车辆座椅动态舒适性及窄带随机动力系统研究
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摘要
本论文分两部分,第一部分是关于座椅的动态舒适性研究,第二部分关于窄带随机动力系统研究。
研究车辆人-椅振动规律对改善乘员的乘座舒适性具有重要的意义。将磁流变阻尼器用于座椅悬架系统,磁流变阻尼器采用改进的Bingham模型,利用非线性振动理论和数据仿真方法对两自由度人-椅模型进行了理论分析,理论结果和数值计算结果基本吻合。研究了影响磁流变阻尼器特性的物理参数对系统主共振响应的影响,得到较为理想的减振效果的磁流变阻尼器参数模型,为车辆座椅的振动控制提供了理论依据。
将确定性系统的研究方法用于非线性随机系统,可以为随机系统的研究开拓新的思路。目前大多数非线性随机系统的成果属于宽带随机激励的系统,然而现实中很多系统是窄带随机参激系统,对于这类系统,有效地解析方法还很少。复规范形法是研究确定性系统非常有效且应用广泛的方法,因此探索用复规范形法研究窄带随机参数激励振动有很重要的理论和现实意义。
本文首次将复规范形法用于窄带随机系统,研究了Duffing, Rayleigh, and Van der pol方程在谐和与窄带随机参数激励联合作用下的主共振响应和稳定性。并用数值法验证了方程的理论分析结果的正确性,理论方法和数值方法都表明随随机扰动强度的增加,系统的稳态解从定周期运动变为一拟周期运动,本文还用数值法计算了平凡解的最大Liapunov指数曲面,并且用多尺度法进一步验证了复规范形法用于窄带随机过程的有效性。
The paper includes mainly two parts. The first one is dynamical ride comfortbility investigation of vehical seat, and the second one is investigation of narrow-band random dynamics systems.
Investigate vehicle seat-person vibration discipline is important for improving ride comfortability of vehicle occupants. Magnetorheological fluid (MRF) damper is used in seat suspension system. The modified Bingham model is adopted for MRF damper. The nonlinar vibratation theory and numerical simulation method are applied to the two freedom seat-person model. The analytical solutions are basically conformed to the numerical solutions. The physical parameters of the MRF damper‘s effection on the system is also obtained. It can provide theory basic for control system.
The methods of deterministic dynamics systems applied to non-linear stochastic dynamics systems can exploit new ways for stochastic dynamics systems. Now many achievements of stochastic dynamics systems belong to systems of broad-band random excitations, but in realism many systems are narrow-band random parameter excited dynamics systems. For these systerms, only few theoretic methods are applided. The complex normal form method is a effective method and has been widely used in the analysis of deterministic systems. So it is important to apply complex normal form method to investigation of narrow-band random parameter excited dynamics systems.
The paper applies complex normal form method to narrow-band random parameter excited dynamics systems. The principal resonance and stability of the Duffing Rayleigh and Van der pol oscillator under combined harmonic and narrow-band random parameteric excited are obtained. The theoretical analyses are verified by numerical results. The theoretic results and numerical results are all show that when the intensity of the random excitation increases, the nontrivial steady state solution may change from a limit cycle to a diffused limit cycle. The largest Liapunov exponent three-dimensional surface is also abtained by numerical method. The complex normal form method is also verified by multiple scales in the systerm.
