汽车悬架系统非线性参数时域优化及应用

针对国产某微型轿车,在建立汽车悬架系统5自由度模型和时域路面模型基础上,对悬架系统的线性弹簧和非线性阻尼参数进行了优化。根据优化结果,对悬架系统的刚度和阻尼进行了匹配设计。经试验表明:座椅加速度自谱峰值减小7.4%,加速度均方根值减小19.4%,有效地改善了该车的行驶平顺性,证明时域优化方法对于悬架系统非线性参数优化是可行的。     

Hybrid modelling and damping collaborative optimisation of Five-suspensions for coupling driver-seat-cab system

For the complex structure and vibration characteristics of coupling driver-seat-cab system of trucks, there is no damping optimisation theory for its suspensions at present, which seriously restricts the improvement of vehicle ride comfort. Thus, in this paper, the seat suspension was regarded as ‘the fifth suspension’ of cab, the ‘Five-suspensions’ for this system was proposed. Based on this, using the mechanism modelling method, a 4 degree-of-freedom coupling driver-seat-cab system model was presented; then, by the tested cab suspensions excitation and seat acceleration response, its parameters identification mathematical model was established. Based on this, taking optimal ride comfort as target, its damping collaborative optimisation mathematical model was built. Combining the tested signals and a simulation model with the mathematical models of parameters identification and damping collaborative optimisation, a complete flow of hybrid modelling and damping collaborative optimisation of Five-suspensions was presented. With a practical example of seat and cab system, the damping parameters were optimised and validated by simulation and bench test. The results show that the model and method proposed are correct and reliable, providing a valuable reference for the design of seat suspension and cab suspensions.     

基于舒适性和轮胎动载的车辆悬架参数优化

为了改善汽车行驶的舒适性并减小轮胎对路面的动载，以某载货汽车为研究对象，建立了多目标优化模型，并采用统一目标函数法对车辆悬架参数进行优化。优化结果表明：优化后悬架刚度减小而阻尼增大，且前悬架参数变化较小，后悬架参数变化较大；相比于优化前，车身垂直方向加速度均方根值减小了20％，前轮动栽均方根值减小了40％，后轮变化更显著，减小了49％；采用多目标优化设计方法不仅可提高车辆自身的舒适性，而且可减小轮胎对路面的动载。     

An analytical formula of driver RMS acceleration response for quarter-car considering cushion effects

In this paper, a 3-DOF (degree-of-freedom) model of quarter-car coupled with driver and cushion is used to derive an analytical formula, which can describe the driver RMS (root-mean-square) acceleration response with cars under random excitation generated by road irregularities. The study starts with the 3-DOF model. Based on the vehicle random vibration theory, using the residue theorem, the analytical formula of driver RMS acceleration considering cushion effects is obtained. Then, the driver RMS acceleration values calculated from the measured data and from the analytical formulae of the 3-DOF and the classical 2-DOF model are compared. The results show the analytical formula for the 3-DOF model provides a more reasonable approximation of the real response of the test car. Having obtained the analytical formula, the effects of vehicle parameters on driver RMS acceleration are studied. Finally, to provide critical foundations for the selection of the cushion damping, the optimal damping ratio of driver-cushion system is deciphered from the analytical formula. To uncover how each dynamic parameter effects the optimal damping ratio, the analysis of influencing factors is performed and some important conclusions are obtained. The derived analytical formula can be also conveniently used either during preliminary design or for other special purposes.     

