CN112784355A - Fourteen-degree-of-freedom vehicle dynamics model modeling method based on multi-body dynamics - Google Patents
Fourteen-degree-of-freedom vehicle dynamics model modeling method based on multi-body dynamics Download PDFInfo
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Abstract
The invention discloses a fourteen-degree-of-freedom vehicle dynamics model modeling method based on multi-body dynamics, which overcomes the problem that the internal function of the existing vehicle simulation software is not open-source and comprises the following steps: the vehicle to be researched is regarded as a multi-rigid-body system which comprises a sprung mass rigid body and four unsprung mass rigid bodies, friction resistance and moment of a steering system of the vehicle in the steering process are ignored, air resistance is ignored, K & C characteristics of a suspension system are considered, friction effect of the suspension system is ignored, the road condition is a dry horizontal road surface, bouncing of wheels relative to a vehicle body caused by potholes on the road surface is ignored, a magic formula is adopted to obtain tire force, only vertical bouncing and rotating motion of the wheels relative to the vehicle body are considered, and a vehicle model provided by the invention is established on the basis of the assumptions, and comprises translational motion and rotating motion of the vehicle body along x, y and z axes and vertical bouncing and rotating motion of the four wheels, and has 14 degrees of freedom.
Description
Technical Field
The invention belongs to the technical field of mechanical engineering, and designs a fourteen-degree-of-freedom vehicle dynamics model modeling method based on multi-body dynamics, which is suitable for the running working condition of a common vehicle and is used by researchers.
Background
In recent years, the automobile industry in China is rapidly developed, the automobile production capacity is increased year by year, people not only use automobiles as transportation means, but also are important tools for improving the quality of life, and therefore the performances of automobile safety, comfortableness, operation stability and the like are of great importance. After entering the new century, the related professions of vehicles and vehicle enterprises in all colleges and universities continuously invest energy to improve the performance of the automobiles. Because the cost of the automobile is high and the real-time test can not be carried out all the time, the simulation experiment by the related software is very important, the research and development period can be shortened, and the scientific research expenses can be saved.
Currently, mainstream vehicle simulation software can be divided into Adams, DADS and the like based on structures, and CarSim, CarMaker and the like based on the dynamic principle. The software needs to spend a large amount of funds to purchase the copyright, and the internal core code of the software is not open source, so that a user cannot simulate the vehicle as expected, and cannot obtain the core technology of the software. The domestic automobile industry will forever fall behind abroad.
Based on various considerations, the vehicle model modeling method is provided. Automobiles are complex, multi-body systems, the operating state of an automobile being the result of vehicle, driver, and form-environment interactions; in general, the more degrees of freedom a vehicle model has, the closer the simulation result is to a real vehicle, but the higher the computational complexity. Therefore, the complexity is too high, and the development and the use of researchers are not facilitated. The invention provides a vehicle model modeling method considering yaw, roll and pitch based on multi-body dynamics, and a 14-degree-of-freedom vehicle model is established, so that on one hand, a complex automobile multi-body system is simplified to weaken the coupling relation among different subsystems, and on the other hand, the degree of freedom is moderate, so that the research requirement can be met, and the result distortion caused by the complex calculation is avoided.
Disclosure of Invention
The technical problem of the invention is solved: in view of the defects of the prior art, the method for modeling the vehicle model considering the yaw, the roll and the pitch based on the multi-body dynamics is provided, and dynamic constraints are established through a 14-degree-of-freedom vehicle model, so that the method is more convenient for researchers to use.
The purpose of the invention is realized by the following technical scheme:
a fourteen-degree-of-freedom vehicle dynamics model modeling method based on multi-body dynamics is characterized by comprising the following steps:
s1, regarding the vehicle as a multi-rigid-body system comprising a sprung rigid body and four unsprung rigid bodies;
s2, establishing four groups of different coordinate systems, namely a geodetic coordinate system, a vehicle coordinate system, a tire coordinate system and a transmission coordinate system, according to the subsystems obtained in the step one;
s3, considering the K & C characteristics of the suspension system, neglecting the friction action of the steering system, and establishing a suspension model;
s4, the road condition is a dry horizontal road surface, the bouncing of the wheels relative to the vehicle body caused by the hollow road surface is ignored, only the vertical bouncing and the rotating motion of the wheels relative to the wheels are considered, the tire force is obtained by adopting a magic formula, and a tire model is established;
and S5, establishing a vehicle model comprising displacement and rotary motion of the vehicle body in the x, y and z directions and self-bouncing and rotary motion of the wheels according to the kinetic equation of the vehicle body and the suspension system, wherein the total degree of freedom is 14.
