沙滩车机械锁止式差速器的运动学及动力学分析
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摘要
沙滩车是一种介于摩托车和汽车之间的产品,因其独特的结构可以自如地行走于沙滩、沼泽、坡地等复杂路面,随着消费者的需求的增加及创新技术的实现,沙滩车迅速地发展起来。差速器是沙滩车的重要部件之一,主要用于保证沙滩车两侧车轮在行程不等时能以相应的不同转速旋转,从而满足其行驶运动学要求,消除左右车轮在运动学上的不协调。因此,其性能好坏对沙滩车的动力性能有着很大的影响。
本文以最具有代表性的Eaton差速器为参考设计原型,设计出了一款适用于大排量沙滩车的机械锁止式差速器,详细介绍了差速器齿轮机构的设计方法,对沙滩车差速器的其他关键部位进行了设计分析,并对它们进行了强度计算。利用Pro/E软件实现了差速器的三维建模,并实现了差速器整体的虚拟装配。
本文介绍了ADAMS及其与Pro/E之间的数据转换方式,并将Pro/E模型导入到ADAMS中去,添加了系统载荷和约束,讨论了齿轮接触碰撞参数的选取,最终完成了沙滩车差速器虚拟样机的建立。对沙滩车几种工况进行了运动学和动力学分析,包括了高速直线行驶、低速直线行驶、起步、转弯等工况,并针对其自锁与解锁功能进行了运动学仿真分析。分析结果对改善机械传动系统动力学性能和关键零部件设计有一定的指导作用,为其主要部位的齿轮载荷获取以及疲劳寿命预测提供了新的研究方法,同时为沙滩车差速器的优化设计提供了依据。
ATV is a product between motorcycles and cars, which can freely walk in sand, swamps, sloping field and such complex pavement because of its unique structure. With the increase of consumers’demand and the realization of technology innovation, ATV developed rapidly. As one of the important parts of ATV, differential is mainly used to ensure ATV wheels in both sides to travel with different rotating speed in order to meet the requirements of kinematics and eliminate the incoordination of the both driving wheels on kinematics. Therefore, its performance has a direct influence on the dynamic properties of ATV.
This article was based on the most representative Eaton differential, designed a mechanical locking differential applicable to large displacement ATV, detailed introduced the design method of differential gears, and did the design analysis for the key parts of the ATV differential, then did the strength calculation for them. The 3D model of the ATV differential was built using the software Pro/E, and then its whole virtual assembly was realized.
This thesis introduced the data-shift method between the software ADAMS and Pro/E. And I transmitted the Pro/E model into ADAMS, added the restriction and the load on system,chose the impact-contact parameters of the gears, at last built the whole virtual prototype model of the ATV differential. Also I executed the dynamic and kinematic analysis for its several working conditions such as high speed straight line travel, low speed straight line travel, breaking away and cornering, and then I did the kinematic analysis according its self-locking and self-unlocking function. The analysis result not only provided some guidance to improve the mechanical transmission system dynamic performance and the design of its key parts, and also gave new method for the achievement of the load of gear and its fatigue life prediction, as well as offered basis for the optimization design of differential ATV.
本文以最具有代表性的Eaton差速器为参考设计原型,设计出了一款适用于大排量沙滩车的机械锁止式差速器,详细介绍了差速器齿轮机构的设计方法,对沙滩车差速器的其他关键部位进行了设计分析,并对它们进行了强度计算。利用Pro/E软件实现了差速器的三维建模,并实现了差速器整体的虚拟装配。
本文介绍了ADAMS及其与Pro/E之间的数据转换方式,并将Pro/E模型导入到ADAMS中去,添加了系统载荷和约束,讨论了齿轮接触碰撞参数的选取,最终完成了沙滩车差速器虚拟样机的建立。对沙滩车几种工况进行了运动学和动力学分析,包括了高速直线行驶、低速直线行驶、起步、转弯等工况,并针对其自锁与解锁功能进行了运动学仿真分析。分析结果对改善机械传动系统动力学性能和关键零部件设计有一定的指导作用,为其主要部位的齿轮载荷获取以及疲劳寿命预测提供了新的研究方法,同时为沙滩车差速器的优化设计提供了依据。
ATV is a product between motorcycles and cars, which can freely walk in sand, swamps, sloping field and such complex pavement because of its unique structure. With the increase of consumers’demand and the realization of technology innovation, ATV developed rapidly. As one of the important parts of ATV, differential is mainly used to ensure ATV wheels in both sides to travel with different rotating speed in order to meet the requirements of kinematics and eliminate the incoordination of the both driving wheels on kinematics. Therefore, its performance has a direct influence on the dynamic properties of ATV.
