Modelling and simulation of locomotive driver''s seat vertical suspension vibration isolation system

The paper describes the simulation of a vertical seat suspension system with a variable damper. The model presented describes a real damper with bushings and is an extension of the classical linear SDOF oscillatory system. Transfer functions were identified from laboratory measurements and the mechano-mathematical model produced was validated by field measurements. The seat cushion parameters were identified from laboratory measurements and combined with standardized vertical (z-axis) seated human body models (ISO 5982 and DIN 45676). These models, together with an inert mass human body model, were used to predict the vibration mitigation performance of the seat–occupant system. The results were compared to data obtained from field measurements under real operating conditions. It was found that the use of the inert mass human body model resulted in the smallest differences between predicted and measured system vibration isolation performance for the field excitation in the frequency band up to 4.5 Hz, where most of the vibratory energy was present in the field. Hence this simplified model is suggested for prediction of vibration influence on locomotive driver under field conditions.

Relevance to the industry

The developed model using various seated human body models in the vertical direction revealed that an inert mass instead of the human body model may be sufficient for reliable prediction of seat vibration mitigation properties in rail vehicles. The developed model and findings reported here assisted in development of an improved locomotive driver's seat.     

Study of simultaneous shock and vibration control by a fore-and-aft suspension system of a driver’s seat

A single degree-of-freedom simulation model of a seat equipped with a non-linear fore-and-aft suspension system was developed. The performance of a typical fore-and-aft suspension system was analysed using typical vibration and shock acceleration signals measured in loaders while travelling on off-road terrain and while driving the bucket into a heap of soil. Damper modification was suggested to improve the suspension performance in the control of both vibration and shocks. Suspension system performance was analysed using the simulation approach for variations in both mass loading and excitation intensity. A discussion of results obtained and practical suggestions for improvement of the fore-and-aft driver’s seat suspension system concludes this contribution.

Relevance to industry

The simulations are of use to seat manufacturers in developing improved fore-and-aft seat suspension for wheel loaders. It is shown that a damper with an optimised progressive damping characteristic provides better shock mitigation than is available with either a seat without any suspension or a suspended commercial seat as presently available on the market.     

The effects of the duration on the subjective discomfort of a rigid seat and a cushioned automobile seat

The subjective discomfort caused by the seat would affect the judgements of discomfort for the seated subjects. However, there have been few studies concerned with the discomfort on the rigid seat in static states, especially for a relatively long duration. This paper investigated the subjective discomfort caused by a rigid seat and a cushioned automobile seat for an hour. Twelve students (eight males and four females) rated the overall discomfort on a category-ratio scale and the local body discomfort on a 6-point rating scale every 10 min caused by two seats in two separate days. The static discomfort increased with increasing time, and the rigid seat caused greater discomfort than the cushioned seat. The local discomfort on the back dominated on the automobile seat, whereas the local discomfort on the buttock area dominated on the rigid seat. We established the empirical equations to predict the relations between the discomfort and duration of the two types of seats, for benchmark in the future studies on vibration and noise discomfort.     

Laboratory study as basis of the development for a seat testing procedure in horizontal directions

Horizontal whole-body vibration (WBV) can have an influence on health and comfort of drivers. Driver seats with additional suspensions in x- and/or y-axis should reduce the influence of vibration on the driver. No standards or test procedures are available for testing seats with horizontal suspensions. A standard test procedure for seats with horizontal suspensions could be developed from a test protocol used in a recent inter-laboratory study. To reduce the variability of the results obtained by different laboratories or repetitions, the test procedures should carefully consider methodological aspects with relevance to the results. Specifications of typical signals obtained in practice, or well-defined random time series as a basis for generation of test signals, with defined signs of acceleration would enable identical excitations in time domain and could reduce the variability of results caused by the non-linearity of the seat–human system. Nine healthy subjects volunteered for the study to test a seat with suspensions in three directions. They were selected with regard to three groups of body mass (52.4–54.6, 75.5–77.1, 98–100.7 kg). A random signal and two signals obtained in practice (tractor and truck) were selected for excitations in x- and y-directions by a six DOF electro-hydraulic simulator (hexapod). The errors between the desired and measured accelerations were calculated. The error depends on the signal, the direction and the subject. In the time domain, the absolute value of the error ranged from 1.8% to 42.4%. The SEAT value generally depends on the body mass, but in some cases the SEAT value of a lighter subject was lower than the SEAT value of a heavy one. This indicates that only one heavy and one light subject are not suited to calculate reliable parameters for an evaluation and comparison of seats. The non-symmetric displacements of the seat frame in x-direction indicate the non-linear behaviour of the seat–subject system.

