CN114357619A - Suspension load simulation method and system based on multi-body dynamics - Google Patents
Suspension load simulation method and system based on multi-body dynamics Download PDFInfo
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- CN114357619A CN114357619A CN202111667433.9A CN202111667433A CN114357619A CN 114357619 A CN114357619 A CN 114357619A CN 202111667433 A CN202111667433 A CN 202111667433A CN 114357619 A CN114357619 A CN 114357619A
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Abstract
The invention relates to a suspension load simulation method and system based on multi-body dynamics, wherein the method comprises the following steps: defining each simulation working condition; establishing a power assembly template to establish a power assembly and suspension system model; establishing a driving system template to establish a driving system model; establishing a suspension system template to establish a suspension system model; building a tire pavement template to build a tire pavement model; building a vehicle body system template to build a vehicle body system model; establishing a main model file, and importing a power assembly model, a suspension system model, a driving system model, a suspension system model, a tire pavement model and a vehicle body system model into the main model file to establish a suspension load simulation model of a project to be simulated; and importing a program file of a required simulation working condition based on the suspension load simulation model, simulating and extracting result data. The invention can reduce or eliminate the problem that the existing suspension simulation method can not reflect the dynamic real load.
Description
Technical Field
The invention relates to automobile suspension load simulation, in particular to a suspension load simulation method and system based on multi-body dynamics.
Background
The suspension system is used as a connecting part of the power assembly and the frame, and the performance of the suspension system is directly related to the support reliability of the power assembly and the NVH performance of the whole vehicle. In the aspect of research on suspension performance, multi-body dynamics software modeling is mainly adopted at present, and the main modeling mode is to connect a power assembly to the ground through a suspension and then apply load.
The modeling method has the defects that the modeling method is only suitable for the assumed static load simulation and cannot reflect the real dynamic load generated by the interaction of the road surface and the tire and the dynamic load generated by a driving system; in addition, the existing modeling method generally models the project to be simulated independently, and the established model is only suitable for simulation analysis of the project to be simulated.
Disclosure of Invention
The invention aims to provide a suspension load simulation method and system based on multi-body dynamics, so as to solve or eliminate the problem that the suspension simulation method in the prior art cannot reflect dynamic real loads.
The invention relates to a suspension load simulation method based on multi-body dynamics, which is characterized in that the following steps are executed in three-dimensional simulation software:
s1, defining each simulation working condition and editing each simulation working condition into a program file;
s2, establishing a power assembly template, wherein the power assembly template comprises a power assembly modeling file, a power assembly design variable file, a suspension bushing modeling file and a suspension bushing design variable file, and establishing or setting the power assembly design variable file and the suspension bushing design variable file according to data of a project to be simulated to establish a power assembly and a suspension system model;
s3, establishing a driving system template, wherein the driving system template comprises a driving system modeling file and a driving system design variable file, and establishing or setting the driving system design variable file according to the data of the project to be simulated to establish a driving system model;
s4, establishing a suspension system template, wherein the suspension system template comprises a suspension system modeling file and a suspension system design variable file, and establishing or setting the suspension system design variable file according to data of a project to be simulated to establish a suspension system model;
s5, building a tire pavement template, wherein the tire pavement template comprises a tire pavement modeling file and a tire pavement design variable file, and the tire pavement design variable file is built or set according to data of a project to be simulated to build a tire pavement model;
s6, establishing a vehicle body system template, wherein the vehicle body system template comprises a vehicle body system modeling file and a vehicle body system design variable file, and establishing or setting the vehicle body system design variable file according to the data of the project to be simulated to establish a vehicle body system model;
s7, establishing a main model file, importing the power assembly and suspension system model built in S2, the driving system model built in S3, the suspension system model built in S4, the tire road surface model built in S5 and the vehicle body system model built in S6 into the main model file, and building a suspension load simulation model of a project to be simulated;
and S8, importing a program file of a required simulation working condition based on the suspension load simulation model built in the S7, simulating and extracting result data.
Further, the simulation conditions in S1 include a plurality of static load conditions and a plurality of dynamic load conditions.
Further, the three-dimensional simulation software is admas/view.
