基于Modelica的液压助力转向系统的建模与仿真
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摘要
本文研究的是基于Modelica语言的汽车液压助力转向系统的建模与仿真。在研究过程中建立了面向结构的液压助力转向系的数学模型,并使用Modelica语言建立了转向系的模型库,实现了液压助力转向系统的建模,仿真验证了模型的正确性,分析了模型参数对系统的影响。
本文首先分析了目前几种具有代表性的转向系统模型的建模方法和特点,提出了采用统一建模语言Modelica建立液压助力转向系模型的方法。
其次,根据实验室已有的模型基础,对汽车液压助力转向系统做了动力学分析,建立了面向结构的转向系机械系统和液压系统的数学模型。
最后,以Modelica语言为建模工具,以前面所建的数学模型为基础,在Dymola环境下搭建了转向系的模型库,实现了转向系机械系统和液压系统的统一建模,并对液压助力转向系统进行了仿真验证和分析。
The automotive steering system is a specialized mechanism used to maintain or change the driving direction. When driving, it guarantees coordinative steering angle relation for each steering wheel. Moreover, when vehicles are subject to occasional impacts from the road or depart accidently from the original direction, it keeps the vehicles still driving steadily with the cooperation of driving system. As a result, the performance of the steering system directly affects the handling stability, the comfort and the safty of automobiles.
It was rare in the past that building structured based models for both the mechanical system and the hydraulic power system in Hydraulic Power Steering system(HPS),which just described the impact from hydraulic system with assist characteristic curves. On the other hand, currently the main method for modeling of HPS or other multi-domain systems is that building models firstly in respective domains using relevant modeling and simulation softwares, then carry out data exchange among models using the linkages of the interfaces in the softwares. However, the application of this kind of modeling method is greatly limited to the interfaces provided by the software companies. As a result, the models have neither openness nor extendsion.
Considering the disadvantages of the modeling method stated above, this dissertation adopts a new modeling method, which is modeling and simulation for HPS with Modelica. Based on the consistency of mathematical expressions in physical systems, Modelica supports a model with multi-discipline models by defining the connectors among models. This method achieves the seamless integration and the data communication among models from different disciplines. Therefore, those models have high quality of reusability and extendsion.
Based on the current model in our laboratory, State Key Laboratory of Automobile Dynamic Simulation at Jilin University, carry out kinematic and dynamical analysis for components in the steering system. Then build structured-based mathematical models of steering system for both mechanical system and hydraulic system.
The main research works carried out in this dissertation are listed as follows:
1、Research on current modeling methods of HPS system.
Analyze the modeling methods and the characteristics of representative steering system models, including the SCF steering system model, the NADS steering system model, the steering system model in ADAMS and Carsim, and the steering system model in ASCL2007. Discuss disadvantages of current modeling methods in the steering system, and then propose a new modeling mothed which is modeling and simulation for HPS system with Modelica.
2、Study of Modelica modeling language.
Study the syntax structure, modeling characteristics and simulation mechanism of Modelica modeling language, understand and master its application of modeling and simulation in multi-domain physical systems.
3、Structure based mathematical modeling of Hydraulic Power Steering system.
Based on the current ASCL2007 steering system model, abstract the physical model for mechanical system in HPS and build up mathematical models for each component; take dynamic analysis on hydraulic power system in HPS and build structure-based mathematical models for each component.
4、Modeling and simulation of Hydraulic Power Steering System with Modelica.
Under the modeling environment of Dymola, build up the component models and the connectors in HPS system with Modelica programming. Connect modules with connectors in order to make up a whole model for HPS system and then carry out simulation for model verification and analysis.
本文首先分析了目前几种具有代表性的转向系统模型的建模方法和特点,提出了采用统一建模语言Modelica建立液压助力转向系模型的方法。
其次,根据实验室已有的模型基础,对汽车液压助力转向系统做了动力学分析,建立了面向结构的转向系机械系统和液压系统的数学模型。
最后,以Modelica语言为建模工具,以前面所建的数学模型为基础,在Dymola环境下搭建了转向系的模型库,实现了转向系机械系统和液压系统的统一建模,并对液压助力转向系统进行了仿真验证和分析。
The automotive steering system is a specialized mechanism used to maintain or change the driving direction. When driving, it guarantees coordinative steering angle relation for each steering wheel. Moreover, when vehicles are subject to occasional impacts from the road or depart accidently from the original direction, it keeps the vehicles still driving steadily with the cooperation of driving system. As a result, the performance of the steering system directly affects the handling stability, the comfort and the safty of automobiles.
