汽车多自由度悬架的非线性振动特性

以研究主、副簧组成的悬架系统出发,建立了分段线性非线性悬架系统的动力学模型,运用KB方法求出了此类系统运动的解析解。其幅频响应曲线表明,当缓冲簧间隙适当时,系统非线性特征十分明显,相当于一种缓冲器的趋硬弹簧的作用。同时讨论了非线性弹簧刚度、阻尼系数、地面不平度对共振曲线的影响,分析了轮胎的等效刚度、阻尼系数和质量对系统振动的影响,得到了此类主、副簧组成的悬架结构的运动形式及特征。由理论分析和数值计算画出的幅频特性曲线基本吻合,可为汽车悬架系统的分段线性非线性振动的参数识别、稳定区域的分析研究和优化设计提供理论依据。     

考虑主动时滞的汽车悬架系统控制特性研究

以汽车悬架系统为研究对象,采用理论和试验相结合的方法对考虑主动时滞的悬架系统控制特性进行分析。首先建立含时滞悬架系统动力学模型,分析系统的控制稳定性。理论和仿真结果均表明,采用传统二次型最优控制律不能保证含时滞系统的稳定性。系统时滞量存在稳定区间,时滞超出稳定区间时系统将失稳发散;为了保证控制系统的稳定性,采用状态变换法设计了含时滞系统的主动控制律,计算表明,该控制律可以保证系统稳定性。研究还发现,时滞量的变化会使系统振动幅值产生较大改变,为此在控制系统中引入主动时滞,研究主动时滞对系统振动特性的影响,计算表明,合理的主动时滞可以降低系统振动幅值;为验证结果的正确性,搭建了悬架时滞主动控制试验平台,通过对相同工况下仿真结果与试验结果进行对比,发现两者具有较好的一致性;而由于悬架受到的路面激励具有随机性,采用含时滞系统的主动控制律对路面随机激励下的悬架系统进行控制分析,发现当主动时滞为0.04 s时,车身加速度均方根值比无主动时滞降低了39.4%,说明主动时滞对悬架控制的有效性。本文研究对时滞主动控制的理论研究具有重要的促进作用。     

基于数据驱动的全线控底盘纵臂式悬架系统研究

汽车在越野类极限路况下行驶, 对车身高度有一定范围的调节需求, 传统悬架方案与全线控底盘进行技术融合时, 存在机构运动干涉、底盘升降过程中车轮外倾程度过大、车轮发生侧向位移等现象, 易导致轮胎过度磨损, 致使行驶失稳. 将车身高度变化对轮胎侧向参数的影响转化为车轮纵向滚动, 进而实现稳定的大行程车身高度调节, 是解决上述问题的关键. 本研究建立整车七自由度动力学模型, 对悬架系统导向机构展开力学分析, 集两者作为系统研究的输入信息; 通过正弦波激振台对弹性元件、减振器进行相关特性参数获取, 基于数据驱动开展一体化电动轮的运动学仿真测试, 包括对悬架系统关键铰接位置进行力学性能分析、对电动轮整体结构进行运动学特性研究, 以此定义系统关键性能指标, 结合理论研究与仿真测试, 确定双纵臂式主动悬架系统方案. 仿真结果与实车验证综合表明, 搭载本研究系统方案的全线控平台, 进行大行程高度调节过程中, 车轮外倾问题得到有效解决, 一体化电动轮具备良好的独立运行能力, 本研究对提高车辆在极限路况下的通过性具有重要意义.      

汽车悬架隔振性能-混沌特征关系的实验分析

给出了汽车隔振基本原理,提出了悬架振动的混沌描述问题。采用汽车制动-悬架隔振效率实验台获取了实验汽车前、后悬架的振动曲线,对其计算了系统参数如一阶固有频率和阻尼比,并计算了混沌参数如最小嵌入相空间维数Mmin和关联维D2,获得了汽车悬架的隔振性能-混沌参数-系统参数三者之间的对应关系。研究结果表明:①对于吉普车型,可采用最小嵌入相空间维数Mmin评价前悬架隔振性能的变化,Mmin值越小,隔振性能趋差,对应于前悬架的刚度和阻尼值越小。②对于不同车型,可采用关联维D2区分吉普车型或轿车型的悬架,吉普车型的D2值高于轿车型。     

