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基于数据驱动的全线控底盘纵臂式悬架系统研究

姚淇 李全通 杜秋月 陈松 王翔宇 詹伟梁 尹思维

姚淇, 李全通, 杜秋月, 陈松, 王翔宇, 詹伟梁, 尹思维. 基于数据驱动的全线控底盘纵臂式悬架系统研究. 力学学报, 2022, 54(7): 1880-1895 doi: 10.6052/0459-1879-21-624
引用本文: 姚淇, 李全通, 杜秋月, 陈松, 王翔宇, 詹伟梁, 尹思维. 基于数据驱动的全线控底盘纵臂式悬架系统研究. 力学学报, 2022, 54(7): 1880-1895 doi: 10.6052/0459-1879-21-624
Yao Qi, Li Quantong, Du Qiuyue, Chen Song, Wang Xiangyu, Zhan Weiliang, Yin Siwei. Research on trailing arm suspension system of full X-by-wire control chassis based on data drive. Chinese Journal of Theoretical and Applied Mechanics, 2022, 54(7): 1880-1895 doi: 10.6052/0459-1879-21-624
Citation: Yao Qi, Li Quantong, Du Qiuyue, Chen Song, Wang Xiangyu, Zhan Weiliang, Yin Siwei. Research on trailing arm suspension system of full X-by-wire control chassis based on data drive. Chinese Journal of Theoretical and Applied Mechanics, 2022, 54(7): 1880-1895 doi: 10.6052/0459-1879-21-624

基于数据驱动的全线控底盘纵臂式悬架系统研究

doi: 10.6052/0459-1879-21-624
基金项目: 国家自然科学基金(51805009)和山东省重大科技创新工程项目(2019TSLH0701)资助
详细信息
    作者简介:

    杜秋月, 副教授, 主要研究方向: 汽车动力学与控制. E-mail: duqiuyue@btbu.edu.cn

  • 中图分类号: U463.33

RESEARCH ON TRAILING ARM SUSPENSION SYSTEM OF FULL X-BY-WIRE CONTROL CHASSIS BASED ON DATA DRIVE

  • 摘要: 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.

     

  • 图  1  一体化电动轮结构图

    Figure  1.  Integrated electric wheel structure diagram

    图  2  车辆系统垂向动力学模型

    Figure  2.  Vehicle system vertical dynamics model

    图  3  纵臂式悬架结构

    Figure  3.  Trailing arm suspension structure

    图  4  结构简图

    Figure  4.  Structure diagram

    图  5  磁流变阻尼器特性测试

    Figure  5.  Magnetorheological damper characteristic test

    图  6  阻尼力特性: 变电流, 固定频率1 Hz, 振幅50 mm

    Figure  6.  Damping force characteristics: variable current, fixed frequency 1 Hz, amplitude 50 mm

    图  7  阻尼特性: 变电流, 固定频率1 Hz, 振幅50 mm

    Figure  7.  Damping characteristics: variable current, fixed frequency 1 Hz, amplitude 50 mm

    图  8  阻尼力特性: 变频率, 固定电流0.6 A, 振幅50 mm

    Figure  8.  Damping force characteristics: variable frequency, fixed current 0.6 A, amplitude 50 mm

    图  9  阻尼特性: 变频率, 固定电流0.6 A, 振幅50 mm

    Figure  9.  Damping characteristics: variable frequency, fixed current 0.6 A, amplitude 50 mm

    图  10  阻尼力特性: 变振幅, 固定电流0.3 A, 频率1 Hz

    Figure  10.  Damping force characteristics: variable amplitude, fixed current 0.3 A, frequency 1 Hz

    图  11  阻尼特性: 变振幅, 固定电流0.3 A, 频率1 Hz

    Figure  11.  Damping characteristics: variable amplitude, fixed current 0.3 A, frequency 1 Hz

    图  12  空气弹簧压力随空气弹簧高度变化的关系

    Figure  12.  The relationship between air spring pressure and air spring height

    图  13  空气弹簧作用力随空气弹簧高度变化的关系

    Figure  13.  The relationship between the force of the air spring and the height of the air spring

    图  14  减振器角度对$ O_{1} $$ O_{2} $处受力影响

    Figure  14.  The impact of the shock absorber angle on the force at $ O_{1} $ and $ O_{2} $

    15  增量调整对A~D点的受力影响

    15.  The influence of incremental adjustment on the force on points A~D

    图  16  臂长增量减振器受力影响

    Figure  16.  The arm length incremental shock absorber is affected by the force

    图  17  参数增量对车轮纵向位移的影响

    Figure  17.  The influence of parameter increment on the longitudinal displacement of the wheel energy

    图  18  参数增量对车轮动能的影响

    Figure  18.  The influence of parameter increment on wheel kinetic energy

    图  19  垂向行程中车轮特性曲线

    Figure  19.  Wheel characteristic curve in the vertical process

    图  20  一体化电动轮

    Figure  20.  Integrated electric wheel

    图  21  全矢量线控平台

    Figure  21.  Full vector X-by-wire control platform

    图  22  前轴升降

    Figure  22.  Front axle lift

    图  23  车身单侧升降

    Figure  23.  Single side lift

    图  24  底盘整体升降

    Figure  24.  Overall lift of the chassis

    表  1  空气弹簧测试结果

    Table  1.   Air spring test results

    Initial
    pressure/
    MPa
    Downward pressure
    displacement of the
    exciter head/mm
    Air spring
    force/
    N
    Intracapsular
    air pressure/
    MPa
    Effective
    area/
    mm2
    0.308590.302863.3
    1010640.313432.3
    2011360.323550
    3011960.333624.2
    4012630.343714.7
    5013380.363716.7
    6014120.383715.8
    7014960.403740
    8016240.423866.7
    9017260.443922.7
    10018170.4653907.5
    0.6019970.603328.3
    1023470.623785.5
    2024760.643868.8
    3025940.6653900.8
    4027800.703971.4
    5028520.733906.8
    6029660.753954.7
    7030830.774003.9
    8032860.824007.3
    9034630.844122.6
    10036720.904080.0
    下载: 导出CSV

    表  2  基础悬架空间位置坐标值(X, Y, Z)

    Table  2.   The coordinate value of the space position of the base suspension (X, Y, Z)

    Critical hard pointsXYZ
    upper longitudinal arm front articulation point A−102.96−8115
    lower longitudinal arm front articulation point B−102.96−8−65
    lower longitudinal arm posterior articulation point C−54.21−200−65
    upper longitudinal arm rear articulation point D−54.21−200115
    hinge point up the shock absorber O1−55.46−108.5488
    hinge point under the shock absorber O1−55.46−70.5−25
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-11-25
  • 录用日期:  2022-03-07
  • 网络出版日期:  2022-03-08
  • 刊出日期:  2022-07-15

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