基于磁流变悬置的发动机主动隔振研究
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摘要
发动机作为一种动力装置，长期以来广泛地被车辆、船舶、飞机等运载器所采用。受技术条件限制，目前还没有一种动力装置能够取代发动机为运载器提供可靠持久的动力。但是，由于气体爆炸的冲击力和曲柄连杆机构的惯性力作用，发动机不可避免地会产生多个不同振源不同振型的复杂振动，混合叠加后的振动具有宽频、多振源和多主频的特征，这使得发动机成为汽车上的主要振源，影响汽车行驶的舒适性。因此，发动机的隔振问题受到大量研究者的关注，目前在隔振领域主要采用安装橡胶悬置或液压悬置的方法来隔离发动机振动向车身传播。但传统的橡胶悬置或液压悬置仅能在较低频范围取得隔振效果，难以满足宽频隔振降噪的要求。近年来出现的磁流变液悬置，具有阻尼力可调、响应快、功耗低、结构简单等特点，是发动机主动隔振的重要发展方向之一。目前，国内外的磁流变悬置研究还处于起步阶段，对于该类悬置的动力学模型研究还未有一个公认的准确的力学模型；另一方面发动机振源具有脉冲性，工作频域广，使得整个隔振系统具有非线性、时变性的特性，这使得隔振方法的设计和实验充满难度。
本文针对由重庆交通大学所搭建的4缸4冲程发动机磁流变隔振实验平台，在国家自然科学基金的支助下（基金号51005264）采用理论分析、数值仿真以及实验验证的方式，对磁流变悬置的多项式建模、隔振系统的动力学建模、隔振系统的物理参数识别方法、磁流变悬置的参数优化以及发动机主动隔振中混合控制器的设计等方面进行了研究。论文的主要研究工作和结论如下：
①阐述了对发动机进行振动隔离的意义，并通过回顾国内外学者和公司对发动机悬置研究的历史和所达到的成果，间接证明了将磁流变技术应用于发动机隔振系统的前景。介绍了发动机隔振控制系统设计环节中重要的系统参数识别，模型建立，优化设计，控制方法选择等四个方面的国内外研究进展。简述了目前将磁流变技术应用于发动机隔振存在的问题，基于这些问题，介绍了本文具有针对性的工作内容。
②分析了挤压式磁流变悬置的结构和工作原理，并介绍了该类悬置的恢复力简化计算公式及其构成。在此基础上根据磁流变悬置耗能原理，提出了一种悬置动特性测试方法。通过数值模拟实验验证了该方法的有效性。利用该方法对磁流变悬置进行现场试验，得到了悬置动特性参数的拟合方程。
③分析了单缸发动机的不平衡力构成，推导了4缸4冲程直列式发动机在均匀点火状态下的不平衡力计算公式。建立了具有广泛意义的6自由度发动机隔振系统力学模型，并在此基础上推导了该隔振系统的6自由度系统的动力学方程。并将该动力学模型应用于4缸4冲程发动机的隔振系统，进行动力学仿真，通过对仿真结果进行分析，得到了一些对设计发动机隔振系统有益处的结论。
④根据磁流变悬置的阻尼力可控性，提出了一种新的发动机动力总成悬置系统的物理参数动态识别方法。该方法能在识别发动机动力总成悬置系统的惯性参数的同时识别发动机不平衡力，并通过数值仿真以及现场实验的方法验证了该方法的可靠性。
⑤针对磁流变悬置隔振系统的阻尼力可控而刚度不可控的特点，利用遗传优化算法优化了各悬置橡胶剖面面积，从而达到了优化各悬置初始刚度的目的。
⑥针对发动机磁流变隔振系统的三自由度模型，设计了时变瞬时最优控制器。并利用数值仿真验证了该控制器的有效性。基于瞬时最优控制器中最优反馈与发动机转速、加速度的关系，设计了应用于真实隔振平台的模糊控制器。从实验结果来看，基于模糊控制的发动机实验平台能有效控制发动机垂向力向基座的传播。
As a power plant, engine has widely adopted in vehicles, ships, aircraft carriers. Bytechnical conditions, it does not exist another power plant can replace the engine whichprovide a reliable and lasting power to launch vehicle. However, due to the combustionof the fuel in the cylinder inertial force caused by the impact caused and reciprocatingmember, the engine will inevitably generates a plurality of different local oscillatordifferent vibration type complex vibration, the vibration of the mixed superimposedwith broadband, multiple vibration sources andmulti-frequency characteristics, whichmakes the engine become the car on the main vibration source, Therefore, the enginevibration isolation problems are the concern of a large number of researchers, mainlythe rubber suspension or hydraulic suspension to vibration isolation. Traditional therubber suspension or hydraulic suspension which can only be obtained in the lowerfrequency range isolation effect is difficult to meet the requirements of broadbandvibration isolation. Magnetorheological fluid suspension emerged in recent years, withdamping adjustable, fast response, wide dynamic range, low power consumption,simple structure, is an important development direction of one of the engine activevibration isolation. At present, the domestic and foreign magnetorheological suspensionresearch is still in its infancy, yet accurate mechanical model of a recognized model forthe dynamics of such suspension, engine vibration source has a pulse, wide workfrequency domain, the entire vibration isolation system is a nonlinear, time-varyingsystem, which makes the isolation method of design and experimental full difficulty.
