CN105644288A - Vehicle inerter-spring-damper (ISD) suspension parameter matching method - Google Patents

Vehicle inerter-spring-damper (ISD) suspension parameter matching method Download PDF

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CN105644288A
CN105644288A CN201610096580.8A CN201610096580A CN105644288A CN 105644288 A CN105644288 A CN 105644288A CN 201610096580 A CN201610096580 A CN 201610096580A CN 105644288 A CN105644288 A CN 105644288A
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suspension
vehicle
isd
impedance
equivalent
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CN105644288B (en
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沈钰杰
陈龙
张孝良
杨晓峰
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Jiangsu University
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a vehicle inerter-spring-damper (ISD) suspension parameter matching method. The method comprises the following steps of (1) conducting stress analysis on a vehicle suspension system according to the Newton second law, and establishing a dynamical model of the vehicle suspension system; (2) establishing an equivalent mechanical network model of the vehicle suspension system according to the Thevenin theorem; (3) solving a speed type expression of impedance in the system according to the serial-parallel relation of components; (4) solving a speed type impedance expression under a loading and non-damping condition; and (5) establishing the relational expression of an inerter coefficient and the excitation frequency based on the maximum power transfer theory when loaded impedance and the impedance in the system are conjugated. By means of the vehicle ISD suspension parameter matching method, a vehicle ISD suspension can absorb vibration energy at maximum power, so that vibration energy transferred to a vehicle body is reduced correspondingly, and excellent riding comfort is obtained; a theoretical support is provided for determining the effective control rate for the controllable vehicle ISD suspension, the method is simple, and operations is easy.