This article was based on the most representative Eaton differential, designed a mechanical locking differential applicable to large displacement ATV, detailed introduced the design method of differential gears, and did the design analysis for the key parts of the ATV differential, then did the strength calculation for them. The 3D model of the ATV differential was built using the software Pro/E, and then its whole virtual assembly was realized.
This thesis introduced the data-shift method between the software ADAMS and Pro/E. And I transmitted the Pro/E model into ADAMS, added the restriction and the load on system,chose the impact-contact parameters of the gears, at last built the whole virtual prototype model of the ATV differential. Also I executed the dynamic and kinematic analysis for its several working conditions such as high speed straight line travel, low speed straight line travel, breaking away and cornering, and then I did the kinematic analysis according its self-locking and self-unlocking function. The analysis result not only provided some guidance to improve the mechanical transmission system dynamic performance and the design of its key parts, and also gave new method for the achievement of the load of gear and its fatigue life prediction, as well as offered basis for the optimization design of differential ATV.
引文
[1]李发家,崔元胜,孙传祝.沙滩摩托车发展现状及传动系仿真分析[J].农业装备与车辆工程,2009年第四期,18-19.
[2]王良,王健.沙滩摩托车车架的有限元模态分析[J].山东理工大学学报,2004,18(2):46-50.
[3]王磊,金达锋.全地形车中、后桥双横臂平衡悬架设计[J].拖拉机与农用运输车,2007,34(1):64-66.
[4]杜子学,李芹英,文孝霞.全地形车车架结构静动态分析[J].机械工程师,2006,(12):64-66.
[5]孙传祝.轴向滑块凸轮式差速器的设计与分析[J].机械设计与研究,2007,23(3):32-36.
[6]韩双江,孙传祝.基于COSMOSMotion的轴向滑块凸轮式差速器的运动仿真[J].农业装备与车辆工程,2007,189(4):19-22.
[7] Junya Yamakawam, Akira Kojima, Keiji Watanabe. A method ofoptimal wheel torque determination for independent wheel drive vehicles[J]. Journal of Terramechanics,2007,43(3): 269-285.
[8] A.shitey Trebi-Ollennu,John M.Dolan,Pradeep Khosla.Adaptive Fuzzy Throttle Control for an All Terrain Vehicle[C].The United States of America:IASTED International Conference,1999.
[9] J.Batelaan.Development of an all terrain vehicle suspension with an efficient oval track[J].Journal of Terramechanics.1998,35(4):209-223.
[10] L.Dai,J.Wu.Stability and vibrations of an all-terrain vehicle subjected to nonlinear structural deformation and resistance[J].Communications in Nonlinear Science and Numerical immolation,2007,12(1):72-82.
[11] Q.Li,P.D.Ayers,A.B.Anderson.Prediction of impacts of wheeled vehicles on terrain[J].Journal of Terramechanics.2007,44(3):205-215.
[12] Paul M.Balthrop,MS,John Nyland.Risk factors and musculoskeletal injuries associated withal-terrain vehicle accidents[C].The United States of America:The Journal of Emergency Medicine,2007.
[13]刘惟信.汽车车桥设计[M].北京,清华大学出版社,2003.
[14]陈家瑞.汽车构造[M].北京,机械工业出版社,2005,1.
[15]孙吉宝.车轮打滑的克星—美国伊顿锁式差速器[J].商用车&发动机《汽车与配件》.2005.
[16]王建华.摩擦片式限滑差速器开发及其性能的研究[D].吉林大学硕士学位论文,2002
[17]张鹏.粘性式限滑差速器汽车的动力性和操纵稳定性分析与研究[D].吉林大学硕士学位论文,2003.
[18]李永焕.后驱动汽车应用限滑差速器的仿真研究[D].吉林大学硕士学位论文,2003.