contrary to4-cylinder4stroke engine magnetorheological control isolation platformwhich bulit in ChongQing JiaoTong universtiy, this paper subsidied by the Foundationof Natural Science to reseach the theoretical analysis,numerical simulations,andexperiments are applied to study the dynamic characteristics of an engine vibrationisolation system,the engine parameter identification methodologies,the test andmodeling methodologies of an MRF mount,the isolation control methodologies,thesimulation of engine isolation system,as well as the design of the multifunctionlaboratory platform and the realization of the engine isolation system.The maincontributions of the dissertation include the following:
①The significance of the engine vibration isolation via MRF mount system isexplained.The engine mounts,engine vibration isolation dynamic models,engine parameters identification,and isolation control methodologies are reviewed.Moreover,the main research works aimed at the problems in engine vibration isolation via MRFmounts are addressed.
②The strucure and mechanical model of the MRF suspension bass on squeezemode and the The formula of the MRF mounts react force s analysied in this paper. Asuspension dynamic characteristics test method which is verifid By numericalsimulation has been founded. By use this method to field trials, the suspension dynamiccharacteristics parameters fitting equation is identified.
③A dynamic model and a kinematics equation are built,which can reflect thendpitch vibration of the main vibration states of a four-cylinder engine after the analysis ofengine excitation resource. Moreover,a single-layer isolation principle is applied todiscuss engine isolation performance through engine excitation,mount damping,andstiffness.These provide the basis for the design of the vibration isolation controller.
④Based on the damping controllability of the magneto-rheological damper andthe relativity between the unbalanced forces and rotate speed of the engine, a newmethod for identifying inertia parameters and unbalanced forces of the engine wasproposed by measuring engine mount accelerations and support reactions on differentdamper coefficients. Compared with traditional methods, this method has the merits oftargeted, repeated test without motor lifting, all parameters identified simultaneously.The effectiveness of this method was verified by a simulation modeling and the testingof a four-cylinder four-stroke powertrain. Results show that the recognition accuracy ofinertia parameters meets the engineering needs and the unbalance force identificationresults are more realistic compared to a simplified formula.
⑤To obtain the better Isolation effect of MRC in Broad Frequency, it is necessaryto optimize the initial stiffness. For Motor unbalanced force and isolation systemdumping were not considered in The Traditional Optimization method, the feature ofsemi-automatic can not be reflected. Adopt a four-cylinder four-cycle in-line dieselengine, use Genetic Algorithm to Found a new method which is suitable for Stiffnessoptimization on vehicle engine isolation via MRC mounts. The new method Applyisolation system possess smaller absolute force transmissibility in abroad frequencyrange and Standards compliant of Vibration intensity when suffering Impact load.
⑥Found a method which feedback system velocity、acceleration and engine speedby improve instantaneous-optima-algorithm. The simulation results show this controlmethod is more effective in different work condition than traditional instantaneous-optima-control. Bass on the relation ship between react force, rote speedand accelerate which can be goted by simulation result, a new fuzzy control method isfounded.
本文针对由重庆交通大学所搭建的4缸4冲程发动机磁流变隔振实验平台，在国家自然科学基金的支助下（基金号51005264）采用理论分析、数值仿真以及实验验证的方式，对磁流变悬置的多项式建模、隔振系统的动力学建模、隔振系统的物理参数识别方法、磁流变悬置的参数优化以及发动机主动隔振中混合控制器的设计等方面进行了研究。论文的主要研究工作和结论如下：
①阐述了对发动机进行振动隔离的意义，并通过回顾国内外学者和公司对发动机悬置研究的历史和所达到的成果，间接证明了将磁流变技术应用于发动机隔振系统的前景。介绍了发动机隔振控制系统设计环节中重要的系统参数识别，模型建立，优化设计，控制方法选择等四个方面的国内外研究进展。简述了目前将磁流变技术应用于发动机隔振存在的问题，基于这些问题，介绍了本文具有针对性的工作内容。
②分析了挤压式磁流变悬置的结构和工作原理，并介绍了该类悬置的恢复力简化计算公式及其构成。在此基础上根据磁流变悬置耗能原理，提出了一种悬置动特性测试方法。通过数值模拟实验验证了该方法的有效性。利用该方法对磁流变悬置进行现场试验，得到了悬置动特性参数的拟合方程。
③分析了单缸发动机的不平衡力构成，推导了4缸4冲程直列式发动机在均匀点火状态下的不平衡力计算公式。建立了具有广泛意义的6自由度发动机隔振系统力学模型，并在此基础上推导了该隔振系统的6自由度系统的动力学方程。并将该动力学模型应用于4缸4冲程发动机的隔振系统，进行动力学仿真，通过对仿真结果进行分析，得到了一些对设计发动机隔振系统有益处的结论。
④根据磁流变悬置的阻尼力可控性，提出了一种新的发动机动力总成悬置系统的物理参数动态识别方法。该方法能在识别发动机动力总成悬置系统的惯性参数的同时识别发动机不平衡力，并通过数值仿真以及现场实验的方法验证了该方法的可靠性。
⑤针对磁流变悬置隔振系统的阻尼力可控而刚度不可控的特点，利用遗传优化算法优化了各悬置橡胶剖面面积，从而达到了优化各悬置初始刚度的目的。
⑥针对发动机磁流变隔振系统的三自由度模型，设计了时变瞬时最优控制器。并利用数值仿真验证了该控制器的有效性。基于瞬时最优控制器中最优反馈与发动机转速、加速度的关系，设计了应用于真实隔振平台的模糊控制器。从实验结果来看，基于模糊控制的发动机实验平台能有效控制发动机垂向力向基座的传播。
