0-基于总成特性车辆动力学建模

基于总成特性车辆动力学建模ModelingofVehicleDynamicsbasedonassemblyFeature2008版SAEJ670解读SAEJ670V0022008年1月发布了SAEJ670V002，发展了1976年的V001AxisandCoordinateSystemsVehicleSuspensionandSteeringBrakesTiresandWheelsStatesandModesInputsandResponsesVehicleLongitudinalResponseVehicleLateralResponseRideVibration2.1AxisandCoordinateSystems轴和坐标系AxisandCoordinateSystemsInertialReference惯性坐标系AxisSystem轴系CoordinateSystem坐标系GroundPlane地平面RoadSurface路面RoadPlane道路平面（轮胎印迹平面）VehiclePlaneofSymmetry车辆对称面Earth-FixedCoordinateSystem地面固定坐标系VehicleCoordinateSystem车辆坐标系VehicleReferencePoint车辆参考点TireCoordinateSystem轮胎坐标系WheelCoordinateSystem车轮坐标系AxisandCoordinateSystemsAxisandCoordinateSystems2.2VEHICLE车辆GeometryandMassesWheelbaseL轴距车辆静止在水平面上时，在规定载荷下，方向盘转角为零度，设定车辆高和悬架高度，在平行于X轴上测量的，车辆同侧轮胎接地点中心的距离。Track(TrackWidth,WheelTrack)T轮距车辆静止在水平面上，在规定载荷下，设定车辆高度或悬架高度同一车轴上两个轮胎的接地点中心的平行于Y轴方向的距离，再测量对于双轮车辆，内外侧轮胎接地中心中点的距离。UnsprungWeight(UnsprungMass)非簧载质量one-halftheweightofthesuspensionlinkage,ridesprings,anddriveshaftsSprungWeight(SprungMass)簧载质量BaseVehicleMass基本车重CurbMass整备质量Payload预载VehicleOperatingMass车辆实际质量PassengerMass(68kg)乘员质量GeometryandMasses吉林大学汽车动态模拟国家重点实验室ADSLofJLUVehicleCenterofGravity(C.G.)车辆重心Sprung-MassCenterofGravity簧载质量重心MassMomentsofInertia质量转动惯量VehicleRollMomentofInertia车辆侧倾转动惯量VehiclePitchMomentofInertia车辆俯仰转动惯量VehicleYawMomentofInertia车辆横摆转动惯量VehicleRoll-YawProductofInertia车辆侧倾-横摆的转动惯量GeometryandMassesKinematicsVelocities速度Accelerations加速度AngularMotionVariables角加速度VehicleEulerAngles(ψ,θ,φ)车辆欧拉角ForcesandMomentsLongitudinalForceFX纵向力LateralForceFY侧向力VerticalForceFZ垂直力RollMomentMX侧倾力矩PitchMomentMY俯仰力矩YawMomentMZ横摆力矩2.3SUSPENSIONANDSTEERING悬架与转向SuspensionIndependentSuspension独立悬架Solid-AxleSuspension非独立悬架SuspensionCorner转向悬架非独立悬架独立悬架SuspensionComponentsAxle车轴BallJoint球形接头Bushing衬套ControlArm(Wishbone)摆臂Damper减震器JounceStop(JounceBumper,BumpStop)上缓冲块ReboundStop下缓冲块SuspensionComponentsKnuckle(HubCarrier,Upright)转向节Link连杆RideSpring弹簧StabilizerBar(Anti-RollBar,Anti-SwayBar)横向稳定器TrackBar(PanhardRod)横拉杆SteeringWheel(HandWheel)方向盘SteeringColumn转向柱管IntermediateShaft中间轴SteeringGear转向器RackandPinionSteeringGear齿轮齿条式转向器Recirculating-BallSteeringGear循环球式转向器SteeringComponentsSteeringComponentsSteeringLinkage转向传动机构TieRod转向横拉杆SteerArm(KnuckleArm)转向节臂SUSPENSIONANDSTEERINGMassesandInertias质量与惯量Unsprung-MassCenterofGravity簧下质量重心Unsprung-MassMomentsofInertia簧下质量转动惯量SpinMomentofInertia转动惯量SteerMomentofInertia转向惯量Geometry几何SteerandCamberAngles