Robustness analysis of bogie suspension components Pareto optimised values

Bogie suspension system of high speed trains can significantly affect vehicle performance. Multiobjective optimisation problems are often formulated and solved to find the Pareto optimised values of the suspension components and improve cost efficiency in railway operations from different perspectives. Uncertainties in the design parameters of suspension system can negatively influence the dynamics behaviour of railway vehicles. In this regard, robustness analysis of a bogie dynamics response with respect to uncertainties in the suspension design parameters is considered. A one-car railway vehicle model with 50 degrees of freedom and wear/comfort Pareto optimised values of bogie suspension components is chosen for the analysis. Longitudinal and lateral primary stiffnesses, longitudinal and vertical secondary stiffnesses, as well as yaw damping are considered as five design parameters. The effects of parameter uncertainties on wear, ride comfort, track shift force, stability, and risk of derailment are studied by varying the design parameters around their respective Pareto optimised values according to a lognormal distribution with different coefficient of variations (COVs). The robustness analysis is carried out based on the maximum entropy concept. The multiplicative dimensional reduction method is utilised to simplify the calculation of fractional moments and improve the computational efficiency. The results showed that the dynamics response of the vehicle with wear/comfort Pareto optimised values of bogie suspension is robust against uncertainties in the design parameters and the probability of failure is small for parameter uncertainties with COV up to 0.1.     

Hybrid modeling of seat-cab coupled system for truck

For the complex structure and vibration characteristics of the seat and cab system of truck, there is no reliable theoretical model for the suspensions design at present, which seriously restricts the improvement of ride comfort. In this paper, a 4 degree-of-freedom seat-cab coupled system model was presented; using the mechanism modeling method, its vibration equations were built; then, by the tested cab suspensions excitations and seat acceleration response, its parameters identification mathematical model was established. Combining the tested signals and a simulation model with the parameters identification mathematical model, a new method of hybrid modeling of seat-cab coupled system was presented. With a practical example of seat and cab system, the parameters values were identified and validated by simulation and test. The results show that the model and method proposed are correct and reliable, and lay a good foundation for the optimal design of seat suspension and cab suspensions to improve ride comfort.     

Root mean square optimization criterion for vibration behaviour of linear quarter car using analytical methods

In this paper, a linear two-degree-of-freedom quarter car model is used to derive a number of analytical formulae describing the dynamic behaviour of passively suspended vehicles running on a harmonically bumped road. The linearity of the system allows us to analytically investigate the steady-state response characteristics. We derive analytical expressions for the root mean square (RMS) of the sprung mass absolute acceleration and relative displacement. This paper demonstrates the shortcomings of existing classical optimization methods. Hence we introduce a new optimization method based on minimizing the absolute acceleration RMS with respect to the relative displacement RMS. The RMS optimization method is applied for the symbolic derivation of analytical formulae featuring the best compromise among conflicting performance indices pertaining to the vehicle suspension system, i.e., sprung mass acceleration and working space. The proposed optimization technique is utilized to find the optimal damping and stiffness curves for the main suspension. The RMS optimal values are used to create design charts for suspension parameters, which are very useful particularly in the presence of physical constraints such as a limit on relative displacement. We introduce a numerical example to illustrate the optimality of the obtained solutions.     

基于近似模型的车辆操纵稳定性及平顺性的优化研究

简述了基于近似模型的车辆操纵稳定性及平顺性的优化设计方法.利用多体动力学软件ADAMS/Car建立了某轿车整车多体动力学模型,并确定了车辆操纵稳定性及平顺性的评价目标.以悬架弹簧刚度、减振器阻尼特性和横向稳定杆刚度为设计变量,利用近似优化数学模型对该轿车进行了操纵稳定性和行驶平顺性的多目标优化计算.结果表明,近似模型技术对于汽车性能的平衡优化是一种十分有效的方法.     

铰接式自卸车橡胶弹簧悬架系统试验研究

采用模拟随机输入路面谱激励室内台架试验的方法,对装有新型橡胶弹簧悬架系统的某型号铰接式自卸车进行台架试验研究,以评价橡胶弹簧悬架系统的减振性能和整车行驶平顺性。试验结果表明由于橡胶弹簧悬架系统某些参数匹配不合理导致该车行驶平顺性很不理想,通过优化悬架及座椅的刚度和阻尼参数,可提高整车行驶平顺性,并给出了座椅弹簧的优化结果。     

