汽车悬架动力学建模与仿真分析-张慧杰

汽车悬架动力学建模与仿真分析张慧杰1，郭志平2，郝慧荣31.0100512.0100513.662650100002014-07-2151065019X2012201982-1。。[1-3]。SimMechanicsMATLAB[4-5]。SimMechanics。2m、Iθx、Iθy、mu1~mu4k1z&c1z~k4z&c4zkt1~kt4[6]。1。z、θx、θyzu1~zu4、、。w1~w4u1~u4。1、3a2、4blflr。建立了基于SimMechnics的悬架模型，该模型能更真实的反映悬架特性，并且根据实际工程应用场合的不同，此模型还能方便的进行扩展或缩减，无需复杂的数学推导。应用此模型对汽车悬架在多种工况下进行了仿真，结果表明车身的俯仰或侧倾运动对汽车行驶加速度敏感，且加速度绝对值越大，车身俯仰或侧倾运动越剧烈；在转弯工况下对汽车转向角敏感。基于SimMechnics悬架模型的建立和仿真分析，为全车悬架的主动控制研究提供了更贴近工程实际的被控对象模型。SimMechanicsTH16U463A1001-3997201501-0066-03DynamicsModelingandSimulationAnalysisofVehicleSuspensionZHANGHui-jie1GUOZhi-ping2HAOHui-rong31.CollegeofEnergyandPowerEngineeringInnerMongoliaUniversityofTechnologyInnerMongoliaHohhot010051China2.CollegeofMechanicalEngineeringInnerMongoliaUniversityofTechnologyInnerMongoliaHohhot010051China3.66265TroopsInnerMongoliaHohhot010000ChinaAbstractThesuspensionmodelbasedonSimMechnicsisbuiltwhichcanbemoreactualtoreflectsuspensionproperty.Accordingtoactualprojectapplicationoccasionthismodelcanbeconvenientlydevelopedorreducedwithoutcomplexmathematicsderivation.Simulationappliedthismodelinvariousoperatingmodeandtheresultshowedthattherollorthepitchofautobodywassensitiveforthevehicletravelaccelerationtheaccelerationabsolutevaluebiggerandtherollorthepitchofautobodymoreviolent.ThesuspensionmodelbasedonSimMechnicswasbuiltandsimulatedwhichofferedthecontrolledobjectmodelkeepingclosetotherealityofprojectforthewholevehiclesuspensionactivecontrol.KeyWordsSuspensionModelSimMechanicsSimulationMachineryDesign＆Manufacture机械设计与制造第1期2015年1月66z4z2zyoxθyθxz3z1u1k1z&c1zzu1234u4zu4k4z&c4zkt2u3w2zu3k3z&c3zkt11w1kt3w3w4kt41Fig.1TheVehicleSuspensionPhysicalModelLagrangeMz咬+Cz觶+Kz=Ktw+Eu11CKkc。θxθyz1~z4z、θx、θy[9]z1z2z3z4=1lf-a1lrb1-lf-a1-lrbzθxθy圳zi=ET3z32ET31E。θx、θy2。33.1SimMechanicsSimMechanics2。13“→→→→→”。2SimMechanicsFig.2VehicleSuspensionModelBasedonSimMechanicsmCS1~CS8D1~D8D1~D8z、θx、θyD1~D4K1&C1~K4&C4D5~D8A1~A4u1~u4CS9~CS12S1~S4z1~z4、、。mu1~mu4CGS5~S8zu1~zu4、、D1~D8zD9~D12D9~D12Kt1~Kt4。“”b1~b4zD9~D12zD13~D16D13~D16A5~A8w1~w4b5CS1~CS4zD13~D16x、yD17D17A9、A10x、y。“”GD17Env。SimulinkSimMechanics。3.21Simulink3a。1invM*EUK*u2WK*uinvM*KtSubtract-++-1/s1/sK*uK*uIntegratorIntegrator1invM*cE3TK*u12ZiZuinvM*Ka12ZiZux′=Ax+Buy=Cx+DuState-Space12uwb3SimulinkFig.3TheVehicleSuspensionLinearDynamicModelinSimulink1X觶=AX+BUY=CX+D→U3X=z觶zT、U=uwT、Y=z1z2z3z4zu1zu2zu3zu4T、A=-M-1C-M-1KI7×7O7×777、B=M-1EM-1KtO7×7O7×777、C=O4×7ET3I4×4O3×7O3×3O3×477、D=O8×8O、I。Simlink33b。3a3b。3.3SimMechanics。