Further, S2 specifically is: establishing a power assembly design variable file, a suspension bushing design variable file, a power assembly modeling file and a suspension bushing modeling file; setting a power assembly design variable file and a suspension bushing design variable file according to data of a project to be simulated; the method comprises the steps of importing a set power assembly design variable file into a power assembly modeling file, establishing a power assembly entity, a power assembly coordinate system, a power assembly centroid coordinate system, a half shaft input end coordinate system, power assembly mass, power assembly geometry and power system external characteristic sample strip, importing a suspension bushing modeling file, importing a set suspension bushing design variable file into the suspension bushing modeling file, establishing a bushing six-component force according to design variables, and establishing a force and displacement test set to establish a power assembly model and a suspension system model.
Further, S3 specifically is: establishing a drive system design variable file, a drive system modeling file, a half shaft modeling file and a half shaft design variable file; setting a drive system design variable file and a half shaft design variable file according to data of a project to be simulated; the method comprises the steps of importing a set drive system design variable file into a drive system modeling file, establishing a hard point at an input end of a drive shaft, establishing an output shaft, establishing constraint between the output shaft and a power system, establishing output torque, establishing differential motion constraint between a left wheel and a right wheel, importing a set half shaft design variable file into a half shaft modeling file, establishing half shaft geometry and an entity, establishing constant-speed auxiliary constraint between the half shaft and a power assembly output shaft, establishing constant-speed auxiliary constraint between the half shaft and the wheels, establishing axial derivative force at a three-pin-shaft constant-speed universal joint, and establishing a drive system model.
Further, S4 specifically is: establishing a suspension system template, wherein the suspension system template comprises a suspension system modeling file and a suspension system design variable file, and setting the suspension system design variable file according to the data of the project to be simulated;
setting a suspension system design variable file according to the suspension KC characteristics, establishing the relative motion constraint of a horn or a steering knuckle and a vehicle body according to the KC characteristics, and transferring the suspension C characteristics to an auxiliary frame to establish a conceptual suspension system model;
or setting a suspension system design variable file according to the design parameters of a specific suspension, importing the set suspension system design variable file into a suspension system modeling file, and establishing a detailed suspension system model;
and when the stress of the suspension rod system does not need to be analyzed, selecting a conceptual suspension system model as the suspension system model, or selecting a detailed suspension system model as the suspension system model.
Further, S5 specifically is: and (3) establishing a PAC tire model according to the six-component test data of the tire, and using a flat road surface, wherein the road surface is fixedly placed at the position of the free radius of the tire below the wheel center.
The invention also provides a suspension load simulation system based on multi-body dynamics, which comprises the following components:
the working condition definition module is used for defining the load working condition;
the power assembly module is used for establishing a power assembly model;
the driving system module is used for establishing a driving system model;
the suspension system module is used for establishing a conceptual suspension system model and a detailed suspension system model;
the road tire module is used for establishing a tire road model;
the vehicle body module is used for establishing a vehicle body system model;
and the main control module is used for importing the required sub-models as required to establish a complete model.
The invention builds the complete vehicle dynamics simulation platform by building the templates of all models, can simulate almost all possible or assumed working conditions on the unified platform, can unify static load simulation and dynamic load simulation on the same model platform, can realize parameterization of the simulation platform, and can be suitable for various different vehicle type projects; the whole vehicle dynamics simulation platform established based on the invention can reflect the dynamics details of parts into a model, for example, the mechanical property of a tire can be accurately reflected, the transient dynamics response of suspension under the condition of skidding can be accurately reflected, the stress condition of the suspension can be visually observed in a graphical interface, the displacement relation between peripheral related parts such as a suspension power assembly, a suspension and the like can be completely displayed, and the suspension dynamic load under special working conditions such as skidding, braking acceleration and the like can be reflected; the dynamic load and the vehicle body vibration response generated by the factors such as the ground, the tire, the transmission shaft and the like can be accurately reflected.
Drawings
FIG. 1 is a flow chart of a suspension load simulation method based on multi-body dynamics as described in the examples;
FIG. 2 is a schematic illustration of a powertrain template described in an embodiment;
FIG. 3 is a schematic diagram of a suspension load simulation system based on multi-body dynamics as described in the examples;
FIG. 4 is a schematic diagram of a hill braking acceleration simulation performed by the suspension load simulation model according to the embodiment.
Detailed Description
The invention will be further explained with reference to the drawings.