Description

A kind of vehicle ISD suspension parameter matching process
Technical field
The present invention relates to a kind of vehicle ISD suspension parameter matching process, belong to vehicle suspension and control technical field.
Background technology
Used container is as a kind of emerging two-end-point mechanical organ, and its vibration isolation potentiality are confirmed in fields such as vehicle suspension, train suspension, building vibration isolation. The novel I SD machinery vibration isolation network being made up of used container, spring and damping (ISD, Inerter-Spring-Damper) three class component becomes the focus that engineering field is paid close attention to.
As effective replacer of mass elements, used container achieves the complete corresponding of the dynamo-electric similarity theory based on " power-electric current ", and scholars attempt the characteristic of the theory and application research novel mechanical vibrating isolation system of applied electricity. Chinese patent 200810123830.8 has similar " logical high frequency, hinder low frequency " attribute by contrasting used container to capacitor, it is proposed to a kind of vehicle suspension applying inertia energy accumulator, the impact of effective buffering and decay road roughness within the scope of full frequency-domain.
Compared to " spring-damper " two element of the passive suspension of tradition, the vehicle ISD suspension system containing used container has more superior anti-vibration performance. But, multicomponent, multiparameter coupling be the important problem that vehicle ISD suspension faces.
Summary of the invention
It is an object of the invention to: propose the characteristic parameter matching method of a kind of vehicle ISD suspension system so that the anti-vibration performance of vehicle ISD suspension system is significantly improved.
For realizing above goal of the invention, the technical solution used in the present invention is: theoretical based on the maximum power transfer in electricity system, using suspension as load, absorbs peak power using suspension system and carries out the parameter coupling of vehicle ISD suspension system as condition. It specifically comprises the following steps that
Step 1, according to Newton's second law, carries out force analysis to vehicle suspension system, sets up its kinetic model; Including: vehicle body, quality is m2; Suspension spring, rigidity is k; Suspension damping element, damped coefficient is c; Suspension inertance element, used matter coefficient is b; Wheel, quality is m1; Wheel Equivalent Elasticity element, rigidity is kt;
Step 2, according to Thevenin's theorem, sets up the equivalent mechanical network model of vehicle suspension system: using suspension spring, suspension damping element, suspension inertance element as load;From the excitation on road surface as ideal voltage source, vehicle body except load and wheel and wheel Equivalent Elasticity element equivalent are the internal impedance of signal source;
Step 3, by the connection in series-parallel relation of the element in equivalent mechanical network model, the velocity profile expression formula of solving system internal impedance;
Step 4, by the connection in series-parallel relation of the element in equivalent mechanical network model, solves velocity profile impedance expression when load undamped;
Step 5, theoretical based on maximum power transfer, when the impedance when load undamped when and system internal impedance conjugation each other, set up the relational expression of used matter coefficient and driving frequency, and then obtain the matching process of vehicle ISD suspension parameter.
Further, the kinetic model in described step 1 can be extended to include linear stiffness characteristics, damping characteristic, half vehicle dynamics model of inertial properties and Full Vehicle Dynamics model.
Further, in described step 2, the equivalent mechanical network model of vehicle suspension system can be suitable for the combinative structure comprising multiple suspension spring, suspension damping element, suspension inertance element or its three kinds of elements simultaneously.
The useful implementation result of the employing present invention is:
The present invention is theoretical according to the maximum power transfer in electricity system, using suspension system as load, by the internal impedance that other element equivalent are system except suspension. When suspension absorbs the energy of road surface transmission with peak power, the vibrational energy being delivered to vehicle body reduces accordingly, can effectively promote and the riding comfort improving automobile.
The vehicle ISD suspension parameter matching process theoretical based on maximum power transfer proposed by the invention, efficiently solves containing the parameter coordination matching problem being used to container, spring, antivibrator three class mechanical organ vibrating isolation system. Preferably resolve the vehicle ISD multiobject Optimization Solution of suspension system multiparameter, be simultaneously applicable to the parameter coupling of the complicated suspension frame structure that multiple used container, multiple spring, multiple antivibrator or its three class components combinative structure are constituted.
Compared to optimization routine matching algorithm, the vehicle ISD suspension parameter matching process based on maximum power transfer theory that the present invention proposes is simple, there is higher practical value, and theory support can be provided by the effective control rate for exploring vehicle controllable ISD suspension system.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is based on the vehicle ISD suspension parameter matching process flow chart that maximum power transfer is theoretical.
Fig. 2 is vehicle 1/4th suspension system dynamics model schematic.
Fig. 3 is the equivalent mechanical network model of vehicle suspension system.
Fig. 4 is the relation curve of used matter coefficient and frequency.
Fig. 5 is that undamped condition under body absorbs kinetic energy figure.
Fig. 6 has damping condition under body to absorb kinetic energy figure.
Fig. 7 is kinetic energy energy time-domain diagram.
Fig. 8 is vehicle body acceleration time-domain diagram.
Description of reference numerals: 1. vehicle body, 2. suspension spring, 3. suspension damping element, 4. suspension inertance element, 5. wheel, 6. wheel Equivalent Elasticity element, 7. ideal voltage source, 8. load.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining the present invention, and is not considered as limiting the invention.
A kind of vehicle ISD suspension parameter matching process, key step is as follows:
Step 1, according to Newton's second law, carries out force analysis to vehicle suspension system, sets up its kinetic model; Including: vehicle body 1, quality is m2; Suspension spring 2, rigidity is k; Suspension damping element 3, damped coefficient is c; Suspension inertance element 4, used matter coefficient is b; Wheel 5, quality is m1; Wheel Equivalent Elasticity element 6, rigidity is kt;
Step 2, according to Thevenin's theorem, sets up the equivalent mechanical network model of vehicle suspension system: using suspension spring 2, suspension damping element 3, suspension inertance element 4 as load 8; From the excitation on road surface as ideal voltage source 7, vehicle body 1 except load 8 and wheel 5 and wheel Equivalent Elasticity element 6 are equivalent to the internal impedance of signal source;