It was rare in the past that building structured based models for both the mechanical system and the hydraulic power system in Hydraulic Power Steering system(HPS),which just described the impact from hydraulic system with assist characteristic curves. On the other hand, currently the main method for modeling of HPS or other multi-domain systems is that building models firstly in respective domains using relevant modeling and simulation softwares, then carry out data exchange among models using the linkages of the interfaces in the softwares. However, the application of this kind of modeling method is greatly limited to the interfaces provided by the software companies. As a result, the models have neither openness nor extendsion.
Considering the disadvantages of the modeling method stated above, this dissertation adopts a new modeling method, which is modeling and simulation for HPS with Modelica. Based on the consistency of mathematical expressions in physical systems, Modelica supports a model with multi-discipline models by defining the connectors among models. This method achieves the seamless integration and the data communication among models from different disciplines. Therefore, those models have high quality of reusability and extendsion.
Based on the current model in our laboratory, State Key Laboratory of Automobile Dynamic Simulation at Jilin University, carry out kinematic and dynamical analysis for components in the steering system. Then build structured-based mathematical models of steering system for both mechanical system and hydraulic system.
The main research works carried out in this dissertation are listed as follows:
1、Research on current modeling methods of HPS system.
Analyze the modeling methods and the characteristics of representative steering system models, including the SCF steering system model, the NADS steering system model, the steering system model in ADAMS and Carsim, and the steering system model in ASCL2007. Discuss disadvantages of current modeling methods in the steering system, and then propose a new modeling mothed which is modeling and simulation for HPS system with Modelica.
2、Study of Modelica modeling language.
Study the syntax structure, modeling characteristics and simulation mechanism of Modelica modeling language, understand and master its application of modeling and simulation in multi-domain physical systems.
3、Structure based mathematical modeling of Hydraulic Power Steering system.
Based on the current ASCL2007 steering system model, abstract the physical model for mechanical system in HPS and build up mathematical models for each component; take dynamic analysis on hydraulic power system in HPS and build structure-based mathematical models for each component.
4、Modeling and simulation of Hydraulic Power Steering System with Modelica.
Under the modeling environment of Dymola, build up the component models and the connectors in HPS system with Modelica programming. Connect modules with connectors in order to make up a whole model for HPS system and then carry out simulation for model verification and analysis.
引文
[1]施国标、林逸、张昕.动力转向技术及其发展[J].农业机械学报,2006年10月
[2]王占林.近代电气液压伺服控制[M].北京:北京航空航天大学出版社,2005
[3]刘晓青.现代汽车转向系统的发展趋势[J].上海汽车, 2004年11期
[4]赵燕.汽车转向系统的技术发展趋势[J].汽车研究与开发,2003年2月
[5]王鹏.汽车实时动力学仿真中转向回正特征建模方法研究[D].长春:吉林大学,2008
[6] W. Keith Adams, Richard W. Topping. The Steering Characterizing Function (SCFs) and Their Use in Steering System Specification, Simulation, and Synthesis.