换道操作对智能车辆乘客舒适性的影响研究

乘坐舒适性是决定乘客对智能车辆接受度的重要因素之一。为了提升智能车辆的舒适性,服务智能驾驶控制算法的设计和优化,开展了基于乘客主观感知的实车乘坐舒适性试验,试验中驾驶人驾驶传统车辆执行多次换道操作,获取了60名被试乘客对换道操作的舒适性评价数据,并采集了车辆的运动数据。选取换道时横向最大加速度、回正时横向最大加速度、横向最大加加速度、横向加速度转换幅值以及横向加速度转换频率这5个车辆运动参数作为研究对象。采用二元Logistic回归单因素分析法分析了这5个车辆运动参数对乘坐舒适性的影响,采用接收者操作特征(ROC)曲线分析法为不同晕车易感性的乘客分别确立了这5个车辆运动参数的舒适性阈值,并根据岭回归分析法确定了不同参数对乘坐舒适性的影响权重。结果表明：所选取的5个车辆运动参数对乘坐舒适性具有显著影响,易晕乘客的舒适性阈值小于不易晕乘客的舒适性阈值,在换道过程中,换道时横向最大加速度、回正时横向最大加速度和横向加速度转换幅值是影响乘坐舒适性的主要因素。最后根据车辆运动参数和乘客生理特征参数建立了基于动态时间归整(DTW)和K最近邻(KNN)算法的乘坐舒适性预测模型,该模型对乘坐舒适性的预测准确率为84%,可用于智能车辆控制算法的舒适性判断。     

汽车主动悬架的单神经元自适应控制

在1/4汽车动力学模型的基础上,设计了汽车主动悬架的自适应神经元控制器。以车辆的行驶平顺性为主要控制目标,车身垂直加速度、悬架动挠度、车轮动位移为具体评价参数,研究了系统在随机路面激励条件下的时域响应,计算了振动响应的均方根值,考察了在变参数条件下控制器的鲁棒性。仿真结果表明,该控制器能有效改善车辆的综合性能,尤其是平顺性和舒适性,并且具有较好的鲁棒性,对模型参数的变化有一定的适应性。     

基于多动力总成的六点悬置匹配计算

发动机悬置系统性能的好坏是影响车辆乘坐舒适性的重要因素,而悬置软垫的刚度又是关键。本文以某新能源客车动力总成的悬置系统设计为例,介绍多动力总成的悬置系统的弯矩校核、系统解耦、软垫刚度计算,以及悬置系统设计的基本方法和步骤。     

Optimal selection of suspension parameters in large scale vehicle models

Optimum values are selected for the suspension damping and stiffness parameters of complex car models, subjected to road excitation, by applying suitable numerical methodologies. These models result from a detailed finite-element discretisation and possess a relatively large number of degrees of freedom. They also involve strongly nonlinear characteristics, due mostly to large rigid body rotation of some of their components and the properties of the connection elements. First, attention is focused on gaining some insight into the dynamics of the mechanical models examined, resulting when the vehicle passes over roads involving typical geometric profiles. Then, the emphasis is shifted to presenting results obtained by applying appropriate optimisation methodologies. For this purpose, three classes of design criteria are first set up, referring to passenger ride comfort, suspension travel and car road holding and yielding the most important suspension stiffness and damping parameters. Originally, the optimisation is performed by forming a composite cost function and employing a single-objective optimisation method. Since the design criteria are conflicting, a multi-objective optimisation methodology is also set up and applied subsequently.     

Vedyna及其在汽车平顺性分析中的应用

介绍了Vedyna软件的理论基础,利用Vedyna软件建立针对汽车平顺性分析的整车动力学仿真模型,分析减振器阻尼、发动机减振块刚度、悬架缓冲块刚度对振动加速度的影响。     

Decentralized neuro-fuzzy control for half car with semi-active suspension system

In this paper, a decentralized neuro-fuzzy controller has been created in order to improve the ride comfort and increase the stability for half car suspension system, which used the magneto-rheological damper as a semi-active device. Firstly, relative gain array and relative disturbance gain methods have been used for deriving a relation between inputs, disturbances and outputs to select pairing with minimum interaction to design a decentralize controller. Secondary, decentralized neuro-fuzzy controllers for front and rear chassis are designed to predict the required damping force taking the acceleration of the sprung mass and desired acceleration obtained by using pole-placement method as inputs. To predict the control voltage required for producing the force predicted by the controller, the inverse neuro-fuzzy model of MR damper has been designed. Simulation by using MATLAB programs has been created. The results show that the ride comforts and vehicle stability have been improved in comparison with the passive system.     