随机激励下新型牵引式悬架系统的P-分岔分析

针对一种新型牵引式后悬架系统,本文建立了考虑刚度非线性和阻尼非线性的七自由度整车模型;通过分析车身振动位移与加速度的稳态概率密度曲线,研究了改进结构前后的悬架系统的随机P-分岔现象以及路面等级、车速、悬架刚度和悬架阻尼的变化对悬架系统发生随机P-分岔现象的影响。结果表明:改进后的结构发生了随机P-分岔现象;车速、悬架刚度、悬架阻尼的变化与引发悬架系统发生随机P-分岔有关,路面不平度的改变与引发随机P-分岔无关。通过分析车身加速度的概率密度曲线可以看出:改进结构后,汽车平顺性变好;随着悬架刚度、悬架阻尼、车速和路面等级的增加,汽车的平顺性变差。     

轮胎非线性对汽车悬架系统的影响

本文首次运用现代非线性动力学与分岔理论对采用轮胎非线性模型的汽车悬架运动特性进行了研究。并仿真比较了轮胎线性悬架模型和非线性模型对路面激励的响应。结果表明轮胎的非线性特性对汽车悬架的动力学特性有很大影响,在一定条件下产生了Hopf分岔,并求出了产生Hopf分岔的条件。     

磁流变阻尼器汽车悬架的非线性振动特性分析

通过对磁流变阻尼器sigmoid模型进行数值计算分析,揭示了各参数对该模型阻尼力的影响,证明了通过合理有效地选择参数可设计出符合工程实际应用的磁流变阻尼器.对确定性激励下磁流变阻尼器的Sigmoid模型进行了理论分析.指出了采用非线性的阻尼器模型能更精确地描述汽车悬架的振动特性.从而证明了磁流变阻尼器有良好的使用价值和Sigmoid模型磁流变阻尼器在汽车控制工程应用中的可行性.     

汽车液压阻尼器的四段线性化模型

通过对现有某车用液压阻尼器的实验研究和车辆悬架系统动力学仿真研究，发现这种阻尼器的动力学特性存在复杂的非线性行为。为准确描述这类阻尼器的动力学特性和进行汽车悬架系统的动力学仿真研究，本文根据阻尼器的实验数据，提出一种新型四段线性化阻尼器模型，并建立其相应的数学模型。通过汽车悬架系统的动力学仿真研究表明，采用四段线性化阻尼器模型，汽车悬架系统簧载质量在不同路面不平度函数作用下的加速度响应和均方根加速度响应随频率变化不会出现大的波动。与等效线性化阻尼器模型相比，四段线性化阻尼器模型，能较好降低汽车悬架系统簧载质量的加速度响应和均方根加速度响应，有利于提高汽车乘坐舒适性和行驶稳定性，并为新型阻尼器设计提供一个新的思路。     

基于多体动力学递推算法的电动汽车建模与仿真分析

运用多体动力学理论建立整车动力学模型已成为汽车动力学研究的重要手段。以大连理工大学汽车学院研制的某电动汽车为对象,运用多体动力学递推算法建立了包含前后悬架、车身及车轮在内的多体仿真分析模型,将前后悬架视为3个子系统,引入哑体,实现对各子系统的单独处理;同时完成了整车的快速建模与分析;将MATLAB整车仿真程序的结果与ADAMS仿真结果进行比对,二者吻合较好,验证了所建模型及求解算法的正确性。     

可调磁流变阻尼在汽车悬架的半主动控制中的应用

本文研究了采秀磁流变阻尼的汽车半主动控制悬架在确定性激励和随机激励下的运行效果,分析了可调磁流变阻尼半主动控制的控制规律及响应情况,并与采用传统阻尼的汽车被动悬架和主动悬架进行了对比,证实了磁流变阻尼应用于汽车半主动控制的可行性及优越性。     

