装用制动介入式防滑差速系统与差速锁汽车的性能对比研究
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摘要
防滑差速器是提高汽车性能的一项新技术,在国外汽车界得到了越来越广泛的应用。
本文主要是将装制动介入式防滑差速系统和差速锁式汽车的性能进行对比研究。主要研究内容如下:
分析了影响两种差速器传递转矩特性的各因素,并由此得出综合考虑各影响因素的两种差速器转矩的理论计算模型。
根据对汽车运动过程中整体动力学的分析,建立了一个整车四轮动力学模型。该模型包括13个自由度:汽车质心处的速度ν、质心侧偏角β、横摆角ψ、侧倾角φ、前轮转角δ、四个车轮的角速度(ω_(11)、ω_(12)、ω_(21)、ω_(22))、以及四个车轮的侧偏角(δ_(11)、δ_(12)、δ_(21)、δ_(22))。模型中应用点接触轮胎模型,忽略悬架的作用,认为汽车在z轴(高度)方向上无位移;不考虑质心高度对汽车四轮轴荷重新分配的影响。根据建立的模型,列出动力学方程;根据模型的受力分析对动力学方程进行简化处理,得到最终的动力学方程,以便分析汽车的动力性和操纵稳定性。
利用所建模型,详尽分析了两种防滑差速器对汽车在分离附着系数路面上的动力性(加速时间、最大爬坡度)以及汽车在转弯(汽车稳态回转运动、蛇行运动以及汽车在行驶时对操纵稳定性转向角阶跃输入时汽车的瞬态响应特性)的影响。同时本文根据此数学模型利用SIMULINK软件建立了汽车动力性以及操纵稳定性的计算机仿真模型。通过对装制动介入式防滑差速系统汽车与装机械摩擦片差速器汽车仿真结果的对比分析,看出了装制动介入式防滑差速系统汽车的动力性和通过性能有所提高,汽车操纵稳定性有所改善。
本文对两种限滑差速器对汽车性能的影响进行了深入的分析,同时本文所作的工作使人们对两种限滑差速器的认识更加深刻,将会促使人们对两种差速器技术的研究与探讨,提高限滑差速器的设计与整车性能匹配的程度。并加快我国限滑差速器产品化的进程。
Limited Slip Differential(LSD) is a new technique for improving the performance of vehicle. It gets more and more extensive application in the international car field.
This paper makes research on the performance contrast of Braking force involvement Limited Slip Differential system and Mechanical friction disk type of Limited Slip Differential. Main contents are listed as follows:
The paper analyzes the factors that influence the characteristic of transferring torque and gets the calculation model for computing the shear torque.
On the other hand, with a view to analyze the wholly dynamics of the auto when driving, this paper establishes a the automobile model with the four wheels. This model includes 13 degrees of freedom. Making using of the established model, we can list the dynamics equation; After predigesting, it can gain the final dynamics equation, which can analyze the controllability and stability and the drivability.
Making using of the established model, we can analyze the effect of LSD of power performance in split-road(acceleating time, max degree of slope)and controllability and stability(steady static circular Pylon course slalom test)when the automobile swerved to the automobile. At the same time, this paper also establishes a computer simulation model based on the mathematic model explained upward. After contrasting the result of the emluator of the LSD automobile to the common automobile, it is proved that the established model and the result of emluator are right. At the same time, the drivability, controllability and stability of the automobile that fixed braking force involvement Limited Slip Differential system are improved obviously.
The research developed in this paper will promote the study of Limited Slip Differential (LSD) in our country more penetrately, and improve the accuracy of the theoretic analyzation and calculation in LSD. At same time, the research developed in this paper will make people well known more about LSD, and impel them to study the research of this new technique. This research will improve the matching degree between the LSD and vehicle's controllability and stability in the design of LSD. Therefore, this research will accelerate the coming forth of the suitable domestic LSD product. In addition, the attempt of this paper on analyzing the vehicle's dynamics by virtue of the computer simulation will promote the application of this technique in vehicle field.
