转弯时液罐车质心变化对侧倾稳定性影响研究
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摘要
液罐车在转弯工况下液体晃动会影响其行驶稳定性,根据侧倾时液罐中的液体分布,得出液体质心位置的计算模型;根据车辆动力学模型,对质心变化影响下的三自由度模型进行优化,推导出液罐车在转弯工况下横向载荷转移率计算模型;运用MATLAB/Simulink软件对模型进行仿真,并与硬件在环仿真平台试验结果进行对比,对不同速度及前轮转向角下液体质心以及横向载荷转移率的变化进行仿真。仿真结果说明该模型能够较好的反映液罐车的运动状态;转弯时质心的变化与横向载荷转移率的变化趋势与侧倾角的变化趋势相似,可以为后续控制提供模型参考;同时,根据仿真结果得出速度-前轮转向角临界曲线,在该曲线下方,车辆是安全的。
Under turning condition,the liquid sloshing of tank truck will affect its driving stability. According to the liquid distribution in the liquid tank when sloping,the computational model of liquid centroid position was inferred. According to the vehicle dynamics model,three degrees of freedom model under the influence of centroid variation was optimized and the computational model of lateral load transfer rate( LTR) of tank truck was inferred. The proposed model was simulated by MATLAB/Simulink software and compared with results of Hardware in the Loop platform. In addition,the changes of centroid and LRT under different velocity and front wheel steering angle were simulated. The results show that the proposed model can reflect the motion state of tank truck well; the change of centroid and lateral load transfer rate is similar to the variation trend of angle of heel,which can provide model reference for subsequent control. Meanwhile,according to the simulation results,the critical curve of speed and front wheel steering angle is obtained. Under this curve,the vehicle is safe.
Under turning condition,the liquid sloshing of tank truck will affect its driving stability. According to the liquid distribution in the liquid tank when sloping,the computational model of liquid centroid position was inferred. According to the vehicle dynamics model,three degrees of freedom model under the influence of centroid variation was optimized and the computational model of lateral load transfer rate( LTR) of tank truck was inferred. The proposed model was simulated by MATLAB/Simulink software and compared with results of Hardware in the Loop platform. In addition,the changes of centroid and LRT under different velocity and front wheel steering angle were simulated. The results show that the proposed model can reflect the motion state of tank truck well; the change of centroid and lateral load transfer rate is similar to the variation trend of angle of heel,which can provide model reference for subsequent control. Meanwhile,according to the simulation results,the critical curve of speed and front wheel steering angle is obtained. Under this curve,the vehicle is safe.
引文
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[2]范李,李刚炎,陈冉,等.基于横向力系数的汽车急转防侧翻车速计算模型与仿真[J].农业工程学报,2016,32(3):41-47.FAN Li,LI Gangyan,CHEN Ran,et al. Speed calculation model and simulation of rollover prevention in condition of extreme turn based on lateral force coefficient[J]. Transactions of the Chinese Society of Agricultural Engineering,2016,32(3):41-47.
[3] BOLLAPRAGADA V,KIM T,CLAUSER M,et al. Influence of driver input on the touchdown conditions and risk of rollover in case of steering induced soil-trip rollover crashes[C]//SAE 2016 World Congress and Exhibition,2016:59-67.
[4]李显生,于迪,张景海.基于遗传算法的液罐车侧倾稳定性模型[J].中国公路学报,2015,28(7):115-120.LI Xiansheng,YU Di,ZHANG Jinghai. Roll stability model of tank truck based on genetic algorithm[J]. China Journal of Highway and Transport,2015,28(7):115-120.
[5] POPOV G,SANKAR S,SANKAR T S. Shape optimization of elliptical road containers due to liquid load in steady-state turning[J]. Vehicle System Dynamics,1996,25(3):203-221.
[6]王小东.液罐半挂列车动力学建模与仿真分析[D].吉林:吉林大学,2012.WANG Xiaodong. Dynamics Modeling and Simulation analysis of Liquid Tank Semi-trailer[D]. Jilin:Jilin University,2012.
[7]司景萍,于丽英.液罐汽车横向稳定性的研究[J].汽车技术,2001(12):12-14.SI Jingping,YU Liying. Study on lateral stability of tank truck[J]. Automobile Technology,2001(12):12-14.
[8]邓涛,孙冬野,胡丰宾,等.考虑坡度影响的车辆行驶动力学建模与仿真[J].重庆大学学报(自然科学版),2012,35(6):28-37.DENG Tao, SUN Dongye, HU Fengbin, et al. Modeling and simulating the vehicle riding dynamics considering gradient effects[J]. Journal of Chongqing University(Natural Science),2012,35(6):28-37.
[9]王睿,李显生,任园园,等.基于横向载荷转移量的客车侧倾稳定性分析[J].湖南大学学报(自然科学版),2013,40(5):49-54.WANG Rui,LI Xiansheng,REN Yuanyuan,et al. Roll stability analysis of passenger car based on lateral-load transfer rate[J].Journal of Hunan University(Natural Sciences),2013,40(5):49-54.
[10]岑达希,胡树根,王耘,等.基于LTR的汽车差动制动防侧翻动力学研究[J].机电工程,2011,28(5):532-536.CEN Daxi,HU Shugen,WANG Yun,et al. Study on vehicular differential-braking dynamics based on lateral-load transfer rate[J]. Journal of Mechanical&Electrical Engineering,2011,28(5):532-536.