研究车辆人-椅振动规律对改善乘员的乘座舒适性具有重要的意义。将磁流变阻尼器用于座椅悬架系统,磁流变阻尼器采用改进的Bingham模型,利用非线性振动理论和数据仿真方法对两自由度人-椅模型进行了理论分析,理论结果和数值计算结果基本吻合。研究了影响磁流变阻尼器特性的物理参数对系统主共振响应的影响,得到较为理想的减振效果的磁流变阻尼器参数模型,为车辆座椅的振动控制提供了理论依据。
将确定性系统的研究方法用于非线性随机系统,可以为随机系统的研究开拓新的思路。目前大多数非线性随机系统的成果属于宽带随机激励的系统,然而现实中很多系统是窄带随机参激系统,对于这类系统,有效地解析方法还很少。复规范形法是研究确定性系统非常有效且应用广泛的方法,因此探索用复规范形法研究窄带随机参数激励振动有很重要的理论和现实意义。
本文首次将复规范形法用于窄带随机系统,研究了Duffing, Rayleigh, and Van der pol方程在谐和与窄带随机参数激励联合作用下的主共振响应和稳定性。并用数值法验证了方程的理论分析结果的正确性,理论方法和数值方法都表明随随机扰动强度的增加,系统的稳态解从定周期运动变为一拟周期运动,本文还用数值法计算了平凡解的最大Liapunov指数曲面,并且用多尺度法进一步验证了复规范形法用于窄带随机过程的有效性。
The paper includes mainly two parts. The first one is dynamical ride comfortbility investigation of vehical seat, and the second one is investigation of narrow-band random dynamics systems.
Investigate vehicle seat-person vibration discipline is important for improving ride comfortability of vehicle occupants. Magnetorheological fluid (MRF) damper is used in seat suspension system. The modified Bingham model is adopted for MRF damper. The nonlinar vibratation theory and numerical simulation method are applied to the two freedom seat-person model. The analytical solutions are basically conformed to the numerical solutions. The physical parameters of the MRF damper‘s effection on the system is also obtained. It can provide theory basic for control system.
The methods of deterministic dynamics systems applied to non-linear stochastic dynamics systems can exploit new ways for stochastic dynamics systems. Now many achievements of stochastic dynamics systems belong to systems of broad-band random excitations, but in realism many systems are narrow-band random parameter excited dynamics systems. For these systerms, only few theoretic methods are applided. The complex normal form method is a effective method and has been widely used in the analysis of deterministic systems. So it is important to apply complex normal form method to investigation of narrow-band random parameter excited dynamics systems.
The paper applies complex normal form method to narrow-band random parameter excited dynamics systems. The principal resonance and stability of the Duffing Rayleigh and Van der pol oscillator under combined harmonic and narrow-band random parameteric excited are obtained. The theoretical analyses are verified by numerical results. The theoretic results and numerical results are all show that when the intensity of the random excitation increases, the nontrivial steady state solution may change from a limit cycle to a diffused limit cycle. The largest Liapunov exponent three-dimensional surface is also abtained by numerical method. The complex normal form method is also verified by multiple scales in the systerm.
引文
[1] 丁玉江,多功能座椅的开发,昌河科技,2000,(1):12~15.
[2] 张祥,浅谈汽车座椅的开发与发展,客车技术,2004,(1):3~5.
[3] 徐明,夏群生,体压分布的指标,中国机械工程,1997,8(1):65~68.
[4] .燕峰,李世国,汽车座椅的设计与优化,燕山科技大学学报,2004,27(5):367~370.
[5]章才华,汽车驾驶员座椅的静态特性探讨,轻型汽车技术,2000(1):41~43.
[6]郑勋,汽车座椅的舒适性评价,汽车科技,1995,(6):16~23.
[7]徐立新,浅谈汽车座椅在车身上的布置,客车技术,2004,(2):21~23.
[8]曹琦,人机工程,成都:四川科学技术出版社,1991.
[9]王萌,史玉生,汽车座椅的安全性设计,十堰职业技术学院学报,2003,16(2):48~50.
[10]王刚,张金换,黄世霖等,澳大利亚客车座椅动态试验与分析,公路交通科技,2003,20(1):151~154.
[11]姚卫民,孙丹丹,汽车座椅系统安全综述,汽车技术,2002,(8):5~8.
[12]林逸,姚为民,孙丹丹,承受冲击时汽车座椅结构安全性研究,北京理工大学学报,2005,25(1):18~21.