[19]毛啸滇,钱立军.国内外防滑差速器的应用分析[J].客车技术,2005(4).
[20] W.Roherger and P.amborn and Q.A.Kaufmann. Advanced Development of Self-control Torque Sensitive Limited-Slip Differential By Means of Helical Gears. SAE Papers 940733 P936.
[21] Murat N.Okcuoglu, A Descriptive Analysis of Gerodisc Type Limited Slip Differentials and All Wheel Drive Couplings, SAE 952042.
[22] Chia-Shang Liu, Vincent Monkaba, Hualin Tan, Clive Mckenzie, Hyeongcheol Lee and Sophia Suo.Driveline Torque-Bias-Management Modeling for Vehicle Stability Control, SAE Paper 2002-01-1584.
[23] Toru Iwata, etc.Development and analysis of new traction control system with rear viscous LSD. SAE Paper 910700.
[24] H.Huchtkoetter, H.Klein.The effect of various limited-slip differentials in front-wheel drive vehicles on handing and traction.SAE Paper 960717.
[25]滕立新,李阳.汽车传动自动控制系统简介.汽车运用,1997(2).
[26] Murat N.Okcuoglu.Adjustable racing limited slip differentials ultilizing gerodisc system.SAE Paper 962541.
[27]岳惊涛,王太勇,王伟,李静.虚拟环境下轻型越野汽车限滑差速器装置仿真[J].吉林大学学报(工学版),2005(1):12-17.
[28]王建华.摩擦片式限滑差速器开发及其性能的研究[D].[硕士学位论文].长春:吉林大学,2002.
[29]靳立强.装限滑差速器后驱动汽车的操纵稳定性研究[D].[硕士学位论文].长春:吉林大学,2002.
[30] Murat N.Okcuoglu.A descriptive analysis of gerodisc type limited slip differentials and all wheel drive couplings.SAE Paper 952642.
[31] Mark Akey.Development of fuzzy logic ABS control for commercial trucks.SAE Paper 952673.
[32] Ka C.Cheok, Francis B.hoogterp, etc.Fuzzy logic Approach to traction control design.SAE Paper 960956.
[33]刘剑.汽车动力传动系扭转振动的研究[D].学位论文,2003年.
[34]林清安.Pro/E基础入门与范例.电子工业出版社,2005年.
[35]肖乾,杨迎新.Pro/Engineer Wildfire3.0案例精讲[M].北京:中国电力出版社,2008.
[36]陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京,清华大学出版社,2005.
[37]杜中华,王兴贵,狄长春.用Pro/E和ADAMS联合建立复杂机械系统的仿真模型[J].机械2002年第29卷增刊:153-154.
[38]杜中华,薛德庆,赵迎红.Pro/E和ADAMS传递过程中若干问题的讨论[J].机械与电子2003(2):68-70.
[39]杜中华,王兴贵.Pro/E和ADAMS传递过程中曲线丢失问题的处理办法[J].机械工程师.2001,(11):27-28.
[40]成大先.机械设计手册[M].第三卷,化学工业出版社.2002,1.
[41]黄泽平.齿轮轮齿接触力仿真研究[J].机械传动,2007年第一期.
[42]黄浩东.虚拟原型技术及控制工程中的虚拟原型机[D].[硕士学位论文].北京:北京航空航天大学,1999.
[43] GaryWang G.Definition and review of virtual prototyping[J].Journal of Computing and Information Science in Engineering.2002,2(3):232-236.
[44]熊光楞,李伯虎,柴旭东.虚拟样机技术系统仿真学报[J].工程机械,2001,13(1):114-117.
[45] Shyamsundarar N,Gadhb R.Collaborative virtual prototyping of product assemblies over theInternet[J].Computer-Aided Design.2002,34:755-768.
[46]冯培恩,潘双夏,丁国富.挖掘机器人虚拟样机技术的实现策略[J].农业机械学报,2002,33(3):84-87.
[47] Choi SH, Samavedam S.Modeling and optimization of rapid prototyping[J].Computers in Industry.2002,4(7):39-53.
[48] MallidiK, Paraskevopoulos A T,Paganelli P.Process modeling in small medium enterprise networks Computers in Industry[J].United States.1999,38:149-158.
