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基于智能驾驶电动汽车的多车−桥梁耦合系统动力学特性研究

张宇 王嘉伟 李韶华 任剑莹

张宇, 王嘉伟, 李韶华, 任剑莹. 基于智能驾驶电动汽车的多车−桥梁耦合系统动力学特性研究. 力学学报, 2022, 54(9): 1-13 doi: 10.6052/0459-1879-21-600
引用本文: 张宇, 王嘉伟, 李韶华, 任剑莹. 基于智能驾驶电动汽车的多车−桥梁耦合系统动力学特性研究. 力学学报, 2022, 54(9): 1-13 doi: 10.6052/0459-1879-21-600
Zhang Yu, Wang Jiawei, Li Shaohua, Ren Jianying. Dynamic characteristics of multi-vehicle-bridge coupling system based on intelligent driving electric vehicle. Chinese Journal of Theoretical and Applied Mechanics, 2022, 54(9): 1-13 doi: 10.6052/0459-1879-21-600
Citation: Zhang Yu, Wang Jiawei, Li Shaohua, Ren Jianying. Dynamic characteristics of multi-vehicle-bridge coupling system based on intelligent driving electric vehicle. Chinese Journal of Theoretical and Applied Mechanics, 2022, 54(9): 1-13 doi: 10.6052/0459-1879-21-600

基于智能驾驶电动汽车的多车−桥梁耦合系统动力学特性研究

doi: 10.6052/0459-1879-21-600
基金项目: 国家自然科学基金(11902206, 11972238), 河北省自然科学基金(A2021210009), 大中学生科技创新能力培育专项(2021H011711)资助项目
详细信息
    作者简介:

    李韶华, 教授, 主要研究方向: 电动汽车动力学与控制. E-mail: lishaohua@stdu.edu.cn

  • 中图分类号: U461.1

DYNAMIC CHARACTERISTICS OF MULTI-VEHICLE-BRIDGE COUPLING SYSTEM BASED ON INTELLIGENT DRIVING ELECTRIC VEHICLE

  • 摘要: 迫于能源和环保问题的压力, 电动汽车及智能驾驶受到了各国高度重视. 轮毂电机驱动电动汽车车轮振动剧烈, 与桥梁路面动力学相互作用更加突出, 现有研究主要针对传统汽车, 关于电动车轮与公路桥梁接触动力学相互作用及智能驾驶车队的多车−桥梁耦合作用研究尚不多见. 本文以轮毂电机驱动电动汽车为研究对象, 考虑车轮和桥面多点接触关系, 研究了两个智能驾驶汽车过桥时的车桥耦合动力学特性. 分析了电机质量、电机激励、轮胎悬架刚度非线性、车距、车速对系统振动特性的影响, 以及桥面不平顺激励、三重耦合激励对电动汽车平顺性的影响. 研究表明: 车距和车速是影响车−桥系统振动特性的重要因素, 在车−桥耦合动态设计中, 车距和车速的影响应重点关注; 桥面越平坦, 电机激励及桥面二次激励对车辆平顺性和道路友好性影响越加显著, 当汽车行驶在平坦桥面时两种激励对轮毂电机驱动电动汽车的影响不容忽视. 所建模型有望为智能驾驶电动汽车与桥梁的耦合作用研究提供理论参考.

     

  • 图  1  多车−桥梁耦合系统模型

    Figure  1.  Multi-vehicle-bridge coupling system model

    图  2  t = 1,3 s, 选取不同阶模态时全桥挠度曲线

    Figure  2.  The deflection curves of the bridge with different modes at t = 1,3 s

    图  3  选取不同阶模态时桥梁跨中挠度时程曲线

    Figure  3.  The time-history curves of mid-span deflection of bridge with different modes

    图  4  选取不同电机质量时桥面二次位移激励时程曲线

    Figure  4.  The time history curves of bridge deck secondary excitation with different motor masses

    图  5  选取不同电机质量时桥梁跨中挠度时程曲线

    Figure  5.  The time-history curves of mid-span deflection of bridge with different motor masses

    图  6  选取不同电机激励时桥面二次位移激励时程曲线

    Figure  6.  The time history curves of bridge deck secondary excitation with different motor excitations

    图  7  选取不同电机激励时桥梁跨中挠度时程曲线

    Figure  7.  The time-history curves of mid-span deflection of bridge with different motor excitations

    图  8  考虑和不考虑非线性因素时桥梁跨中挠度时程曲线

    Figure  8.  The time-history curves of mid-span deflection of bridge with consider and disregard nonlinearity

    图  9  选取不同车距时桥面二次位移激励时程曲线

    Figure  9.  The time history curves of bridge deck secondary excitation with different vehicle distances

    图  10  选取不同车距时桥梁跨中挠度时程曲线

    Figure  10.  The time-history curves of mid-span deflection of bridge with different vehicle distances

    图  11  三车过桥不同车距时桥梁跨中挠度时程曲线

    Figure  11.  The time-history curves of mid-span deflection of bridge with different vehicle distances for three vehicles

    图  12  选取不同车速时桥面二次位移激励时程曲线

    Figure  12.  The time history curves of bridge deck secondary excitation with different vehicle speeds

    图  13  选取不同车速时桥梁跨中挠度时程曲线

    Figure  13.  The time-history curves of mid-span deflection of bridge with different vehicle speeds

    图  14  三车过桥不同车速时桥梁跨中挠度时程曲线

    Figure  14.  The time-history curves of mid-span deflection of bridge with different vehicle speeds for three vehicles

    图  15  前车4个平顺性指标时程曲线

    Figure  15.  The time history curves of four ride comfort indexes of first vehicle

