理想天棚阻尼的被动实现及其在车辆悬架中的应用
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摘要
理想天棚阻尼要求阻尼元件与惯性参考系相连,但在车辆悬架系统中,这一条件无法得到满足,使得理想天棚阻尼不能被动实现,一般采用间接的方法来实现理想天棚阻尼的功能,包括主动、半主动控制方法。而主动、半主动控制悬架在能耗、可靠性、有效性、实时性等方面存在不足,且系统较为复杂,难以在商业上得到大规模的推广与应用。惯容器的出现,“惯容-弹簧-阻尼”悬架结构新体系的提出,使理想天棚阻尼的被动实现成为可能。
本文研究基于“惯容-弹簧-阻尼”结构体系的新一代机械隔振系统的设计理论与方法、系统匹配与优化、制造及性能测试关键技术,开发具有自主知识产权的“惯容-弹簧-阻尼”新型隔振系统在车辆悬架系统中的典型应用技术,发展一种不需要能量输入、不依赖控制系统的“惯容-弹簧-阻尼”悬架,替代理想天棚阻尼主动和半主动实现系统,以减少能耗,降低系统的复杂度,增强系统的有效性与实时性,提高系统的可靠性,推动悬架系统设计理论和应用技术的进步与发展。
首先,基于新机电对应相似关系,阐述了惯容器的概念与原理,系统地研究了惯容器的模型与装置,揭示了惯容器本质特征,为惯容器装置的设计与研制奠定了理论基础。
第二,发现了“惯容-弹簧-质量”系统的反共振现象,基于网络分析的理论,提出了一种理想天棚阻尼的被动实现方法,解决了理想天棚阻尼要求阻尼元件与惯性参考系相连的技术难题。将理想天棚阻尼的被动实现方法延伸到理想地棚阻尼的被动实现上,用阻抗分析的方法建立了被动天棚、地棚及其混合阻尼隔振系统模型,研究了三种系统的传递特性,初步从理论上检验了理想天棚、地棚及其混合阻尼被动实现方法的正确性。
第三,将理想天棚、地棚阻尼的被动实现方法应用于车辆悬架,建立了被动天棚、地棚及其混合阻尼悬架的半车及整车模型,分析了悬架的频响特性及动态性能,进一步从理论上检验了理想天棚、地棚阻尼被动实现方法的正确性、有效性及可行性。
第四,提出了一种惯容器的设计方法,设计并研制了丝杠旋转式滚珠丝杠惯容器,进行了惯容器动力学性能试验,获得了惯容器的频响特性曲线,比较了惯容器的理想与实际性能,研究了摩擦力、惯容系数等参数对惯容器动态性能的影响,为惯容器装置的设计与完善提供了可靠依据。
最后,设计了被动天棚阻尼悬架原理样机,并将其安装于试验车后悬,在四通道轮胎耦合道路模拟机上,对整车进行确定路面输入和随机路面输入台架试验,分析了悬架的频响特性及动态性能,验证理想天棚阻尼被动实现方法的正确性和有效性。
研究表明,仿真计算和试验基本吻合。理想天棚阻尼被动实现方法是有效的,与前、后均为传统被动悬架的车辆相比,后悬为被动天棚阻尼悬架的车辆,其后车身加速度增益的车身共振峰值下降了37.5%；在按照国标GB5902—86进行的长波形凸块脉冲试验中,后车身垂直加速度、后车轮垂直加速度、质心垂直加速度、车身俯仰加速度峰峰值分别减小了22.5%,15.8%,16.1%,13.5%；在随机路面试验中,后车身垂直加速度、后车轮垂直加速度、质心垂直加速度、车身俯仰加速度和车身侧倾加速度均方根值分别减小了15%,6.2%,11.2%,9.4%,5.5%；被动天棚阻尼悬架改善了车辆的低频频响特性,不仅有效抑制了车身共振,还减小了车身的俯仰和侧倾振动,提高了车辆的乘坐舒适性,同时,能够反映轮胎动载荷大小的后车轮垂直加速度有所减小,以及在扭曲路面试验中,车身俯仰和侧倾角也有所减小都说明实际的被动天棚阻尼悬架并未降低车辆的行驶安全性。与理想天棚阻尼主动和半主动实现方法相比,被动实现方法无能耗、可靠性、控制系统的有效性、实时性好,系统简单,易于推广与应用。
Ideal skyhook damping requires the damper connect to the inertial reference system, however, in the vehicle suspension system, this condition can not be achieved. This is the basic reason why ideal shy hook damping can not be passively realized. For the realization of ideal skyhook damping, it used to adopt indirect methods, including active and semi-active control method. For active and semi-active control suspension, there are shortcomings such as high energy consumption, poor reliability, validity, and real-time performance, as well as, high complexity of the system, therefore, it is difficult to get in the commercial large-scale promotion and application. With the introduction of inerter and the presentation of inerter-spring-damper suspension structure system, it makes passive realization of ideal skyhook damping possible.
