汽车悬架转向系统仿真优化与集成设计
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摘要
本文研究内容是围绕着浙江省科技厅重大科技专项(2008C01002)“多车型共享底盘平台数字化开发技术及应用”开展的。汽车悬架转向系统作为底盘平台的重要组成部分,其运动特性的优劣直接关系到汽车的操纵稳定性、转向轻便性、轮胎的使用寿命等方面。设计合理的悬架转向机构,需要对其运动特性作出准确的判断,进而选择合理的系统参数。
首先采用多体动力学系统与有限元分析相结合的方法,利用ADAMS与ANSYS软件建立了前悬架转向系统的刚柔混合的多体动力学模型,并在此基础上进行了两项仿真试验——双轮同向跳动试验与转角试验,得到了前束角、车轮外倾角、主销内倾角、主销后倾角、轮距随车轮跳动的变化关系与阿克曼误差随车轮转角的变化关系。
其次利用ADAMS/Insight模块对前悬架转向系统进行了试验设计(DOE)分析,提出采用二次试验的方法,通过一次试验确定对系统影响程度最大的因素,二次试验利用RSM响应面法进行回归分析得到了最优解,使得优化设计后系统的性能有了明显的提高。针对传统优化设计方法中存在的最优解的函数值波动过大且容易违反约束的问题,将稳健设计运用于汽车断开式转向梯形机构的优化设计中,在目标函数与约束中同时考虑运动副间隙的影响,建立了稳健优化设计数学模型。通过实例,证明该方法的可行性与实用性。
最后利用VC++开发工具对Oracle、ADAMS、ANSYS进行二次开发,建立了汽车悬架转向系统集成设计平台,实现了有限元分析、刚柔混合多体动力学建模、仿真分析及性能优化的功能。该平台适用于多种类型的前悬架转向系统的设计分析,具有工程实用性和推广价值。
This paper based on the major scientific and technological project "Multi-car shared platform digital developed technology and its application",from Zhejiang Science and Technology Department (2008C01002).Vehicle suspension and steering system is an important part of the chassis platform, its motion characteristics are directly related to vehicle handling and stability, comfort, steering portability, tire life and so on. A well-designed suspension and steering mechanism needs to make accurate judgment about the motion characteristics, and then choose the right system parameters.
Firstly, based on dynamics theory and finite element analysis theory, a rigid-flexible coupling multi-body suspension and steering system was established, combining with ADAMS and ANSYS software.And then Parallel Wheel Travel Analysis and Steering Analysis were carried out. Thereby, the relationship between toe angle, camber angle, kingpin inclination angle,caster angle and wheelbase and the wheel travell were presented, and also the relationship of ackerman error and the steering angle.
Secondly, the experimental design (DOE) analyses by using the ADAMS/Insight module were taken to do the optimization. The first test was used to determine the factors which impact the system mostly; the second test used Response Surface Method to do the regression analysis and got the best solution which enabled performance of the system improved significantly. In view of the great fluctuation on objective functions which causes constraints dissatisfied, robust design was applied to the vehicle divided steering linkage optimization problem. A robust model was established by considering the kinematic pair clearance and structural error both in the objective functions and constrains.The example showed that this method is practical and effective.
At last, an efficient and convenient integrated design method was proposed based on the characters of vehicle suspension and steering system. An integrated design platform of vehicle suspension and steering system, based on the secondary development of Oracle, ADAMS/Car and ANSYS,was constructed using VC++.The platform was proved to be practical and adaptive to a variety of types of design and analysis of suspension and steering system.
首先采用多体动力学系统与有限元分析相结合的方法,利用ADAMS与ANSYS软件建立了前悬架转向系统的刚柔混合的多体动力学模型,并在此基础上进行了两项仿真试验——双轮同向跳动试验与转角试验,得到了前束角、车轮外倾角、主销内倾角、主销后倾角、轮距随车轮跳动的变化关系与阿克曼误差随车轮转角的变化关系。
其次利用ADAMS/Insight模块对前悬架转向系统进行了试验设计(DOE)分析,提出采用二次试验的方法,通过一次试验确定对系统影响程度最大的因素,二次试验利用RSM响应面法进行回归分析得到了最优解,使得优化设计后系统的性能有了明显的提高。针对传统优化设计方法中存在的最优解的函数值波动过大且容易违反约束的问题,将稳健设计运用于汽车断开式转向梯形机构的优化设计中,在目标函数与约束中同时考虑运动副间隙的影响,建立了稳健优化设计数学模型。通过实例,证明该方法的可行性与实用性。
最后利用VC++开发工具对Oracle、ADAMS、ANSYS进行二次开发,建立了汽车悬架转向系统集成设计平台,实现了有限元分析、刚柔混合多体动力学建模、仿真分析及性能优化的功能。该平台适用于多种类型的前悬架转向系统的设计分析,具有工程实用性和推广价值。
This paper based on the major scientific and technological project "Multi-car shared platform digital developed technology and its application",from Zhejiang Science and Technology Department (2008C01002).Vehicle suspension and steering system is an important part of the chassis platform, its motion characteristics are directly related to vehicle handling and stability, comfort, steering portability, tire life and so on. A well-designed suspension and steering mechanism needs to make accurate judgment about the motion characteristics, and then choose the right system parameters.