[49]赵文辉,李思昆.机电一体化系统虚拟样机的异构建模和仿真[J].系统仿真学报,2001,13(5):592-595.
[50]蒙艳玫,李尚平,刘正士.虚拟样机技术及其在创新产品开发中的应用[J].广西科学,2001,8(4):256-259.
[51]赵雯.虚拟样机一体化建模方法研究.系统仿真学报,2002,14(1).
[52]郑建荣.Adams—虚拟样机技术入门与提高.机械工业出版社,2004年5月.
[53]王成,王效岳.虚拟样机技术及ADAMS[J].机械工程与自动化,2004,(6):66-75.
[54]李润方.齿轮系统动力学[M].北京,科学出版社,1997年.
[55] F.Kucukay. Dynamic behavior of high speed gears.IMechM, C317/84,1984.
[2]王良,王健.沙滩摩托车车架的有限元模态分析[J].山东理工大学学报,2004,18(2):46-50.
[3]王磊,金达锋.全地形车中、后桥双横臂平衡悬架设计[J].拖拉机与农用运输车,2007,34(1):64-66.
[4]杜子学,李芹英,文孝霞.全地形车车架结构静动态分析[J].机械工程师,2006,(12):64-66.
[5]孙传祝.轴向滑块凸轮式差速器的设计与分析[J].机械设计与研究,2007,23(3):32-36.
[6]韩双江,孙传祝.基于COSMOSMotion的轴向滑块凸轮式差速器的运动仿真[J].农业装备与车辆工程,2007,189(4):19-22.
[7] Junya Yamakawam, Akira Kojima, Keiji Watanabe. A method ofoptimal wheel torque determination for independent wheel drive vehicles[J]. Journal of Terramechanics,2007,43(3): 269-285.
[8] A.shitey Trebi-Ollennu,John M.Dolan,Pradeep Khosla.Adaptive Fuzzy Throttle Control for an All Terrain Vehicle[C].The United States of America:IASTED International Conference,1999.
[9] J.Batelaan.Development of an all terrain vehicle suspension with an efficient oval track[J].Journal of Terramechanics.1998,35(4):209-223.
[10] L.Dai,J.Wu.Stability and vibrations of an all-terrain vehicle subjected to nonlinear structural deformation and resistance[J].Communications in Nonlinear Science and Numerical immolation,2007,12(1):72-82.
[11] Q.Li,P.D.Ayers,A.B.Anderson.Prediction of impacts of wheeled vehicles on terrain[J].Journal of Terramechanics.2007,44(3):205-215.
[12] Paul M.Balthrop,MS,John Nyland.Risk factors and musculoskeletal injuries associated withal-terrain vehicle accidents[C].The United States of America:The Journal of Emergency Medicine,2007.
[13]刘惟信.汽车车桥设计[M].北京,清华大学出版社,2003.
[14]陈家瑞.汽车构造[M].北京,机械工业出版社,2005,1.
[15]孙吉宝.车轮打滑的克星—美国伊顿锁式差速器[J].商用车&发动机《汽车与配件》.2005.
[16]王建华.摩擦片式限滑差速器开发及其性能的研究[D].吉林大学硕士学位论文,2002
[17]张鹏.粘性式限滑差速器汽车的动力性和操纵稳定性分析与研究[D].吉林大学硕士学位论文,2003.
[18]李永焕.后驱动汽车应用限滑差速器的仿真研究[D].吉林大学硕士学位论文,2003.
[19]毛啸滇,钱立军.国内外防滑差速器的应用分析[J].客车技术,2005(4).
[20] W.Roherger and P.amborn and Q.A.Kaufmann. Advanced Development of Self-control Torque Sensitive Limited-Slip Differential By Means of Helical Gears. SAE Papers 940733 P936.
[21] Murat N.Okcuoglu, A Descriptive Analysis of Gerodisc Type Limited Slip Differentials and All Wheel Drive Couplings, SAE 952042.
[22] Chia-Shang Liu, Vincent Monkaba, Hualin Tan, Clive Mckenzie, Hyeongcheol Lee and Sophia Suo.Driveline Torque-Bias-Management Modeling for Vehicle Stability Control, SAE Paper 2002-01-1584.