This paper makes a study of design theory and method, system matching and optimization, manufacturing, performance testing, and other key technologies for a new generation of mechanical vibration-isolated system based on inerter-spring-damper structure system. It develops a typical application technology with independent intellectual property rights, that is, a new inerter-spring-damper vibration-isolated technology for vehicle suspension. And also, in order to substitute for active and semi-active realization system, it develops an inerter-spring-damper suspension. This kind of suspension does not require energy input, does not depend on control system, as well, can reduce energy consumption, enhance the validity and real-time performance of the system, improve system reliability, and reduce the complexity of the system. Studies help to promote the progress and development of the suspension system design theory and application technology.
First, based on new electrical and mechanical analogy, the concept and principle of inerter were explained, the models and devices of inerter were systematically study, and the essential characteristics of inerter devices were revealed. Studies laid the theoretical foundation for the design and development of inerter devices.
Second, the anti-resonance phenomenon of the inerter-spring-mass system was found. Based on the theory of network analysis, a passive realization method of ideal skyhook damping was presented. As a result, the technical problem that ideal skyhook-damping requires the damper connect to the inertial reference system was solved. And then, the passive realization method of ideal skyhook damping was extended to the passive realization of ideal groundhook damping. Passive skyhook, groundhook and hybrid damping vibration-isolated system models were established by application of impedance analysis method, to study the transmission characteristics of the three systems. The correctness of the passive realization methods of ideal skyhook, groundhook and hybrid damping was preliminarily verified in theory.
Third, the passive realization methods of ideal skyhook and groundhook damping were applied to the vehicle suspension. The half-car and full-car models of passive skyhook, groundhook and hybrid damping suspension were built to analyze the frequency-response characteristics and dynamic performance of the suspension. The correctness, validity and feasibility of the passive realization methods of ideal skyhook and groundhook damping were further verified in theory.
Fourth, a design method of inerter was proposed to design and development rotary screw ball-screw inerter. To obtain frequency-response characteristics curve, and to compare the ideal and actual performance of inerter, dynamic performance tests of inerter were carried on. Effects of the friction, inertance and other parameters on the dynamic performance of inerter. Studies provide a reliable basis for the design and improvement of inerter devices.
Finally, passive skyhook-damping suspension prototype was designed, and installed in the rear suspension of test car. On four-poster tire coupled road simulator, the special and random roads were simulated to test the entire car. The frequency-response characteristics and dynamic performance of the suspension were analyzed to verify the correctness and validity of the passive realization method of ideal skyhook damping.
Studies have shown that the simulation and experiment are consistent. Passive realization method of ideal skyhook damping is effective. The car whose rear suspension is passive skyhook-damping one, is compared with the car whose front and rear suspension both are traditional passive one. The peak value of vertical acceleration gain of the former's rear body decreases by37.5%; in accordance with national standard GB5902-86, in pulse test of a long waveform bump, peak to peak values of vertical acceleration of the rear body, rear wheel, and center of mass, and body pitch acceleration, reduce by22.5%,15.8%,16.1%,13.5%, respectively; In random road test, RMS values of the vertical acceleration of the rear body, rear wheel, and center of mass, body pitch acceleration and body roll acceleration reduce by15%,6.2%,11.2%,9.4%,5.5%, respectively; Passive skyhook-damping suspension improves low-frequency response characteristics of vehicle. It not only inhibits the body resonance, but also reduces the body's pitch and roll vibration, as a result, improves ride comfort. At the same time, both reduction of vertical acceleration of the rear wheel that reflects the dynamic tire load, and decrease of the body pitch and roll angle in the twist road test, show that the actual passive skyhook-damping suspension does not reduce ride security. Compared with active and semi-active realization method of ideal skyhook damping, passive realization method does not need energy consumption, has good reliability, real-time performance, and the effectiveness of control system. And also, passive realization system is simple, easy to spread and apply.
