CN116383972B - Suspension system rigidity curve structure design method and device - Google Patents
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Abstract
The application discloses a design method and a device for a rigidity curve structure of a suspension system, which mainly achieve the aim of isolating excitation of a power assembly from being transmitted into a vehicle through the nonlinear rigidity of the suspension system by mainly determining the rigidity curve of a linear section of the suspension system, the rigidity curve of a nonlinear transition Duan Jing, the rigidity curve of a nonlinear limit static section, the rigidity curve structure of a linear Duan Jing, the rigidity curve function structure of a transition Duan Jing and the rigidity function structure of the nonlinear limit section of the suspension system and designing related parameters of the rigidity curve structure of the nonlinear limit section of the suspension system.
Description
Technical Field
The application relates to the field of vibration and Noise (NVH) control, in particular to a method and a device for designing a rigidity curve structure of a suspension system.
Background
Automobiles are an indispensable part of life of people, with the development of society and the progress of technology, people have higher and higher requirements on life quality, and NVH performance is a key consideration when consumers buy automobiles. Factors that generally affect vehicle NVH performance can be broken down into sources, paths, and response points. The main source is a power assembly system for providing power for the vehicle, and the power assembly provides excitation for vibration response points in the vehicle while providing power for the running of the vehicle, and the excitation is transmitted into the vehicle through the vehicle body or the vehicle frame, so that vibration and noise in a cab are caused; therefore, how to isolate or reduce the excitation of the powertrain is an important means of controlling the NVH of the whole vehicle.
The suspension system is a main system for isolating the vibration from the automobile power assembly to the whole automobile, the NVH performance of the whole automobile is directly determined by the design advantages and disadvantages of the suspension system, the nonlinear stiffness design of the suspension system is the most important content of the suspension system design, and the nonlinear stiffness curve design method of the suspension system is lacked in the prior art, so that the purposes of isolating or reducing the excitation of the power assembly to be transmitted into the automobile and reducing the vibration and noise in a cab are achieved.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a suspension system rigidity curve construction design method.
A suspension system stiffness curve construction design method according to an embodiment of the first aspect of the application, which is applied to an automotive powertrain suspension system, includes,
the design method of the rigidity curve structure of the suspension system is applied to the suspension system of the power assembly of the automobile, and comprises the following steps of,
step S1: determining the static stiffness curve composition of a suspension system of the automobile power assembly, establishing a local coordinate system of the suspension system, wherein the static stiffness curve in each direction based on the established local coordinate system of the suspension system consists of five sections, including a negative nonlinear limit section, a negative nonlinear transition section, a linear section, a positive nonlinear transition section and a positive nonlinear limit section;
step S2: determining a linear section static stiffness curve of the suspension system;
step S3: determining a positive nonlinear transition Duan Jing stiffness curve of the suspension system;
step S4: determining a static stiffness curve of a positive nonlinear limit section of the suspension system;
step S5: determining a negative nonlinear transition Duan Jing stiffness curve of the suspension system;
step S6: determining a static stiffness curve of a negative nonlinear limit section of the suspension system;
step S7: completing the structural design process of the rigidity curve of the suspension system;
step S2 is specifically to input initial values of static stiffness of a linear section of the suspension system into algorithm software, calculate a stiffness value, wherein the stiffness value is dynamic stiffness of the suspension system, and convert the dynamic stiffness into the static stiffness of the linear section of a static stiffness curve of the suspension system by selecting dynamic stiffness ratio of the suspension system, so as to construct the static stiffness curve of the linear section of the suspension system as follows:
wherein k (x) is a linear section static stiffness curve function, k0 is a linear section static stiffness value, x is a stiffness curve independent variable,x +0 representing the maximum displacement of the linear segment on the positive displacement side,x -0 maximum displacement of the linear segment on the negative displacement side is shown;
step S3 determines that the positive non-linear transition Duan Jing stiffness curve of the suspension system is in particular,