As a more excellent technical scheme of the invention: the suspension system in the step S3 simplifies the operation, calculates acting forces such as pre-pressure, spring force and the like respectively, and finally accumulates to obtain the vertical force of the suspension;
as a more excellent technical scheme of the invention: the tire force in step S4 is obtained by using a magic formula, and is consistent with tire models used by vehicle simulation software such as Adams and Carsim, so as to avoid differences, and a mathematical expression thereof can be expressed as:
wherein Y (x) is a lateral force or a longitudinal force, x represents a longitudinal slip ratio or a slip angle, B, C, D, E is a stiffness factor, a curve shape factor, a peak factor and a curvature factor, respectively, ShAnd SvRespectively horizontal offset and vertical offsetMoving amount;
as a more excellent technical scheme of the invention: and (4) performing dynamic analysis on the vehicle body system in the S5 to obtain an expression of the inertia force and the inertia moment of the vehicle body system, and establishing a differential equation set by combining the vehicle coordinate system in the step two so as to establish a vehicle model, wherein the vehicle body dynamic differential equation set can be expressed as:
the inertial forces in the vehicle coordinate system for the vehicle body are:
in the formula Fx、y、zFor the resultant forces of the body in the vehicle coordinate system in the directions of the x, y and z axes, MsAnd miAnd (i ═ 1,2,3 and 4) are the body mass and the wheel mass, wherein 1 and 2 represent the left front wheel and the right front wheel, and 3 and 4 represent the left rear wheel and the right rear wheel. a isxi、ayiLongitudinal and lateral acceleration of the ith wheel, ax、y、zThe acceleration of the vehicle body along the directions of the x axis, the y axis and the z axis.
The moment of inertia for the vehicle body in the vehicle coordinate system is:
in the formula Mx、y、zThe resultant moment of the vehicle body around the x, y and z axes in the vehicle coordinate system, aziVertical acceleration of the ith wheel, angular speeds of the vehicle body around the x, y and z axes, and xw、yw、zwRepresenting the coordinates of the wheel center in the vehicle coordinate system, Ixx、Iyy、IzzRepresenting the moment of inertia of the body about the x, y, z axes.
Compared with the prior art, the invention has the beneficial effects that:
the invention is used for a vehicle simulation vehicle model which considers the yaw, the roll and the pitch based on the multi-body dynamics, can well calculate the vehicle state quantity under the basic working condition, and has almost the same precision as the CarSim self-contained model. The vehicle model established by the invention can well provide accurate dynamic constraints for related scientific research tasks performed by scientific research personnel, and can be jointly controlled by an upper controller. The vehicle model established by the invention has stronger universality and is also suitable for other vehicle control systems.
Drawings
FIG. 1 is a vehicle model established by the present invention;
FIG. 2 is a schematic diagram of a 14-degree-of-freedom vehicle model provided by the invention;
FIG. 3 is a block diagram of vehicle model dynamics proposed by the present invention;
FIG. 4 is a comparison chart of steering wheel rotation angles under a double-shift working condition;
FIG. 5 is a comparison graph of yaw rate for a double traverse line operating condition;
FIG. 6 is a comparison graph of the roll angles of the vehicle body in the double traverse line working condition;
FIG. 7 is a graph comparing lateral acceleration for a double shift line condition;
FIG. 8 is a comparison graph of the steering wheel angle step input vehicle body roll angle;
FIG. 9 is a graph of steering wheel angle step input yaw rate comparison;
FIG. 10 is a comparison graph of the centroid slip angle of the steering wheel angle step input;
FIG. 11 is a graph of steering wheel angle step input lateral acceleration comparison;
FIG. 12 is a linear brake operating condition longitudinal speed comparison plot;
FIG. 13 is a graph comparing longitudinal displacement for linear braking conditions;
FIG. 14 is a graph comparing vertical displacement of vehicle center of mass for straight line braking conditions;
FIG. 15 is a comparison of vehicle body pitch angles for straight line braking conditions;
Detailed Description
The proposed model building method is further elucidated and described in the following with reference to the accompanying drawing.