转向角与外倾角ReferenceSteerAngle参考转向角AckermannWheelSteerAngle阿克曼转向角MeanReferenceSteerAngle平均参考转向角IncludedReferenceSteerAngle前后轴平均参考转向角之差IncludedAckermannSteerAngle前后轴阿克曼转向角之差ToeAngle前束角CamberAngle外倾角SUSPENSIONANDSTEERINGSUSPENSIONANDSTEERINGSUSPENSIONANDSTEERINGSteering-AxisGeometry主销轴线几何SteeringAxis(KingpinAxis)主销轴线CasterAngle主销后倾角CasterOffsetatWheelCenter(SpindleTrail)轮心后倾拖距CasterOffsetatGround(CasterTrail)地面后倾拖距SUSPENSIONANDSTEERINGSteering-AxisGeometry主销轴线几何Steering-AxisInclinationAngle(KingpinInclinationAngle)主销内倾角Steering-AxisOffsetatWheelCenter(KingpinOffsetatWheelCenter)主销轴线在轮心处偏移Steering-AxisOffsetatGround(KingpinOffsetatGround,ScrubRadius)内倾拖距SpindleLength主轴有效长度SUSPENSIONANDSTEERINGSuspensionMotions悬架运动Jounce(Compression,Bump)压缩Rebound(Extension,Droop)回弹SuspensionRide悬架跳动SuspensionRoll悬架侧倾SuspensionRideDisplacement悬架跳动位移SuspensionRollAngle悬架侧倾角吉林大学汽车动态模拟国家重点实验室ADSLofJLUSUSPENSIONANDSTEERINGKinematics(RideKinematics)跳动运动学Front-(Rear-)ViewSwingCenter车轮跳动时车轮中心轨迹在yz平面的瞬心Front-(Rear-)ViewSwing-ArmLength瞬心到车轮中心或轮胎接地点在yz平面的距离Front-(Rear-)ViewSwing-ArmAngle瞬心与车轮中心或接地中心连线在yz平面与y轴的夹角SUSPENSIONANDSTEERINGKinematics(RideKinematics)跳动运动学Side-ViewSwingCenter车轮跳动时车轮中心轨迹在xz平面的瞬心Side-ViewSwing-ArmLength瞬心到车轮中心或轮胎接地点的在xz平面的距离Side-ViewSwing-ArmAngle瞬心与车轮中心或接地中心连线在xz平面与y轴的夹角SUSPENSIONANDSTEERINGKinematics(RideKinematics)跳动运动学SuspensionRideCamber悬架跳动外倾角变化SuspensionRideCamberGradient悬架跳动外倾角变化梯度SuspensionRideCaster悬架跳动后倾角变化SuspensionRideCasterGradient悬架跳动后倾角变化梯度SuspensionRideToe悬架跳动前束角变化SuspensionRideToeGradient悬架跳动前束角变化梯度SuspensionRideSteer悬架跳动转向角变化SuspensionRideSteerGradient悬架跳动转向角变化梯度RideTrackChange悬架跳动轮距变化RideTrackChangeGradient悬架跳动轮距变化梯度SUSPENSIONANDSTEERINGKinematics(RollKinematics)侧倾运动学SuspensionRollCamber悬架侧倾外倾角变化SuspensionRollCamberGradient悬架侧倾外倾角变化梯度SuspensionRollInclination悬架侧倾内倾角变化SuspensionRollInclinationGradient悬架侧倾内倾角变化梯度SuspensionRollCaster悬架侧倾后倾角变化SuspensionRollCasterGradient悬架侧倾后倾角变化梯度SuspensionRollSteer悬架侧倾转向角变化SuspensionRollSteerGradient悬架侧倾转向角变化梯度RollCenter侧倾中心RollCenterHeight侧倾中心高度RollAxis侧倾轴线SUSPENSIONANDSTEERINGKinematics(SteeringKinematics)转向运动学SteerCamber转向外倾角变化SteerCamberGradient转向外倾角变化梯度SteerCaster转向后倾角变化SteerCasterGradient转向后倾角变化梯度AckermannGeometry阿克曼转向几何AckermannError阿克曼转向误差SteeringRatio转向系传动比OverallSteeringRatio转向系总传动比GearRatio转向器传动比LinkageRatio转向机构传动比C-Factor(RackRatio,RackSpeed)小齿轮传动比SUSPENSIONANDSTEERINGKinematics(Anti-Characteristics)Anti-Dive(front)抗点头BrakingAnti-Lift制动抗