Relevance to industry

Driver seats with suspensions in horizontal directions can reduce the influence of WBV on the health-risk of drivers. Laboratory test procedures are helpful for the evaluation and design of seats, if the results obtained by different laboratories are comparable. The paper describes methodological aspects that affect the test results and their variability.     

The effect of posture and vibration magnitude on the vertical vibration transmissibility of tractor suspension system

The efficiency of suspension seat can be influenced by several factors such as the input vibration, the dynamic characteristics of the seat and the dynamic characteristics of the human body. The objective of this paper is to study the effect of sitting postures and vibration magnitude on the vibration transmissibility of a suspension system of an agricultural tractor seat. Eleven (11) healthy male subjects participated in the study. All subjects were asked to sit on the suspension system. Four (4) different sitting postures were investigated – i) “relax”, ii) “slouch”, iii) “tense”, and iv) “with backrest support”. All subjects were exposed to random vertical vibration in the range of 1–20 Hz, at three vibration magnitudes - 0.5, 1.0 and 2.0 m/s² r.m.s for 60 s. The results showed that there were three pronounced peaks in the seat transmissibility, with the primary resonance was found at 1.75–2.5 Hz for every sitting postures. The “backrest” condition had the highest transmissibility resonance (1.46), while the “slouch” posture had the highest Seat Effective Amplitude Transmissibility (SEAT) values (64.7%). Changes in vibration magnitude for “relax” posture from 0.5 to 2.0 m/s² r.m.s resulted in greater reduction in the primary resonance frequency of seat transmissibility. The SEAT values decreased with increased vibration magnitude. It can be suggested that variations in posture and vibration magnitude affected the vibration transmission through the suspension system, indicating the non-linear effect on the interaction between the human body and the suspension system.Relevance to industry: Investigating the posture adopted during agricultural activities, and the effects of various magnitudes of vibration on the suspension system's performance are beneficial to the industry. The findings regarding their influence on the human body may be used to optimize the suspension system's performance.     

Reducing whole-body vibration and musculoskeletal injury with a new car seat design

A new car seat design, which allows the back part of the seat (BPS) to lower down while a protruded cushion supports the lumbar spine, was quantitatively tested to determine its effectiveness and potentials in reducing whole-body vibration (WBV) and musculoskeletal disorders in automobile drivers. Nine subjects were tested to drive with the seat in: 1) the conventional seating arrangement (Normal posture); and 2) the new seating design (without BPS (WO-BPS) posture). By reducing contact between the seat and the ischial tuberosities (ITs), the new seating design reduced both contact pressure and amplitude of vibrations transmitted through the body. Root-mean-squared values for acceleration along the z-axis at the lumbar spine and ITs significantly decreased 31.6% (p < 0.01) and 19.8% (p < 0.05), respectively, by using the WO-BPS posture. At the same time, vibration dose values significantly decreased along the z-axis of the lumbar spine and ITs by 43.0% (p < 0.05) and 34.5% (p < 0.01). This reduction in WBV allows more sustained driving than permitted by conventional seating devices, by several hours, before sustaining unacceptable WBV levels. Such seating devices, implemented in large trucks and other high-vibration vehicles, may reduce the risk of WBV-related musculoskeletal disorders among drivers.     

Finite element modelling of human-seat interactions: vertical in-line and fore-and-aft cross-axis apparent mass when sitting on a rigid seat without backrest and exposed to vertical vibration

Biodynamic models representing distributed human-seat interactions can assist seat design. This study sought to develop a finite element (FE) model representing the soft tissues of the body supported by seating and the vertical in-line apparent mass and the fore-and-aft cross-axis apparent mass of the seated human body during vertical vibration excitation. The model was developed with rigid parts representing the torso segments, skeletal structures (pelvis and femurs) and deformable parts representing the soft tissues of the buttocks and the thighs. The model had three vibration modes at frequencies less than 15 Hz and provided reasonable vertical in-line apparent mass and fore-and-aft cross-axis apparent mass. The model can be developed to represent dynamic interactions between the body and a seat over a seat surface (e.g. dynamic pressure distributions and variations in seat transmissibility over the seat surface).     

