重型矿用电动轮自卸车极限工况和操纵稳定性的仿真分析
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摘要
随着国民经济建设的不断发展,重型矿用自卸车已成为国家不断发展道路建设、矿山开采等各类工程和基础设施建设必不可少的运输工具,具有很好的市场前景。这使得重型矿用自卸车的运动特性分析日渐成为研究所必需解决的问题之一。由于矿用自卸车的性能指标尚无行业标准,试验场地也不易落实,且其技术含量高、造价昂贵,故采用计算机进行虚拟实现则可以在自卸车开发和革新中使样车试制、试验次数减少到最低限度。因此,研究重型矿用自卸车运动特性,具有重要的理论意义和应用价值。本文从以下几个研究方面展开:
1.建立了某重型矿用自卸车的几何模型和物理模型,为接下来的运动学和动力学分析做好了准备。
2.确定某重型矿用自卸车的整车性能与结构参数,并对油气悬架的刚度和阻尼进行分析和计算,并根据该车实际运行的路况设计了几种极限工况来验证其极限行驶能力以及各部件的受力情况。
3.根据国家标准QC/T480-1999《汽车操纵稳定性指标限值与评价方法》在ADAMS软件环境下建立仿真模型对该车进行了分析计算,确定操纵稳定性基本符合要求,并对操纵稳定性进行评价。
总之,本文通过对重型矿用自卸车极限工况和操纵稳定性的仿真分析,获得了重型矿用自卸车在极限工况的行驶能力和操作稳定性方面的性能指标,为以后设计重型矿用自卸车提供了参考依据。
With the continuous development of Chinese national economy, heavy motorized wheel dump truck has become the development of national road construction, mining and other kinds of engineering and construction of essential transport infrastructure. It has good market prospects. Therefore, the analysis on movement characteristics of heavy dump truck for mining has become one of the issues needed to be resolved. As the performance index dump truck is no industry standard, test site is also not easy to implement, it is high technology and expensive, computer technology has been used to design, improve the truck and reduce the number of the tests a lot. Thus, the study of heavy motorized wheel dump truck’s kinetic characteristic has great theoretical significance and application value. This research started from the following:
1. This paper has established a heavy motorized wheel dump truck the geometric model and physical model. It has been ready for kinematic and dynamic analysis later.
2. The truck’s performance parameters and structure parameters have been decided. Then the analysis and the calculation have been done on the suspension’s siffness and damping, several limit situations have been setted up to validate the ability of limit running and the suffer force of each part.
3. Simulation model has been set up based on ADAMS according to the national standard QC/T480-1999. Then the analysis and the calculation have been done on the handing stability, which accorded with the demands.
In short, the limit situation and handling stability performance indicators of the heavy motorized wheel dump truck have been obtained through the simulation of vehicle performance analysis. It offers design reference for the heavy motorized wheel dump truck.
1.建立了某重型矿用自卸车的几何模型和物理模型,为接下来的运动学和动力学分析做好了准备。
2.确定某重型矿用自卸车的整车性能与结构参数,并对油气悬架的刚度和阻尼进行分析和计算,并根据该车实际运行的路况设计了几种极限工况来验证其极限行驶能力以及各部件的受力情况。
3.根据国家标准QC/T480-1999《汽车操纵稳定性指标限值与评价方法》在ADAMS软件环境下建立仿真模型对该车进行了分析计算,确定操纵稳定性基本符合要求,并对操纵稳定性进行评价。
总之,本文通过对重型矿用自卸车极限工况和操纵稳定性的仿真分析,获得了重型矿用自卸车在极限工况的行驶能力和操作稳定性方面的性能指标,为以后设计重型矿用自卸车提供了参考依据。
With the continuous development of Chinese national economy, heavy motorized wheel dump truck has become the development of national road construction, mining and other kinds of engineering and construction of essential transport infrastructure. It has good market prospects. Therefore, the analysis on movement characteristics of heavy dump truck for mining has become one of the issues needed to be resolved. As the performance index dump truck is no industry standard, test site is also not easy to implement, it is high technology and expensive, computer technology has been used to design, improve the truck and reduce the number of the tests a lot. Thus, the study of heavy motorized wheel dump truck’s kinetic characteristic has great theoretical significance and application value. This research started from the following:
1. This paper has established a heavy motorized wheel dump truck the geometric model and physical model. It has been ready for kinematic and dynamic analysis later.
2. The truck’s performance parameters and structure parameters have been decided. Then the analysis and the calculation have been done on the suspension’s siffness and damping, several limit situations have been setted up to validate the ability of limit running and the suffer force of each part.
3. Simulation model has been set up based on ADAMS according to the national standard QC/T480-1999. Then the analysis and the calculation have been done on the handing stability, which accorded with the demands.
In short, the limit situation and handling stability performance indicators of the heavy motorized wheel dump truck have been obtained through the simulation of vehicle performance analysis. It offers design reference for the heavy motorized wheel dump truck.