[7]郝惟拓.转向系统特性方程建模与仿真[D].长春:吉林大学,2008
[8] M. Kamel Salaani. Closed Loop Steering System Model for the National Advanced Driving Simulator [J]. SAE 2004-01-1072
[9]赵金海.汽车电控液压助力转向系统建模与仿真[D].长春:吉林大学,2008
[10]熊光楞、郭斌、陈晓波、骞佳.协同仿真与虚拟样机技术[M].北京:清华大学出版社,2004
[11]赵建军. Modelica语言及其多领域统一建模与仿真机理[J].系统仿真学报,2006年8月
[12]黄华、周凡利. Modelica语言建模特性研究[J]机械与电子,2005年8期
[13]于涛、曾庆良.基于仿真建模语言Modelica的多领域仿真实现[J].山东科技大学学报(自然科学版),2005年12月
[14]丁建完.陈述式仿真模型相容性分析与约简方法研究[D].武汉:华中科技大学,2006
[15]吴民峰.多领域建模仿真平台中语义分析关键机制研究与实现[D].武汉:华中科技大学,2006
[16]黄华.多领域统一建模语言分析器研究与实现[D].武汉:华中科技大学,2005
[17] The Modelica Association. Modelica Language Specification Version 3.0 [M/OL]. Sweden, 2007-09-05
[18] Martin Otter、Hilding Elmqvist. Modelica - Language, Libraries, Tools, Workshop and EU-Project RealSim [M/OL]. Sweden, 2001-06
[19] Dymola Dynamic Modeling Library User’s Manual [M]○C 1992-2002, DynasimAB, Research Park Ideon, SE223, 70 Lund, Sweden
[20] Peter Fritzson. Introduction to Object-Oriented Modeling and Simulation with OpenModelica [M/OL] Sweden, Lund, 2006
[21] Bernhard Bachmann. Tutorial for Beginners - Multi-domain Modeling and Simulation [M/OL]. University of Applied Sciences, Bielefeld, 2002
[22] www.modelica.org
[23]郭孔辉.汽车操纵动力学(第1版)[M].长春:吉林科学出版社,1991
[24]陈家瑞.汽车构造下册(第2版)[M].北京:机械工业出版社,2005
[25]林柏忠、王鹏等. ASCL汽车运动动力学实时仿真模型理论手册[M].长春:吉林大学汽车动态模拟国家重点实验室,2007
[26]陆敏恂等.流体力学与液压传动[M].上海:同济大学出版社,2005
[27]洪嘉振.计算多体系统动力学[M].北京:高等教育出版社,2002
[28] Marcus Rosth. Hydraulic Power Steering System Design in Road Vehicles: Analysis, Testing and Enhanced Functionality [D]. Sweden: Linkoping Univeristy, 2007
[29]毕大宁.汽车转阀式动力转向器的设计与应用[M].北京:人民交通出版社,1998
[30]郭文鑫.轿车液压助力转向系统试验研究与中心区操纵性分析[D].长春:吉林大学,2007
[31]朱俊.液压助力转向与整车匹配的研究[D].长春:吉林大学,2008
[32]王一刚.汽车液压伺服助力转向系统动态特性的研究[D].重庆:重庆大学,2006
[33]任卫群、宋健.多领域统一建模方法在汽车性能仿真中的应用[C].系统仿真技术及其应用Vol.9 (第2部分)
[34]洪家娣、施振邦.液压动力转向器动态仿真研究[J].机械设计, 1001-2354 (1999) 07-0033-03
[35]管欣、姬鹏、詹军.液压助力转向系统刚度和路感特性分析[J].科学技术与工程,2008年11月,第21期
[36] Peter Harman. Modelling Automotive Hydraulic Systems using Modelica ActuationHydraulics Library [J]. The Modelica Association, 2006-09
[37] Marco Braun, Roland Caesar and Dirk Limperich. Simulation of a Vehicle Refrigeration Cycle with Dymola/Modelica [J]. SAE 2005-01-1899
[38] Peter Fritzson. Modelica - A Language for Equation-Based Physical Modeling andHigh Performance Simulation [C] Sweden, Linkoping
[39] Mattsson S.E. Elmqvist H. Initialization of Hybrid Differential-Algebraic Equations in Modelica 2.0 [C]. Proceedings of 2nd International Modelica Conference 2002-03
