CN111950088B - Method for constructing similarity model of high-speed tracked vehicle - Google Patents

Method for constructing similarity model of high-speed tracked vehicle Download PDF

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CN111950088B
CN111950088B CN202010829712.XA CN202010829712A CN111950088B CN 111950088 B CN111950088 B CN 111950088B CN 202010829712 A CN202010829712 A CN 202010829712A CN 111950088 B CN111950088 B CN 111950088B
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吴维
韦春辉
苑士华
张帅
李鑫勇
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Beijing Institute of Technology BIT
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Abstract

The invention relates to a method for constructing a high-speed tracked vehicle similarity model, which comprises the steps of establishing a high-speed tracked vehicle accompanying motion space model, establishing a vehicle body kinetic equation of the high-speed tracked vehicle, determining physical characteristic quantity parameters in the high-speed tracked vehicle accompanying motion, determining structural parameters of the high-speed tracked vehicle model, and constructing the high-speed tracked vehicle similarity model.

Description

Method for constructing similarity model of high-speed tracked vehicle
Technical Field
The invention mainly relates to the field of automobile motion model construction, in particular to a method for constructing a similarity model of a high-speed tracked vehicle.
Background
The tracked vehicle plays an important role in the fields of modern military, agriculture, building industry and the like according to the good passing performance of the tracked vehicle. However, the tracked vehicle is a very complex mechanical system, due to the lack of understanding of road surface characteristics and the study of vehicle on road spectrum response, the study of the tracked vehicle is always based on 'experience + test', and design-trial-test-improvement is always the traditional mode of the study of the tracked vehicle. The mode is established on the basis of an empirical formula and a large number of tests, the cost of manpower and material resources is high, and the research and development period is too long. The real vehicle test is also limited by the influence of various factors such as site test conditions, cost control and the like.
Disclosure of Invention
The invention aims to provide a method for constructing a similarity model of a high-speed tracked vehicle. The method can establish a structural parameter mapping relation similar to that required by research according to the known structural parameters of the original tracked vehicle, and obtains the related parameter characteristics of the original high-speed tracked vehicle structure by performing reverse-extrapolation on the constructed similar model test to a prototype and combining the established similar simulation model. According to the method, the high-speed tracked vehicle can be designed and optimized, and the defects of the traditional research method are overcome. The energy-saving and efficient research method is provided for researching the high-speed tracked vehicle, and has important engineering application value.
In order to achieve the purpose, the invention provides the following scheme:
a method of constructing a high speed tracked vehicle similarity model comprising the steps of:
s1, establishing a high-speed tracked vehicle accompanying motion space model;
s2, establishing a vehicle body dynamic equation of the high-speed tracked vehicle;
s3, determining physical characteristic quantity parameters in the accompanying movement of the high-speed tracked vehicle;
s4, determining structural parameters of the high-speed tracked vehicle model;
s5, constructing the similarity model of the high-speed tracked vehicle, and designing and optimizing the tracked vehicle through the similarity model of the high-speed tracked vehicle;
preferably, the step S4 further includes determining a vehicle body similarity criterion, calculating a vehicle model similarity scale;
preferably, dimension analysis is carried out according to the physical characteristic quantity parameters and the dimension harmonious conditions, and a vehicle body similarity criterion is obtained according to the similar pi theorem;
preferably, a vehicle model similarity scale is obtained according to a vehicle body similarity criterion;
preferably, the structural parameters of the vehicle model are obtained according to the similar scale of the vehicle model;
preferably, the vehicle body similarity criteria include: the method comprises the following steps of (1) a vehicle body vertical motion similarity criterion, a vehicle body longitudinal motion similarity criterion, a vehicle body pitching motion similarity criterion and a vehicle body rolling motion similarity criterion;
preferably, the high-speed tracked vehicle accompanying motion space model further comprises physical characteristic quantities of the high-speed tracked vehicle model;
preferably, the physical characteristic quantities of the high-speed tracked vehicle model include:
a vehicle body physical characteristic quantity; physical characteristic quantity of the loading wheel; physical characteristic quantity of a suspension system of the tracked vehicle; physical characteristic quantity of the loading wheel spring damping model; the horizontal distance between the mounting positions of the balance shafts and the dampers and the mass center of the vehicle body;
preferably, the vehicle body physical characteristic quantity includes: the mass of the vehicle body, the pitching angle of the vehicle body, the side inclination angle of the vehicle body, the vertical displacement of the vehicle body and the relative rotational inertia of the vehicle body;
preferably, the physical characteristic quantity of the bogie wheel includes: the mass of the bogie wheel and the coordinates of the bogie wheel;
preferably, the tracked vehicle suspension system physical characteristic quantities comprise: equivalent stiffness of the tracked vehicle suspension system and equivalent damping of the tracked vehicle suspension system;
preferably, the physical characteristic quantities of the spring damping model of the bogie wheel comprise: the equivalent stiffness of the loading wheel spring damping model and the equivalent damping of the loading wheel spring damping model;
preferably, the vehicle body dynamics equations include: a vehicle body vertical dynamic equation, a vehicle body longitudinal dynamic equation, a vehicle body pitching dynamic equation and a vehicle body side tilting dynamic equation;
preferably, the vehicle body similarity criterion is obtained by calculating a vehicle body dynamic equation and applying an integral simulation algorithm.
