履带车辆路面激励响应的简化计算

为了快速计算履带车辆在路面不平度激励下的动力学响应,基于合理假设采用理论力学方法建立了某履带车辆的简化动力学模型,用ADAMS 软件建立了同种工况下的履带车辆动力学模型,并把两种模型的求解结果进行了对比,验证了简化模型的合理性. 研究结果为基于简化模型的动力学方程对车辆悬挂系统进行优化和逆动力学分析奠定了基础.     

SMA扭力驱动器的响应速度分析及实验研究

介绍了马氏体逆相变的驱动力的形成原因以及和相变阻力的关系。研究了通电加热时形状记忆合金(SMA)丝的热平衡方程以及相变时间与丝直径的关系,并进行了实验验证。将SMA丝按与筒母线方向成某夹角缠绕并粘贴在外表面可以构成SMA扭力驱动器。利用SMA丝的本构关系和圆筒的扭转应力-应变关系给出了空载情况下最大驱动扭转角对应的缠绕方向;研究了模拟飞机尾气通过扭力管进行加热时的响应速度,并与实验结果进行了比较。     

车桥系统非平稳随机振动的PEM-PIM算法

研究了车桥耦合系统受到路面不平激励而发生的非平稳随机振动.采用虚拟激励方法(PEM)将路面的竖向随机不平度精确地转化为一系列竖向简谐不平度的叠加,从而简化了运动方程的求解,在此基础上用精细积分法(PIM)的三种格式进行数值计算.这种基于虚拟激励法的精细积分(PEM-PIM)算法比通常的数值积分方法更真实地模拟了车辆作用力在时间域和空间域上的连续变化,也更精确地实施了数值积分.与广泛采用的Newmark方法比较,三种PEM-PIM格式处理这类问题时在分析精度和计算效率上都有显著的改善,而又各有特色.     

接触表面不平度对摩擦尖叫噪声的影响

针对摩擦尖叫的间歇性特点,建立了考虑摩擦接触表面不平度的3自由度摩擦自激振动机理模型.应用数值方法分析了接触表面不平度倾角对系统稳定性及瞬态动力学特性的影响,并进行了基于销-盘装置的摩擦尖叫噪声试验研究.结果表明:系统的稳定性主要取决于系统自身的耦合特性,但也与摩擦特性和接触表面不平度倾角的综合作用有关.当接触表面不平度倾角增大时,系统趋向不稳定,会激发尖叫噪声.     

耦合路面损伤的车辆随机动荷载特性研究

为准确分析车辆对不平整路面作用的实际动荷载,在传统计算方法的基础上,进一步考虑了永久变形和平整度劣化等路面损伤累积的影响,提出了耦合损伤的车辆随机动荷载分析方法.通过计算轴载作用下路面各点的永久变形,推导路面不平整度的更新方程,将其引入车-路系统动力方程,采用Matlab编制求解程序,即可得到任意时间路面各点受到的车辆随机动荷载序列.基于该方法分析了车辆随机动荷载沿轮迹的分布变化,研究了随机动荷载系数随轴次的演化规律.结果 表明,车辆随机动荷载是随时间逐渐增大的动态演化过程,其沿轮迹的分布具有空间可重复性,随着轴载作用,动荷载的离散程度增大,将引起路面各点的损伤累积差异增大;而车辆行驶速度越低,新建路面越不平整,动荷载随时间演化速率越快,对路面造成的损伤越大.     

基于SHAP-RF框架的越野车辆路面识别算法研究

根据越野车辆在不同路面上行驶时的动力学响应特征, 可以实现路面类型的在线识别, 为面向路面特征调整底盘控制子系统参数从而获取更好的行驶性能奠定基础. 但越野环境地面特征复杂, 车辆响应机理分析困难, 给基于车辆动力学响应进行路面准确识别带来挑战. 提出了一种SHAP-RF路面识别算法设计框架, 通过SHAP (Shapley additive explanations)模型解释方法实现高维随机森林(random forest, RF)路面识别模型的降维化: 首先采集了试验车在压实土路、沙地、良好沥青路与冰雪路4种路面上的行驶数据并计算了3个次级行驶特征; 进一步计算了行驶数据的共计105个时域特征和频域特征, 并以此为输入特征建立了高维随机森林路面识别模型; 利用SHAP解释法分析高维模型输入特征对识别结果的影响从而提炼出各个特征与路面类型的关联性, 完成特征筛选; 最后, 利用筛选后的特征设计降维随机森林路面分类器. 基于实车数据的算法验证试验表明, 设计的降维路面识别模型对4种路面的识别精确率在94%以上, 召回率在93%以上, 相比高维的随机森林路面识别模型, 各种路面上的精确率和召回率最大降幅不超过3.2%, 证明本文提出的SHAP-RF路面识别算法设计框架能够在选用较少特征的情况下依然保证车辆行驶路面类别的准确识别.      