As a power plant, engine has widely adopted in vehicles, ships, aircraft carriers. Bytechnical conditions, it does not exist another power plant can replace the engine whichprovide a reliable and lasting power to launch vehicle. However, due to the combustionof the fuel in the cylinder inertial force caused by the impact caused and reciprocatingmember, the engine will inevitably generates a plurality of different local oscillatordifferent vibration type complex vibration, the vibration of the mixed superimposedwith broadband, multiple vibration sources andmulti-frequency characteristics, whichmakes the engine become the car on the main vibration source, Therefore, the enginevibration isolation problems are the concern of a large number of researchers, mainlythe rubber suspension or hydraulic suspension to vibration isolation. Traditional therubber suspension or hydraulic suspension which can only be obtained in the lowerfrequency range isolation effect is difficult to meet the requirements of broadbandvibration isolation. Magnetorheological fluid suspension emerged in recent years, withdamping adjustable, fast response, wide dynamic range, low power consumption,simple structure, is an important development direction of one of the engine activevibration isolation. At present, the domestic and foreign magnetorheological suspensionresearch is still in its infancy, yet accurate mechanical model of a recognized model forthe dynamics of such suspension, engine vibration source has a pulse, wide workfrequency domain, the entire vibration isolation system is a nonlinear, time-varyingsystem, which makes the isolation method of design and experimental full difficulty.
contrary to4-cylinder4stroke engine magnetorheological control isolation platformwhich bulit in ChongQing JiaoTong universtiy, this paper subsidied by the Foundationof Natural Science to reseach the theoretical analysis,numerical simulations,andexperiments are applied to study the dynamic characteristics of an engine vibrationisolation system,the engine parameter identification methodologies,the test andmodeling methodologies of an MRF mount,the isolation control methodologies,thesimulation of engine isolation system,as well as the design of the multifunctionlaboratory platform and the realization of the engine isolation system.The maincontributions of the dissertation include the following:
①The significance of the engine vibration isolation via MRF mount system isexplained.The engine mounts,engine vibration isolation dynamic models,engine parameters identification,and isolation control methodologies are reviewed.Moreover,the main research works aimed at the problems in engine vibration isolation via MRFmounts are addressed.
②The strucure and mechanical model of the MRF suspension bass on squeezemode and the The formula of the MRF mounts react force s analysied in this paper. Asuspension dynamic characteristics test method which is verifid By numericalsimulation has been founded. By use this method to field trials, the suspension dynamiccharacteristics parameters fitting equation is identified.
③A dynamic model and a kinematics equation are built,which can reflect thendpitch vibration of the main vibration states of a four-cylinder engine after the analysis ofengine excitation resource. Moreover,a single-layer isolation principle is applied todiscuss engine isolation performance through engine excitation,mount damping,andstiffness.These provide the basis for the design of the vibration isolation controller.
④Based on the damping controllability of the magneto-rheological damper andthe relativity between the unbalanced forces and rotate speed of the engine, a newmethod for identifying inertia parameters and unbalanced forces of the engine wasproposed by measuring engine mount accelerations and support reactions on differentdamper coefficients. Compared with traditional methods, this method has the merits oftargeted, repeated test without motor lifting, all parameters identified simultaneously.The effectiveness of this method was verified by a simulation modeling and the testingof a four-cylinder four-stroke powertrain. Results show that the recognition accuracy ofinertia parameters meets the engineering needs and the unbalance force identificationresults are more realistic compared to a simplified formula.
⑤To obtain the better Isolation effect of MRC in Broad Frequency, it is necessaryto optimize the initial stiffness. For Motor unbalanced force and isolation systemdumping were not considered in The Traditional Optimization method, the feature ofsemi-automatic can not be reflected. Adopt a four-cylinder four-cycle in-line dieselengine, use Genetic Algorithm to Found a new method which is suitable for Stiffnessoptimization on vehicle engine isolation via MRC mounts. The new method Applyisolation system possess smaller absolute force transmissibility in abroad frequencyrange and Standards compliant of Vibration intensity when suffering Impact load.
⑥Found a method which feedback system velocity、acceleration and engine speedby improve instantaneous-optima-algorithm. The simulation results show this controlmethod is more effective in different work condition than traditional instantaneous-optima-control. Bass on the relation ship between react force, rote speedand accelerate which can be goted by simulation result, a new fuzzy control method isfounded.
引文
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