Preferably, the vertical kinetic equation of the vehicle body comprises the following physical characteristic quantities of the vehicle body:
the mass of the vehicle body;
the tension of the working section of the crawler and the tension of the tension section on the left side and the right side of the crawler body have component forces in the vertical direction;
vertical force acting force between the vehicle body and the elastic suspension device of the vehicle;
the damping force of the hydraulic shock absorber on the vehicle body;
preferably, the vehicle body longitudinal dynamics equation includes the following vehicle body physical characteristic quantities:
the tension of the working section of the crawler and the tension section on the left side and the right side are divided in the horizontal direction;
longitudinal force acting force between the vehicle body and the elastic suspension device of the vehicle;
preferably, the following physical characteristic quantities of the vehicle body are included in the vehicle body pitch dynamics equation:
the moment of inertia of the vehicle body relative to the y-axis;
the longitudinal distance between the center of each balance elbow shaft of the vehicle body and the center of the vehicle body;
the vertical distance between the center of each balance elbow shaft of the vehicle body and the center of the vehicle body;
the longitudinal distance between each vibration damper of the vehicle body and the vehicle body center;
the vertical distance between each vibration reduction damper of the vehicle body and the vehicle body center;
the contact stress point of the driving wheel and the inducer of the vehicle body and the crawler belt is the longitudinal distance from the mass center of the vehicle body;
the vertical distance between the contact stress point of the driving wheel and the inducer of the vehicle body and the crawler and the center of mass of the vehicle body;
moment generated by a vehicle torsion bar suspension device of a vehicle body;
preferably, the vehicle body side-tilting kinematic equation includes the following vehicle body physical characteristic quantities:
the damping force of a hydraulic shock absorber of the vehicle body forms a vertical included angle with the vehicle body;
the moment of inertia of the vehicle body relative to the x-axis;
the transverse distance between the center of each balance elbow shaft of the vehicle body and the center of the vehicle body.
The invention discloses the following technical effects:
the method solves the problems of long period, high cost of manpower and material resources and the like caused by the traditional research method of the tracked vehicle, and has important theoretical research and engineering application values.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of a high-speed tracked vehicle similarity model-based test method;
FIG. 2 is a high-speed tracked vehicle accompanying motion space model.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1: the present embodiment provides a method, a flow chart of steps, for constructing a high-speed tracked vehicle similarity model, as shown in fig. 1-2.
The method comprises the following specific steps:
establishing a high-speed tracked vehicle accompanying motion space model;
according to the tracked vehicle accompanying motion space model, a dynamic equation of a vehicle body on the vertical, longitudinal, pitching and rolling degrees of freedom is established;
determining physical quantity parameters of the accompanying movement of the vehicle according to the kinetic equations of the vehicle body in the vertical, longitudinal, pitching and rolling degrees of freedom;
selecting basic physical quantities of L, M and T to perform dimensional analysis according to the dimensional harmony condition of the physical quantity parameters; deducing a corresponding pi theorem similarity criterion according to the similar pi theorem, obtaining the relation between each physical quantity scale and each length scale according to the deduced pi theorem similarity criterion, and selecting a length scale value so as to determine the structural parameters of the prototype and the vehicle model test;
and (4) manufacturing a high-speed tracked vehicle model based on a similar theory.