Transmission of roll and pitch seat vibration to the head

A series of experiments has investigated the transmission of roll and pitch seat vibration to the heads of seated subjects. Head motion was measured in all six axes using a light-weight bite-bar while seated subjects were exposed to random motion at frequencies of up to 5 Hz at 1.0 rad.s ^?2 r.m.s. Subjects sat on a rigid flat seat in two body postures: ‘back-on’ (back in contact with backrest) and ‘back-off’ (no backrest contact). The influence of the position of the centre of rotation was also investigated.

Motion at the head occurred mostly in the lateral, roll and yaw axes during exposure to roll seat vibration and in the fore-and-aft, vertical and pitch axes during exposure to pitch seat vibration. A reduction in the magnitude of head motion occurred when the subjects sat in a 'back-off' posture compared with a 'back-on' posture. Varying the position of the centre of rotation along the lateral axis during roll seat vibration affected vertical and pitch head motion: least head motion occurred when the centre of rotation was in line with the subject's mid-sagittal plane. Varying the position of the centre of rotation along the vertical axis during roll seat vibration affected head motion in the mid-coronal plane: roll head motion decreased as the position of the centre of rotation was raised from below the seat surface to above the seat surface. Varying the centre of rotation (along the fore-and-aft and vertical axes) during pitch seat vibration altered head motion in the mid-sagittal plane. Head motion increased with increasing distance of the centre of rotation in front or behind the subject's ischial tuberosities and increased as the seat was raised from below the centre of rotation to above the centre of rotation.     

Modelling,simulation and real-time control of a laboratory tide generation system

Small-scale experiments allow to reproduce and understand phenomena and to draw inferences about large-scale processes. In this paper, we consider a peculiar experimental apparatus which is aimed at reproducing a typical lagoonal environment subject to tidal forcings. This apparatus is useful for performing morphometric analyses of synthetic tidal networks. The quality of these kind of experiments strongly depends on the behaviour of the artificial tide that has to exhibit predefined characteristics. To this aim, the height of the artificial water wave is controlled in real-time. The experimental apparatus has an intrinsic complexity and it represents an example of a multi-domain physical system. In order to design and to assess suitable control strategies, we have developed a Matlab-based simulation environment which is able to reproduce the behaviour of the artificial tide generation system. The dynamic model is calibrated and validated by using real experimental data and it can be seen as an extremely useful tool in the decision making process of the real control system development. In particular, we have designed, tuned, and tested a model-free control algorithm, that is the intelligent-PI (i-PI). Finally, the proposed controller has been implemented on a real-time hardware and then its performance has been compared with that of a standard regulator for different type of experiments.     

Robust impedance control of a hydraulic suspension system

A novel robust impedance control approach is developed to control dynamic behavior of a vehicle subject to road disturbances. This behavior is predetermined as an impedance rule to achieve passenger comfort and vehicle handling by the use of a hydraulically actuated suspension system. Impedance control law is simple, free of model and efficient to apply for a broad range of road conditions. Moreover, it relates comfort to handling. This control approach can provide a desired comfort when passing a bump, and both desired comfort and handling after passing a bump. Robust position and force controls are used to implement the robust impedance control with the presence of uncertainties. A transformed proportional–integral–derivative control is proposed to perform the robust control. The system stability is analyzed and analytical results are confirmed by simulations. A quarter‐car model of suspension system and a nonlinear model of hydraulic actuator are used to simulate the control system. Copyright © 2009 John Wiley & Sons, Ltd.     