[13]任金东,葛安林,黄金陵,基于知识的汽车驾驶员座椅布置系统,汽车工程,2003,25(3):275~278.
[14]黄金陵,任金东,李炭等,适用于任何目标驾驶员群体的座椅位置设计方法研究,轻型汽车技术,2004,(4):10~13.
[15]马国忠,张学尽,汽车驾驶用座椅的抗疲劳人机工程设计,人类工效学,2004,10(3):34~36.
[16]蒋祖华,黄斌,赵昱卿,公交车驾驶员座椅系统舒适性的应用研究,工业工程与管理,2003,(4):20~24.
[17]乔玲,关于人体承受全身振动的评价方法,铁道劳动安全与卫生环保,1999,26(2):130~133.
[18]田德培,汽车中人体振动的评价方法,1997,(4):12~16.
[19]余志生,汽车理论(第三版),北京:机械工业出版社,2000:209~211.
[20]J.L.van Niekerk,W.J.Pielemeier,J.A.Greenberg,the Use of Seat Effective Amplitude Transmissibility(SEAT) Value to Predict Dynamic Seat Comfort,Journal of Sound and Vibration,2003,260:867~888.
[21]G.S.Paddan,M.J.Griffin,Effect of Seating on Exposures to Whole-body Vibration in Vehicles,Journal of Sound and Vibration,2002,253(1):215~241.
[22]G.S.Paddan, M.J.Griffin, Evaluation of Whole-body Vibration in Vehicles.Journal of Sound and Vibration, 2002, 253(1):195~213.
[23]徐晓美,朱思洪. 驾驶员座椅悬架系统研究综述,拖拉机与农用运输,2005,(4):1~3.
[24]N.Nawayseh,M.J.Griffin,Tri-axial Forces at the Seat and Backrest During Whole-body Vertical Vibration,Journal of Sound and Vibration,2004,277:309~326.
[25]L.Wei,M.J.Griffin,Mathematical Model For The Apparent Mass of the Seated Human Body Exposed to the Vertical Vibration,Journal of Sound and Vibration,1998,211(5):855~874.
[26]Y.Qiu,M.J.Griffin,Transmission of Roll Pitch and Yaw Vibration to the Backrest of a Seat Supported on a Non-rigid Car Floor,Journal of Sound and Vibration,2005,288:1197~1222.
[27]朱位秋,非线性随机动力学与控制-Hamilton 理论体系框架,北京:科学出版社,2003.
[28]朱位秋,随机振动,北京:科学出版社,1998.
[29]朱位秋,非线性随机动力学与控制研究近期进展,第七届全国非线性动力学学术会议和第十届全国非线性振动学术会议论文集,A6~A8.
[30]L.Wei,J.Griffin. The prediction of seat transmissibility from measures of seat impedance,Journal of Sound and Vibration,1998,214(1):121~137.
[31]S.J.Mcmanus , K.A.St.Clair , Evalution of Vibration and Shock Attenuation Performance of a Suspension Seat With a Semi-active Magnetorheological Fluid Damper,Journal of Sound and Vibration,2002,253(1):313~327.
[32]王恩荣,陈余寿,车辆座椅减振系统中可控磁流液阻尼器的性能测试研究,工业控制计算机,2003,16(6):44~46.
[33]王影,贾启芬,刘习军,磁流变阻尼器的力学模型,机床与液压,2005,(3):70~73.
[34]徐赵东,沈亚鹏,磁流变阻尼器的计算模型及仿真分析,建筑结构,2003,33(1):68~70.
[35]G.厄特尔,聚氨酯手册(阎家斌等),北京:中国石化出版社,1992,158~166.
[36]陈大林,徐友钜,隔振支承系统动力学实验与辨识,强度与环境,2002,29(3):5~10.
[37]R.Deng,P.Davies,A.K.Bajaj,Flexible Polyurethane Foam Modelling and Identification of viscoelastic Parameters for Automotive Seating Application,Journal of Sound and Vibration,2003,262:391~417.