本文主要是将装制动介入式防滑差速系统和差速锁式汽车的性能进行对比研究。主要研究内容如下:
分析了影响两种差速器传递转矩特性的各因素,并由此得出综合考虑各影响因素的两种差速器转矩的理论计算模型。
根据对汽车运动过程中整体动力学的分析,建立了一个整车四轮动力学模型。该模型包括13个自由度:汽车质心处的速度ν、质心侧偏角β、横摆角ψ、侧倾角φ、前轮转角δ、四个车轮的角速度(ω_(11)、ω_(12)、ω_(21)、ω_(22))、以及四个车轮的侧偏角(δ_(11)、δ_(12)、δ_(21)、δ_(22))。模型中应用点接触轮胎模型,忽略悬架的作用,认为汽车在z轴(高度)方向上无位移;不考虑质心高度对汽车四轮轴荷重新分配的影响。根据建立的模型,列出动力学方程;根据模型的受力分析对动力学方程进行简化处理,得到最终的动力学方程,以便分析汽车的动力性和操纵稳定性。
利用所建模型,详尽分析了两种防滑差速器对汽车在分离附着系数路面上的动力性(加速时间、最大爬坡度)以及汽车在转弯(汽车稳态回转运动、蛇行运动以及汽车在行驶时对操纵稳定性转向角阶跃输入时汽车的瞬态响应特性)的影响。同时本文根据此数学模型利用SIMULINK软件建立了汽车动力性以及操纵稳定性的计算机仿真模型。通过对装制动介入式防滑差速系统汽车与装机械摩擦片差速器汽车仿真结果的对比分析,看出了装制动介入式防滑差速系统汽车的动力性和通过性能有所提高,汽车操纵稳定性有所改善。
本文对两种限滑差速器对汽车性能的影响进行了深入的分析,同时本文所作的工作使人们对两种限滑差速器的认识更加深刻,将会促使人们对两种差速器技术的研究与探讨,提高限滑差速器的设计与整车性能匹配的程度。并加快我国限滑差速器产品化的进程。
Limited Slip Differential(LSD) is a new technique for improving the performance of vehicle. It gets more and more extensive application in the international car field.
This paper makes research on the performance contrast of Braking force involvement Limited Slip Differential system and Mechanical friction disk type of Limited Slip Differential. Main contents are listed as follows:
The paper analyzes the factors that influence the characteristic of transferring torque and gets the calculation model for computing the shear torque.
On the other hand, with a view to analyze the wholly dynamics of the auto when driving, this paper establishes a the automobile model with the four wheels. This model includes 13 degrees of freedom. Making using of the established model, we can list the dynamics equation; After predigesting, it can gain the final dynamics equation, which can analyze the controllability and stability and the drivability.
Making using of the established model, we can analyze the effect of LSD of power performance in split-road(acceleating time, max degree of slope)and controllability and stability(steady static circular Pylon course slalom test)when the automobile swerved to the automobile. At the same time, this paper also establishes a computer simulation model based on the mathematic model explained upward. After contrasting the result of the emluator of the LSD automobile to the common automobile, it is proved that the established model and the result of emluator are right. At the same time, the drivability, controllability and stability of the automobile that fixed braking force involvement Limited Slip Differential system are improved obviously.
The research developed in this paper will promote the study of Limited Slip Differential (LSD) in our country more penetrately, and improve the accuracy of the theoretic analyzation and calculation in LSD. At same time, the research developed in this paper will make people well known more about LSD, and impel them to study the research of this new technique. This research will improve the matching degree between the LSD and vehicle's controllability and stability in the design of LSD. Therefore, this research will accelerate the coming forth of the suitable domestic LSD product. In addition, the attempt of this paper on analyzing the vehicle's dynamics by virtue of the computer simulation will promote the application of this technique in vehicle field.