[23] Toru Iwata, etc.Development and analysis of new traction control system with rear viscous LSD. SAE Paper 910700.
[24] H.Huchtkoetter, H.Klein.The effect of various limited-slip differentials in front-wheel drive vehicles on handing and traction.SAE Paper 960717.
[25]滕立新,李阳.汽车传动自动控制系统简介.汽车运用,1997(2).
[26] Murat N.Okcuoglu.Adjustable racing limited slip differentials ultilizing gerodisc system.SAE Paper 962541.
[27]岳惊涛,王太勇,王伟,李静.虚拟环境下轻型越野汽车限滑差速器装置仿真[J].吉林大学学报(工学版),2005(1):12-17.
[28]王建华.摩擦片式限滑差速器开发及其性能的研究[D].[硕士学位论文].长春:吉林大学,2002.
[29]靳立强.装限滑差速器后驱动汽车的操纵稳定性研究[D].[硕士学位论文].长春:吉林大学,2002.
[30] Murat N.Okcuoglu.A descriptive analysis of gerodisc type limited slip differentials and all wheel drive couplings.SAE Paper 952642.
[31] Mark Akey.Development of fuzzy logic ABS control for commercial trucks.SAE Paper 952673.
[32] Ka C.Cheok, Francis B.hoogterp, etc.Fuzzy logic Approach to traction control design.SAE Paper 960956.
[33]刘剑.汽车动力传动系扭转振动的研究[D].学位论文,2003年.
[34]林清安.Pro/E基础入门与范例.电子工业出版社,2005年.
[35]肖乾,杨迎新.Pro/Engineer Wildfire3.0案例精讲[M].北京:中国电力出版社,2008.
[36]陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京,清华大学出版社,2005.
[37]杜中华,王兴贵,狄长春.用Pro/E和ADAMS联合建立复杂机械系统的仿真模型[J].机械2002年第29卷增刊:153-154.
[38]杜中华,薛德庆,赵迎红.Pro/E和ADAMS传递过程中若干问题的讨论[J].机械与电子2003(2):68-70.
[39]杜中华,王兴贵.Pro/E和ADAMS传递过程中曲线丢失问题的处理办法[J].机械工程师.2001,(11):27-28.
[40]成大先.机械设计手册[M].第三卷,化学工业出版社.2002,1.
[41]黄泽平.齿轮轮齿接触力仿真研究[J].机械传动,2007年第一期.
[42]黄浩东.虚拟原型技术及控制工程中的虚拟原型机[D].[硕士学位论文].北京:北京航空航天大学,1999.
[43] GaryWang G.Definition and review of virtual prototyping[J].Journal of Computing and Information Science in Engineering.2002,2(3):232-236.
[44]熊光楞,李伯虎,柴旭东.虚拟样机技术系统仿真学报[J].工程机械,2001,13(1):114-117.
[45] Shyamsundarar N,Gadhb R.Collaborative virtual prototyping of product assemblies over theInternet[J].Computer-Aided Design.2002,34:755-768.
[46]冯培恩,潘双夏,丁国富.挖掘机器人虚拟样机技术的实现策略[J].农业机械学报,2002,33(3):84-87.
[47] Choi SH, Samavedam S.Modeling and optimization of rapid prototyping[J].Computers in Industry.2002,4(7):39-53.
[48] MallidiK, Paraskevopoulos A T,Paganelli P.Process modeling in small medium enterprise networks Computers in Industry[J].United States.1999,38:149-158.
[49]赵文辉,李思昆.机电一体化系统虚拟样机的异构建模和仿真[J].系统仿真学报,2001,13(5):592-595.
[50]蒙艳玫,李尚平,刘正士.虚拟样机技术及其在创新产品开发中的应用[J].广西科学,2001,8(4):256-259.
[51]赵雯.虚拟样机一体化建模方法研究.系统仿真学报,2002,14(1).
[52]郑建荣.Adams—虚拟样机技术入门与提高.机械工业出版社,2004年5月.
[53]王成,王效岳.虚拟样机技术及ADAMS[J].机械工程与自动化,2004,(6):66-75.
[54]李润方.齿轮系统动力学[M].北京,科学出版社,1997年.
[55] F.Kucukay. Dynamic behavior of high speed gears.IMechM, C317/84,1984.