The invention provides a vehicle model modeling method considering yaw, roll and pitch based on multi-body dynamics, which is implemented by the following steps:
s1, the vehicle under study is considered to be a multi-rigid body system comprising one sprung mass rigid body and four unsprung mass rigid bodies.
S2, the overall structure of the automobile is extremely complex, and the running state of the automobile is influenced by the behavior of a driver, the state of the automobile and the external environment in the running process, so that the stress of each part of the automobile is changed continuously, and a coupling relation exists between the parts. In order to simplify the subsequent calculation process, four different coordinate systems are established, namely a geodetic coordinate system, a vehicle coordinate system, a tire coordinate system and a transmission coordinate system.
The geodetic coordinate system is used for describing state quantities such as the position, the speed and the like of the vehicle on the ground; the vehicle coordinate system is used for describing the motion state of a vehicle body, two standards exist internationally, and the vehicle coordinate system is modeled by adopting an ISO standard; the function of the tire coordinate system is to calculate the tire force; the function of the transmission coordinate system is to transmit the tire coordinate system with the vehicle coordinate system and the vehicle coordinate system with the geodetic coordinate system.
S3, the vehicle body is connected with the wheels through the suspension, force and moment between the vehicle body and the wheels are transmitted through the suspension system, and the shock absorption can be realized, so that the driving comfort is improved. When a suspension system model is established, only the K & C characteristics of the suspension system are considered, the friction action of a steering system and the suspension system is neglected, and the dynamic equation of the suspension system is established as shown in (1):
Fsi＝Fpi+Fli+Fdi+Foi (1)
in the formula FsiRepresenting suspension vertical force, Fpi、Fli、Fdi、FoiRespectively, suspension pre-pressure, spring force, damping force and other resultant forces. The mathematical expression for the suspension pre-stress is shown in equation (2):
in the formula LfAnd LrRespectively, the distances of the center of mass of the vehicle to the front and rear axles. Ms represents, g representsI represents
The mathematical expression for the spring force is shown in equation (3):
Fli＝KliCliΔl (3)
in the formula Kli、CliAnd Δ l represent the spring lever ratio, spring stiffness, and spring elastic deformation, respectively.
The mathematical expression for the damping force is shown in equation (4):
Fdi＝KdiCdiDi (4)
in the formula Kdi、Cdi、DiRespectively showing the lever ratio, damping coefficient and dynamic deflection speed of the damper.
S4, during the running process of the vehicle, the tire is contacted with the road surface, except for air resistance, all forces or moments influencing the running state of the vehicle are generated by the tire, and the characteristics of comfort, safety and the like of the running of the vehicle are related to the tire, so that the tire model is the key of the vehicle model provided by the invention. The international common tire models at present are divided into four types, namely empirical models, semi-empirical models, adaptive models and theoretical models. In order to form a contrast with car simulation software such as CarSim and the like, the model established by the invention adopts a magic formula tire model which is the same as the CarSim, and the mathematical expression of the tire force is shown as an equation (5):
wherein Y (x) is a lateral force or a longitudinal force, x represents a longitudinal slip ratio or a slip angle, B, C, D, E is a stiffness factor, a curve shape factor, a peak factor and a curvature factor, respectively, ShAnd SvRespectively a horizontal offset and a vertical offset.
And S5, establishing a vehicle model comprising displacement and rotary motion of the vehicle body in the x, y and z directions and self-bouncing and rotary motion of the wheels according to the kinetic equation of the vehicle body and the suspension system, wherein the total degree of freedom is 14. The vehicle dynamics model built is based on the following assumptions:
a. only the K & C characteristics of the suspension system are considered, and the friction action of the suspension system is ignored;
b. only the suspension pre-pressure, the spring force and the damping force of the suspension system are considered, and other resultant forces do not participate in calculation;
c. neglecting the friction effect of the steering system;
d. neglecting air resistance;
e. the vehicle driving road condition is a dry horizontal road surface;
f. neglecting the vertical jump of the wheel caused by the pothole on the road surface;
the vehicle dynamics model established based on the above assumptions is shown in fig. 1, and is compared with a CarSim built-in model for verifying the accuracy of the model, and a real vehicle simulation test is performed, wherein real vehicle parameters are shown in table 1. The model input quantities are steering wheel angle, accelerator pedal opening, brake pedal opening and longitudinal speed. The steering wheel angle and the longitudinal speed can be manually set according to real vehicle parameters, and the opening degree of an accelerator pedal and the opening degree of a brake pedal are between 0 and 1 after normalization.