Ergonomic analysis of the effects of a telehandler's active suspended cab on whole body vibration level and operator comfort

IntroductionExposure to whole body vibration (WBV) is one of the most important risks for musculoskeletal disorders (MSDs). The objective of the study was to investigate whether an active cab suspension system fitted on a telehandler was effective in reducing WBV and in improving comfort.MethodSixteen male healthy professional operators drove a telehandler on a 100 m ISO 5008 smooth track at two different speeds (5 and 12 kph) with activated and deactivated cab suspension system. Adopting an ergonomic approach, different aspects of the human-machine interaction were analyzed: 1) vibration transmissibility, 2) subjective ratings of general comfort and local body discomfort, and 3) anthropometric characteristics of the users.ResultsA series of ANCOVAs showed that the suspension system was effective in reducing WBV at both speeds but did not affect the perception of comfort by the operators. Moreover, individuals with higher Body Mass Index (BMI) experienced more comfort. Some neck/shoulder and lumbar complaints and perceived hard jolts seemed to remain even when the system was activated. No correlations were found between objective and subjective measures.Practical applicationsResults suggest that the operators, given their wide range of physical variability, may need more adjustable or customizable WBV reduction systems.     

履带车辆半主动悬挂计算机仿真研究

基于可调式半主动悬挂系统,以保持车辆悬挂性能最优或次优,可改善车辆振动环境。用动力学分析软件RecurDyn和控制分析软件Matlab／Simulink联合仿真,通过实体建模方法对高速履带车辆整车进行了被动和半主动悬挂对比仿真分析,研究结果表明,半主动控制通过悬挂阻尼力的变化改善车体振动效果明显,在高速履带车辆上采用可调阻尼式的半主动悬挂控制是可行和有效的。     

Analysis and study of an automobile rear seat by FEM

The aim of this work is to carry out the design of an automobile rear seat and the simulation by finite element method (FEM) on its performance using different standard tests. The design is intended for the rear seats of a four-seat vehicle: two front seats and two rear seats. The rear seat set comprises the right and the left seats. Each of these seats is individual and independent so that it can house only a person and is structurally independent of the other one. Two main parts of this work are: (1) design; and (2) analysis by FEM. We carry out the design of the rear seat of a generic automobile, using the CAD Catia V4 software [P. Carman and P. Tigwell, CATIA Reference Guide, OnWord Press, New York, 1998; F. Karam and C.D. Kleismit, Using CATIA, OnWord Press, New York, 2003]. The seat is composed of two very different parts: (a) framework which is the internal structure of the seat, supporting the weight of the occupants and the seat itself, in order to allow the different positions and to assure the durability and correct operation throughout the vehicle's useful life, and (b) foam rubber whose function is to distribute the load, to provide comfort and to give the most aesthetic possible finish to the seat. During the design we have kept in mind criteria such as resistance, safety, durability, aesthetic and lightness; this last property is necessary to achieve fuel economy and a lower inertia in the event of a collision. The standard rules demand that the automobile seats are able to overcome a series of tests, implying the security in the event of a road accident. In this study the tests were carried out by finite element simulations. The software used was Pam-Crash, a well-known non-linear explicit solver of finite elements. From the computer simulation of these tests, stresses and displacement data are obtained for the seat's framework in order to check the correct execution of the demands of the standard rules, carrying out, if necessary, changes in the design within the allowed limits. In this way the use of this tool makes possible to carry out an optimisation of the geometry, materials, etc. of the product before the construction of the prototype, minimising costs and manufacturers’ development time.     

Effect of the seating condition on the transmission of vibration through the seat pan and backrest

Changes in the seating condition may change the body posture which could affect the transmission of vibration through a vehicle seat. This study investigates the effect of different seating conditions on the transmission of vibration through a car seat. Ten male subjects sat on the passenger seat of a sedan car driven at 60 km/h adopting one of six conditions at a time. The VDV was measured on the seat and backrest. Backrest contact affected the VDV measured on the seat pan in the z- and y-axis only. Increasing the backrest angle increased the VDV at the backrest in the x-direction and reduced the VDV at the backrest in the z-direction. With the increase in the backrest angle, the total VDV at the backrest became higher than the total VDV on the seat pan. The study showed no effect of foot position and contact with a headrest on the VDVs.Relevance to industryThis research presents the effect of the seating condition on the transmission of vibration through the seat pan and backrest of a car seat. Research of this kind may help seat manufacturers recommend seating conditions that reduce discomfort caused by whole-body vibration.     