引文
[1]段家典,万海如,唐新蓬.重型矿用电动轮自卸车的现状及发展趋势.重型汽车, 2001, 1: 24-26
[2]余志生.汽车理论(第3版) [M].北京:清华大学出版社, 2002
[3] Zeid A, Chang D. Simulation of multibody systems for the computer Aided Design of Vehicle dynamic control, SAE paper No 910236, 1991:93-98
[4]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实际应用[M].兰州:西北工业大学出版社, 2002
[5]陈立平,张云清,任为群等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社, 2005
[6]洪嘉振.计算多体系统动力学[M].北京:高等教育出版社, 1999
[7]刘延柱,嘉振,杨兴海.多刚体系统动力学[M].北京:高等教育出版社, 1989
[8]雷雨成.汽车系统动力学及仿真[M].北京:北京工业出版社, 1997
[9] M·米奇克著.桑杰译.汽车动力学[M].北京:机械工业出版社, 1980
[10] Brach R Vehicle dynamics model for simulation on a macro computer. Int.J of Vehicle Design, Vol 12 no 4: 404-4192
[11] Lee.Gregory. Virtual prototyping on personal computers Mechanical Engineering, Jul, 1995, 117(7): 70-73
[12]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用.机电一体化, 2000, (5): 17-19
[13]熊光楞,李伯虎,柴旭东.虚拟样机技术.系统仿真学报, 2001, 13(1): 114 -117
[14]雷兵兵.客车操纵稳定性动力学模型的研究: [硕士学位论文].西安公路交通大学, 2000
[15]项俊.轿车多体动力学建模仿真及应用研究: [硕士学位论文].华中科技大学, 2005
[16]尹念东,汽车—驾驶员—环境闭环系统操纵稳定性虚拟试验技术的研究: [博士学位论文].中国农业大学, 2001
[17]王树凤.汽车操纵稳定性虚拟试验系统的研究: [博士学位论文].中国农业大学, 2002
[18]郑军.新概念车舒适性与操纵稳定性研究: [博士学位论文].湖南大学, 2001
[19]蔡世芳.汽车操纵稳定性评价指标和参数匹配的工程分析方法.汽车工程,1985, 7(3):20-24
[20]宗长富,郭孔辉.汽车操纵稳定性的研究与评价.汽车技术, 2000, (6): 6-11
[21]宗长富,郭孔辉.汽车操纵稳定性的主观评价.汽车工程, 2000, 22(5): 381-383
[22]苏源泉,闫玉娟,陈俊鸿.中国重型汽车市场的发展分析.陕西省经济管理干部学院学报. 2004, (01), 63-66
[23]刘雨亭.汽车工业50年发展与回顾
[24]刘延拄.多刚体系统动力学[M].北京:人民邮电出版社, 1994
[25] http://bbs.zol.com.cn/index20050805/index_260_1433.shtml, 2005-8-5
[26]休斯敦,刘又午.多体系统动力学(上、下) [M].天津:天津工业出版社, 1991, (2): 15-20
[27]维滕伯格著.谢传锋译.多刚体系统动力学[M].北京:北京航空学院出版社, 1986, 3-25
[28] L.Lilov, M.Lorer.Dynamic Analysis of Mult-Body System Based on the Gauss Principle. ZAMM, 1982, 1342-1353
[29]陆佑方.柔性多体系统动力学[M].北京:高等教育出版社, 1996, 1-105
[30] R.Schwertasek, R.E.Roberson. Dynamics of Multibody System, Berlin-Verlag, 1986, 3-4
[31] Ryan R R.ADAMS-Multibody System Analysis Software, In: Schiehlen W, Ed. Multibody Systems Handbook. Springer-verlag, 1990
[32]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社, 2005, 1: 21-30
[33]余志生.汽车理论(第3版) [M].北京:机械正业出版社, 2000, 103-205
[34]汽车操纵稳定性试验方法,转向瞬态响应试验(转向盘转角阶跃输入).中华人民共和国国家标准GB/T6323.2, 1994
[35] Foste, AW.A Heavy Track Cab Suspension for Improved Ride. SAE 780408, 1-20
[36] R.R.Ryan. SDIO/NASA Workshopp on Multibody Dynamics, California, 1987
[37] Felez J,Vera C.Bond.Graph Assisted Models for Hydro-pneumatic Suspension in Crane Vehicles, Vehicle System Dynamics, 1987, (16): 313-332
[38] Crolla DA. Vehicle Dynamics-Theory into Pratice. Proc lnstn Mech Engrs,Pan D, VOI,210, 1996, 83-94
[39] Sharp R S, Crolla D A.Road Vehicle Suspension System-a Review. Vehicle System Dynamics, 1987, (16): 167-192
[40] Elbeheiry E M, Karnopp D C, etal. Advanced Ground Vehicle SuspensionSystem-A Classified Bibliography. Vehicle System Dynamics, 1995, (24): 1-258
[41] Warner B, Rakheja S. An Analytical and Experimental Investigation of Cars. Vehicle System Dynamics, 1996, (26): 381-393