The test working condition selects a double-shift working condition, a steering wheel angle step input working condition and a linear braking working condition, the accuracy of the vehicle model under the working conditions is verified by MatLab and CarSim joint simulation, and the working conditions are discussed respectively.
4-7 show the double lane shift test with vehicle speed maintained at 100km/h, and FIG. 4 shows the steering wheel angle input; 8-11 show steering wheel angle step input tests where the vehicle speed is maintained at 70km/h and the steering wheel is turned 90 degrees to the left urgently after 1.5 seconds of travel; FIGS. 12 to 15 show the linear braking test in which the vehicle speed was maintained at 100km/h and not at 1s at 11.11m/s2The linear braking condition simulation is carried out on the braking acceleration.
The invention relates to a vehicle model modeling method considering yaw, roll and pitch based on multi-body dynamics, which is simple and easy to use and can be used in other vehicle controllers by analyzing the multi-body dynamics of the whole vehicle and neglecting air resistance and various friction forces which may cause system disturbance. Meanwhile, the vehicle model parameters are obtained according to the real vehicle and can be well matched with the real vehicle test.
TABLE 1
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (4)
1. A fourteen-degree-of-freedom vehicle dynamics model modeling method based on multi-body dynamics is characterized by comprising the following steps:
s1, regarding the vehicle as a multi-rigid-body system comprising a sprung rigid body and four unsprung rigid bodies;
s2, establishing four groups of different coordinate systems which are a geodetic coordinate system, a vehicle coordinate system, a tire coordinate system and a transmission coordinate system respectively according to the subsystems obtained in S1;
s3, considering the K & C characteristics of the suspension system, neglecting the friction action of the steering system, and establishing a suspension model;
s4, the road condition is a dry horizontal road surface, the bouncing of the wheels relative to the vehicle body caused by the hollow road surface is ignored, only the vertical bouncing and the rotating motion of the wheels relative to the wheels are considered, the tire force is obtained by adopting a magic formula, and a tire model is established;
and S5, establishing a vehicle model comprising displacement and rotary motion of the vehicle body in the x, y and z directions and self-bouncing and rotary motion of the wheels according to the kinetic equation of the vehicle body and the suspension system, wherein the total degree of freedom is 14.
2. The method of claim 1, wherein the method comprises the following steps: the suspension system described in step S3 simplifies this, calculates acting forces such as pre-pressure and spring force, and finally adds up to obtain the suspension vertical force.
3. The method of claim 1, wherein the method comprises the following steps: the tire force in step S4 is obtained by using a magic formula, and is consistent with tire models used by vehicle simulation software such as Adams and Carsim, so as to avoid differences, and a mathematical expression thereof can be expressed as:
wherein Y (x) is a lateral force or a longitudinal force, x represents a longitudinal slip ratio or a slip angle, B, C, D, E is a stiffness factor, a curve shape factor, a peak factor and a curvature factor, respectively, ShAnd SvRespectively a horizontal offset and a vertical offset.
4. The method of claim 1, wherein the method comprises the following steps: and (4) performing dynamic analysis on the vehicle body system in the S5 to obtain an expression of the inertia force and the inertia moment of the vehicle body system, and establishing a differential equation set by combining the vehicle coordinate system in the step two so as to establish a vehicle model, wherein the vehicle body dynamic differential equation set can be expressed as:
the inertial forces in the vehicle coordinate system for the vehicle body are:
in the formula Fx、y、zFor the resultant forces of the body in the vehicle coordinate system in the directions of the x, y and z axes, MsAnd miAnd (i ═ 1,2,3 and 4) are the body mass and the wheel mass, wherein 1 and 2 represent the left front wheel and the right front wheel, and 3 and 4 represent the left rear wheel and the right rear wheel. a isxi、ayiLongitudinal and lateral acceleration of the ith wheel, ax、y、zAcceleration of the vehicle body along the directions of x, y and z axes;
the moment of inertia for the vehicle body in the vehicle coordinate system is:
in the formula Mx、y、zThe resultant moment of the vehicle body around the x, y and z axes in the vehicle coordinate system, aziVertical acceleration of the ith wheel, angular speeds of the vehicle body around the x, y and z axes, and xw、yw、zwRepresenting the coordinates of the wheel center in the vehicle coordinate system, Ixx、Iyy、IzzRepresenting the moment of inertia of the body about the x, y, z axes.
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