引文
1.何耀华著.汽车测试技术.人民交通出版社.2000
2.陈家瑞主编.汽车构造.人民交通出版社.北京.2003
3.纪峻岭主编.传动轴、差速器、驱动桥及车桥.北京:化学工业出版社,2005.1
4.刘惟信著.汽车设计.清华大学出版社.2001
5.余志生主编.汽车理论(第三版).机械工业出版社,2000
6.毛啸滇,钱立军主编.国内外防滑差速器的应用分析.客车技术,2005.4
7.[德]耶尔森·赖姆帕尔 著,张洪欣、余卓平 译.汽车底盘基础.北京科学普及出版社,1992
8.限滑差速器与传动扭矩对汽车运动性能的影响 国外汽车1990年第二期
9.庄继德 著,汽车轮胎学.北京理工大学出版社,1996
10.汪涛.几种越野汽车锁止式差速器性能比较.呼伦贝尔学院学报,2002.5
11.程军,袁金光,王西山.汽车防滑系统的研究.汽车工程,1997.2
12.汽车工程手册编委会.汽车工程手册(设计篇).北京:人民交通出版社,2001
13.黄海波著.汽车超越离合差速器试验台研究.四川工业学院学报,1999.4
14.郑贵省,赵锐,姜丁,堂天元,滕立新,朱先民.越野车辆差速器同步锁止机构自动控制系统模糊控制方法研究.汽车工程,2000.4
15.田万仓,沙伟平,刘德仁.汽车自动离合式节能防滑差速器装置德研究.汽车工程,1994.3
16.刘培基著.机械工程测试技术.北京:机械工业出版社,2003
17.尹唏.LSD差速器.汽车技术,1992.3
18.M.米奇克.汽车动力学.北京:机械工业出版社,1992
19.刘惟信.汽车设计丛书(驱动桥).人民交通出版社,1987.6
20.王忠会,黄松.托森差速器的运动学及动力学分析.陕西汽车,1998年第3期
21.[德]J.瑞马克.汽车传感器.北京:化学工业出版社
22.秦永和,李伟.汽车传感器的现状与发展趋势.传感器技术,2003
23.韩宗奇,余志生,万嘉潢.汽车转弯制动性能的模拟计算.汽车工程,1991.1
24.[日]庄野欣司著 刘茵等译.四轮驱动汽车构造图解.吉林科学技术出版社,1995.1
25.汽车标准汇编(第一卷).中国汽车技术研究中心汽车标准化研究所出版,2000
26.王德平,郭孔辉,宗吕富.汽车驱动防滑控制的控制逻辑与算法.汽车工程,1999
27.司利增,王忠会.驱动防滑转控制途径及原则分析.西安公路交通大学学报,1998
28.马岳峰.汽车ABS_ASR_ACC集成系统中ASR控制技术的研究[D].北京:北京理工大学,2004
29.边明远.汽车ASR技术研究的进展[J].北京汽车,2002
30.吴际璋.当代汽车电控系统结构原理与检修.人民交通出版社,2002.5
31.鲁民巧.汽车构造.机械工业出版社,2003.9
32.范影乐,杨胜天,李铁著.MATLAB仿真应用详解.人民邮电出版社,2000.7
33.[德]H-P威鲁麦特著.车辆动力学模拟及其方法.北京理工大学出版社,1998.5
34.靳立强.装限滑差速器后驱动汽车操纵稳定性研究.[学位论文],长春:吉林大学
35.郭孔辉.汽车操纵稳定性.吉林:吉林科学技术出版社,1991
36.限滑差速器与传动扭矩对汽车运动性能的影响 国外汽车 1990年第二期P9-11
37.尹唏 《LSD差速器》 汽车技术 1992.3 P51
38.姚东等著,《MATLAB命令大全》 人民邮电出版社 2000.6
39.肖田元 张燕云 陈加栋编著 《系统仿真导论》清华大学出版社 2000.7
40.Huchtkotter H,Klein H.The Effect of Various Limitted Slip Differential in Front Wheel Drive Vehicles on Handling and Traction.SAE Paper 960717
41.Toru lwata,Terukiyo Murakami,Minoru Tamura.Development and Analysis of New Traction Control System with Rear Viscous LSD.SAE Paper,910700,935-945
42.Francesco Frendo,Giordano Greco,Massimo Guiggiani,"Critical review of handling diagram and understeer gradient for vehicles with locked differential".Vehicle System Dynamics,2006,44,431-447.
43.Francesco Frendo,Giordano Greco,Massimo Guiggiani,Antonio Sponziello,"The handling surface:a new perspective in vehicle dynamics".Paper accepted for publication in the journal Vehicle System Dynamics.
44.W.Rohreger and P.amborn and Q.A.Kaufmann Advanced Development of Self-controled Torque Sensitive Limited-slip Differential By Means of HeLical Gears SAE Papers 940733 P936
45. Katsuhiko Wakabayashi The Effect of Typical Torsional Viscous-Friction Damper on The Reduction of Vibrations in The Three Dimension Space of Diesel Engine Shaftings SAE Papers 932009
46. T. Jimma, Y. Kasuga, N. Iwaki, O. Miyazawa, E. Mori, K. Ito, H. Hatano, An application of ultrasonic vibration to the deep drawing process, Journal of Materials Processing Technology 80-81 (1998) 406-412.
47. L. Gunnarsson, N. Asnafi, E. Schedin, In-process control of blank holder force in axi-symmetric deep drawing with degressive gas springs, Journal of Materials Processing Technology 73 (1998) 89-96.
