CN104494387B - A kind of vehicle inertial matter suspension frame structure and parameter determination method thereof - Google Patents

Abstract

The invention discloses a kind of vehicle inertial matter suspension frame structure and parameter determination method thereof, belong to automotive suspension vibration isolation technique field.The vehicle inertial matter suspension proposed is made up of two-stage series connection, and the first order is " spring-damper " two element in parallel, and the second level is " used container spring " two element in parallel." used container spring " two element in parallel is utilized to produce the action effect of parallel resonance under given conditions, it is achieved the suppression to body quality vibration, the road roughness that can effectively buffer and decay impacts.Utilize quantum genetic algorithm that suspension parameter is optimized calculating, simulation analysis shows, using vehicle inertial matter suspension frame structure proposed by the invention and parameter determination method, suspension property index has clear improvement compared to the passive suspension of transmission, and vehicle ride performance, safety are the most effectively promoted.

Description

A kind of vehicle inertial matter suspension frame structure and parameter determination method thereof

Technical field

The invention belongs to vehicle suspension vibration isolation field, relate to a kind of vehicle inertial matter suspension frame structure and parameter determination method thereof.

Background technology

The concept of " used matter ", since proposing, has had been subjected to control the extensive pass of engineering and machinery vibration isolation field scholars Note.Up to now, the mechanical vibration isolation network vibration isolation potentiality of container should be accustomed to the use of in vehicle suspension, building vibration isolation and high-performance Motorcycle turns to the fields such as compensation to be confirmed.

Used container has identical physical attribute with mass elements, and the feature of its two-end-point is more suitable for engineer applied, Michael Z.Q.Chen is at " Influence of inerter on natural frequencies of vibration Systems " one the article pointed out that the used container natural frequency important to vibrational system can make the resonance of vibrational system Frequency in advance, and has carried out theoretical derivation and proof to multivariant model of vibration.From the point of view of current practical study, to shaking It is that to carry out the method that vibration control mainly uses be to utilize tuned mass damper to realize that the master of dynamic system shakes, and many scholars should With the dynamic vibration absorber being attached in body quality or wheel mass, the main vibrational state being that shakes is controlled, yet with matter The heaviness of gauge block and the restriction of mounting condition, the method remains in theoretical research stage.

Chinese patent 201010281992.1 discloses the dynamic vibration absorber of a kind of two free end points, utilizes used container to replace Initial quality element, it is possible to achieve the vibration control to principal oscillation system.But, by analyzing its construction features, by Needing competence exertion effect under the support of flexible member is protected in used container and damping element, two-end-point dynamic vibration absorber cannot It is put to directly as Pendant Structure Of Vehicle use, it is therefore desirable to make improvements design to obtaining the most practical effect Really.

Summary of the invention

For solving two free endpoint dynamic vibration absorbers application difficult problem in vehicle suspension system, the present invention proposes a kind of car Used matter suspension frame structure, and provide the method determining its structural parameters so that apply the road holding of this suspension to be had Effect promotes.

For realizing above goal of the invention, the technical solution used in the present invention is: propose a kind of two-stage series vehicle inertial Matter suspension, first order structure is composed in parallel by first order spring and used container, and second level structure is by second level spring and antivibrator Compose in parallel.The upper link point of first order spring and used container is connected to the lower link point of vehicle body, second level spring and antivibrator It is connected to wheel.

Preferably, according to Suspension movement kinetics and quantum genetic algorithm fitness computing rule, described vehicle inertial matter The determination method of suspension parameter, comprises the steps:

(1) initialization of population: population Q (t) (t=0) of quantum genetic algorithm is initialized, setting Population Size, Evolutionary generation, quantum bit coding, optimization of suspension parameters scope；

(2) each individuality of initial population Q (t) is carried out one-shot measurement, calculate the quantum genetic algorithm of each individuality Fitness value, and record the fitness value of optimum individual and correspondence；

(3) judging whether to meet evolutionary generation condition, if meeting condition, algorithm terminates, and otherwise carries out next step；(4) plant Group algebra t=t+1；

(5) utilize Quantum rotating gate U (t) that each individual enforcement is evolved to update, obtain new population Q (t)；

(6) each individuality of population Q (t) is measured, and calculate fitness value；

(7) record optimum individual and corresponding fitness value；

(8) judging whether to meet evolutionary generation condition, if meeting evolutionary generation, algorithm terminates, and otherwise returns step (4).