[2]余志生.汽车理论(第3版) [M].北京:清华大学出版社, 2002
[3] Zeid A, Chang D. Simulation of multibody systems for the computer Aided Design of Vehicle dynamic control, SAE paper No 910236, 1991:93-98
[4]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实际应用[M].兰州:西北工业大学出版社, 2002
[5]陈立平,张云清,任为群等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社, 2005
[6]洪嘉振.计算多体系统动力学[M].北京:高等教育出版社, 1999
[7]刘延柱,嘉振,杨兴海.多刚体系统动力学[M].北京:高等教育出版社, 1989
[8]雷雨成.汽车系统动力学及仿真[M].北京:北京工业出版社, 1997
[9] M·米奇克著.桑杰译.汽车动力学[M].北京:机械工业出版社, 1980
[10] Brach R Vehicle dynamics model for simulation on a macro computer. Int.J of Vehicle Design, Vol 12 no 4: 404-4192
[11] Lee.Gregory. Virtual prototyping on personal computers Mechanical Engineering, Jul, 1995, 117(7): 70-73
[12]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用.机电一体化, 2000, (5): 17-19
[13]熊光楞,李伯虎,柴旭东.虚拟样机技术.系统仿真学报, 2001, 13(1): 114 -117
[14]雷兵兵.客车操纵稳定性动力学模型的研究: [硕士学位论文].西安公路交通大学, 2000
[15]项俊.轿车多体动力学建模仿真及应用研究: [硕士学位论文].华中科技大学, 2005
[16]尹念东,汽车—驾驶员—环境闭环系统操纵稳定性虚拟试验技术的研究: [博士学位论文].中国农业大学, 2001
[17]王树凤.汽车操纵稳定性虚拟试验系统的研究: [博士学位论文].中国农业大学, 2002
[18]郑军.新概念车舒适性与操纵稳定性研究: [博士学位论文].湖南大学, 2001
[19]蔡世芳.汽车操纵稳定性评价指标和参数匹配的工程分析方法.汽车工程,1985, 7(3):20-24
[20]宗长富,郭孔辉.汽车操纵稳定性的研究与评价.汽车技术, 2000, (6): 6-11
[21]宗长富,郭孔辉.汽车操纵稳定性的主观评价.汽车工程, 2000, 22(5): 381-383
[22]苏源泉,闫玉娟,陈俊鸿.中国重型汽车市场的发展分析.陕西省经济管理干部学院学报. 2004, (01), 63-66
[23]刘雨亭.汽车工业50年发展与回顾
[24]刘延拄.多刚体系统动力学[M].北京:人民邮电出版社, 1994
[25] http://bbs.zol.com.cn/index20050805/index_260_1433.shtml, 2005-8-5
[26]休斯敦,刘又午.多体系统动力学(上、下) [M].天津:天津工业出版社, 1991, (2): 15-20
[27]维滕伯格著.谢传锋译.多刚体系统动力学[M].北京:北京航空学院出版社, 1986, 3-25
[28] L.Lilov, M.Lorer.Dynamic Analysis of Mult-Body System Based on the Gauss Principle. ZAMM, 1982, 1342-1353
[29]陆佑方.柔性多体系统动力学[M].北京:高等教育出版社, 1996, 1-105
[30] R.Schwertasek, R.E.Roberson. Dynamics of Multibody System, Berlin-Verlag, 1986, 3-4
[31] Ryan R R.ADAMS-Multibody System Analysis Software, In: Schiehlen W, Ed. Multibody Systems Handbook. Springer-verlag, 1990
[32]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社, 2005, 1: 21-30
[33]余志生.汽车理论(第3版) [M].北京:机械正业出版社, 2000, 103-205
[34]汽车操纵稳定性试验方法,转向瞬态响应试验(转向盘转角阶跃输入).中华人民共和国国家标准GB/T6323.2, 1994
[35] Foste, AW.A Heavy Track Cab Suspension for Improved Ride. SAE 780408, 1-20
[36] R.R.Ryan. SDIO/NASA Workshopp on Multibody Dynamics, California, 1987
[37] Felez J,Vera C.Bond.Graph Assisted Models for Hydro-pneumatic Suspension in Crane Vehicles, Vehicle System Dynamics, 1987, (16): 313-332
[38] Crolla DA. Vehicle Dynamics-Theory into Pratice. Proc lnstn Mech Engrs,Pan D, VOI,210, 1996, 83-94
[39] Sharp R S, Crolla D A.Road Vehicle Suspension System-a Review. Vehicle System Dynamics, 1987, (16): 167-192
[40] Elbeheiry E M, Karnopp D C, etal. Advanced Ground Vehicle SuspensionSystem-A Classified Bibliography. Vehicle System Dynamics, 1995, (24): 1-258
[41] Warner B, Rakheja S. An Analytical and Experimental Investigation of Cars. Vehicle System Dynamics, 1996, (26): 381-393