the constraint condition of the positive nonlinear transition Duan Jing stiffness curve is established: the positive nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 The stiffness value of (2) is equal to the linear Duan Jing stiffness valuek 0 The method comprises the steps of carrying out a first treatment on the surface of the The positive nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 Is the first derivative of (2)k 0 ’ =0; maximum displacement of the stiffness curve function of the positive non-linear transition Duan Jing in the stiffness curve of the positive non-linear transition Duan Jingx +1 Static stiffness value of (2)Can be arbitrarily set, namely:
；
wherein k1 (x) represents a positive nonlinear transition Duan Jing stiffness curve function, k' represents a first derivative of the positive nonlinear transition Duan Jing stiffness curve function k1 (x), x +0 Representing the positive displacement side maximum displacement of the linear Duan Jing stiffness curve;
based on the constraint conditions, constructing a positive nonlinear transition Duan Jing stiffness curve, selecting a quadratic function to construct a positive nonlinear transition Duan Jing stiffness curve, and allowing a stiffness value of a stiffness curve end point of the positive nonlinear transition Duan Jing to be specified, so that the stiffness rising trend of the stiffness curve of the positive nonlinear transition Duan Jing is ensured to be gentle, and meanwhile, the maximum stiffness of the stiffness curve of the positive nonlinear transition Duan Jing can be controlled according to standard requirements;
assuming that the maximum displacement of the stiffness curve of the positive nonlinear transition Duan Jing isx +1 Stiffness value of maximum displacement point of positive nonlinear transition Duan Jing stiffness curveThe basic form of constructing the stiffness function of the positive nonlinear transition Duan Jing is as follows:
wherein k1 (x) is a positive nonlinear transition Duan Jing stiffness function, a1 is a positive nonlinear transition Duan Jing stiffness function quadratic term coefficient, b1 is a positive nonlinear transition Duan Jing stiffness function quadratic term coefficient, c1 is a positive nonlinear transition Duan Jing stiffness function constant term, x is a stiffness curve independent variable, x +0 Represents the maximum displacement of the positive displacement side of the linear Duan Jing stiffness curve, x +1 Representing the maximum displacement of the stiffness curve of the positive non-linear transition Duan Jing, k1' (x) is the first derivative of the stiffness function of the positive non-linear transition Duan Jing;
and (3) making:
wherein ,e1 A vector matrix of stiffness function parameters for a positive nonlinear transition Duan Jing;
wherein ,representing a positive nonlinear transition Duan Jing stiffness function variable matrix, x +0 Represents the maximum displacement of the positive displacement side of the linear Duan Jing stiffness curve, x +0 2 Represents the square of the maximum displacement on the positive displacement side of the linear Duan Jing stiffness curve, x +1 Representing the maximum displacement of the stiffness curve of the positive nonlinear transition Duan Jing;
from the constraint conditions, it can be derived:
wherein e1 A vector matrix of parameters of the stiffness curve function of the positive nonlinear transition Duan Jing,represents a positive nonlinear transition Duan Jing stiffness function variable matrix, k0 is a linear segment static stiffness value,/->The static stiffness value of the positive nonlinear transition section at the maximum displacement point is obtained;
solving to obtain:
the positive nonlinear transition Duan Jing stiffness curve function is:
the first derivative of the positive nonlinear transition Duan Jing stiffness curve end point stiffness curve is determined by the derivative of the transition function:
wherein k1' (x) +1 ) The first derivative of the stiffness curve function that is a positive nonlinear transition Duan Jing;
step S4, determining a positive nonlinear limit section static stiffness curve of the suspension system to be specific,
and (3) establishing constraint conditions of the static stiffness curve of the positive nonlinear limit section: the function of the static stiffness curve of the positive nonlinear limit section must be a monotonically increasing function in the limit section range; the steepness of the static stiffness curve function of the positive nonlinear limit section is adjusted in a sufficient range;
based on the constraint conditions, constructing a positive nonlinear limit section static stiffness curve, thereby meeting the requirements of steep rising trend of different limit design control functions, and selecting a high-order function with the power of the power as the positive nonlinear limit section static stiffness curve function:
wherein k2 (x) is a positive nonlinear limit section static stiffness curve function, x is a positive nonlinear limit section static stiffness curve independent variable, a 2 Is the index parameter of the static stiffness curve function of the positive nonlinear limit section, b 2 Is a positive nonlinear limit section static stiffness curve function constant term, x +1 Representing the maximum displacement, x, of the stiffness curve of the positive nonlinear transition Duan Jing +2 Representing the maximum displacement of static stiffness curve of positive nonlinear limit section, n + Is a positive non-lineThe exponentiation of the exponential function of the static stiffness curve of the sex-limiting section is realized by adjusting n + The steep degree of the static stiffness curve function of the positive nonlinear limit section is adjusted;
and (3) making:
wherein ,e2 The parameter vector matrix is a positive nonlinear limit section static stiffness curve function parameter vector matrix;
wherein ,is a positive nonlinear limit section static stiffness curve function variable matrix, x 1 Representing the maximum displacement, n, of the stiffness curve of the positive nonlinear transition Duan Jing + Is the power of the exponential function of the static stiffness curve of the positive nonlinear limit section;
from the constraint conditions, it can be derived:
solving to obtain:
therefore, the positive nonlinear limit section static stiffness curve function is:
；
step S5 determines that the negative nonlinear transition Duan Jing stiffness curve of the suspension system is specifically,
establishing a constraint condition of a negative nonlinear transition Duan Jing stiffness curve of the suspension system: the negative nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 The stiffness value of (2) is equal to the linear Duan Jing stiffness valuek 0 The method comprises the steps of carrying out a first treatment on the surface of the The negative nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 Is the first derivative of (2)k 0 ’ =0; displacement of negative nonlinear transition Duan Jing stiffness curve end pointx -1 The stiffness curve function of the negative nonlinear transition Duan Jing can be arbitrarily set at the maximum displacement pointx 1 The static stiffness value k (x) -1 ) Can be arbitrarily set, namely:
；
wherein ,k- 1 (x) represents a negative nonlinear transition Duan Jing stiffness curve function, k - ' represents a negative nonlinear transition Duan Jing stiffness curve function k - 1 (x), x -0 Representing the linear Duan Jing stiffness curve negative displacement side maximum displacement;
based on the constraint conditions, constructing a negative nonlinear transition Duan Jing stiffness curve, selecting a quadratic function to construct a negative nonlinear transition Duan Jing stiffness curve, and allowing the stiffness value of the end point of the negative nonlinear transition Duan Jing stiffness curve to be specified, so that the stiffness decreasing trend and the slow speed of the negative nonlinear transition Duan Jing stiffness curve are ensured, and meanwhile, the maximum stiffness of the negative nonlinear transition Duan Jing stiffness curve can be controlled according to standard requirements;
assuming that the maximum displacement of the negative nonlinear transition Duan Jing stiffness curve design is x -1 Static stiffness k (x) of negative nonlinear transition Duan Jing stiffness curve function at maximum displacement point -1 ) The basic form of the function that constructs the negative nonlinear transition Duan Jing stiffness curve is as follows:
wherein ,k- 1 (x) is a negative nonlinear transition Duan Jing stiffness function, a 3 A quadratic term coefficient of a stiffness function of the negative nonlinear transition Duan Jing, b 3 Coefficient of the first order term of the stiffness function of the negative nonlinear transition Duan Jing, c 3 Is a constant term of a stiffness function of the negative nonlinear transition Duan Jing, x -0 Represents the maximum displacement of the negative displacement side of the linear Duan Jing stiffness curve, x -1 Representing the maximum displacement, k, of the stiffness curve of the negative nonlinear transition Duan Jing - 1' (x) is the first derivative of the stiffness function of the negative nonlinear transition Duan Jing;
and (3) making:
wherein ,e3 A vector matrix of stiffness function parameters for the negative nonlinear transition Duan Jing;
wherein ,representing a matrix of stiffness function variables, x, of a negative nonlinear transition Duan Jing -0 Represents the maximum displacement of the negative displacement side of the linear Duan Jing stiffness curve, x -0 2 Represents the square of the maximum displacement on the negative displacement side of the linear Duan Jing stiffness curve, x -1 Representing the maximum displacement of the negative nonlinear transition Duan Jing stiffness curve;
from the constraint conditions, it can be derived:
wherein e3 Is a vector matrix of the stiffness curve function parameters of the negative nonlinear transition Duan Jing,representing a negative nonlinear transition sectionStatic stiffness function variable matrix, k 0 Is the static stiffness value of the linear segment, k (x -1 ) The static stiffness of the negative nonlinear transition Duan Jing stiffness curve function at the maximum displacement point;
solving to obtain:
the negative nonlinear transition Duan Jing stiffness curve function is:
the first derivative of the negative nonlinear transition Duan Jing stiffness curve end point stiffness curve is determined by the derivative of the transition function:
wherein , k- 1'（x -1 ) The first derivative of the stiffness curve function that is a negative nonlinear transition Duan Jing;
step S6, determining that the static stiffness curve of the negative nonlinear limit section of the suspension system is specifically,
establishing constraint conditions of a static stiffness curve of the negative nonlinear limit section: the function of the static stiffness curve of the negative nonlinear limit section must be a monotonically increasing function in the limit section range; maximum displacement point of static stiffness curve of negative nonlinear limit sectionx- 2 Needs to be large enough;
based on the constraint conditions, constructing a static stiffness curve of the negative nonlinear limit section, thereby meeting the requirements of steep rising trend of different limit design control functions, and selecting a high-order function with the power of the power as the static stiffness curve function of the negative nonlinear limit section:
wherein ,k- 2 (x) is a static stiffness curve function of the negative nonlinear limit section, a 4 Is the index parameter of the static stiffness curve function of the negative nonlinear limit section, b 4 Is a constant term, x of a static stiffness curve function of a negative nonlinear limit section -1 Representing the maximum displacement, x, of the stiffness curve of the negative nonlinear transition Duan Jing -2 Represents the maximum displacement of the static stiffness curve of the negative nonlinear limit section,n - is the power of the exponential function of the static stiffness curve of the negative nonlinear limit section, and is adjusted by adjustingn - The steepness of the static stiffness curve function of the negative nonlinear limit section can be effectively adjusted;
and (3) making:
wherein ,e4 The static stiffness curve function parameter vector matrix is a negative nonlinear limit section;
wherein ,variable matrix, x of static stiffness curve function of negative nonlinear limit section -2 Representing the maximum displacement, n, of the stiffness curve of the negative nonlinear transition Duan Jing - Is the power of the exponential function of the static stiffness curve of the negative nonlinear limit section;
according to the constraint conditions, the following can be obtained:
solving to obtain:
therefore, the static stiffness curve function of the negative nonlinear limit section is:
。
according to the method for designing the rigidity curve structure of the suspension system, the static rigidity curve of the linear section of the suspension system of the automobile is determined through the weight, arrangement and related motion parameters of the automobile, then the rigidity curve of the nonlinear transition Duan Jing and the rigidity curve of the nonlinear limit static section are calculated according to constraint conditions, so that the process of the method for designing the rigidity curve structure of the suspension system is completed, vibration and noise caused by the suspension system of the automobile power assembly can be effectively reduced, and the dynamic rigidity value calculated by algorithm software can be more accurate according to the static rigidity value converted by proportion.
The constraint condition is set for avoiding that the suspension rigidity is changed too much due to too much motion of the power assembly under loading working conditions of acceleration of the full accelerator of the whole vehicle II and III gears, about 1g in the lateral direction, about 1g in the longitudinal direction and the like, so that discontinuous feeling or abrupt change of noise and vibration in the vehicle is caused.
According to some embodiments of the application, steps S3 and S4 and steps S5 and S6 are not in sequential order.
According to some embodiments of the application, the algorithm software is one of Matlab, adams, hyperstudy, nastran.
A suspension system stiffness curve construction design apparatus according to an embodiment of the second aspect of the present application includes:
the data acquisition module is used for acquiring the parameters of the automobile power assembly and the rigidity value of the suspension system;
and the model building module is used for building a stiffness curve of the suspension system according to the vehicle state parameters and the stiffness curve data.
And the curve construction module is used for constructing a required negative nonlinear limit section static stiffness curve, a negative nonlinear transition Duan Jing stiffness curve, a linear Duan Jing stiffness curve, a positive nonlinear transition Duan Jing stiffness curve and a positive nonlinear limit section static stiffness curve of the suspension system by using data of the model construction module.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed 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 application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a suspension stiffness curve design;
FIG. 2 is a schematic illustration of a suspension system design location point;
FIG. 3 is a graph of suspension force versus displacement;
FIG. 4 is a graph of suspension stiffness versus displacement;
FIG. 5 illustrates the corresponding operating conditions of the suspension system in different positions;
fig. 6 is a graph of the stiffness of the suspension system as designed.