In step (2), described quantum genetic algorithm fitness computing rule step is as follows:

(1) according to Newton's second law, foundation comprises body quality, two-freedom 1/4th suspension of wheel mass shakes Movable model；

(2) the 1/4 Vibration of Vehicle Suspensions model comprising tradition passive suspension " spring-dampers " two element parallel connection is set up, Use integration white noise to input, by time-domain-simulation, obtain this and be suspended in the random road surface input that speed is 20m/s and get off Body acceleration responsive root-mean-square value BA_pas, suspension moves stroke response root-mean-square value SWS_pas, tyre dynamic load lotus response root-mean-square value DTL_pas；

(3) set up the 1/4 Vibration of Vehicle Suspensions model comprising the vehicle inertial matter suspension that the present invention proposes, use integration equally White noise inputs, and by time-domain-simulation, obtains this and is suspended in the random road surface input under body acceleration that speed is 20m/s Response root-mean-square value BA, suspension moves stroke response root-mean-square value SWS, tyre dynamic load lotus response root-mean-square value DTL.

In step (2), the fitness computing formula of described quantum genetic algorithm is:

$f=-(\frac{\mathrm{BA}}{{\mathrm{BA}}_{\mathrm{pas}}}+\frac{\mathrm{SWS}}{{\mathrm{SWS}}_{\mathrm{pas}}}+\frac{\mathrm{DTL}}{{\mathrm{DTL}}_{\mathrm{pas}}}).$

In step (5), the renewal evolutionary rule of described Quantum rotating gate is:

$\left[\begin{array}{c}{\mathrm{\α}}_i^{\′}\\ {\mathrm{\β}}_i^{\′}\end{array}\right]=U\left({\mathrm{\θ}}_i\right)\left[\begin{array}{c}{\mathrm{\α}}_i\\ {\mathrm{\β}}_i\end{array}\right]$

In step (5), the adjustment operation of described Quantum rotating gate is:

$U\left({\mathrm{\θ}}_i\right)=\left[\begin{array}{cc}\cos \left({\mathrm{\θ}}_i\right)& -\sin \left({\mathrm{\θ}}_i\right)\\ \sin \left({\mathrm{\θ}}_i\right)& \cos \left({\mathrm{\θ}}_i\right)\end{array}\right],$ θ_iDepending on the anglec of rotation selection strategy set by table 1.

Table 1 anglec of rotation selection strategy figure

In table 1, x_iFor the i-th bit of current chromosome, best_iFor the i-th bit of current optimum chromosome, f (x) is for adapting to Degree function, s (α_i,β_i) it is anglec of rotation direction.

In step (1), described initialization of population is: setting Population Size as 40, evolutionary generation is 200, first order spring (1), second level spring (2) stiffness optimization scope is: [10000,30000] N m^-1, the used matter coefficient optimization range of used container (3) For: [100,1000] kg, antivibrator (4) damped coefficient optimization range: [1000,3000] N s m^-1；The quantum ratio of each individuality Special coding is all initialized as:Making expressed by chromosome is the equiprobability superposition of its whole possible states.

Employing the invention has the beneficial effects as follows: in comparison with " capacitance-inductance " two element in parallel in Circuits System, works as parallel connection " used container-spring " two element generation parallel resonance time, can effectively block vibration transmission.Two-stage series is proposed based on this Vehicle inertial matter suspension frame structure.Apply this suspension frame structure can effectively suppress and the impact of road roughness of decaying, promote suspension property. The determination method of described suspension parameter is genetic Optimization Algorithm based on quantum calculation, and the state vector of quantum is expressed introducing heredity Algorithm, efficiently solves genetic algorithm and is easily absorbed in the phenomenon of local extremum, and be achieved with satisfied under less population scale Parameters optimization.

