本文選題：車輛動(dòng)力學(xué)　切入點(diǎn)：雙掛汽車列車　出處：《吉林大學(xué)》2017年博士論文　論文類型：學(xué)位論文

【摘要】：雙掛汽車列車具有運(yùn)輸量大、效率高且成本低等優(yōu)點(diǎn),在國外得到了大量應(yīng)用。隨著我國物流運(yùn)輸?shù)陌l(fā)展,甩掛運(yùn)輸必將成為未來運(yùn)輸?shù)闹饕问街弧Ｒ环矫?汽車列車具有車身長、鉸接點(diǎn)多、質(zhì)心高等結(jié)構(gòu)特點(diǎn),存在易折疊、甩尾、蛇形和側(cè)翻等典型失穩(wěn)形式,易造成大量的交通事故,同時(shí)給道路上行駛的其它車輛帶來安全隱患。另一方面,由于國內(nèi)目前禁止雙掛汽車列車在高速公路上行駛,所以對(duì)雙掛汽車列車的研究相對(duì)較少,其相應(yīng)的評(píng)價(jià)指標(biāo)、失穩(wěn)機(jī)理以及各種控制策略的選擇與分析需要進(jìn)一步的研究。因此,進(jìn)行雙掛汽車列車的橫向穩(wěn)定性和控制策略的研究,是涉及到交通安全及道路利用率的重大課題,研究雙掛汽車列車在典型行駛工況下的失穩(wěn)機(jī)理、相應(yīng)主動(dòng)控制策略和應(yīng)用效果十分重要。針對(duì)雙掛汽車列車在高速行駛中易出現(xiàn)的失穩(wěn)形式,國內(nèi)外相關(guān)研究機(jī)構(gòu)及院校進(jìn)行了大量研究。在上述研究基礎(chǔ)上,本文對(duì)雙掛汽車列車易出現(xiàn)的臨界側(cè)翻失穩(wěn)和蛇形失穩(wěn)的機(jī)理及控制策略進(jìn)行研究。利用動(dòng)力學(xué)模型構(gòu)建、仿真及控制策略研究,解決了車輛易發(fā)生蛇形失穩(wěn)的問題;通過多體動(dòng)力學(xué)軟件Truck Sim構(gòu)建的非線性模型,確定了車輛臨界側(cè)翻的評(píng)價(jià)指標(biāo)及側(cè)翻順序;并通過Truck Sim-Simulink的聯(lián)合仿真控制,驗(yàn)證了主動(dòng)轉(zhuǎn)向的在環(huán)控制策略的有效性。具體的研究內(nèi)容如下:建立包括側(cè)向運(yùn)動(dòng)和橫擺運(yùn)動(dòng),以及各個(gè)車輛單元之間鉸接角的雙掛汽車列車系統(tǒng)動(dòng)力學(xué)模型。通過對(duì)比普通車輛、半掛汽車列車和多掛汽車列車的操縱穩(wěn)定性評(píng)價(jià)指標(biāo),確定雙掛汽車列車的橫向穩(wěn)定性評(píng)價(jià)指標(biāo),即RWA和Off-tracking。根據(jù)動(dòng)力學(xué)模型及評(píng)價(jià)指標(biāo),分別在階躍、單移線及正弦工況下,進(jìn)行車輛的動(dòng)力學(xué)仿真分析,發(fā)現(xiàn)高速行駛中雙掛汽車列車易出現(xiàn)蛇形失穩(wěn)運(yùn)動(dòng)。利用多體動(dòng)力學(xué)軟件Truck Sim構(gòu)造雙掛汽車列車模型,并分別以基于評(píng)價(jià)指標(biāo)和基于能量的方法,對(duì)雙掛汽車列車的各個(gè)車輛單元側(cè)翻發(fā)生的機(jī)理及順序進(jìn)行研究。通過對(duì)比不同車速下側(cè)向加速度和輪胎垂直載荷的數(shù)值大小和發(fā)生臨界側(cè)翻的時(shí)間先后順序,得到輪胎垂直載荷可更好的評(píng)價(jià)臨界側(cè)翻順序,且得到各個(gè)車輛單元側(cè)翻的先后順序。應(yīng)用圖論方法預(yù)測(cè)各個(gè)車輛單元可能的失穩(wěn)順序,結(jié)合能量方程,對(duì)各個(gè)車輛單元總能量進(jìn)行求解,用于各個(gè)失穩(wěn)順序的驗(yàn)證,并得到與評(píng)價(jià)指標(biāo)下車輛的側(cè)翻順序相同的結(jié)論。為避免雙掛汽車列車橫向蛇形失穩(wěn),根據(jù)建立的車輛主動(dòng)力矩模型和主動(dòng)轉(zhuǎn)向模型,對(duì)后部三個(gè)車輛單元進(jìn)行主動(dòng)控制。利用遺傳算法優(yōu)化LQR控制器,以橫向穩(wěn)定性評(píng)價(jià)指標(biāo)RWA和質(zhì)心側(cè)偏角作為遺傳算法的適應(yīng)度函數(shù)控制目標(biāo),獲取最優(yōu)主動(dòng)力矩和最優(yōu)主動(dòng)轉(zhuǎn)向角度。通過對(duì)比控制前后的狀態(tài)變量變化,驗(yàn)證主動(dòng)制動(dòng)和主動(dòng)轉(zhuǎn)向控制的效果。對(duì)比分析兩種控制策略的響應(yīng)時(shí)間、RWA值以及質(zhì)心側(cè)偏角,得到主動(dòng)轉(zhuǎn)向控制對(duì)提高雙掛汽車列車蛇形穩(wěn)定性的控制效果更好。為驗(yàn)證雙掛汽車列車主動(dòng)轉(zhuǎn)向的控制效果,利用Truck Sim-Simulink進(jìn)行聯(lián)合仿真軟件在環(huán)(SIL)控制。根據(jù)阿克曼轉(zhuǎn)向原理確定各個(gè)車輛單元在轉(zhuǎn)向時(shí)左、右車輪轉(zhuǎn)角之間的關(guān)系。利用遺傳算法優(yōu)化的LQR控制器對(duì)線性車輛動(dòng)力學(xué)模型進(jìn)行控制,得到最優(yōu)權(quán)重系數(shù)并進(jìn)行調(diào)整,用于聯(lián)合仿真的控制。通過對(duì)比控制前后Truck Sim中車輛的動(dòng)畫效果及車輛的狀態(tài)變量變化,驗(yàn)證主動(dòng)轉(zhuǎn)向控制在軟件在環(huán)中可提高雙掛汽車列車的蛇形穩(wěn)定性。根據(jù)相似模型理論,搭建汽車列車橫向擺振臺(tái)架試驗(yàn)臺(tái),并使用陀螺儀傳感器、數(shù)顯測(cè)力計(jì)、變頻器等設(shè)備組成的測(cè)試系統(tǒng)。在汽車列車橫向擺振臺(tái)架試驗(yàn)臺(tái)上對(duì)雙掛汽車列車相似模型車進(jìn)行試驗(yàn),分析不同轉(zhuǎn)角、不同頻率和不同配重下單移線和蛇行輸入工況的各狀態(tài)變量變化,并進(jìn)行信息采集。通過車輛狀態(tài)參數(shù)的對(duì)比,確定巴特沃茲濾波器的抽樣頻率和階數(shù),并得到評(píng)價(jià)指標(biāo)(橫擺角速度),進(jìn)而根據(jù)不同影響因素下的橫擺角速度變化,評(píng)價(jià)其對(duì)雙掛汽車列車橫向穩(wěn)定性的影響。雙掛汽車列車側(cè)翻機(jī)理的分析以及蛇形失穩(wěn)的分析與在環(huán)控制策略研究是多掛汽車列車橫向動(dòng)力學(xué)分析的重要內(nèi)容,為防止車輛臨界側(cè)翻的發(fā)生以及蛇形失穩(wěn)預(yù)防提供了重要的理論依據(jù)和解決方案。同時(shí),通過主動(dòng)力矩和主動(dòng)轉(zhuǎn)向控制策略仿真結(jié)果對(duì)比,可為實(shí)際雙掛汽車列車控制策略的選擇提供參考。聯(lián)合仿真的軟件在環(huán)(SIL)控制更為實(shí)際應(yīng)用奠定基礎(chǔ)。