[38]王洪礼,张琪昌,非线性动力学理论及应用,天津:天津科学技术出版社,2001:124~154.
[39]杨绍普,申永军,滞后非线性系统的分叉与奇异性,北京:科学出版社 2003,10~40.
[40]杨绍普,李韶华,磁流变阻尼力建模及主共振研究,动力学与控制学报,2004,2(4):62~66.
[41]李强,Maple8 基础应用教程,北京:中国水利水电出版社,2004.
[42]张志涌,精通 MATLAB,北京:北京航空航天大学出版社,2003:360~429.
[43]戎海武,徐伟,王向东等,谐和和随机联合作用下 Van der Pol-Duffing 振子的参数主共振,应用数学和力学,2002,23(3):273~282.
[44]戎海武,王向东,孟光等,窄带随机噪声作用下非线性系统的响应,应用数学和力学,2003,24(7):723~729.
[45]A.H.Nayfeh,Method of Normal Forms,John Wiley&Sons,New york,1993.
[46]Wedig.W.V,Invariant Measures and Lyapunov exponents generalized parameter fluctuations,Structural Safety,1990,8(1):13~15.
[47]张素英,邓子辰,非线性动力方程的增维精细积分法,计算力学学报,2003,8,20(4):423~426.
[2] 张祥,浅谈汽车座椅的开发与发展,客车技术,2004,(1):3~5.
[3] 徐明,夏群生,体压分布的指标,中国机械工程,1997,8(1):65~68.
[4] .燕峰,李世国,汽车座椅的设计与优化,燕山科技大学学报,2004,27(5):367~370.
[5]章才华,汽车驾驶员座椅的静态特性探讨,轻型汽车技术,2000(1):41~43.
[6]郑勋,汽车座椅的舒适性评价,汽车科技,1995,(6):16~23.
[7]徐立新,浅谈汽车座椅在车身上的布置,客车技术,2004,(2):21~23.
[8]曹琦,人机工程,成都:四川科学技术出版社,1991.
[9]王萌,史玉生,汽车座椅的安全性设计,十堰职业技术学院学报,2003,16(2):48~50.
[10]王刚,张金换,黄世霖等,澳大利亚客车座椅动态试验与分析,公路交通科技,2003,20(1):151~154.
[11]姚卫民,孙丹丹,汽车座椅系统安全综述,汽车技术,2002,(8):5~8.
[12]林逸,姚为民,孙丹丹,承受冲击时汽车座椅结构安全性研究,北京理工大学学报,2005,25(1):18~21.
[13]任金东,葛安林,黄金陵,基于知识的汽车驾驶员座椅布置系统,汽车工程,2003,25(3):275~278.
[14]黄金陵,任金东,李炭等,适用于任何目标驾驶员群体的座椅位置设计方法研究,轻型汽车技术,2004,(4):10~13.
[15]马国忠,张学尽,汽车驾驶用座椅的抗疲劳人机工程设计,人类工效学,2004,10(3):34~36.
[16]蒋祖华,黄斌,赵昱卿,公交车驾驶员座椅系统舒适性的应用研究,工业工程与管理,2003,(4):20~24.
[17]乔玲,关于人体承受全身振动的评价方法,铁道劳动安全与卫生环保,1999,26(2):130~133.
[18]田德培,汽车中人体振动的评价方法,1997,(4):12~16.
[19]余志生,汽车理论(第三版),北京:机械工业出版社,2000:209~211.
[20]J.L.van Niekerk,W.J.Pielemeier,J.A.Greenberg,the Use of Seat Effective Amplitude Transmissibility(SEAT) Value to Predict Dynamic Seat Comfort,Journal of Sound and Vibration,2003,260:867~888.
[21]G.S.Paddan,M.J.Griffin,Effect of Seating on Exposures to Whole-body Vibration in Vehicles,Journal of Sound and Vibration,2002,253(1):215~241.