Step 3, by the connection in series-parallel relation of the element in equivalent mechanical network model, the velocity profile expression formula of solving system internal impedance;
Step 4, by the connection in series-parallel relation of the element in equivalent mechanical network model, solves velocity profile impedance expression when load undamped;
Step 5, theoretical based on maximum power transfer, when the impedance when load undamped when and system internal impedance conjugation each other, set up the relational expression of used matter coefficient and driving frequency, and then obtain the matching process of vehicle ISD suspension parameter.
Kinetic model in described step 1 can be extended to include linear stiffness characteristics, damping characteristic, half vehicle dynamics model of inertial properties and Full Vehicle Dynamics model.
In described step 2, the equivalent mechanical network model of vehicle suspension system can be suitable for the combinative structure comprising multiple suspension spring 2, suspension damping element 3, suspension inertance element 4 or its three kinds of elements simultaneously.
Characteristic parameter matching method, with the vehicle ISD suspension frame structure of " used container-spring-dampers " three elements composition in parallel for embodiment, is further described in 1/4th dynamic suspension system of vehicles models, but protection scope of the present invention is not limited to this by the present invention. Specifically comprise the following steps that
1, the kinetic model of vehicle suspension system is set up. As in figure 2 it is shown, in figure, 1 is vehicle body, and quality is m2, 2 is suspension spring, and rigidity is k, and 3 is suspension damping element, and damped coefficient is c, and 4 is suspension inertance element, and used matter coefficient is b, and 5 is wheel, and quality is m1, 6 is wheel Equivalent Elasticity element, and rigidity is kt��zsRepresent the vertical deviation of vehicle body, zuRepresent the vertical deviation of wheel, zrRepresent the vertical excitation displacement on road surface. Wherein, suspension spring 2, suspension damping element 3, suspension inertance element 4 upper fulcrum be connected with vehicle body 1 respectively, lower fulcrum is connected with wheel 1 respectively. The upper fulcrum of wheel Equivalent Elasticity element 6 is connected with wheel 5, and lower fulcrum is connected with road surface input.
2, the equivalent mechanical network model of vehicle suspension system is set up. According to Thevenin's theorem, using suspension as load 8, from the excitation on road surface as ideal voltage source 7, vehicle body 1 except load 8 and wheel 5 and wheel Equivalent Elasticity element 6 are equivalent to the internal impedance of signal source. Obtain equivalent mechanical network model as shown in Figure 3.
3, the expression formula of solving system internal impedance. By the connection in series-parallel relation of element, the velocity profile expression formula obtaining system internal impedance is:
1 k t s + m 1 s + 1 m 2 s
4, load 8 undamped impedance expression is solved.When undamped, load 8 is only made up of with suspension inertance element 4 suspension spring 2 in parallel, and the expression formula of its velocity profile impedance is:
1 k s + bs
5, theoretical based on maximum power transfer, set up the relational expression of used matter coefficient and driving frequency, and then obtain the matching process of vehicle ISD suspension parameter. Theoretical it can be seen that when the impedance of load 8 is with system internal impedance conjugation each other, the energy that suspension system absorbs is maximum, and the vibrational energy being therefore delivered to vehicle body is minimum by maximum power transfer.
Relational expression is obtained according to its conjugation is equal:
w k - bw 2 = k t - ( m 1 + m 2 ) w 2 k t m 2 w - m 1 m 2 w 3
Abbreviation obtains the relational expression of used matter coefficient b and circular frequency w:
b = k w 2 - k t m 2 - m 1 m 2 w 2 k t - ( m 1 + m 2 ) w 2
Making ��=2 �� f, abbreviation obtains:
b = 1 4 π 2 k f 2 - k t m 2 - 4 π 2 m 1 m 2 f 2 k t - 4 π 2 ( m 1 + m 2 ) f 2
Wherein, m2Take 320kg, m1Take 45kg, k and take 22kN m-1, ktTake 192kN m-1, c takes 1300N s m-1Time, thus obtain the relation curve of used matter coefficient and frequency as shown in Figure 4.
Selecting frequency is the sinusoidal excitation of 1Hz, 1.25Hz, 1.5Hz, 1.75Hz, 2Hz, used appearance coefficient respectively 545kg, 344kg, 235kg, 170kg, 127kg of Corresponding matching in Fig. 4.
According to traditional power model, undamped system is emulated, with the kinetic energy of body quality absorption for evaluation index, be analyzed when first to undamped, as shown in Figure 5.
It can be seen that at used matter coefficient value place corresponding to each Frequency point, the kinetic energy energy that vehicle body absorbs is minimum. Thus demonstrate the correctness of method.
Further, the kinetic energy under having damping condition, body quality absorbed is analyzed, and obtains Fig. 6. As seen from the figure, the used matter coefficient value place that each Frequency point is corresponding, the kinetic energy energy that vehicle body absorbs is minimum, illustrates that this matching process has been also applied for damping system.
For further illustrating the effectiveness of the vehicle ISD suspension parameter matching process theoretical based on maximum power transfer that the present invention proposes. Consideration introduces used container in the passive suspension of tradition, and mates the parameter being used to container, makes ISD be suspended in vehicle body natural frequency and sentences peak power absorption body vibrations energy, thus dampening resonances peak value, improves the riding comfort of vehicle. Certain passive suspension vehicle body natural frequency of maturation car rear overhang tradition is 1.32Hz, is 307kg according to the used matter coefficient of Fig. 4 coupling obtained.
Under the sinusoidal excitation of Fig. 7 and Fig. 8 respectively frequency 1.32Hz, kinetic energy energy that vehicle body absorbs and the emulation time-domain diagram of vehicle body acceleration.
From Fig. 7 and Fig. 8, kinetic energy energy and vehicle body acceleration that vehicle ISD suspension vehicle body absorbs are significantly less than traditional suspension, show that the used container introduced can make to be suspended in vehicle body natural frequency and sentence the vibrational energy that the absorption of peak power produces from road excitation, thus suppressing sympathetic body oscillation, improve the riding comfort of vehicle.
Described embodiment be the present invention preferred embodiment; but the present invention is not limited to above-mentioned embodiment; when without departing substantially from the flesh and blood of the present invention, those skilled in the art can make any conspicuously improved, replace or modification belongs to protection scope of the present invention.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " illustrative examples ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention. In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example. And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principles of the invention and objective, the scope of the present invention is limited by claim and equivalent thereof.