Ride comfort of high-speed trains travelling over railway bridges

The ride comfort of high-speed trains passing over railway bridges is studied in this paper. A parametric study is carried out using a time domain model. The effects of some design parameters are investigated such as damping and stiffness of the suspension system and also ballast stiffness. The influence of the track irregularity and train speed on two comfort indicators, namely Sperling's comfort index and the maximum acceleration level are also studied. Two types of railway bridges, a simple girder and an elastically supported bridge are considered.

Timoshenko beam theory is used for modelling the rail and bridge and two layers of parallel damped springs in conjunction with a layer of mass are used to model the rail-pads, sleepers and ballast. A randomly irregular vertical track profile is modelled, characterized by its power spectral density (PSD). The ‘roughness’ is generated for three classes of tracks. Nonlinear Hertz theory is used for modelling the wheel-rail contact. The influences of some nonlinear parameters in a carriage-track-bridge system, such as the load-stiffening characteristics of the rail-pad and the ballast and that of rubber elements in the primary and secondary suspension systems, on the comfort indicators are also studied. Based on Galerkin's method of solution, a new analytical approach is developed for the combination between the rigid and flexural mode shapes, which could be used not only for elastically supported bridges but also other beam-type structures.     

铰接式自卸车悬架系统动力学建模与仿真

建立了一个铰接式自卸车9自由度线性动力学模型，并用Matlab语言编写了基于Simpson算法的仿真程序，来仿真它对路面随机输入的响应，用以计算数种工况下座椅总加权加速度均方根值。仿真结果表明，所建模型能较好地吻合座椅的实际振动，不仅可以正确评估系统的平顺性性能，还可为新型铰接车辆悬架系统、橡胶弹簧的优化设计提供理论和方法支持。     

多轴商用车的行驶平顺性仿真分析

基于拉格朗日方程建立多轴商用车的五自由度振动微分方程,已知激励功率密度前提下,构造了具有复谐和函数特点的多轴商用车的路面虚拟激励,应用复模态分析给出虚拟响应的求解公式。通过虚拟激励法求取了车身垂直加速度的功率谱密度及均方根值,评价了多轴商用车的行驶平顺性。结果表明,复模态和虚拟激励方法结合,进行多轴商用车的行驶平顺性仿真分析,方法简单、易行。     

基于正交试验的虚拟样车平顺性分析及参数选择

利用多体力学理论,在机械系统动力学分析软件ADAMS中建立了某车的整车多体力学模型。将虚拟样车在三维空间道路上进行平顺性仿真试验,通过正交试验方法研究了前、后悬架弹簧刚度及相关主要衬套等性能参数对汽车行驶平顺性的影响,并根据正交试验的结果优选了相应的设计参数。     

A dummy for the objective ride comfort evaluation of ground vehicles

A new device for an objective evaluation of ground vehicle ride comfort is presented. In this study, the ride comfort (frequency range 0–30 Hz) has been referred to the acceleration acting along the vertical axis (subject spine) and to the longitudinal acceleration (acting at the subject shoulders). Based on the experimental measurements of such accelerations on different human subjects seated on a car seat, a proper mechanical/mathematical model of the seat+subject has been derived. The derivation of the model has been performed by minimising the error between the measured and the computed accelerations. A prototype of the derived mechanical model has been actually built. Particular attention has been devoted to the construction of the springs, of the moving members and of the magnetic damper. All of the device parameters (mass, stiffness, damping) can be easily tuned. Finally, an experimental validation of the device has been performed. The device, while seated with the same posture of the corresponding human subject is able to reproduce (with reasonable accuracy) both the acceleration along the subject spine and the acceleration at the subject shoulders.