本文研究基于“惯容-弹簧-阻尼”结构体系的新一代机械隔振系统的设计理论与方法、系统匹配与优化、制造及性能测试关键技术,开发具有自主知识产权的“惯容-弹簧-阻尼”新型隔振系统在车辆悬架系统中的典型应用技术,发展一种不需要能量输入、不依赖控制系统的“惯容-弹簧-阻尼”悬架,替代理想天棚阻尼主动和半主动实现系统,以减少能耗,降低系统的复杂度,增强系统的有效性与实时性,提高系统的可靠性,推动悬架系统设计理论和应用技术的进步与发展。
首先,基于新机电对应相似关系,阐述了惯容器的概念与原理,系统地研究了惯容器的模型与装置,揭示了惯容器本质特征,为惯容器装置的设计与研制奠定了理论基础。
第二,发现了“惯容-弹簧-质量”系统的反共振现象,基于网络分析的理论,提出了一种理想天棚阻尼的被动实现方法,解决了理想天棚阻尼要求阻尼元件与惯性参考系相连的技术难题。将理想天棚阻尼的被动实现方法延伸到理想地棚阻尼的被动实现上,用阻抗分析的方法建立了被动天棚、地棚及其混合阻尼隔振系统模型,研究了三种系统的传递特性,初步从理论上检验了理想天棚、地棚及其混合阻尼被动实现方法的正确性。
第三,将理想天棚、地棚阻尼的被动实现方法应用于车辆悬架,建立了被动天棚、地棚及其混合阻尼悬架的半车及整车模型,分析了悬架的频响特性及动态性能,进一步从理论上检验了理想天棚、地棚阻尼被动实现方法的正确性、有效性及可行性。
第四,提出了一种惯容器的设计方法,设计并研制了丝杠旋转式滚珠丝杠惯容器,进行了惯容器动力学性能试验,获得了惯容器的频响特性曲线,比较了惯容器的理想与实际性能,研究了摩擦力、惯容系数等参数对惯容器动态性能的影响,为惯容器装置的设计与完善提供了可靠依据。
最后,设计了被动天棚阻尼悬架原理样机,并将其安装于试验车后悬,在四通道轮胎耦合道路模拟机上,对整车进行确定路面输入和随机路面输入台架试验,分析了悬架的频响特性及动态性能,验证理想天棚阻尼被动实现方法的正确性和有效性。
研究表明,仿真计算和试验基本吻合。理想天棚阻尼被动实现方法是有效的,与前、后均为传统被动悬架的车辆相比,后悬为被动天棚阻尼悬架的车辆,其后车身加速度增益的车身共振峰值下降了37.5%；在按照国标GB5902—86进行的长波形凸块脉冲试验中,后车身垂直加速度、后车轮垂直加速度、质心垂直加速度、车身俯仰加速度峰峰值分别减小了22.5%,15.8%,16.1%,13.5%；在随机路面试验中,后车身垂直加速度、后车轮垂直加速度、质心垂直加速度、车身俯仰加速度和车身侧倾加速度均方根值分别减小了15%,6.2%,11.2%,9.4%,5.5%；被动天棚阻尼悬架改善了车辆的低频频响特性,不仅有效抑制了车身共振,还减小了车身的俯仰和侧倾振动,提高了车辆的乘坐舒适性,同时,能够反映轮胎动载荷大小的后车轮垂直加速度有所减小,以及在扭曲路面试验中,车身俯仰和侧倾角也有所减小都说明实际的被动天棚阻尼悬架并未降低车辆的行驶安全性。与理想天棚阻尼主动和半主动实现方法相比,被动实现方法无能耗、可靠性、控制系统的有效性、实时性好,系统简单,易于推广与应用。
Ideal skyhook damping requires the damper connect to the inertial reference system, however, in the vehicle suspension system, this condition can not be achieved. This is the basic reason why ideal shy hook damping can not be passively realized. For the realization of ideal skyhook damping, it used to adopt indirect methods, including active and semi-active control method. For active and semi-active control suspension, there are shortcomings such as high energy consumption, poor reliability, validity, and real-time performance, as well as, high complexity of the system, therefore, it is difficult to get in the commercial large-scale promotion and application. With the introduction of inerter and the presentation of inerter-spring-damper suspension structure system, it makes passive realization of ideal skyhook damping possible.
This paper makes a study of design theory and method, system matching and optimization, manufacturing, performance testing, and other key technologies for a new generation of mechanical vibration-isolated system based on inerter-spring-damper structure system. It develops a typical application technology with independent intellectual property rights, that is, a new inerter-spring-damper vibration-isolated technology for vehicle suspension. And also, in order to substitute for active and semi-active realization system, it develops an inerter-spring-damper suspension. This kind of suspension does not require energy input, does not depend on control system, as well, can reduce energy consumption, enhance the validity and real-time performance of the system, improve system reliability, and reduce the complexity of the system. Studies help to promote the progress and development of the suspension system design theory and application technology.