The suspension load simulation method based on multi-body dynamics is characterized in that the following steps are executed in three-dimensional simulation software admas/view:
s1, defining each simulation working condition and editing each simulation working condition into a program file; the simulation working conditions comprise a plurality of static load working conditions and a plurality of dynamic load working conditions;
specifically, the method comprises the following steps: defining a plurality of static load working conditions, defining and editing the plurality of static load working conditions into a plurality of program files by using an admas/view secondary development language, defining the name of static load working condition loading, modifying the name of a model after importing the name of the static load working condition, creating force or moment acting on a power assembly, setting a simulation type as static simulation, setting simulation time and simulation step number, respectively compiling the working condition files according to different forces of the plurality of static load working conditions, and setting the static load working conditions, wherein the static load working conditions comprise that a vehicle body is fixed on the ground and a load is applied to the power assembly; in the static load working conditions, the vehicle body is fixed with the ground, the load is applied to the power assembly, and a tire road surface module can be omitted;
defining dynamic load working conditions including a 100-kilometer acceleration working condition, a ramp acceleration starting working condition and the like, editing a program file by using an admas/view secondary development language, setting a steering wheel to control PID (proportion integration differentiation) control so as to keep straight running, and importing a driving system including a half shaft, a constant velocity universal joint and the like. And for a hundred-kilometer acceleration working condition, introducing the external characteristics of the power system, and setting the driving torque according to the maximum accelerator. For the ramp acceleration working condition, decomposing the gravity acceleration according to a ramp, fixing wheels and sheep horns, and setting a driving torque according to the opening degree of a maximum accelerator or other accelerators; in dynamic load conditions, a road surface and tires are required.
S2, compiling a power assembly modeling file, a power assembly design variable file, a suspension bush modeling file and a suspension bush design variable file by using an admas/view secondary development language, wherein as shown in figure 2, a power assembly modeling file 1, a power assembly design variable file 2, a suspension bush modeling file 3 and a suspension bush design variable file 4 form a power assembly template, and establishing or setting the power assembly design variable file and the suspension bush design variable file according to power assembly design data of a project to be simulated to establish a power assembly and a suspension system model;
the specific process of establishing the power assembly and suspension system model comprises the following steps: the method comprises the steps of importing a set power assembly design variable file into a power assembly modeling file, establishing a power assembly entity, a power assembly coordinate system, a power assembly centroid coordinate system, a half shaft input end coordinate system, power assembly mass, power assembly geometry and power system external characteristic sample strip, importing a suspension bushing modeling file, importing a set suspension bushing design variable file into the suspension bushing modeling file, establishing a bushing six-component force according to design variables, and establishing a force and displacement test set to establish a power assembly model and a suspension system model.
S3, compiling a drive system modeling file, a drive system design variable file, a half shaft modeling file and a half shaft design variable file by using an admas/view secondary development language, wherein the drive system modeling file, the drive system design variable file, the half shaft modeling file and the half shaft design variable file form a drive system template, and establishing or setting the drive system design variable file and the half shaft design variable file according to drive system design data of a project to be simulated to establish a drive system model;
the specific process for establishing the driving system model comprises the following steps: the method comprises the steps of importing a set drive system design variable file into a drive system modeling file, establishing a hard point at an input end of a drive shaft, establishing an output shaft, establishing constraint between the output shaft and a power system, establishing output torque, establishing differential motion constraint between a left wheel and a right wheel, importing a set half shaft design variable file into a half shaft modeling file, establishing half shaft geometry and an entity, establishing constant-speed auxiliary constraint between a half shaft and a power assembly output shaft, establishing constant-speed auxiliary constraint between the half shaft and the wheels, and establishing axial derivative force at a three-pin-shaft constant-speed universal joint to establish a drive system model. And calculating the axial derivative force according to a spline obtained by fitting the included angle obtained by the three-pin-shaft monomer test and the axial derivative force data corresponding to the driving moment.
