General Purpose Vehicle System Dynamics Software Based on Multibody Formalisms

This paper pursues two objectives: Firstly, to review the state-of-the-art of general purpose vehicle system dynamics software and secondly, to describe two representatives, the program MEDYNA and the program NEWEUL. The general modeling requirements for vehicle dynamics software, the multibody system approach and a comparative discussion of multibody software are given. The two programs NEWEUL and MEDYNA are described with respect to modeling options, computational methods, software engineering as well as their interfaces to other software. The applicability of these programs is demonstrated on two selected examples, one from road vehicle problems and the other from wheel/rail dynamics. It is concluded that general purpose software based on multibody formalisms will play the same role for mechanical systems, especially vehicle systems, as finite element methods play for elastic structures.     

General Purpose Vehicle System Dynamics Software Based on Multibody Formalisms

SUMMARY

This paper pursues two objectives: Firstly, to review the state-of-the-art of general purpose vehicle system dynamics software and secondly, to describe two representatives, the program MEDYNA and the program NEWEUL. The general modeling requirements for vehicle dynamics software, the multibody system approach and a comparative discussion of multibody software are given. The two programs NEWEUL and MEDYNA are described with respect to modeling options, computational methods, software engineering as well as their interfaces to other software. The applicability of these programs is demonstrated on two selected examples, one from road vehicle problems and the other from wheel/rail dynamics. It is concluded that general purpose software based on multibody formalisms will play the same role for mechanical systems, especially vehicle systems, as finite element methods play for elastic structures.     

通用机械系统运动学／动力学分析微机软件MGMKDS的研制与应用

本文阐述了一种在微型计算机上运行的通用机械系统运动学/动力学分析软件MGMKDS的理论依据、算法、基本功能及工程应用实例。     

汽车动力传动系实时动力学仿真模型

将动力传动系视为刚体系统,建立适用于开发型驾驶模拟器的动力传动系4自由度实时动力学仿真模型,输入驾驶员的点火开关信号、油门踏板信号、离合器踏板信号及挡位信号,在一定的传动系各部件及驱动轮的运动状态下,传动系模型可向整车动力学模型输出驱动轮上的驱动力矩,从而完成车辆的实时动力学仿真,并进一步向驾驶模拟器输送整车的实时运动状态。仿真与动力性试验的对比结果表明,该模型不但具有实时性,而且可通过整车模型使开发型驾驶模拟器为驾驶员提供逼真的整车运动响应。     

Hybrid Simulation of Dynamics for the Pantograph-Catenary System

Summary In order to examine the static and dynamic behavior of the pantograph-catenary system, a special teat facility is established and described in this paper. Since the catenary is difficult to be modeled by a hardware teat facility indoor, a mixed theoretical-experimental technique is introduced, in which the pantograph is an actual one but the catenary is just an input of a mathematical model. Bayed on setting up the hybrid simulation teat device of the pantograph-catenary system, the dynamic behavior of the system under overhead equipment with variant parameters is analyzed for different speed. The effect of the presag and the surface irregularities of contact wire on current-collection has been studied.     

Hybrid Simulation of Dynamics for the Pantograph-Catenary System

Summary In order to examine the static and dynamic behavior of the pantograph-catenary system, a special teat facility is established and described in this paper. Since the catenary is difficult to be modeled by a hardware teat facility indoor, a mixed theoretical-experimental technique is introduced, in which the pantograph is an actual one but the catenary is just an input of a mathematical model. Bayed on setting up the hybrid simulation teat device of the pantograph-catenary system, the dynamic behavior of the system under overhead equipment with variant parameters is analyzed for different speed. The effect of the presag and the surface irregularities of contact wire on current-collection has been studied.     