First, based on new electrical and mechanical analogy, the concept and principle of inerter were explained, the models and devices of inerter were systematically study, and the essential characteristics of inerter devices were revealed. Studies laid the theoretical foundation for the design and development of inerter devices.
Second, the anti-resonance phenomenon of the inerter-spring-mass system was found. Based on the theory of network analysis, a passive realization method of ideal skyhook damping was presented. As a result, the technical problem that ideal skyhook-damping requires the damper connect to the inertial reference system was solved. And then, the passive realization method of ideal skyhook damping was extended to the passive realization of ideal groundhook damping. Passive skyhook, groundhook and hybrid damping vibration-isolated system models were established by application of impedance analysis method, to study the transmission characteristics of the three systems. The correctness of the passive realization methods of ideal skyhook, groundhook and hybrid damping was preliminarily verified in theory.
Third, the passive realization methods of ideal skyhook and groundhook damping were applied to the vehicle suspension. The half-car and full-car models of passive skyhook, groundhook and hybrid damping suspension were built to analyze the frequency-response characteristics and dynamic performance of the suspension. The correctness, validity and feasibility of the passive realization methods of ideal skyhook and groundhook damping were further verified in theory.
Fourth, a design method of inerter was proposed to design and development rotary screw ball-screw inerter. To obtain frequency-response characteristics curve, and to compare the ideal and actual performance of inerter, dynamic performance tests of inerter were carried on. Effects of the friction, inertance and other parameters on the dynamic performance of inerter. Studies provide a reliable basis for the design and improvement of inerter devices.
Finally, passive skyhook-damping suspension prototype was designed, and installed in the rear suspension of test car. On four-poster tire coupled road simulator, the special and random roads were simulated to test the entire car. The frequency-response characteristics and dynamic performance of the suspension were analyzed to verify the correctness and validity of the passive realization method of ideal skyhook damping.
Studies have shown that the simulation and experiment are consistent. Passive realization method of ideal skyhook damping is effective. The car whose rear suspension is passive skyhook-damping one, is compared with the car whose front and rear suspension both are traditional passive one. The peak value of vertical acceleration gain of the former's rear body decreases by37.5%; in accordance with national standard GB5902-86, in pulse test of a long waveform bump, peak to peak values of vertical acceleration of the rear body, rear wheel, and center of mass, and body pitch acceleration, reduce by22.5%,15.8%,16.1%,13.5%, respectively; In random road test, RMS values of the vertical acceleration of the rear body, rear wheel, and center of mass, body pitch acceleration and body roll acceleration reduce by15%,6.2%,11.2%,9.4%,5.5%, respectively; Passive skyhook-damping suspension improves low-frequency response characteristics of vehicle. It not only inhibits the body resonance, but also reduces the body's pitch and roll vibration, as a result, improves ride comfort. At the same time, both reduction of vertical acceleration of the rear wheel that reflects the dynamic tire load, and decrease of the body pitch and roll angle in the twist road test, show that the actual passive skyhook-damping suspension does not reduce ride security. Compared with active and semi-active realization method of ideal skyhook damping, passive realization method does not need energy consumption, has good reliability, real-time performance, and the effectiveness of control system. And also, passive realization system is simple, easy to spread and apply.
引文
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[72]Scheibe F, Smith M C. Analytical solutions for optimal ride comfort and tyre grip for passive vehicle suspensions [J]. Vehicle System Dynamics, 2009, 47(10): 1229-1252
[73]Zhang Menglun. The application of inerter to train suspension systems[D]. Taipei: National Taiwan University, 2005
[74]Alexey Kuznetsov, Musa Mammadov, Ibrahim Sultan, et al. Optimization of improved suspension system with inerter device of the quarter-car model in vibration analysis[J]. Archive of Applied Mechanics, 2010: 1-11
[75]Liao Bohuai. The Network synthesis of passive mechanical systems employing inerter—LMI approaches and applications to train suspension systems[D]. Taipei: National Taiwan University, 2006
[76]陈龙,张孝良,江浩斌,等.基于机电系统相似性理论的蓄能悬架系统[J].中国机械工程,2009,20(10)：1248-1250
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[90]Wang F C, Chan H A. Mechatronic suspension design and its applications to vehicle suspension control [C]//47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008: 3769-3774
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[103]C Papageorgiou and M C Smith. Positive real synthesis Using Matrix Inequalities for Mechanical Metworks: Application to Vehicle Suspension [C]//42rd IEEE Conference on Decision and Control. Atlantis, Paradise Island, Bahamas, 2004: 423-435
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