[40] Tankut Acarman. A Robust Controller Design for Drive by Wire Hydraulic Power Steering System. Proceedings of the American Control Conference [C]. Anchorage, AK May 8-10, 2002
[41] Gary R. Ferries. Control/S tructure Interaction in Hydraulic Power Steering Systems. Proceedings of the American Control Conference [C]. Albuquerque, New Mexico 1997
[42] Bingzhao Gao. A Study on Yow Rate Control of Hydraulic Power Steering Heavy Duty Vehicles. SICE Annual Conference. [C/OL]. Kagawa University, Japan 2007
[43]吴先福等.面向对象建模在复杂液压系统仿真中的应用[J].机床与液压,1997年4期
[44]高翔、赵金才、王若平等.液压助力转向系统的仿真分析[J].江苏大学学报(自然科学版), 2003(11)
[45]宋贵勇、张洪欣.常规转向系统的路感特性及其改善途径[J].上海汽车,2000年5月
[46]管欣、吴振昕、詹军.面向结构的汽车齿轮齿条式转向系仿真模型[J].汽车技术,2007年4期
[47]高翔等.液压助力转向系统参数对汽车操纵稳定性的影响分析[J].汽车制造技术,2006年9期
[48]王若平等.汽车转阀式液压动力转向器性能分析与试验[J].农业机械学报,2006年11期
[49] Bruce R. Munson. Donald F. Young. Theodore H. Okiishi.邵卫云译Fundamentals of Fluid Mechanics [M].北京:电子工业出版社,2006
[50] Hilding Elmqvist. Hans Olsson. Martin Otter. Advanced Modelica Tutorial [M/OL]. Oberpfaffenhofen: The Modelica Association. 2002 March.
[51] Michael M. Tiller. Introduction to Physical Modeling with Modelica [M/OL]. Kluwer Academic Publishers. 2001.
[2]王占林.近代电气液压伺服控制[M].北京:北京航空航天大学出版社,2005
[3]刘晓青.现代汽车转向系统的发展趋势[J].上海汽车, 2004年11期
[4]赵燕.汽车转向系统的技术发展趋势[J].汽车研究与开发,2003年2月
[5]王鹏.汽车实时动力学仿真中转向回正特征建模方法研究[D].长春:吉林大学,2008
[6] W. Keith Adams, Richard W. Topping. The Steering Characterizing Function (SCFs) and Their Use in Steering System Specification, Simulation, and Synthesis.
[7]郝惟拓.转向系统特性方程建模与仿真[D].长春:吉林大学,2008
[8] M. Kamel Salaani. Closed Loop Steering System Model for the National Advanced Driving Simulator [J]. SAE 2004-01-1072
[9]赵金海.汽车电控液压助力转向系统建模与仿真[D].长春:吉林大学,2008
[10]熊光楞、郭斌、陈晓波、骞佳.协同仿真与虚拟样机技术[M].北京:清华大学出版社,2004
[11]赵建军. Modelica语言及其多领域统一建模与仿真机理[J].系统仿真学报,2006年8月
[12]黄华、周凡利. Modelica语言建模特性研究[J]机械与电子,2005年8期
[13]于涛、曾庆良.基于仿真建模语言Modelica的多领域仿真实现[J].山东科技大学学报(自然科学版),2005年12月
[14]丁建完.陈述式仿真模型相容性分析与约简方法研究[D].武汉:华中科技大学,2006
[15]吴民峰.多领域建模仿真平台中语义分析关键机制研究与实现[D].武汉:华中科技大学,2006
[16]黄华.多领域统一建模语言分析器研究与实现[D].武汉:华中科技大学,2005
[17] The Modelica Association. Modelica Language Specification Version 3.0 [M/OL]. Sweden, 2007-09-05
[18] Martin Otter、Hilding Elmqvist. Modelica - Language, Libraries, Tools, Workshop and EU-Project RealSim [M/OL]. Sweden, 2001-06
[19] Dymola Dynamic Modeling Library User’s Manual [M]○C 1992-2002, DynasimAB, Research Park Ideon, SE223, 70 Lund, Sweden
[20] Peter Fritzson. Introduction to Object-Oriented Modeling and Simulation with OpenModelica [M/OL] Sweden, Lund, 2006
[21] Bernhard Bachmann. Tutorial for Beginners - Multi-domain Modeling and Simulation [M/OL]. University of Applied Sciences, Bielefeld, 2002