Accompanying drawing explanation

Fig. 1 is a kind of vehicle inertial matter suspension frame structure schematic diagram；

Fig. 2 is that vehicle inertial matter suspension parameter based on quantum genetic algorithm determines method flow diagram；

Fig. 3 is that suspension parameter determines the 1/4 suspension vibration model schematic set up in method；

Fig. 4 is vehicle body acceleration frequency domain gain comparison figure；

Fig. 5 is that suspension moves stroke frequency domain gain comparison figure；

Fig. 6 is tyre dynamic load lotus frequency domain gain comparison figure.

Description of reference numerals is as follows: 1. first order spring, 2. second level spring, is 3. used to container, 4. antivibrator, 5. vehicle body matter Amount, 6. vehicle suspension, 7. wheel mass, 8. tire equivalent spring.

Detailed description of the invention

Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is also It is not limited to this.

In FIG, a kind of vehicle inertial matter suspension is made up of two-stage series connection.First order structure is by first order spring 1 and used appearance Device 3 composes in parallel；The second level is composed in parallel by second level spring 2 and antivibrator 4.First order spring 1 is upper hinged with used container 3 Point is connected to vehicle body, and second level spring 2 is connected to wheel with the lower link point of antivibrator 4, thus completes a kind of vehicle inertial matter and hangs The installation of shelf structure.

For determining the design parameter of the vehicle inertial each element of matter suspension, the invention provides a kind of first order spring 1, the second level Spring 2, used container 3 and the parameter determination method of antivibrator 4.

Vehicle inertial matter suspension parameter based on quantum genetic algorithm determines method particular flow sheet as it is shown on figure 3, mainly wrap Include following steps:

(1) initialization of population.Initialization of population to quantum genetic algorithm, set Population Size as 40, evolutionary generation as 200, the quantum bit coding of each individuality is all initialized as:Making expressed by chromosome is that it all may shape The equiprobability superposition of state.

The optimization range of each parameter of suspension sets as follows herein:

$\left\{\begin{array}{c}10000N\·m^{-1}\≤k_1,k_2\≤30000N\·m^{-1}\\ 100\mathrm{kg}\≤b\≤1000\mathrm{kg}\\ 1000N\·s\·m^{-1}\≤c\≤3000N\·s\·m^{-1}\end{array}\right.$

Quantum genetic algorithm fitness value calculation rule sets as follows:

According to Newton's second law, set up double quality suspension vibration model as it is shown on figure 3, in figure, body quality 5 is 320kg, wheel mass 7 is 40kg, and tire equivalent stiffness 8 is 190kN m^-1.Road surface input Z_gT () uses following road surface to input Model:

${\stackrel{\·}{z}}_g\left(t\right)=-2\mathrm{\π}{f}_0{z}_g\left(t\right)+2\mathrm{\π}\sqrt{G_{0}u}w\left(t\right)$

In formula, lower limiting frequency f₀For 0.01Hz, road roughness coefficient G₀It is 5 × 10^-6m³cycle^-1, w (t) is integration White noise, speed is 20m/s.

Initially set up and comprise the 1/4 Vibration of Vehicle Suspensions model that passive suspension " spring-dampers " two element of tradition is in parallel, Passive suspension stiffness is 22kN m^-1, damped coefficient is 1000N s m^-1.By time-domain-simulation, obtain tradition passive It is suspended in random road surface input under body acceleration responsive root-mean-square value BA_pas, suspension moves stroke response root-mean-square value SWS_pas, wheel Fetal movement load response root-mean-square value DTL_pas。

Set up the 1/4 Vibration of Vehicle Suspensions model comprising the vehicle inertial matter suspension that the present invention proposes, input on equal road surface Lower acquisition vehicle body acceleration response root-mean-square value BA, suspension moves stroke response root-mean-square value SWS, tyre dynamic load lotus response root-mean-square Value DTL.