S4, establishing a suspension system template, wherein the suspension system template comprises a suspension system modeling file and a suspension system design variable file, and establishing or setting the suspension system design variable file according to data of a project to be simulated to establish a suspension system model; the suspension system model is divided into a conceptual suspension system model and a detailed suspension system model;
the specific establishing process of the conceptual suspension system model comprises the following steps: setting a suspension system design variable file according to suspension KC characteristic test data of a project to be simulated, establishing relative motion constraint between a horn or a steering knuckle and a vehicle body according to KC characteristics, and transferring the suspension C characteristics to an auxiliary frame to establish a conceptual suspension system model;
the detailed suspension system model is specifically established by the following steps: setting a suspension system design variable file according to the design parameters of the detailed suspension, importing the set suspension system design variable file into a suspension system modeling file, and establishing a detailed suspension system model; during specific implementation, common suspension templates such as a common Macpherson suspension template, a trailing arm independent suspension template, a five-connecting-rod independent suspension template and the like are respectively established, the connection relation between a suspension rod system and a horn and an auxiliary frame is established in the templates, design variables (hard point coordinates, rigidity, damping and the like) of a suspension are independently established to form a design variable file so as to realize parameterization, and then the design variable file is set according to data of a project to be simulated so as to establish a detailed suspension system model of a specific suspension.
And when the stress of the suspension rod system does not need to be analyzed, selecting a conceptual suspension system model as the suspension system model, or selecting a detailed suspension system model as the suspension system model.
S5, building a tire pavement template, wherein the tire pavement template comprises a tire pavement modeling file and a tire pavement design variable file, and the tire pavement design variable file is built or set according to data of a project to be simulated to build a tire pavement model;
the specific process for establishing the tire road surface model comprises the following steps: according to the tire test data of a project to be simulated, namely the six-component test data of the tire, setting a tire road surface design variable file, establishing a PAC tire model, using a flat road surface or other road surfaces, and placing and fixing the road surface position according to the free radius of the tire below the wheel center, wherein the longitudinal and smooth stiffness of the tire and the like should ensure enough precision so as to ensure the accuracy of dynamic simulation.
S6, establishing a vehicle body system template, wherein the vehicle body system template comprises a vehicle body system modeling file and a vehicle body system design variable file, and establishing or setting the vehicle body system design variable file according to vehicle body system design data of a project to be simulated to establish a vehicle body system model;
s7, establishing a main model file, importing the power assembly and suspension system model built in the S2, the driving system model built in the S3, the suspension system model built in the S4, the tire road surface model built in the S5 and the vehicle body system model built in the S6 into the main model file, and importing the main model file into an adams/view interface to create a suspension load simulation model of a project to be simulated;
and S8, importing a program file of a required simulation working condition based on the suspension load simulation model built in the S7, performing simulation, and extracting result data, wherein as shown in FIG. 4, the suspension load simulation model performs ramp braking acceleration simulation.
As shown in fig. 3, the present invention further provides a suspension load simulation system based on multi-body dynamics, which includes:
the working condition definition module is used for defining the load working condition;
the power assembly module is used for establishing a power assembly model;
the driving system module is used for establishing a driving system model;
the system comprises a suspension system module and a control module, wherein the suspension system module can be divided into a conceptual suspension system module and a detailed suspension system module, the conceptual suspension system module is used for establishing a conceptual suspension system model, and the detailed suspension system module is used for establishing a detailed suspension system model;
the road tire module is used for establishing a tire road model;
the vehicle body module is used for establishing a vehicle body system model;
the system comprises a main control module and a suspension load simulation module, wherein the main control module is used for importing required sub-models as required to establish a complete model, and in the embodiment, the main control module is used for importing a power assembly and suspension system model, a driving system model, a suspension system model, a tire road surface model and a vehicle body system model to establish a suspension load simulation model.
Claims (8)
1. A suspension load simulation method based on multi-body dynamics is characterized in that the following steps are executed in three-dimensional simulation software:
s1, defining each simulation working condition and editing each simulation working condition into a program file;
s2, establishing a power assembly template, wherein the power assembly template comprises a power assembly modeling file, a power assembly design variable file, a suspension bushing modeling file and a suspension bushing design variable file, and establishing or setting the power assembly design variable file and the suspension bushing design variable file according to data of a project to be simulated to establish a power assembly and a suspension system model;
s3, establishing a driving system template, wherein the driving system template comprises a driving system modeling file and a driving system design variable file, and establishing or setting the driving system design variable file according to the data of the project to be simulated to establish a driving system model;
s4, establishing a suspension system template, wherein the suspension system template comprises a suspension system modeling file and a suspension system design variable file, and establishing or setting the suspension system design variable file according to data of a project to be simulated to establish a suspension system model;
s5, building a tire pavement template, wherein the tire pavement template comprises a tire pavement modeling file and a tire pavement design variable file, and the tire pavement design variable file is built or set according to data of a project to be simulated to build a tire pavement model;
s6, establishing a vehicle body system template, wherein the vehicle body system template comprises a vehicle body system modeling file and a vehicle body system design variable file, and establishing or setting the vehicle body system design variable file according to the data of the project to be simulated to establish a vehicle body system model;
s7, establishing a main model file, importing the power assembly and suspension system model built in S2, the driving system model built in S3, the suspension system model built in S4, the tire road surface model built in S5 and the vehicle body system model built in S6 into the main model file, and building a suspension load simulation model of a project to be simulated;
and S8, importing a program file of a required simulation working condition based on the suspension load simulation model built in the S7, simulating and extracting result data.