48. D.K. Leu, The limiting drawing ratio for plastic instability of the cup-drawing process, Journal of Materials Processing Technology 86 (1999) 168-1
2.陈家瑞主编.汽车构造.人民交通出版社.北京.2003
3.纪峻岭主编.传动轴、差速器、驱动桥及车桥.北京:化学工业出版社,2005.1
4.刘惟信著.汽车设计.清华大学出版社.2001
5.余志生主编.汽车理论(第三版).机械工业出版社,2000
6.毛啸滇,钱立军主编.国内外防滑差速器的应用分析.客车技术,2005.4
7.[德]耶尔森·赖姆帕尔 著,张洪欣、余卓平 译.汽车底盘基础.北京科学普及出版社,1992
8.限滑差速器与传动扭矩对汽车运动性能的影响 国外汽车1990年第二期
9.庄继德 著,汽车轮胎学.北京理工大学出版社,1996
10.汪涛.几种越野汽车锁止式差速器性能比较.呼伦贝尔学院学报,2002.5
11.程军,袁金光,王西山.汽车防滑系统的研究.汽车工程,1997.2
12.汽车工程手册编委会.汽车工程手册(设计篇).北京:人民交通出版社,2001
13.黄海波著.汽车超越离合差速器试验台研究.四川工业学院学报,1999.4
14.郑贵省,赵锐,姜丁,堂天元,滕立新,朱先民.越野车辆差速器同步锁止机构自动控制系统模糊控制方法研究.汽车工程,2000.4
15.田万仓,沙伟平,刘德仁.汽车自动离合式节能防滑差速器装置德研究.汽车工程,1994.3
16.刘培基著.机械工程测试技术.北京:机械工业出版社,2003
17.尹唏.LSD差速器.汽车技术,1992.3
18.M.米奇克.汽车动力学.北京:机械工业出版社,1992
19.刘惟信.汽车设计丛书(驱动桥).人民交通出版社,1987.6
20.王忠会,黄松.托森差速器的运动学及动力学分析.陕西汽车,1998年第3期
21.[德]J.瑞马克.汽车传感器.北京:化学工业出版社
22.秦永和,李伟.汽车传感器的现状与发展趋势.传感器技术,2003
23.韩宗奇,余志生,万嘉潢.汽车转弯制动性能的模拟计算.汽车工程,1991.1
24.[日]庄野欣司著 刘茵等译.四轮驱动汽车构造图解.吉林科学技术出版社,1995.1
25.汽车标准汇编(第一卷).中国汽车技术研究中心汽车标准化研究所出版,2000
26.王德平,郭孔辉,宗吕富.汽车驱动防滑控制的控制逻辑与算法.汽车工程,1999
27.司利增,王忠会.驱动防滑转控制途径及原则分析.西安公路交通大学学报,1998
28.马岳峰.汽车ABS_ASR_ACC集成系统中ASR控制技术的研究[D].北京:北京理工大学,2004
29.边明远.汽车ASR技术研究的进展[J].北京汽车,2002
30.吴际璋.当代汽车电控系统结构原理与检修.人民交通出版社,2002.5
31.鲁民巧.汽车构造.机械工业出版社,2003.9
32.范影乐,杨胜天,李铁著.MATLAB仿真应用详解.人民邮电出版社,2000.7
33.[德]H-P威鲁麦特著.车辆动力学模拟及其方法.北京理工大学出版社,1998.5
34.靳立强.装限滑差速器后驱动汽车操纵稳定性研究.[学位论文],长春:吉林大学
35.郭孔辉.汽车操纵稳定性.吉林:吉林科学技术出版社,1991
36.限滑差速器与传动扭矩对汽车运动性能的影响 国外汽车 1990年第二期P9-11
37.尹唏 《LSD差速器》 汽车技术 1992.3 P51
38.姚东等著,《MATLAB命令大全》 人民邮电出版社 2000.6
39.肖田元 张燕云 陈加栋编著 《系统仿真导论》清华大学出版社 2000.7
40.Huchtkotter H,Klein H.The Effect of Various Limitted Slip Differential in Front Wheel Drive Vehicles on Handling and Traction.SAE Paper 960717
41.Toru lwata,Terukiyo Murakami,Minoru Tamura.Development and Analysis of New Traction Control System with Rear Viscous LSD.SAE Paper,910700,935-945
42.Francesco Frendo,Giordano Greco,Massimo Guiggiani,"Critical review of handling diagram and understeer gradient for vehicles with locked differential".Vehicle System Dynamics,2006,44,431-447.
43.Francesco Frendo,Giordano Greco,Massimo Guiggiani,Antonio Sponziello,"The handling surface:a new perspective in vehicle dynamics".Paper accepted for publication in the journal Vehicle System Dynamics.
44.W.Rohreger and P.amborn and Q.A.Kaufmann Advanced Development of Self-controled Torque Sensitive Limited-slip Differential By Means of HeLical Gears SAE Papers 940733 P936
45. Katsuhiko Wakabayashi The Effect of Typical Torsional Viscous-Friction Damper on The Reduction of Vibrations in The Three Dimension Space of Diesel Engine Shaftings SAE Papers 932009
46. T. Jimma, Y. Kasuga, N. Iwaki, O. Miyazawa, E. Mori, K. Ito, H. Hatano, An application of ultrasonic vibration to the deep drawing process, Journal of Materials Processing Technology 80-81 (1998) 406-412.
47. L. Gunnarsson, N. Asnafi, E. Schedin, In-process control of blank holder force in axi-symmetric deep drawing with degressive gas springs, Journal of Materials Processing Technology 73 (1998) 89-96.
48. D.K. Leu, The limiting drawing ratio for plastic instability of the cup-drawing process, Journal of Materials Processing Technology 86 (1999) 168-1