The high-speed tracked vehicle accompanying motion model considers the longitudinal degree of freedom in vehicle running, namely the vehicle speed can be considered as the high-speed tracked vehicle accompanying motion model due to the fact that the longitudinal-vertical coupling problem is changed, the high-speed tracked vehicle accompanying motion model is a multi-rigid system of a new road surface after being subjected to track-ground filtering shaping by longitudinal acceleration which changes along with time due to different road surface excitations under the drive of a certain driving force, meanwhile, the dynamic response problem in high-speed running of the tracked vehicle under the cross-country road condition is researched, and as the bogie wheels on the left side and the right side of an actual vehicle are subjected to the difference through the road surface excitations, the rolling degree.
The high-speed tracked vehicle is accompanied by a motion space model, and the hypothesis and the related simplification for establishing the model comprise:
the mass of the vehicle body is symmetrically and uniformly distributed relative to the longitudinal axis of the vehicle body, namely the mass center of the vehicle body is in the transverse central plane of the vehicle;
the research content is the dynamic response problem of the vehicle under the high-speed running of the off-road working condition, so the roll motion of the vehicle is considered;
in the running process of the vehicle, the road surface excitation on the left and right side bogie wheels is considered to be independent, and no coupling effect exists;
meanwhile, only the condition of the vehicle under the straight running condition is considered, and the steering movement of the vehicle is not considered;
the elastic elements and the damping elements of the suspension system of the tracked vehicle at each bogie wheel are considered to be completely identical and have the same structural layout;
the influence of the autorotation and the vibration of the crawler belt on the vehicle body is not considered;
on the basis of the assumption, the vehicle multi-body dynamic system consists of 12 bogie wheels, 1 pair of driving wheels, 1 pair of inducer wheels and a vehicle body.
The main physical characteristic quantities of the above model include:
vehicle body mass McPitch angle of vehicle body
Figure BDA0002637487750000051
And side inclination angle thetacAnd a vertical displacement zcMoment of inertia of the vehicle body about the y-axis IyMoment of inertia of the vehicle body about the x-axis IxMass m and coordinate z of each bogie wheeliEquivalent stiffness k and damping c of a suspension system of a tracked vehicle, equivalent stiffness k of a spring damping model of a bogie wheeltAnd damping ctHorizontal distance L between each balance elbow and mass center of vehicle bodykiAnd the horizontal distance L between the installation position of the damper and the mass center of the vehicle bodyciAnd the like.
Vertical kinetic equation of vehicle body
Figure BDA0002637487750000052
Figure BDA0002637487750000053
In the formula:
m is the vehicle body mass;
Figure BDA0002637487750000054
vertical acceleration is adopted;
Figure BDA0002637487750000055
the components of the left and right sides of the working section pulling force and the tensioning section pulling force in the vertical direction are respectively;
n is the number of the loading wheels on one side of the tracked vehicle, and i represents the ith loading wheel on one side;
Figure BDA0002637487750000056
is the vertical force acting force between the vehicle body and the elastic suspension device of the vehicle;
g is the acceleration of gravity;
Figure BDA0002637487750000057
the damping force of the hydraulic shock absorber on the vehicle body is obtained;
ξihydraulic damper resistorThe damping force forms an included angle with the vertical direction of the vehicle body.