牵引车-半挂车列车动力学仿真研究

在合理的理论假设基础上建立了较为精细的牵引车-半挂车的整车动力学仿真模型。应用此模型,针对6×4牵引车拖挂2轴半挂车列车的折叠、甩尾、倾翻及转向瞬态响应进行了仿真,并对各工况的特点进行了分析。仿真结果表明该模型能够很好地模拟车辆在各种危险工况下的运动状态,从而为进一步研究牵引车-半挂车列车的性能特点提供了很好的工具。     

A Track-Wheel-Terrain Interaction Model for Dynamic Simulation of Tracked Vehicles

A mathematical model of track-wheel-terrain interaction is presented that supports the dynamic simulation of tracked vehicles. This model combines approximate and known constitutive laws for terrain response with a new representation for the track segment. The resulting track-wheel-terrain model allows the computation of the track tension and the normal and shear forces at the track-terrain interface as the track negotiates terrain of arbitrary profile. A key feature of this model is the uniform treatment of contact between the track and the roadwheels and the track and the terrain. Treating both contact problems in the same manner significantly simplifies the problem formulation and also reduces difficulties in computing points of track-wheel and track-terrain separation. The model takes the form of a two-point nonlinear boundary value problem that accounts for tension variations along the track (due to the non-uniformly distributed normal pressure and traction), track extensibility, and geometrically large (nonlinear) track deflections. Solutions are obtained using a finite element formulation. Both the model and the solution method are formulated for implementation within a multibody dynamics code for simulating full vehicles. Several examples illustrate the capabilities of the proposed model.     

通用型工业机器人附加轴导轨优化设计

在汽车制造涂装车间,为提升制造车间的智能化水平和柔性化水平,工业机器人系统装备被大规模使用。附加轴导轨是机器人系统装备集成及应用的一个重要组成部分。为了对已有常用附加轴导轨进行结构优化,主要通过分析现有附加轴导轨结构形式、新型附加轴导轨设计及理论分析2个方面进行阐述,提出了一种新型结构设计形式,该附加轴导轨设计使用寿命超过2.02万小时,设计行走里程超过1.45万公里,对于内部结构防护性能较好,满足涂装车间复杂的工作使用环境。     

用于汽车动力学实时仿真的悬架建模方法的研究

针对汽车动力学实时仿真的要求提出一种新的悬架建模方法—复合约束隔离解耦建模方法。将悬架系统视为连接车身和车轮之间的无质量复合约束,基于这个概念建立的悬架系统模型,由于实现有质量刚体的相互隔离及代数方程与微分方程的解耦,提高了模型求解效率。应用该方法建立的悬架模型,由于是面向结构的模型,因而可较为准确地描述悬架动态特性,同时由于求解效率的提高又能够满足仿真实时性的要求。     

用于不平路面车辆动力学仿真的轮胎模型综述

介绍了轮胎在不平路面的动力学特性。在回顾不平路面轮胎动力学模型发展的基础上，以近期的研究工作为重点，对用于不平路面车辆动力学仿真的轮胎模型进行了较为系统的介绍。概要地阐述了各种轮胎模型的建模理论、方法，并进行了分析和评述。最后，总结了不平路面轮胎力学建模的核心问题及发展方向，对不平路面车辆动力学仿真选择合适的轮胎模型给出了建议。     

一种简易实时车辆动力学系统模拟器的开发

本文介绍了所研制开发的车辆的动力学模拟器，这一系统集车辆动力学模型、计算机动画技术、人机操纵界面一体，再现了实际车辆的运动情景，借助于这一系统为研究人机系统及其它涉及人机系统的控制提供了环境与手段。     

Dynasim 3: A Computer Program for Simulation Of Vehicle Riding Motions

The purpose of this paper is to present analytical techniques for evaluating the dynamic riding behaviour of a vehicle. These techniques have been applied to a fairly sophisticated model of a bus, where a three-dimensional structure, elastic frame and non-linear shock-absorbers have been considered.

A computer simulation program (DYNASIM 3) has been set up, which is actually used at FIAT corporation for evaluating vehicle riding qualities and improving the design process.     

汽车动力学性能的计算机仿真

计算机仿真技术是研究汽车动力学性能的重要手段之一。本文提出了一种汽车动力学模型，建立了动力学方程及求解方法，编制了汽车动力学性能计算机仿真程序（ＡＤＰＣＳＰ），并给出了应用实例。     

摩托车配气机构运动学和动力学模拟分析

根据配气机构运动学和动力学分析,试制了优化凸轮实物,采用优化凸轮进行了发动机对比性能试验和耐久性试验.试验表明,优化凸轮能满足发动机性能要求,发动机耐久试验后,优化凸轮没有出现异常磨损现象,和模拟分析结果一致.