基于多领域建模的重卡制动系统动力学研究
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摘要
对于总质量大于8000kg的汽车一般采用动力制动系统,而气压制动系统因其结构简单、制动力大等优点而被重卡广泛采用。汽车的制动性能并不仅由制动系统决定,还与整车参数相关。因此要准确地研究汽车的制动性能,不仅需要对制动系统本身进行分析,还要对整车的其他系统进行研究。
传统的汽车仿真研究方法及理论基本上都是针对单个领域的研究,不同的理论通常需要不同的软件平台支撑,这个仿真研究带来了很多麻烦。将不同理论结合起来在同一软件平台下进行仿真研究将会使效率得到很大提高,还可避免不同软件之间数据交换带来的数值求解问题。
本文以重型卡车的制动性能为研究对象,首先分析了汽车制动系统的评价指标,再利用多领域统一建模软件对重卡的制动系统及整车系统进行建模,最后完成了对重卡制动性能的优化设计。
本文的具体内容包括以下几个方面：
1)研究了多领域统一建模相关理论,构建及扩充了基础模型库。分析了无因果建模理论及多领域统一建模语言Modelica的特点；研究了多体系统在多领域统一建模理论下的描述方法及建模原理；总结了与气压传动相关的流体力学和热力学理论,并建立了用于研究气压传动系统气压基础模型库,模型库为研究汽车制动性能提供基础元件。
2)建立汽车制动系统动态仿真分析模型。对气压制动系统结构及关键部件工作原理进行了详细分析,在多领域统一建模平台MWorks上建立气压制动系统模型库,包括储气筒、制动阀、继动阀、制动气室及制动执行机构总成等部件模型,并在模型库基础上搭建完整的汽车制动系统模型。该制动系统模型可以仿真模拟得到汽车制动过程中系统内各元件随时间变化的气压和制动力矩等,较传统的经验公式更准确。
3)建立重型卡车的整车动力学模型并联合制动系统模型进行仿真。整车动力学模型同时在MWorks中建立,根据实际车型的结构对整车进行系统划分,包括前桥板簧悬架、中后桥空气弹簧悬架、转向系统、轮胎路面模型等。板簧悬架根据梁单元模型建立,空气弹簧采用刚度试验曲线拟合方式建模,轮胎模型根据经典的Magic Formula公式建立。将整车模型与制动系统模型联合仿真,计算制动过程中汽车的减速度、速度和制动距离等关键指标。由于整车模型与制动系统模型在同一平台下构建,联合仿真时避免了多个软件交互引起的数据传递问题及求解器不同导致的数值求解问题。
4)对汽车制动系统的优化仿真。首先以系统的静态特性优化为基础,使制动性能满足基本法规；在直线制动工况的基础上优化制动系统的动态特性,减小滞后时间、缩短制动距离；最后对转弯制动工况进行仿真,分析汽车制动时的方向稳定性。经优化后,汽车不仅满足相应的制动法规,提高了制动效能,同时缩短了制动距离,通过转弯制动仿真还可以判断汽车制动时的方向稳定性,能够代替部分道路试验。
The dynamic brake systems are used in the vehicle which is more than 8000 kilograms, and :he air brake system is widely used in the heavy trucke for its simple structure and larger brake force. The capacity of brake is not determined by the brake system only, and it is affected by the vehicle parameters. Thus, to research the brake capacity precislier, not only the brake system need to be studied, but also orther systems of vehicle need to be analized.
The traditional simulation methods and theories of vehicle are researched on one-domain. The different theories are supported by different softwares, which lead to some troubles. If we research the different theories in a same software platform, the effectivness would be elevated much and the numerical problem caused by the data commutation among different softwares would be avoided.
The brake capacity of heavy truck is mainly be researched in this thesis. Firstly, the evaluation indexes are studied, and then the brake system and vehicle model of heavy truck are built in the multi-domain modeling software, lastly the optimization of the brake capacity of heavy truck is completed.
Several aspects which were discussed in detail in this thesis are listed as follows:
Firstly, research the multi-domain modeling theory, and build and extend the model libiary. The the non-causal modeling theory and the characteristics of Modelica modeling language for multi-domain modeling are presented. The description theory and modeling principle of multibody system under the multi-domain modeling platform are analyzed. The hydrodynamics and thermodynamics theory effecting on the pneumatic transmision are summarized, and the pneumatic transmison library which provides the basic components to the vehicle brake system is built.
Secondly, construct the brake system dynamic model. Analyze the structure and work of the key components in detail. Build the model of key components of air brake system on the multi-domain modeling platform MWorks, containing reserivor, brake valve, relay valve, brake chamber, and the assemebely mechanical subsystem of brake system, and then construct the integrate brake system model based on these components. The brake system can simulate the air pressure and brake torque varing with time, which is more accurate than traditional emprical formulas.
Thirdly, construct the vehicle dynamic model of heavy truck, and simulate the brake performance combined with brake system model. Decompose the vehicle to several subsystems containing front leaf spring suspension, middle and rear air spring suspension, steering subsystem, and tire model, and then build these subsystems on the same platform MWorks. The leaf spring suspension is based on the beam element model; the air spring suspension is built through the experiments curve fitting of stiffness; tire employs the classic Magic Formula to achieve the model. Simulate the vehicle deceleration, velocity, and brake distance using the combined model of vehicle and brake system. Because the vehicle model and brake system model are built on the same platform, some problems induced by data exchange and solver difference between the different softwares can be avoided.
Lastly, the optimization is conducted to enhance the performance of braking system. The static characteristic optimization is carried out as a basis to satisfy the basic rules of braking system. Then, the dynamic characteristic is optimaized through the straight-line brake simulation to decrease the delay time and braking distance. Finally, brake in-turn is simulated to analyze the handling stability during braking. After the optimization, the vehicle not only confirms the brake laws, elevate the brake efficiency, but also reduce the brake distance, and estimate the vehicle steering stability through the simulation of steering brake, which can replace some road test.