The longitudinal dynamic equation of the vehicle body is as follows:
Figure BDA0002637487750000061
Figure BDA0002637487750000062
is the longitudinal acceleration;
Figure BDA0002637487750000063
the components of the left and right sides of the working section pulling force and the tensioning section pulling force in the horizontal direction are respectively;
Figure BDA0002637487750000064
acting force of longitudinal force between the vehicle body and the elastic suspension device of the vehicle;
vehicle body pitch dynamics equation:
Figure BDA0002637487750000065
in the formula:
Iythe moment of inertia of the vehicle body relative to the y axis;
Figure BDA0002637487750000066
is pitch angular acceleration;
aithe longitudinal distance between the center of each balance elbow shaft and the center of the vehicle body;
bithe vertical distance between the center of each balance elbow shaft and the center of the vehicle body;
Figure BDA0002637487750000067
are respectively the balance elbow angles
Figure BDA0002637487750000068
The cosine and sine quantities of (a);
asithe longitudinal distance between each vibration reduction damper and the vehicle body center;
bsithe vertical distance between each vibration reduction damper and the vehicle body center;
aqthe longitudinal distance between the contact stress point of the driving wheel, the inducer and the crawler and the mass center of the vehicle body;
bqthe vertical distance between the contact stress point of the driving wheel and the guide wheel with the track and the mass center of the vehicle body is set;
Migenerating a torque for a vehicle torsion bar suspension;
the vehicle body side tilting kinetic equation:
Figure BDA0002637487750000069
in the formula:
Ixthe moment of inertia of the vehicle body relative to the x axis;
Figure BDA0002637487750000071
is the roll angular acceleration;
eithe transverse distance between the center of each balance elbow shaft and the center of the vehicle body;
esithe transverse distance between each vibration reduction damper and the vehicle body center;
eqthe transverse distance between the contact stress point of the driving wheel, the inducer and the crawler and the center of the vehicle body;
and (3) applying an integral simulation method to the vertical, longitudinal, pitching and rolling dynamics equations of the vehicle body to obtain the similar criteria of the vertical, longitudinal, pitching and lateral motions of the vehicle body.
The similarity criterion of the vertical motion of the vehicle body is as follows:
Figure BDA0002637487750000072
Figure BDA0002637487750000073
Figure BDA0002637487750000074
the longitudinal motion similarity criterion of the vehicle body is as follows:
Figure BDA0002637487750000075
Figure BDA0002637487750000076
the similarity criterion of the pitching motion of the vehicle body is as follows:
Figure BDA0002637487750000077
Figure BDA0002637487750000078
Figure BDA0002637487750000079
roll motion similarity criteria of the vehicle body:
Figure BDA0002637487750000081
Figure BDA0002637487750000082
π1，π2，π3is a dimensionless parameter;
L，L1，L2respectively the characteristic lengths of the vehicle structures in the corresponding directions;
Figure BDA0002637487750000083
the relative angle between the balance elbow and the vehicle body is obtained;
Figure BDA0002637487750000084
to balance the elbow and body relative angular velocity;
xcis a longitudinal displacement;
Kiis the torsion bar equivalent stiffness coefficient;
Kxis the longitudinal equivalent stiffness coefficient;
Ciis an equivalent damping coefficient.
Carrying out factor relation processing on variables in the vertical, longitudinal, pitching and rolling motion similarity criterion of the vehicle body:
[M]＝[ρL3]
[Iy,x]＝[ρL3L2]
[g]＝[LT-2]
[Ki]＝[ML2T-2]
[Kx]＝[MLT-2]
[Ci]＝[MT-1]
according to the vertical direction, longitudinal direction, pitching and rolling motion similarity criteria of the vehicle body and the variable dimensional relation, assuming that the density of the vehicle model is the same as that of the prototype material, and selecting a vehicle geometric scale lambdaLAnd corresponding to the vehicle model test similar scale. As shown in table 1 below.
TABLE 1
Figure BDA0002637487750000091
According to a geometric scale lambda for determining the vehicleLAnd obtaining physical quantity parameters of the vehicle model test.