m=954kg、Iθx=423kg/m2、Iθy=2289kg/m2、mu1=mu3=138kg、mu2=mu4=92kg、a=0.938m、b=1.693m、lf=1.534m、lr=1.452mk1z=k3z=12378N/m、k2z=k4z=15819N/mc1z=c3z=352N·s/m、c2z=c4z=781N·s/mkt1=第1期张慧杰等：汽车悬架动力学建模与仿真分析67kt2=kt3=kt4=235kN/m。w1z1。4a4b。SimMechnicsz1m0.20.10-0.1-0.2ts012345678910aSimMechnicsz1mts0123456789100.030.020.010-0.01-0.02-0.03b4Fig.4ComparetoTwoKindsofModelInputSineFrequency-SweepExcitation41z1≤10°22SimMehnics。SimMechanicsD1~D8610SimMechanics。4SimMechanics。、10Iθz=3869kg/m2k1x=k3x=10k1z、k1y=k3y=50k1z、k2x=k4x=10k2z、k2r=k4r=50k2zc1x=c3x=10c1z、c1y=c3y=20c1z、c2x=c4x=10c2z、c2y=c4y=20c2z。4.1z1-z2z3-z45。z1-z2z3-z4。5a5/005bz1-z2z3-z4。//。z1-z2z3-z4z1-z2z3-z4。b5/z1-z2z3-z4a5/km/h150100500-5005101520ts3s04s05s05s05s0120120120108005101520ts×10-3z1-z2orz3-z4m10-15/Fig.5TheSimulationResultsoftheAccelerationandBrakingConditions4.2z1-z4z2-z36。tsVxVy12090603000246810a4×10-3tsz1-z4orz2-z350-10-20567891080km/h-10°100km/h-10°80km/h-20°100km/h-20°b4z1-z4z2-z36Fig.6TheSimulationResultsofTurningtheCorner6a4vx=vcosα、vy=vsinαv—α—6bz1-z4z2-z3。t=5s、--。z1-z4z2-z3。6b。（下转第73页）机械设计与制造No.1685SimMechanics1SimMechanics、。2。。3SimMechnics。1.J.2007295:433~436GuanXinWuZhen-xinZhanJun.AStudyonSuspesionModelingforRea-ltimeVehicleDynamicsSimulationJ.AutomotiveEngineering2007295:433-4362.J.2007756-60.ShuiYong-boDingWei-pingYangMing-liang.MultipleObjectivesOptimizationDesignofSuspensionParametersofaCertainCarMachineryJ.DesignandManufacture2007756-60.3.J.20147199-201.RenCheng-longWuDong-ling.SuspensionPerformanceOptimizationandRideComfortResearchonPopularCarJ.DesignandManufacture20147199-201.4.J.201111304-7.HaoHui-rongBaiHong-baiZhangHui-jie.Experimentaldynamicmodelingof6-DOFactive-passivevibrationisolationplatformJ.Journalofvibrationandshock201111304-7.5.SimulinkSimMechanics.2012331100-105.WangYing-boHuangQi-taoZhengShu-tao.DynamicmodelingandanalysisofaparallelmanipulatorusingSimulinkandSimMechanics.JournalofHarbinEngineeringUniversity2012331100-105.6.J.20133223146-150.ZhangHui-jieGuoZhi-pingSiJing-ping.ParametricidentificationofavehiclesuspensiondynamicmodelJ.Journalofvibrationandshock20133223146-150.7GeorgRill.VehicleDynamicsLectureNotesR.FachhochchuleRegens-burg2006.8Maciejewski.ControlsystemdesignofactiveseatsuspensionsJ.JournalofSoundandVibration20123311291-1309.9DavidSaintillanaMichaelJ.Shelle.ActivesuspensionsandtheirnonlinearmodelsJ.ComptesRendusPhysique2013497-517.!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!51Dugoff。2、、、CarSimMatlab/Simulink。、。1.D.2009.HuDan.Researchon