Explicit dynamics equations of the constrained robotic systems

Recursive matrix relations concerning the kinematics and the dynamics of a constrained robotic system, schematized by several kinematical chains, are established in this paper. Introducing frames and bases, we first analyze the geometrical properties of the mechanism and derive a general set of relations. Kinematics of the vector system of velocities and accelerations for each element of robot are then obtained. Expressed for every independent loop of the robot, useful conditions of connectivity regarding the relative velocities and accelerations are determined for direct or inverse kinematics problem. Based on the general principle of virtual powers, final matrix relations written in a recursive compact form express just the explicit dynamics equations of a constrained robotic system. Establishing active forces or actuator torques in an inverse dynamic problem, these equations are useful in fact for real-time control of a robot.     

空间机器人双臂捕获卫星力学分析及镇定控制

随着航天技术的发展,空间机器人要求具有对非合作卫星的在轨捕获能力. 双臂空间机器人与单臂空间机器人相比在这方面显然更具有优势. 然而由于太空环境的复杂性,使得空间机器人双臂捕获非合作卫星操作过程的动力学与控制问题表现出下述特点:非完整动力学约束,动量、动量矩与能量传递变化,捕获前后结构开、闭环变拓扑,与闭环接触几何、运动学约束多者共存. 因此空间机器人双臂捕获卫星技术相关动力学与控制问题变得极其复杂. 为此,讨论了双臂空间机器人捕获自旋卫星过程的动力学演化模拟,以及捕获操作后其不稳定闭链混合体系统的镇定控制问题. 首先,利用拉格朗日第二类方程建立了捕获操作前双臂空间机器人的开环系统动力学模型,利用牛顿-欧拉法建立了目标卫星的系统动力学模型;在此基础上基于动量守恒定律、力的传递规律,经过积分与简化处理分析、求解了双臂空间机器人捕获目标卫星后受到的碰撞冲击效应,给出了合适的捕获操作策略. 根据闭链系统的闭环约束几何及运动学关系获得了闭合链约束方程,推导了捕获操作后闭链混合体系统的动力学方程. 最后基于该动力学方程针对捕获操作结束后失稳的闭链混合体系统,设计了镇定运动模糊H_∞ 控制方案. 提出的方案利用模糊逻辑环节克服参数不确定影响,由H_∞ 鲁棒控制项消除逼近误差来保证系统控制精度;通过最小权值范数法分配各臂关节力矩,以保证两臂协同操作. 李雅普诺夫稳定性理论证明了系统的全局稳定性. 最后通过数值仿真实验模拟、分析了碰撞冲击响应,并验证了上述镇定运动控制方案的有效性.      

Study of the open and closed loop characteristics of a tractor and a single axle towed implement system

Accurate automatic guidance of towed implements is important for performing agricultural field operations and for gaining the ultimate benefit from such systems. The study of open and closed loop system responses of a vehicle-implement system can be helpful in the design of practical guidance controllers. Open loop analysis of the kinematic and dynamic models revealed that the higher order dynamics captured by the tractor and implement dynamic model had an impact on simulated responses at higher operating velocities and on higher input frequencies. In addition, a dynamic model with tire relaxation length dynamics was also studied. The various model responses were compared with the experimental responses. Closed loop system characteristics were studied by using a linear quadratic regulator (LQR) controller. The tractor position and heading and implement heading states along with respective rate states were fed back to close the loop. Steering dynamics were also added to the dynamic model closed loop analysis, which helped to achieve a realistic closed loop steering angle history. The closed loop system dynamics became faster as the forward velocity was increased. The open and closed loop response analysis performed in this work provided an understanding about the system at various forward velocities, which will help to design and develop efficient and robust tractor and towed implement guidance controller.     