And (3) according to the physical quantity parameters of the vehicle model experiment, manufacturing a high-speed tracked vehicle model based on a similar theory, and carrying out experimental research on the high-speed tracked vehicle model.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (7)

1. A method of constructing a high speed tracked vehicle similarity model, comprising the steps of:
s1, establishing a high-speed tracked vehicle accompanying motion space model;
s2, according to the accompanying motion space model of the high-speed tracked vehicle, establishing a dynamic equation of a vehicle body of the high-speed tracked vehicle on vertical, longitudinal, pitching and rolling degrees of freedom;
s3, determining physical characteristic quantity parameters in the accompanying motion of the high-speed tracked vehicle according to the kinetic equation;
s4, performing dimension analysis according to the physical characteristic quantity parameters and the harmonic conditions of the dimensions, obtaining a vehicle body similarity criterion according to a similar pi theorem, obtaining a vehicle model similarity scale according to the vehicle body similarity criterion, and determining the structural parameters of the high-speed tracked vehicle model according to the vehicle model similarity scale;
s5, constructing the similarity model of the high-speed tracked vehicle, and designing and optimizing the tracked vehicle through the similarity model of the high-speed tracked vehicle;
the high-speed tracked vehicle accompanying motion space model further comprises physical characteristic quantities of the high-speed tracked vehicle model;
the physical characteristic quantities of the high-speed tracked vehicle model include:
a vehicle body physical characteristic quantity; physical characteristic quantity of the loading wheel; physical characteristic quantity of a suspension system of the tracked vehicle; physical characteristic quantity of the loading wheel spring damping model; the horizontal distance between the mounting positions of the balance shafts and the dampers and the mass center of the vehicle body;
the vehicle body physical characteristic quantity includes: the mass of the vehicle body, the pitching angle of the vehicle body, the side inclination angle of the vehicle body, the vertical displacement of the vehicle body and the relative rotational inertia of the vehicle body;
the physical characteristic quantity of the bogie wheel comprises: the mass of the bogie wheel and the coordinates of the bogie wheel;
the physical characteristic quantity of the suspension system of the tracked vehicle comprises: an equivalent stiffness of the tracked vehicle suspension system and an equivalent damping of the tracked vehicle suspension system;
the physical characteristic quantity of the loading wheel spring damping model comprises the following components: the equivalent stiffness of the loading wheel spring damping model and the equivalent damping of the loading wheel spring damping model.
2. A method of constructing a high-speed tracked vehicle similarity model according to claim 1, wherein:
the vehicle body similarity criterion includes: the vehicle body vertical motion similarity criterion, the vehicle body longitudinal motion similarity criterion, the vehicle body pitching motion similarity criterion and the vehicle body rolling motion similarity criterion.
3. A method of constructing a high-speed tracked vehicle similarity model according to claim 1, wherein:
the vehicle body dynamics equations include: a vehicle body vertical dynamic equation, a vehicle body longitudinal dynamic equation, a vehicle body pitching dynamic equation and a vehicle body side tilting dynamic equation;
and calculating by using the vehicle body dynamics equation and applying an integral simulation algorithm to obtain the vehicle body similarity criterion.
4. A method of constructing a high-speed tracked vehicle similarity model according to claim 3, wherein:
the vehicle body vertical kinetic equation comprises the following vehicle body physical characteristic quantities:
a mass of the vehicle body;
the tension of the working section of the crawler and the tension of the tensioning section on the left side and the right side of the crawler are divided in the vertical direction;
a vertical force acting force between the vehicle body and the vehicle elastic suspension device;
the vehicle body is subjected to a damping force of the hydraulic shock absorber.
5. The method of constructing a high-speed tracked vehicle similarity model according to claim 4, wherein:
the longitudinal vehicle body dynamics equation includes the following physical vehicle body characteristic quantities:
the tension of the working sections of the left and right crawler belts and the tension of the tension section have component forces in the horizontal direction;
longitudinal force acting between the vehicle body and the elastic suspension device of the vehicle.
6. A method of constructing a high-speed tracked vehicle similarity model according to claim 3, wherein:
the vehicle body pitch dynamics equation comprises the following vehicle body physical characteristic quantities:
the moment of inertia of the vehicle body relative to the y-axis;
the longitudinal distance between the center of each balance elbow shaft of the vehicle body and the center of the vehicle body;
the vertical distance between the center of each balance elbow shaft of the vehicle body and the center of the vehicle body;
the longitudinal distance between each vibration damper of the vehicle body and the vehicle body center;
the vertical distance between each vibration reduction damper of the vehicle body and the vehicle body center;
the contact stress point of the driving wheel and the inducer of the vehicle body and the crawler belt is the longitudinal distance from the mass center of the vehicle body;
the contact stress point of the driving wheel and the inducer of the vehicle body and the crawler belt is in vertical distance with the mass center of the vehicle body;
the vehicle torsion bar suspension device of the vehicle body generates moment.
7. A method of constructing a high-speed tracked vehicle similarity model according to claim 3, wherein:
the vehicle body side-tilting kinematic equation includes the following vehicle body physical characteristic quantities:
the damping force of the hydraulic shock absorber of the vehicle body forms a vertical included angle with the vehicle body;
the moment of inertia of the vehicle body relative to the x-axis;
and the transverse distance between the center of each balance elbow shaft of the vehicle body and the center of the vehicle body.
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