Claims (3)

1. a vehicle ISD suspension parameter matching process, it is characterised in that key step is as follows:
Step 1, according to Newton's second law, carries out force analysis to vehicle suspension system, sets up its kinetic model; Including: vehicle body (1), quality is m2; Suspension spring (2), rigidity is k; Suspension damping element (3), damped coefficient is c; Suspension inertance element (4), used matter coefficient is b; Wheel (5), quality is m1; Wheel Equivalent Elasticity element (6), rigidity is kt;
Step 2, according to Thevenin's theorem, sets up the equivalent mechanical network model of vehicle suspension system: using suspension spring (2), suspension damping element (3), suspension inertance element (4) as load (8); From the excitation on road surface as ideal voltage source (7), vehicle body (1) except load (8) and wheel (5) and wheel Equivalent Elasticity element (6) are equivalent to the internal impedance of signal source;
Step 3, by the connection in series-parallel relation of the element in equivalent mechanical network model, the velocity profile expression formula of solving system internal impedance;
Step 4, by the connection in series-parallel relation of the element in equivalent mechanical network model, solves velocity profile impedance expression when load undamped;
Step 5, theoretical based on maximum power transfer, when the impedance when load undamped when and system internal impedance conjugation each other, set up the relational expression of used matter coefficient and driving frequency, and then obtain the matching process of vehicle ISD suspension parameter.
2. a kind of vehicle ISD suspension parameter matching process according to claim 1, it is characterized in that, the kinetic model in described step 1 can be extended to include linear stiffness characteristics, damping characteristic, half vehicle dynamics model of inertial properties and Full Vehicle Dynamics model.
3. a kind of vehicle ISD suspension parameter matching process according to claim 1, it is characterized in that, in described step 2, the equivalent mechanical network model of vehicle suspension system can be suitable for the combinative structure comprising multiple suspension spring (2), suspension damping element (3), suspension inertance element (4) or its three kinds of elements simultaneously.
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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN106004302A (en) * 2016-06-29 2016-10-12 广西大学 ISD (inerter-spring-damper) integrated suspension
CN107977497A (en) * 2017-11-23 2018-05-01 吉林大学 Vibration insulating system parameter optimization method in a kind of Electric Motor Wheel wheel
CN108896326A (en) * 2018-06-15 2018-11-27 江苏大学 A kind of the vehicle ISD suspension parameter type selecting and measurement condition design method of the electromechanical used container of application
CN109334379A (en) * 2018-09-19 2019-02-15 江苏大学 Heavy automobile-used electrohydraulic type is used to container Nonlinear inertial force discrimination method
CN111444660A (en) * 2020-03-27 2020-07-24 常州机电职业技术学院 Electromechanical suspension model construction method for new energy vehicle, optimization simulation method and system
CN113408043A (en) * 2020-03-17 2021-09-17 郑州宇通客车股份有限公司 Matching method and device for whole vehicle tires
CN115099035A (en) * 2022-06-23 2022-09-23 河海大学 Suspension system vibration reduction design method with negative stiffness and inertial container cooperation under random displacement excitation
CN115871398A (en) * 2022-10-11 2023-03-31 厦门大学 Vibration reduction control method for semi-active suspension of vehicle and semi-active suspension of vehicle

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106004302A (en) * 2016-06-29 2016-10-12 广西大学 ISD (inerter-spring-damper) integrated suspension
CN106004302B (en) * 2016-06-29 2018-04-06 广西大学 ISD integration suspensions
CN107977497A (en) * 2017-11-23 2018-05-01 吉林大学 Vibration insulating system parameter optimization method in a kind of Electric Motor Wheel wheel
CN107977497B (en) * 2017-11-23 2020-05-15 吉林大学 Parameter optimization method for vibration reduction system in electric wheel
CN108896326A (en) * 2018-06-15 2018-11-27 江苏大学 A kind of the vehicle ISD suspension parameter type selecting and measurement condition design method of the electromechanical used container of application
CN109334379A (en) * 2018-09-19 2019-02-15 江苏大学 Heavy automobile-used electrohydraulic type is used to container Nonlinear inertial force discrimination method
CN113408043A (en) * 2020-03-17 2021-09-17 郑州宇通客车股份有限公司 Matching method and device for whole vehicle tires
CN113408043B (en) * 2020-03-17 2024-04-05 宇通客车股份有限公司 Whole vehicle tire matching method and device
CN111444660A (en) * 2020-03-27 2020-07-24 常州机电职业技术学院 Electromechanical suspension model construction method for new energy vehicle, optimization simulation method and system
CN115099035A (en) * 2022-06-23 2022-09-23 河海大学 Suspension system vibration reduction design method with negative stiffness and inertial container cooperation under random displacement excitation
CN115099035B (en) * 2022-06-23 2023-06-06 河海大学 Suspension vibration reduction design method with negative stiffness and inertial capacity cooperation under random displacement excitation
CN115871398A (en) * 2022-10-11 2023-03-31 厦门大学 Vibration reduction control method for semi-active suspension of vehicle and semi-active suspension of vehicle

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