    图  16  不同车距情况下两车指标均方根值

    Figure  16.  The root mean square values of the ride comfort indexes with different vehicle distances

    表  1  选取不同阶模态时桥梁跨中挠度均方根值及相邻阶数均方根值差别

    Table  1.   The root mean square values of mid-span deflection of bridge with different modes and relative differences of adjacent modes

    ModeRMSVDifference/%
    10.00377230
    20.00377230
    30.00376720.1352
    40.00376720
    50.00376450.0716
    下载: 导出CSV

    表  2  非线性系数取不同值时桥面二次位移激励均方根值

    Table  2.   The root mean square values of bridge deck secondary excitation with different nonlinear coefficients

    ${\beta _1}$01020
    FV0.003346390.003321130.00329550
    SV0.003404810.003379960.00335843
    ${\beta _2}$050100
    FV0.003346140.003346140.00334614
    SV0.003404550.003404260.00340397
    ${\beta _3}$0510
    FV0.003346140.003341490.00333659
    SV0.003404580.003393220.00338858
    下载: 导出CSV

    表  3  不同电机激励情况下平顺性指标均方根值

    Table  3.   The root mean square values of ride comfort indexes with different motor excitations

    MEIndex 1Index 2Index 3Index 4
    FV0.75126370.008645836.01520890.0926743
    SV0.76031100.008805736.12522870.0950474
    NMEIndex 1Index 2Index 3Index 4
    FV0.56565590.00861420.46647230.0797586
    SV0.57807830.00879350.45959060.0820047
    NMIndex 1Index 2Index 3Index 4
    FV0.56082930.00854260.49544680.0839643
    SV0.57282880.00871510.48994810.0862821
    下载: 导出CSV

    表  4  不同车速情况下平顺性指标均方根值

    Table  4.   The root mean square values of ride comfort indexes with different vehicle speeds

    v = 10 m/sIndex 1Index 2Index 3Index 4
    FV0.75126370.008645836.01520890.0926743
    SV0.76031100.008805736.12522870.0950474
    v = 20 m/sIndex 1Index 2Index 3Index 4
    FV0.89113220.009222635.98922110.1087254
    SV0.91574320.009839236.02333380.1091283
    v = 40 m/sIndex 1Index 2Index 3Index 4
    FV1.15576950.008415336.45360570.1598099
    SV1.19385920.009430536.34719810.1625517
    下载: 导出CSV

    表  5  不同桥面不平顺情况下平顺性指标均方根值

    Table  5.   The root mean square values of ride comfort indexes with different bridge irregularities

    ${B_0}=0.01\;{\text{m} },$
    ${L_0}=10\;{\text{m} }$
    Index 1Index 2Index 3Index 4
    FV0.7512640.00864636.0152090.092674
    SV0.7603110.00880636.1252290.095047
    ${B_0}=0.01\;{\text{m} },$
    ${L_0}=5\;{\text{m} }$
    Index 1Index 2Index 3Index 4
    FV0.9039710.00957336.0386720.139675
    SV0.9101450.00966336.1498500.140616
    ${B_0}=0.001\;{\text{m} },$
    ${L_0}=10\;{\text{m} }$
    Index 1Index 2Index 3Index 4
    FV0.5005170.00139536.0099850.047929
    SV0.4985870.00118236.1192310.047630
    ${B_0}=0.001\;{\text{m} },$
    ${L_0}=5\;{\text{m} }$
    Index 1Index 2Index 3Index 4
    FV0.5026190.00140336.0104750.049373
    SV0.5030570.00140836.1198230.049226
    下载: 导出CSV

    表  6  不同车距情况下平顺性指标均方根值

    Table  6.   The root mean square values of ride comfort indexes with different vehicle distances

    l = 5 mIndex 1Index 2Index 3Index 4
    FV0.74556260.008527636.01645440.0923293
    SV0.62754830.005963836.03738850.1330738
    l = 10 mIndex 1Index 2Index 3Index 4
    FV0.75126370.008645836.01520890.0926743
    SV0.76031100.008805736.12522870.0950474
    l = 15 mIndex 1Index 2Index 3Index 4
    FV0.74186740.008442536.01562140.0921129
    SV0.60974390.005496836.08941580.1358966
    下载: 导出CSV

    表  7  三重激励相较于桥面不平顺单一激励的平顺性指标均方根值对比

    Table  7.   The comparison of root mean square values of ride comfort indexes between different excitations

    RCIEVBISEME${B_0}/{\rm{m} }$
    0.010.001
    Index 1FV−0.66%34.5%
    31.9%778.9%
    SV1.52%6.7%
    33.5%775.6%
    Index 2FV−1.04%35.2%
    −0.67%60.2%
    SV1.02%7.43%
    1.16%35.8%
    Index 4FV51.1%72.2%
    75.6%807.8%
    SV55.3%44.6%
    80%802.2%
    下载: 导出CSV
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    Zhang Yimin, Xue Yuchun, He Xiangdong et al. A research on the vibration of a electric vehicle using switched reluctance motor as drive system. Automotive Engineering, 2007, 29(1): 46-49(in Chinese)) doi: 10.3321/j.issn:1000-680X.2007.01.010
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    Zhong Yinhui, Li Yinong, Yang Chao et al. Vertical vibration of in-wheel motor electric vehicles based on active suspension control. Journal of Vibration and Shock, 2017, 36(11): 242-247(in Chinese))
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出版历程
  • 收稿日期:  2021-11-17
  • 录用日期:  2022-04-22
  • 网络出版日期:  2022-04-23

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