[22]G.S.Paddan, M.J.Griffin, Evaluation of Whole-body Vibration in Vehicles.Journal of Sound and Vibration, 2002, 253(1):195~213.
[23]徐晓美,朱思洪. 驾驶员座椅悬架系统研究综述,拖拉机与农用运输,2005,(4):1~3.
[24]N.Nawayseh,M.J.Griffin,Tri-axial Forces at the Seat and Backrest During Whole-body Vertical Vibration,Journal of Sound and Vibration,2004,277:309~326.
[25]L.Wei,M.J.Griffin,Mathematical Model For The Apparent Mass of the Seated Human Body Exposed to the Vertical Vibration,Journal of Sound and Vibration,1998,211(5):855~874.
[26]Y.Qiu,M.J.Griffin,Transmission of Roll Pitch and Yaw Vibration to the Backrest of a Seat Supported on a Non-rigid Car Floor,Journal of Sound and Vibration,2005,288:1197~1222.
[27]朱位秋,非线性随机动力学与控制-Hamilton 理论体系框架,北京:科学出版社,2003.
[28]朱位秋,随机振动,北京:科学出版社,1998.
[29]朱位秋,非线性随机动力学与控制研究近期进展,第七届全国非线性动力学学术会议和第十届全国非线性振动学术会议论文集,A6~A8.
[30]L.Wei,J.Griffin. The prediction of seat transmissibility from measures of seat impedance,Journal of Sound and Vibration,1998,214(1):121~137.
[31]S.J.Mcmanus , K.A.St.Clair , Evalution of Vibration and Shock Attenuation Performance of a Suspension Seat With a Semi-active Magnetorheological Fluid Damper,Journal of Sound and Vibration,2002,253(1):313~327.
[32]王恩荣,陈余寿,车辆座椅减振系统中可控磁流液阻尼器的性能测试研究,工业控制计算机,2003,16(6):44~46.
[33]王影,贾启芬,刘习军,磁流变阻尼器的力学模型,机床与液压,2005,(3):70~73.
[34]徐赵东,沈亚鹏,磁流变阻尼器的计算模型及仿真分析,建筑结构,2003,33(1):68~70.
[35]G.厄特尔,聚氨酯手册(阎家斌等),北京:中国石化出版社,1992,158~166.
[36]陈大林,徐友钜,隔振支承系统动力学实验与辨识,强度与环境,2002,29(3):5~10.
[37]R.Deng,P.Davies,A.K.Bajaj,Flexible Polyurethane Foam Modelling and Identification of viscoelastic Parameters for Automotive Seating Application,Journal of Sound and Vibration,2003,262:391~417.
[38]王洪礼,张琪昌,非线性动力学理论及应用,天津:天津科学技术出版社,2001:124~154.
[39]杨绍普,申永军,滞后非线性系统的分叉与奇异性,北京:科学出版社 2003,10~40.
[40]杨绍普,李韶华,磁流变阻尼力建模及主共振研究,动力学与控制学报,2004,2(4):62~66.
[41]李强,Maple8 基础应用教程,北京:中国水利水电出版社,2004.
[42]张志涌,精通 MATLAB,北京:北京航空航天大学出版社,2003:360~429.
[43]戎海武,徐伟,王向东等,谐和和随机联合作用下 Van der Pol-Duffing 振子的参数主共振,应用数学和力学,2002,23(3):273~282.
[44]戎海武,王向东,孟光等,窄带随机噪声作用下非线性系统的响应,应用数学和力学,2003,24(7):723~729.
[45]A.H.Nayfeh,Method of Normal Forms,John Wiley&Sons,New york,1993.
[46]Wedig.W.V,Invariant Measures and Lyapunov exponents generalized parameter fluctuations,Structural Safety,1990,8(1):13~15.
[47]张素英,邓子辰,非线性动力方程的增维精细积分法,计算力学学报,2003,8,20(4):423~426.