摘要
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。
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 Recur Dyn 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.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2015年第18期143-150,共8页
Journal of Mechanical Engineering
关键词
履带车辆
当量阻尼
当量刚度
数学模型
路面滤波
tracked vehicle
equivalent damping
equivalent stiffness
mathematical model
road filtering