基于三轴压缩试验的破裂岩损伤演化方程的建立

分析了基于三轴试验的弹塑性损伤演化方程建立的方法 ,验证了采用该方法的合理性 ,并依此提出了鲁中冶金矿山公司小官庄铁矿两类破裂岩的弹塑性损伤演化方程 ,该方程参数少、物理意义明确 ,对该类围岩巷道进行数值计算分析具有重要意义。     

车辆纵向非光滑多体动力学建模与数值算法研究

在建立车辆纵向多体系统的动力学模型中, 将车身与车轮视为刚体, 两者通过减振器链接; 将传动系统视为一个圆盘通过扭簧和阻尼器与驱动轮连接; 将车轮与路面间的接触力简化为法向约束力、摩擦力和滚阻力偶,其中摩擦力的模型采用库仑干摩擦模型. 采用笛卡尔坐标作为该系统的广义坐标用于描述该系统的位形, 给出系统单双边的约束方程, 应用第一类拉格朗日方法建立了系统的动力学方程. 由于摩擦与滚阻的非光滑性, 使得该系统动力学方程不连续. 为便于计算, 建立了车轮与路面接触点的相对切向加速度与摩擦力余量的互补条件、车轮角加速度与滚阻力偶余量的互补条件, 以及车轮轮心法向加速度与路面法向约束力的互补条件. 将接触—分离、黏滞—滑移的判断问题转化成线性互补问题的求解, 并给出了具有约束稳定化的基于事件驱动法的数值计算方法. 最后, 应用该方法对车辆纵向多体系统进行了仿真, 分析了输出扭矩、摩擦及滚阻系数对其动力学行为的影响.      

城市高架桥车-桥-墩系统竖向振动分析

假设城市高架桥为两端简支的欧拉-伯努利梁模型以及桥墩为底部固结的柱,考虑两自由度车辆移动系统与桥面结构表面接触处不平整产生的随机激励以,建立了多个移动车辆系统-桥-墩的耦合力学模型,并且给出了耦合振动方程详细的求解步骤.数值分析采用Wilson-θ法求解.通过仿真分析,讨论了在不同路面等级、不同车辆移动速度下桥梁跨中位移响应和桥墩轴力的变化规律.最后根据车-桥-墩耦合力学模型和车-桥耦合力学模型,比较了两种分析模型对桥墩底部轴力和桥梁跨中截面位移的影响.分析结果表明桥墩对桥梁跨中截面位移的影响可以忽略不计,但是对桥墩本身所受轴力的影响则非常显著.     

恒定主应力偏转角下黏土不排水剪切特性分析

天然土的结构性、各向异性对其强度有影响.进行固结压力100kPa、主应力轴恒定偏转角为0°,15°,30°,45°,60°的恒定主应力轴偏转角的固结不排水剪切试验,分析了不同恒定主应力轴偏转角对饱和软黏土固结不排水剪切强度影响;推导了总应力控制恒定主应力轴偏转角剪切试验总应力路径,编制了总应力控制剪切三维点积分程序,对比恒定主应力轴偏转角饱和软黏土固结不排水剪切强度计算值与试验结果,表明程序能很好地反应各向异性对土剪切强度影响.     

A spatial motion analysis model of tracked vehicles with torsion bar type suspension

A spatial motion analysis model for high-mobility tracked vehicles was constructed for evaluation of ride performance, steerability, and stability on rough terrain. Ordinary high-mobility tracked vehicles are equipped with independent torsion bar type suspension system, which consists of road arms and road wheels. The road arm rotates about the axis of torsion bar, and rigidity of the torsion bar and cohesion of damper absorb sudden force change exerted by interaction with the ground. The motion of the road arms should be considered for the evaluation of off-road vehicle performance in numerical analysis model. In order to obtain equations of motion for the tracked vehicles, the equations of motion for the vehicle body and for the assembly of a road wheel and a road arm were constructed separately at first. Two sets of equations were reduced with the constraint equations, which the road arms are mechanically connected to the vehicle body. The equations of motion for the vehicle have been expressed with minimal set of variables of the same number as the degrees of freedom for the vehicle motion. We also included the effect of track tension in the equations without constructing equations of motion for the tracks. Numerical simulation based on the vehicle model and experiment of a scale model passing over a trapezoidal speed bump were performed in order to examine the numerical model. It was found that the numerical results reasonably predict the vehicle motion.     

Saint-Venant torsion analysis of bars with rectangular cross-section and effective coating layers

This paper investigates the torsion analysis of coated bars with a rectangular cross-section. Two opposite faces of a bar are coated by two isotropic layers with different materials of the original substrate that are perfectly bonded to the bar. With the Saint-Venant torsion theory, the governing equation of the problem in terms of the warping function is established and solved using the finite Fourier cosine transform. The state of stress on the cross-section, warping of the cross-section, and torsional rigidity of the bar are evaluated. Effects of thickness of the coating layers and material properties on these quantities are investigated. A set of graphs are provided that can be used to determine the coating thicknesses and material properties so as to keep the maximum von Mises stress on the cross-section below an allowable value for effective use of the coating layer.     