[Abstract]:Double car has a large transportation volume, high efficiency and low cost advantages, has been widely used in foreign countries. With the development of China's logistics and transport, transport will become one of the main forms of transportation. On the one hand, the auto train has long vehicle, articulated points, higher structural characteristics of centroid, easy folding, flick, serpentine and rollover typical instability, easy to cause a lot of traffic accidents, and other vehicles on the road to bring security risks. On the other hand, because the current domestic ban double car on the road on the highway, so the study of double car is relatively small, its corresponding evaluation the index, instability mechanism and various control strategies and analysis needs further study. Therefore, research on lateral stability and control strategy of double car train, is related to traffic safety And the road utilization rate of major task, double car driving mechanism of instability in typical working conditions, the corresponding active control strategy and the application effect is very important. For the double car at high speed in the form of instability, domestic and foreign research institutions and universities conducted a lot of research. Based on the above study on the critical rollover prone to double car instability and serpentine of instability mechanism and control strategy. Based on dynamics model of simulation and control strategy, to solve the vehicle is prone to instability of the snake; the nonlinear model constructed by multi-body dynamics software Truck Sim, the the evaluation index and rollover order critical vehicle rollover; and through the co simulation of Truck Sim-Simulink control, to verify the validity of the ring in the active steering control strategy. The specific research The contents are as follows: including the establishment of lateral motion and yaw motion, and between each vehicle unit hinge angle of double trailer train system dynamics model. By comparing the ordinary vehicles, semi-trailer train and car handling and stability evaluation index, evaluation index to determine the lateral stability of double car train, namely RWA and Off-tracking. according to the dynamic model and evaluation index, respectively, in the step, single lane and sinusoidal conditions, dynamic simulation analysis of the vehicle, found high speed double car prone to serpentine instability movement. Using multi-body dynamics software Truck Sim to construct double car model, and based on the evaluation index and based on the energy method, to study the mechanism of each unit vehicle rollover double trailer train occurrence and order. By comparing the different lateral acceleration and wheel speed Tire vertical load magnitude and the critical rollover time sequence, the evaluation of tire vertical load can be better and get the critical rollover order, the order of each vehicle rollover unit. By using the method of graph theory to predict the instability of each vehicle unit order, combined with the