[22] www.modelica.org
[23]郭孔辉.汽车操纵动力学(第1版)[M].长春:吉林科学出版社,1991
[24]陈家瑞.汽车构造下册(第2版)[M].北京:机械工业出版社,2005
[25]林柏忠、王鹏等. ASCL汽车运动动力学实时仿真模型理论手册[M].长春:吉林大学汽车动态模拟国家重点实验室,2007
[26]陆敏恂等.流体力学与液压传动[M].上海:同济大学出版社,2005
[27]洪嘉振.计算多体系统动力学[M].北京:高等教育出版社,2002
[28] Marcus Rosth. Hydraulic Power Steering System Design in Road Vehicles: Analysis, Testing and Enhanced Functionality [D]. Sweden: Linkoping Univeristy, 2007
[29]毕大宁.汽车转阀式动力转向器的设计与应用[M].北京:人民交通出版社,1998
[30]郭文鑫.轿车液压助力转向系统试验研究与中心区操纵性分析[D].长春:吉林大学,2007
[31]朱俊.液压助力转向与整车匹配的研究[D].长春:吉林大学,2008
[32]王一刚.汽车液压伺服助力转向系统动态特性的研究[D].重庆:重庆大学,2006
[33]任卫群、宋健.多领域统一建模方法在汽车性能仿真中的应用[C].系统仿真技术及其应用Vol.9 (第2部分)
[34]洪家娣、施振邦.液压动力转向器动态仿真研究[J].机械设计, 1001-2354 (1999) 07-0033-03
[35]管欣、姬鹏、詹军.液压助力转向系统刚度和路感特性分析[J].科学技术与工程,2008年11月,第21期
[36] Peter Harman. Modelling Automotive Hydraulic Systems using Modelica ActuationHydraulics Library [J]. The Modelica Association, 2006-09
[37] Marco Braun, Roland Caesar and Dirk Limperich. Simulation of a Vehicle Refrigeration Cycle with Dymola/Modelica [J]. SAE 2005-01-1899
[38] Peter Fritzson. Modelica - A Language for Equation-Based Physical Modeling andHigh Performance Simulation [C] Sweden, Linkoping
[39] Mattsson S.E. Elmqvist H. Initialization of Hybrid Differential-Algebraic Equations in Modelica 2.0 [C]. Proceedings of 2nd International Modelica Conference 2002-03
[40] Tankut Acarman. A Robust Controller Design for Drive by Wire Hydraulic Power Steering System. Proceedings of the American Control Conference [C]. Anchorage, AK May 8-10, 2002
[41] Gary R. Ferries. Control/S tructure Interaction in Hydraulic Power Steering Systems. Proceedings of the American Control Conference [C]. Albuquerque, New Mexico 1997
[42] Bingzhao Gao. A Study on Yow Rate Control of Hydraulic Power Steering Heavy Duty Vehicles. SICE Annual Conference. [C/OL]. Kagawa University, Japan 2007
[43]吴先福等.面向对象建模在复杂液压系统仿真中的应用[J].机床与液压,1997年4期
[44]高翔、赵金才、王若平等.液压助力转向系统的仿真分析[J].江苏大学学报(自然科学版), 2003(11)
[45]宋贵勇、张洪欣.常规转向系统的路感特性及其改善途径[J].上海汽车,2000年5月
[46]管欣、吴振昕、詹军.面向结构的汽车齿轮齿条式转向系仿真模型[J].汽车技术,2007年4期
[47]高翔等.液压助力转向系统参数对汽车操纵稳定性的影响分析[J].汽车制造技术,2006年9期
[48]王若平等.汽车转阀式液压动力转向器性能分析与试验[J].农业机械学报,2006年11期
[49] Bruce R. Munson. Donald F. Young. Theodore H. Okiishi.邵卫云译Fundamentals of Fluid Mechanics [M].北京:电子工业出版社,2006
[50] Hilding Elmqvist. Hans Olsson. Martin Otter. Advanced Modelica Tutorial [M/OL]. Oberpfaffenhofen: The Modelica Association. 2002 March.
[51] Michael M. Tiller. Introduction to Physical Modeling with Modelica [M/OL]. Kluwer Academic Publishers. 2001.