机械工程学报
機械工程學報
궤계공정학보
Journal of Mechanical Engineering
2015年
18期
143-150
,共8页
履带车辆%当量阻尼%当量刚度%数学模型%路面滤波
履帶車輛%噹量阻尼%噹量剛度%數學模型%路麵濾波
리대차량%당량조니%당량강도%수학모형%로면려파
tracked vehicle%equivalent damping%equivalent stiffness%mathematical model%road filtering
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 RecurDyn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RecurDyn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RecurDyn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。
為建立一種簡單高效的履帶車輛動力學分析模型，提齣一種車輛懸掛繫統噹量化方法。該噹量化方法通過研究懸掛繫統中各構件間的關繫，基于虛功原理建立懸掛繫統的噹量剛度和噹量阻尼的計算公式，在此基礎上建立一箇8自由度履帶車輛平麵數學模型；採用小波域閾值濾波的方法對高頻路麵進行濾波處理，以反映履帶對高頻路麵的濾波作用。在 RecurDyn軟件中分彆建立履帶車輛單輪懸掛繫統及整車的多體動力學模型併進行倣真，對採用懸掛繫統噹量化方法及平麵數學模型分析得到的結果與在同一條件下基于RecurDyn所做的動力學倣真結果進行比較。結果錶明，懸掛繫統噹量化計算剛度與阻尼與倣真得到的懸掛繫統的剛度和阻尼非常吻閤；車輛行駛時，採用平麵數學模型分析得到的平衡肘、質心豎直方嚮以及車體俯仰方嚮的運動學和動力學參數與基于RecurDyn所做的整車動力學倣真結果具有很好的一緻性。上述結果驗證瞭懸掛繫統噹量化方法以及基于此方法所建立的平麵數學模型的正確性。
위건립일충간단고효적리대차량동역학분석모형，제출일충차량현괘계통당양화방법。해당양화방법통과연구현괘계통중각구건간적관계，기우허공원리건립현괘계통적당량강도화당량조니적계산공식，재차기출상건립일개8자유도리대차량평면수학모형；채용소파역역치려파적방법대고빈로면진행려파처리，이반영리대대고빈로면적려파작용。재 RecurDyn연건중분별건립리대차량단륜현괘계통급정차적다체동역학모형병진행방진，대채용현괘계통당양화방법급평면수학모형분석득도적결과여재동일조건하기우RecurDyn소주적동역학방진결과진행비교。결과표명，현괘계통당양화계산강도여조니여방진득도적현괘계통적강도화조니비상문합；차량행사시，채용평면수학모형분석득도적평형주、질심수직방향이급차체부앙방향적운동학화동역학삼수여기우RecurDyn소주적정차동역학방진결과구유흔호적일치성。상술결과험증료현괘계통당양화방법이급기우차방법소건립적평면수학모형적정학성。
For establishing a simple and high efficient dynamic analysis model of tracked vehicle, an equivalent method of tracked vehicle suspension system is presented, and the calculation formula of equivalent damping and equivalent stiffness are established by researching on the relationship among the components of the suspension system. Based on the equivalent damping and equivalent stiffness, a plane eight degree of freedom mathematical model of the tracked vehicle is established. The surface of the road model is smoothed to filter the high frequency surface with the wavelet threshold filtering, which can take the filtering effect of the track for high frequency surface into account. The dynamic differential equations of the plane model are solved on the Matlab software with four or five order Runge-Kutta method. A single wheel suspension system mode and a multibody dynamics model of the tracked vehicle are established on the RecurDyn software. The simulating results of the two models and the calculating results of the equivalent method of tracked vehicle suspension system and the plane mathematical model of the tracked vehicle on the same road are compared, which shows that the calculation results have a good agreement with the simulation results. The conclusion above verifies that the equivalent method of tracked vehicle suspension system and the establishment of mathematical model are correct.