The fitness computing formula of quantum genetic algorithm is:

$f=-(\frac{\mathrm{BA}}{{\mathrm{BA}}_{\mathrm{pas}}}+\frac{\mathrm{SWS}}{{\mathrm{SWS}}_{\mathrm{pas}}}+\frac{\mathrm{DTL}}{{\mathrm{DTL}}_{\mathrm{pas}}}).$

(2) each individuality of initial population Q (t) is carried out one-shot measurement, calculate the quantum genetic algorithm of each individuality Fitness value, and record the fitness value of optimum individual and correspondence.

(3) judging whether to meet evolutionary generation condition, if meeting condition, algorithm terminates, and otherwise carries out next step.

(4) population algebraically t=t+1.

(5) utilize Quantum rotating gate U (t) that each individual enforcement is evolved to update, obtain new population Q (t).

The adjustment operation of Quantum rotating gate is: $U\left({\mathrm{\θ}}_i\right)=\left[\begin{array}{cc}\cos \left({\mathrm{\θ}}_i\right)& -\sin \left({\mathrm{\θ}}_i\right)\\ \sin \left({\mathrm{\θ}}_i\right)& \cos \left({\mathrm{\θ}}_i\right)\end{array}\right]$

Its renewal process is as follows: $\left[\begin{array}{c}{\mathrm{\α}}_i^{\′}\\ {\mathrm{\β}}_i^{\′}\end{array}\right]=U\left({\mathrm{\θ}}_i\right)\left[\begin{array}{c}{\mathrm{\α}}_i\\ {\mathrm{\β}}_i\end{array}\right]$

Wherein, (α_i,β_i)^TWith (α_i′,β_i′)^TRepresent the probability amplitude before and after chromosome i-th quantum bit revolving door updates. θ_iFor the anglec of rotation, table 1 depending on the anglec of rotation strategy set.

In table 1, x_iFor the i-th bit of current chromosome, best_iFor the i-th bit of current optimum chromosome, f (x) is for adapting to Degree function, s (α_i,β_i) it is anglec of rotation direction.、

(6) each individuality of population Q (t) is measured, and calculate fitness value.

(7) record optimum individual and corresponding fitness value.

(8) judging whether to meet evolutionary generation condition, if meeting evolutionary generation, algorithm terminates, and otherwise returns step 4.

Under Matlab environment, simulation optimization obtains the component parameters of vehicle inertial matter suspension and is:

The rigidity of first order spring 1 is: 30000kN m^-1

The rigidity of second level spring 2 is: 10000kN m^-1

The used matter coefficient of used container 3 is: 312kg

The damped coefficient of antivibrator 4 is: 2080N s m^-1

The vehicle inertial matter suspension parameter proposed by the present invention is determined that the component parameters that method obtains substitutes into 1/4 suspension and shakes In movable model, obtain its vehicle body acceleration, suspension moves stroke, tyre dynamic load lotus frequency domain response analysis chart as Figure 4-Figure 6, from figure In it can be seen that compared to the passive suspension of tradition, vehicle inertial matter suspension can effectively buffer and the impact of road roughness of decaying, especially It is at sympathetic body oscillation offset frequency, and the vibratory impulse from road roughness has obtained obvious decay, and frequency-domain analysis shows, this The vehicle inertial matter suspension body that invention proposes reveals preferable performance advantage.

Described embodiment be the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment, not In the case of deviating from the flesh and blood of the present invention, any conspicuously improved, the replacement that those skilled in the art can make Or modification belongs to protection scope of the present invention.

Claims (5)

1. a determination method for vehicle inertial matter Suspension Construction Parameters, described vehicle inertial matter suspension frame structure, including first order structure With second level structure, described first order structure is composed in parallel by first order spring (1) and used container (3), described second level structure Composed in parallel by second level spring (2) and antivibrator (4)；Described first order structure and second level structure are for being connected in series；Described First order spring (1) is connected under vehicle body, described second level spring (2) and antivibrator (4) with the upper link point of used container (3) Pin joint is connected to wheel, it is characterised in that the determination method of described vehicle inertial matter Suspension Construction Parameters comprises the steps:

(1) initialization of population: initialize population Q (t) (t=0) of quantum genetic algorithm, sets Population Size, evolution Algebraically, quantum bit coding, optimization of suspension parameters scope；

(2) each individuality of initial population Q (t) being carried out one-shot measurement, the quantum genetic algorithm calculating each individuality adapts to Angle value, and record the fitness value of optimum individual and correspondence；

(3) judging whether to meet evolutionary generation condition, if meeting condition, algorithm terminates, and otherwise carries out next step；

(4) population algebraically t=t+1；

(5) utilize Quantum rotating gate U (t) that each individual enforcement is evolved to update, obtain new population Q (t)；

(6) each individuality of population Q (t) is measured, and calculate fitness value；

(7) record optimum individual and corresponding fitness value；

(8) judging whether to meet evolutionary generation condition, if meeting evolutionary generation, algorithm terminates, and otherwise returns step (4).

The determination method of a kind of vehicle inertial matter Suspension Construction Parameters the most as claimed in claim 1, it is characterised in that step (2) In, described quantum genetic algorithm fitness computing rule step is as follows:

(1) according to Newton's second law, two-freedom 1/4th suspension vibration mould comprising body quality, wheel mass is set up Type；

(2) set up the 1/4 Vibration of Vehicle Suspensions model comprising tradition passive suspension " spring-dampers " two element parallel connection, use Integration white noise inputs, and by time-domain-simulation, obtains this and is suspended in the random road surface input under body that speed is 20m/s and adds Speed responsive root-mean-square value BA_pas, suspension moves stroke response root-mean-square value SWS_pas, tyre dynamic load lotus response root-mean-square value DTL_pas；

(3) setting up the 1/4 Vibration of Vehicle Suspensions model comprising vehicle inertial matter suspension, same employing integration white noise inputs, By time-domain-simulation, obtain this and be suspended in the random road surface input under body acceleration responsive root-mean-square value BA that speed is 20m/s, Suspension moves stroke response root-mean-square value SWS, tyre dynamic load lotus response root-mean-square value DTL.

The determination method of a kind of vehicle inertial matter Suspension Construction Parameters the most as claimed in claim 2, it is characterised in that step (2) In, the fitness computing formula of described quantum genetic algorithm is:

$f=-(\frac{BA}{{\mathrm{BA}}_{pas}}+\frac{SWS}{{\mathrm{SWS}}_{pas}}+\frac{DTL}{{\mathrm{DTL}}_{pas}}).$

The determination method of a kind of vehicle inertial matter Suspension Construction Parameters the most as claimed in claim 1, it is characterised in that step (5) In,

The renewal evolutionary rule of described Quantum rotating gate is:

$\left[\begin{array}{c}{\mathrm{\α}}_i^{\′}\\ {\mathrm{\β}}_i^{\′}\end{array}\right]=U\left({\mathrm{\θ}}_i\right)\left[\begin{array}{c}{\mathrm{\α}}_i\\ {\mathrm{\β}}_i\end{array}\right]$

The adjustment operation of described Quantum rotating gate is:

θ_iDepending on the anglec of rotation selection strategy set by table 1；

Table 1 anglec of rotation selection strategy figure

In table 1, x_iFor the i-th bit of current chromosome, best_iFor the i-th bit of current optimum chromosome, f (x) is fitness letter Number, s (α_i,β_i) it is anglec of rotation direction；

(α_i,β_i)^TWith (α_i′,β_i′)^TRepresent the probability amplitude before and after chromosome i-th quantum bit revolving door updates respectively.

The determination method of a kind of vehicle inertial matter Suspension Construction Parameters the most as claimed in claim 1, it is characterised in that step (1) In, described initialization of population is: setting Population Size as 40, evolutionary generation is 200, first order spring (1), second level spring (2) stiffness optimization scope is: [10000,30000] N m^-1, the used matter coefficient optimization range of used container (3) is: [100,1000] Kg, antivibrator (4) damped coefficient optimization range: [1000,3000] N s m^-1；The quantum bit coding of each individuality all initializes For:Making expressed by chromosome is the equiprobability superposition of its whole possible states.