Strain gradient elasticity and stress fibers

Since stress fibers have micro-size dimensions, their biomechanical behavior should demand mechanical models conforming with gradient strain deformation theories. In particular, the torsion and the stretching of stress fibers are discussed into the context of strain gradient elasticity theory and their size effects. It is proven for the torsion problem that the torsion moment varies with the axial length of the bar for constant twist angle, whereas for the simple tension problem, the strain is non-uniform along the stress fiber. The proposed theory is supported by experimental evidence.     

Optimization of a Thin-Walled,Anisotropic Curved Bar for Maximum Torsional Stiffness∗

ABSTRACT

ABSTRACT A curved bar in the form of a circular ring sector is under uniform torsion when acted upon by two equal and opposite forces directed alone the axis passing through the center of the ring and perpendicular to its plane, i.e., forces acting along the axis of rotation. The exact torsion theory can be extended to this case when the material of which the bar consists is cylindri-cally anisotropic, with the axis of anisotropy directed along the axis of rotation and having an elastic symmetry about any plane of the transverse cross section. In this paper, a thin-walled curved bar having the loading conditions and material properties described above is optimized so as to maximize its torsional stiffness. The optimization is carried out with respect to the cross-sectional shape of the bar subject to constraints on the transverse area (single-purpose design) and bending stiffness (multipurpose design). In the special case of an orthotropic material, the angle of inclination of the ortho-tropy axes with respect to the middle plane is optimally determined for a cross section with constant thickness. A perturbation method is used to obtain analytical solutions, and numerical results are presented indicating the efficiency of the designs and the optimal cross-sectional shapes.     

扇形截面杆扭转的应力分析

柱体扭转的基本方程为非齐次偏微分方程,在极坐标系下,利用分离变量法及傅立叶级数展开法,求出了扭转应力函数,进一步即可计算出扇形截面杆在外力偶作用下,扭转角和横截面上剪应力的精确解答。这种方法为精确解法,在各种机械及其他工程设备中,对受扭转作用的扇形截面杆设计,有一定实用价值。     

Oscillation of an elastic bar rigidly linked to a kinematically excited pendulum

The oscillation of a mechanical system consisting of an elastic bar rigidly linked at the middle to a kinematically excited pendulum is studied. A system of integro-differential equations with appropriate boundary and initial conditions for the deflections of the bar axis and the rotation angle of the pendulum is derived using the Hamilton-Ostrogradsky principle. Given kinematic excitation conditions, the rotation angle is found as a solution to an inhomogeneous Hill equation in the form of a double power series in the amplitude of kinematic excitation. It is shown that the oscillation of the bar is the linear superposition of three oscillations __________ Translated from Prikladnaya Mekhanika, Vol. 42, No. 10, pp. 107–115, October 2006.     

Some analytical solutions for Saint-Venant torsion of non-homogeneous anisotropic cylindrical bars

The Saint-Venant torsion of linearly elastic anisotropic cylindrical bars with solid and hollow cross-section is treated. The shear flexibility moduli of the non-homogeneous bar are given functions of the Prandtl's stress function of considered cylindrical bar when its material is homogeneous. The solution of the torsion problem of non-homogeneous anisotropic bar is expressed in terms of the torsion and Prandtl's stress functions of the corresponding homogeneous anisotropic bar having the same cross-section as the non-homogeneous bar.     

Autocorrelation model of road roughness

Road surface roughness is the excitation source for the dynamic response of a moving vehicle system. Driving comfort is indicated by either the driver absorbed power level or the vehicle vertical acceleration level. An autocorrelation function model for road roughness is proposed to specify the road surface random characteristics. Subsequently, the power spectral densities (PSDs) for both road roughness and vehicle response, the driver-absorbed power level, are formulated. A road quality index (RQI) in accordance with such energy considerations is defined to catalog the road grade. The laboratory test results show the applicability of the RQI method for road classification using the ISO criteria as a comparison check.     

Meshless methods for the inverse problem related to the determination of elastoplastic properties from the torsional experiment

The problem of determining the elastoplastic properties of a prismatic bar from the given experimental relation between the torsional moment M and the angle of twist per unit length of the rod’s length θ is investigated as an inverse problem. The proposed method to solve the inverse problem is based on the solution of some sequences of the direct problem by applying the Levenberg-Marquardt iteration method. In the direct problem, these properties are known, and the torsional moment is calculated as a function of the angle of twist from the solution of a non-linear boundary value problem. This non-linear problem results from the Saint-Venant displacement assumption, the Ramberg–Osgood constitutive equation, and the deformation theory of plasticity for the stress–strain relation. To solve the direct problem in each iteration step, the Kansa method is used for the circular cross section of the rod, or the method of fundamental solutions (MFS) and the method of particular solutions (MPS) are used for the prismatic cross section of the rod. The non-linear torsion problem in the plastic region is solved using the Picard iteration.