随机压电智能桁架结构闭环控制概率动力响应分析

针对随机压电智能桁架结构研究了基于概率的结构闭环控制系统动力响应分析模型与方法．考虑结构的物理参数、几何尺寸、外荷载幅值以及闭环系统控制力同时具有随机性时，利用振型迭加法导出了结构动力响应随机变量的数字特征计算表达式．通过算例考察了智能结构物理参数、几何尺寸、外荷载幅值以及控制力的随机性对结构闭环控制系统动力响应的影响，并获得了若干有意义的结论．     

Design and Simulation of a Novel Multi-Axial Fatigue Test Rig

This research covers the design and simulation of a novel experimental concept for multi-axial fatigue analysis of cylindrical specimens. The resulting design allows a combination of bending and torsional stress to test specimens with critical diameters ranging from 5 to 15 mm at test frequencies up to 50 Hz. Furthermore, the amplitude and frequency of both loadcases can be controlled independently. The test rig will be used to study and validate fatigue criteria for synchronous and asynchronous loading conditions and to analyze the effect of size on the fatigue life of metal and plastic components. The test setup consists of a closed mechanical loop. The primary shaft contains the cylindrical test specimen and is modified to impose rotating bending loads. The secondary shaft is adjusted to introduce fluctuating torque in the transmission loop. Both shafts are connected by means of two double link mechanisms to minimize the clearance and the inertia of the system. The time-varying multi-axial stress state in the cylindrical specimen is analyzed as a function of the amplitudes and frequencies of both bending and torsional loadcases. This is verified by a numerical fatigue analysis in MSC-Patran and MSC-Fatigue. Finally, the dynamical behavior of the test system is studied using a 5 DOF torsional mass-spring representation and the Lagrangian method. A more complex model with 20 DOF is implemented in SimDriveLine and solved via Matlab to analyze the kinematical and dynamical properties more accurately. Both studies take the mechanical properties of steel and plastic test specimens of different sizes into account.     

Inverse dynamics of a 3-PRC parallel kinematic machine

Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.     

Spatial properties of Wohlhart symmetric mechanism

The aim of this paper is to present a new analytical resolution to find closure equations of Wohlhart symmetric mechanism and to give some interesting spatial properties of this mechanism. These properties are used to put in evidence possible industrial applications for this type of mechanism. First, it concerns the analytic resolution of the twelve equations system obtained from the closure equation, system particularized for the case of Wohlhart symmetric mechanism. The matrix form of closure equations is written for a single loop overconstrained mechanism composed by six revolute joints, mechanisms called 6R. A kinematical analysis is made, putting in evidence some interesting kinematical and geometrical properties. These properties allow us to consider a new spatial disposition for this mechanism, by imposing three non-successive joints to remain in a determined plan. Thus, we obtain a translator, a possible future industrial application for this type of overconstrained mechanism.     

基于FPGA的数字闭环光纤陀螺研究

着重对全数字闭环光纤陀螺的信号处理方法进行了详细的分析，指出了闭环控制系数A和K对闭环控制的影响，同时研究了基于FPGA的数字闭环控制系统实现方法以及利用VHDL语言进行FPGA软件设计的优点，并给出了基于FPGA设计的光纤陀螺的实验结果。     

多刚体系统动力学的旋量-矩阵方法

本文将经典力学中的旋量概念以矩阵形式表示,用以建立多刚体系统的动力学方程。这种旋量-矩阵方法能保留旋量融矢量与矢量矩于一体的优点,却避免以往对偶数记法的缺点。结合 Roberson/wittenburg的图论工具,旋量-矩阵方法的应用范围可扩大到一般多刚体系统。对于树形系统,利用旋量通路矩阵推导各个由第i铰联结的全部外侧刚体组成的第i子系统的动力学方程,可避免出现铰的约束反力,对于非树系统,则利用回路矩阵导出各子系统动力学方程及运动学相容条件,全部计算过程统一为矩阵运算,以操作机器人作为具体算例。     

Experimental study of the dynamics of magneto-rheological fluid droplet impact

The kinematics of a magneto-rheological fluid droplet impact on a smooth surface, subjected to external magnetic field, was studied theoretically and experimentally. A time-dependent one-dimensional model of the impact, as typified by the droplet top center point height kinematics is developed. A series of experiments were conducted in order to validate the theoretical model. The shape changes generated during the impact process were recorded using a digital high-speed camera. Our novel kinematical model based on a variable damping function shows very good agreement with the experimental data for a wide range of Mason and Reynolds numbers.