Firstly, based on dynamics theory and finite element analysis theory, a rigid-flexible coupling multi-body suspension and steering system was established, combining with ADAMS and ANSYS software.And then Parallel Wheel Travel Analysis and Steering Analysis were carried out. Thereby, the relationship between toe angle, camber angle, kingpin inclination angle,caster angle and wheelbase and the wheel travell were presented, and also the relationship of ackerman error and the steering angle.
Secondly, the experimental design (DOE) analyses by using the ADAMS/Insight module were taken to do the optimization. The first test was used to determine the factors which impact the system mostly; the second test used Response Surface Method to do the regression analysis and got the best solution which enabled performance of the system improved significantly. In view of the great fluctuation on objective functions which causes constraints dissatisfied, robust design was applied to the vehicle divided steering linkage optimization problem. A robust model was established by considering the kinematic pair clearance and structural error both in the objective functions and constrains.The example showed that this method is practical and effective.
At last, an efficient and convenient integrated design method was proposed based on the characters of vehicle suspension and steering system. An integrated design platform of vehicle suspension and steering system, based on the secondary development of Oracle, ADAMS/Car and ANSYS,was constructed using VC++.The platform was proved to be practical and adaptive to a variety of types of design and analysis of suspension and steering system.
引文
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[3]郭猛.汽车前轮定位参数分析与优化设计[J].吉林：吉林大学硕士学位论文,2006
[4]车华军,陈南,殷国栋.基于操纵稳定性的车辆悬架性能参数稳健设计方法[J].汽车工程,2009,31(4)1011-1014.
[5]Lothar M.Schmitt,Fundamental Study Theory of genetic algorithms[J]Theo retical Computer Science,2001,259,1-61
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[7]莫旭辉,钟志华,韩旭,闫晓磊.基于多目标优化的菱形车双横臂悬架运动学分析[J].中国机械工程,2009,20(3)374-377
[8]A.Rahmani Hanzaki,P.V.M.Rao,S.K.Saha,Kinematic and sensitivity analysis and optimization of planar rack-and-pinion steering linkages[J],Mechanism and Machine Theory,2009,(44)42-56
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[10]Daniel A.Mantatas, Pablo Luque, Carlos Vera, Development and validation of a three-dimensional kinematic model for the Mcpherson steering and suspension mechanisms[J],Mechanism and Machine Theory2004,(39)603-619
[11]陈黎卿,郑泉,王启瑞.麦弗逊式独立悬架导向机构的运动特性[J],拖拉机与农用运输车,2005(5)57-60
[12]夏长高、邵跃华、丁华.麦弗逊悬架运动学分析与结构参数优化[J],农业机械学报,2005.36(12)25-27
[13]陈黎卿,郑泉,王继先.基于遗传算法的独立悬架与转向系统匹配优化设计[J].河南科技大学学报：自然科学版,2007(8)14-17
[14]Wei Chen, Raman Garimella, Nestor Michelena. Robust design for improved vehicle handling under a range of maneuver conditions[J].Engineering Optimization.2001,33,303-326
[15]张蕾,张文明,申焱华.考虑间隙影响的汽车转向机构稳健优化设计[J].农业机械学报,2007,(1)：30-32.
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[17]郭孔辉.汽车操纵动力学[M].长春：吉林科学技术出版社,1991
[18]卞学良,马国清.轮式车辆麦弗逊悬架转向梯形断开点位置优化设计[J],兵工学报,2007(3)262-266
[19]上官文斌,王江涛,全地形越野车前双横臂独立悬架与转向系统的设计分析[J],汽车工程,2008(4)345-348
[20]项俊.轿车多体动力学建模仿真及应用研究[D].武汉：华中科技大学硕士学位论文,2005
[21]N Mirza, K Hussain, A J Day, J Klaps.Investigation of the dynamic characteristics of suspension parameters on a vehicle experiencing steering drift during braking[J] Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering.2005,219(12) 1429-1441
[22]夏长高,宫镇.刚柔耦合多体车辆操纵稳定性研究[J].汽车工程,2004,26(5)564-567
[23]孙蓓蓓,许志华,孙庆鸿.基于整车多体动力学分析的悬架构件动应力计算[J].汽车工程,2006,28(10)922-925
[24]董恩国.基于ADAMS的车轮定位参数及转向机构优化设计[D].天津：天津大学硕士学位论文,2006
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