energy equation, to solve the total energy for each vehicle unit. Validate the instability of the order, and get the conclusion and evaluation index of vehicle rollover in the same order. In order to avoid the double car lateral serpentine instability, according to the established vehicle active torque model and active steering model, active control of the rear vehicle three units. By optimizing LQR controller by genetic algorithm, lateral stability the evaluation index RWA and sideslip angle as the fitness function of genetic algorithm to obtain the optimal control target, active torque and optimal active steering angle. The state variable changes before and after contrast control, verify the active braking and active steering control effect. Comparative analysis of the response time of two control strategies, RWA value and the sideslip angle, get active steering control to improve the control effect is better double car. In order to verify the stability of the snake control effect of double articulated vehicle active steering the United Simulation Software in the loop using Truck Sim-Simulink (SIL). According to the control principle of each vehicle in the steering unit to determine the relationship between Ackerman left, right wheel angle. To control the linear dynamic model of vehicle using LQR controller optimized by genetic algorithm, the optimal weighting coefficient and adjusted for control of CO simulation through the change of state variable contrast control before and after the vehicle Truck Sim animation and the vehicle active steering control in software verification In the ring can improve the stability of double serpentine trailer train. According to the similarity theory, set up the auto train transverse shimmy test bench, and using gyro sensor, digital dynamometer test system, inverter and other equipment components. In the vehicle transverse shimmy bench test bench of double car test similar models, analysis of different angles, different frequency and weight of single line and hunting input operating conditions of the state variables change, and collect information. By comparing the vehicle state parameters, determine the sampling frequency and order Butterworth filter, and the evaluation index (yaw rate), and then according to the different influencing factors the yaw rate changes, to evaluate its effect on double vehicle lateral stability of the train. Two car rollover mechanism analysis and serpentine instability analysis and loop control Strategy research is an important content of hanging analysis of vehicle lateral dynamics of the train, in order to prevent the occurrence of critical vehicle rollover and serpentine instability prevention provides an important theoretical basis and solutions. At the same time, through active torque and active steering control strategy simulation results can provide reference for the actual double car control strategy. The co simulation software in the loop (SIL) control to lay the foundation for practical application.

【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：U469.54

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本文編號(hào)：1641918