高速铁道车辆悬挂系统参数化建模、优化与仿真分析

为了协调高速铁道车辆的运动稳定性与曲线通过性能之间的矛盾,本文采用多目标优化方法对一种高速铁道车辆的关键悬挂参数进行了优化处理.采用多体动力学技术建立了某型高速铁道车辆62个自由度的动力学模型,模型考虑了轮轨接触几何非线性、轮轨蠕滑非线性和阻尼非线性等.采用ADAMS-Matlab联合仿真对车辆悬挂系统进行参数化改造,使弹簧刚度和阻尼系数均可调.采用基于遗传算法的多目标优化方法对悬挂参数进行优化,使车辆模型能同时满足3种动力学指标.对比优化前后模型的动力学性能可以发现:模型的运动稳定性和曲线通过性能得到显著提高,虽然运行平稳性有小幅降低,但仍能保持在优良的工作状态.     

Modelling and simulation of a lighting control system

The objective of this paper was to regulate the amount of illumination in a room at a constant level, irrespective of the disturbances from outside such as weather conditions or the use of blinds to avoid the glare risk. In order to produce a model of the lighting system in our project, the supply voltage to the lamp dimmer circuits was varied stepwise and the resulting response – measured by the light sensors – was captured with a data-acquisition board. A nonlinear static characteristic in series with a linear 3rd order dynamic system was obtained from this experiment. The model was then used to implement and to validate a lighting system simulator, which was then further used to design, tune, test and evaluate efficient lighting controllers. The control design was rather challenging because the system is highly nonlinear and because undesired interaction occurs between multiple illumination zones in a big office room. The main benefits are a higher level of comfort and a continuous saving of energy.     

Predicting passenger seat comfort and discomfort on the basis of human,context and seat characteristics: a literature review

Abstract

This literature review focused on passenger seat comfort and discomfort in a human–product–context interaction. The relationships between anthropometric variables (human level), activities (context level), seat characteristics (product level) and the perception of comfort and discomfort were studied through mediating variables, such as body posture, movement and interface pressure. It is concluded that there are correlations between anthropometric variables and interface pressure variables, and that this relationship is affected by body posture. The results of studies on the correlation between pressure variables and passenger comfort and discomfort are not in line with each other. Only associations were found between the other variables (e.g. activities and seat characteristics). A conceptual model illustrates the results of the review, but relationships could not be quantified due to a lack of statistical evidence and large differences in research set-ups between the reviewed papers.

Practitioner Summary: This literature review set out to quantify the relationships between human, context and seat characteristics, and comfort and discomfort experience of passenger seats, in order to build a predictive model that can support seat designers and purchasers to make informed decisions. However, statistical evidence is lacking from existing literature.     

面向方框图仿真的模型建立与仿真计算

在对高阶系统及非线性系统进行仿真时，需要求解高阶微分方程与非线性微分方程。当中的变量耦合问题较难处理，面向方框图仿真方法可以较好地解决这个问题，仿真计算简单，界面直观，对控制系统的设计起较好的辅助作用。主要介绍面向方框图的仿真模型的建立方法，讨论线性及非线性微分方程的方框图模型，并简单介绍面向方框图的仿真计算和误差分析。     

Modelling and simulation of fabrication and assembly plants: an object-driven approach

This paper presents the technical characteristics and methodologies underlying the computer-aided modelling and simulation of fabrication and assembly plants through an object-driven approach. The paper is organized in four main sections. The first and second sections discuss the needs for model integration and then outline the modelling and simulation approach used. The third and fourth sections illustrate an application of the approach for modelling and simulating a specific fabrication and assembly plant.     

Nonlinear analysis and control of a variable-geometry suspension system

The paper proposes methods for both the analysis and the synthesis of variable-geometry suspension systems. The nonlinear polynomial Sum-of-Squares (SOS) programming method is applied in the analysis and it gives the optimal utilization of the maximum control forces on the tires. Moreover, the construction of the system can be based on the nonlinear analysis. The variable-geometry suspension system affects the wheel camber angle and generates an additional steering angle, thus the coordination of steering and wheel tilting can be handled. An LPV (Linear Parameter-Varying) based control-oriented modeling and control design for lateral vehicle dynamics are also proposed. The novelty of the method is the combination of the LPV-based control design and the SOS-based invariant set analysis. The simulation example presents the efficiency of the variable-geometry suspension system and it shows that the system is suitable to be used as a driver assistance system. In the SIL (software-in-the-loop) simulation both the dSPACE-AutoBox hardware and the CarSim simulator are used as standard industrial tools.