传统的汽车仿真研究方法及理论基本上都是针对单个领域的研究,不同的理论通常需要不同的软件平台支撑,这个仿真研究带来了很多麻烦。将不同理论结合起来在同一软件平台下进行仿真研究将会使效率得到很大提高,还可避免不同软件之间数据交换带来的数值求解问题。
本文以重型卡车的制动性能为研究对象,首先分析了汽车制动系统的评价指标,再利用多领域统一建模软件对重卡的制动系统及整车系统进行建模,最后完成了对重卡制动性能的优化设计。
本文的具体内容包括以下几个方面：
1)研究了多领域统一建模相关理论,构建及扩充了基础模型库。分析了无因果建模理论及多领域统一建模语言Modelica的特点；研究了多体系统在多领域统一建模理论下的描述方法及建模原理；总结了与气压传动相关的流体力学和热力学理论,并建立了用于研究气压传动系统气压基础模型库,模型库为研究汽车制动性能提供基础元件。
2)建立汽车制动系统动态仿真分析模型。对气压制动系统结构及关键部件工作原理进行了详细分析,在多领域统一建模平台MWorks上建立气压制动系统模型库,包括储气筒、制动阀、继动阀、制动气室及制动执行机构总成等部件模型,并在模型库基础上搭建完整的汽车制动系统模型。该制动系统模型可以仿真模拟得到汽车制动过程中系统内各元件随时间变化的气压和制动力矩等,较传统的经验公式更准确。
3)建立重型卡车的整车动力学模型并联合制动系统模型进行仿真。整车动力学模型同时在MWorks中建立,根据实际车型的结构对整车进行系统划分,包括前桥板簧悬架、中后桥空气弹簧悬架、转向系统、轮胎路面模型等。板簧悬架根据梁单元模型建立,空气弹簧采用刚度试验曲线拟合方式建模,轮胎模型根据经典的Magic Formula公式建立。将整车模型与制动系统模型联合仿真,计算制动过程中汽车的减速度、速度和制动距离等关键指标。由于整车模型与制动系统模型在同一平台下构建,联合仿真时避免了多个软件交互引起的数据传递问题及求解器不同导致的数值求解问题。
4)对汽车制动系统的优化仿真。首先以系统的静态特性优化为基础,使制动性能满足基本法规；在直线制动工况的基础上优化制动系统的动态特性,减小滞后时间、缩短制动距离；最后对转弯制动工况进行仿真,分析汽车制动时的方向稳定性。经优化后,汽车不仅满足相应的制动法规,提高了制动效能,同时缩短了制动距离,通过转弯制动仿真还可以判断汽车制动时的方向稳定性,能够代替部分道路试验。
The dynamic brake systems are used in the vehicle which is more than 8000 kilograms, and :he air brake system is widely used in the heavy trucke for its simple structure and larger brake force. The capacity of brake is not determined by the brake system only, and it is affected by the vehicle parameters. Thus, to research the brake capacity precislier, not only the brake system need to be studied, but also orther systems of vehicle need to be analized.
The traditional simulation methods and theories of vehicle are researched on one-domain. The different theories are supported by different softwares, which lead to some troubles. If we research the different theories in a same software platform, the effectivness would be elevated much and the numerical problem caused by the data commutation among different softwares would be avoided.
The brake capacity of heavy truck is mainly be researched in this thesis. Firstly, the evaluation indexes are studied, and then the brake system and vehicle model of heavy truck are built in the multi-domain modeling software, lastly the optimization of the brake capacity of heavy truck is completed.
Several aspects which were discussed in detail in this thesis are listed as follows:
Firstly, research the multi-domain modeling theory, and build and extend the model libiary. The the non-causal modeling theory and the characteristics of Modelica modeling language for multi-domain modeling are presented. The description theory and modeling principle of multibody system under the multi-domain modeling platform are analyzed. The hydrodynamics and thermodynamics theory effecting on the pneumatic transmision are summarized, and the pneumatic transmison library which provides the basic components to the vehicle brake system is built.
Secondly, construct the brake system dynamic model. Analyze the structure and work of the key components in detail. Build the model of key components of air brake system on the multi-domain modeling platform MWorks, containing reserivor, brake valve, relay valve, brake chamber, and the assemebely mechanical subsystem of brake system, and then construct the integrate brake system model based on these components. The brake system can simulate the air pressure and brake torque varing with time, which is more accurate than traditional emprical formulas.
Thirdly, construct the vehicle dynamic model of heavy truck, and simulate the brake performance combined with brake system model. Decompose the vehicle to several subsystems containing front leaf spring suspension, middle and rear air spring suspension, steering subsystem, and tire model, and then build these subsystems on the same platform MWorks. The leaf spring suspension is based on the beam element model; the air spring suspension is built through the experiments curve fitting of stiffness; tire employs the classic Magic Formula to achieve the model. Simulate the vehicle deceleration, velocity, and brake distance using the combined model of vehicle and brake system. Because the vehicle model and brake system model are built on the same platform, some problems induced by data exchange and solver difference between the different softwares can be avoided.
Lastly, the optimization is conducted to enhance the performance of braking system. The static characteristic optimization is carried out as a basis to satisfy the basic rules of braking system. Then, the dynamic characteristic is optimaized through the straight-line brake simulation to decrease the delay time and braking distance. Finally, brake in-turn is simulated to analyze the handling stability during braking. After the optimization, the vehicle not only confirms the brake laws, elevate the brake efficiency, but also reduce the brake distance, and estimate the vehicle steering stability through the simulation of steering brake, which can replace some road test.
引文
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