2. The suspension load simulation method based on multi-body dynamics as claimed in claim 1, wherein the simulation conditions in S1 include a plurality of static load conditions and a plurality of dynamic load conditions.
3. The suspension load simulation method based on multi-body dynamics as claimed in claim 1, wherein the three-dimensional simulation software is admas/view.
4. The suspension load simulation method based on multi-body dynamics of claim 1, wherein S2 specifically comprises:
establishing a power assembly design variable file, a suspension bushing design variable file, a power assembly modeling file and a suspension bushing modeling file; setting a power assembly design variable file and a suspension bushing design variable file according to data of a project to be simulated; the method comprises the steps of importing a set power assembly design variable file into a power assembly modeling file, establishing a power assembly entity, a power assembly coordinate system, a power assembly centroid coordinate system, a half shaft input end coordinate system, power assembly mass, power assembly geometry and power system external characteristic sample strip, importing a suspension bushing modeling file, importing a set suspension bushing design variable file into the suspension bushing modeling file, establishing a bushing six-component force according to design variables, and establishing a force and displacement test set to establish a power assembly model and a suspension system model.
5. The suspension load simulation method based on multi-body dynamics of claim 1, wherein S3 specifically comprises:
establishing a drive system design variable file, a drive system modeling file, a half shaft modeling file and a half shaft design variable file; setting a drive system design variable file and a half shaft design variable file according to data of a project to be simulated; the method comprises the steps of importing a set drive system design variable file into a drive system modeling file, establishing a hard point at an input end of a drive shaft, establishing an output shaft, establishing constraint between the output shaft and a power system, establishing output torque, establishing differential motion constraint between a left wheel and a right wheel, importing a set half shaft design variable file into a half shaft modeling file, establishing half shaft geometry and an entity, establishing constant-speed auxiliary constraint between the half shaft and a power assembly output shaft, establishing constant-speed auxiliary constraint between the half shaft and the wheels, establishing axial derivative force at a three-pin-shaft constant-speed universal joint, and establishing a drive system model.
6. The suspension load simulation method based on multi-body dynamics of claim 1, wherein S4 specifically comprises:
establishing a suspension system template, wherein the suspension system template comprises a suspension system modeling file and a suspension system design variable file, and setting the suspension system design variable file according to the data of the project to be simulated;
setting a suspension system design variable file according to the suspension KC characteristics, establishing the relative motion constraint of a horn or a steering knuckle and a vehicle body according to the KC characteristics, and transferring the suspension C characteristics to an auxiliary frame to establish a conceptual suspension system model;
or setting a suspension system design variable file according to the design parameters of a specific suspension, importing the set suspension system design variable file into a suspension system modeling file, and establishing a detailed suspension system model;
and when the stress of the suspension rod system does not need to be analyzed, selecting a conceptual suspension system model as the suspension system model, or selecting a detailed suspension system model as the suspension system model.
7. The suspension load simulation method based on multi-body dynamics of claim 1, wherein S5 specifically comprises:
and (3) establishing a PAC tire model according to the six-component test data of the tire, and using a flat road surface, wherein the road surface is fixedly placed at the position of the free radius of the tire below the wheel center.
8. A suspension load simulation system based on multi-body dynamics is characterized by comprising:
the working condition definition module is used for defining the load working condition;
the power assembly module is used for establishing a power assembly model;
the driving system module is used for establishing a driving system model;
the suspension system module is used for establishing a conceptual suspension system model and a detailed suspension system model;
the road tire module is used for establishing a tire road model;
the vehicle body module is used for establishing a vehicle body system model;
and the main control module is used for importing the required sub-models as required to establish a complete model.
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