Detailed Description
The following detailed description of embodiments of the application, with reference to the accompanying drawings, is illustrative of the embodiments described herein, and it is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 3 and 4, a method for designing a stiffness curve structure of a suspension system is disclosed, wherein the stiffness of the suspension system is simplified into the stiffness of a local coordinate system in three directions, the definition of the local coordinate system is shown in fig. 1, and the X direction is determined according to the right-hand rule. The static stiffness curve of the suspension system in each direction of the local coordinate system is generally composed of five sections, namely a negative nonlinear limit section, a negative nonlinear transition section, a linear section, a positive nonlinear transition section and a positive nonlinear limit section.
Referring to fig. 2, initial value determination of static stiffness of a linear section of the suspension system is related to weight, arrangement and movement of a power assembly, and a specific determination method is described in an example. After the initial value is determined, the optimal stiffness value is further calculated by using commercial software such as Matlab, adams, hyperstudy, nastran and the like with embedded optimization algorithm and taking decoupling rate and rigid mode frequency as optimization targets and constraint conditions, the optimal stiffness value is the dynamic stiffness of the suspension system, and the dynamic stiffness is converted into the linear section static stiffness of the static stiffness curve of the suspension system by selecting a proper dynamic stiffness ratio (generally 1.4 or 1.5 in the initial design) of the suspension system. The maximum displacement x0 of the linear segment must allow for arbitrary adjustment.
The stiffness curve of the nonlinear transition section is a region in which the stiffness value of the suspension system is converted from a linear section to a nonlinear limit section, so that in order to avoid the situation that the suspension system is excessively changed due to excessive motion of the power assembly under loading working conditions of about 1g in the lateral direction, about 1g in the longitudinal direction and the like when the whole vehicle is accelerated at the II-speed and III-speed full throttle, and thus, the noise and vibration in the vehicle are discontinuously felt or suddenly changed. At this time, the suspension system stiffness is required to be smooth when the linear section and the nonlinear transition section are designed, and the stiffness value of the nonlinear transition section can be changed along with the design end point change of the nonlinear transition section. From the above requirements, the following design constraints can be derived: the stiffness value of the nonlinear transition section function at the starting point x0 is equal to the linear Duan Jing stiffness value k0; the first derivative k0' =0 of the nonlinear transition section function at the start point x 0; the displacement x1 of the nonlinear transition section end point can be set arbitrarily; the static stiffness value kx1 of the nonlinear transition section function at the end point x1 can be set arbitrarily as required,
and in the 28-load working condition in the GMW14116 specification, the suspension system has a limiting effect on the power assembly under the acceleration conditions of 11g of forward and backward movement, 5g of vertical direction and 3g of lateral direction of the power assembly under the limiting working condition. At this time, the rigidity of the suspension system should rise sharply with the increase of the displacement of the power assembly, so as to prevent the interference and collision between the power assembly and the boundary parts. Theoretically, at the limit point x2, the stiffness should tend to infinity. The rubber suspension system design is generally considered to be limited when the rubber compression reaches 70%, and the limit is taken as the design position of the x2 point. In practice, the rubber stiffness cannot reach infinity at this point, so that in the practical static stiffness curve design, the stiffness at the x2 point is large enough to meet the design requirement. From the point of view of constructing the nonlinear limit section curve, it is required that the steepness of the nonlinear limit section function can be adjusted in a sufficient range to control the characteristics of the nonlinear limit section. The range of the nonlinear limit section corresponds to the size of the limit rubber block to a certain extent. Furthermore, the function of the nonlinear limit section must be a monotonically increasing function over the nonlinear limit section. The same holds true for hydraulic suspension systems.
Considering the requirement of the linearity of the vibration and noise change in the vehicle when the power assembly is loaded and unloaded, the nonlinear limit section function also needs to meet the continuity of the initial point, namely the static stiffness value at the initial point x1 (namely the nonlinear transition section end point) is continuous, and meanwhile, the first derivative of the stiffness is continuous. According to different designs of the motion constraint size of the power assembly and the size of the suspension system, the maximum position x2 of the nonlinear limit section is required to be set arbitrarily.
Static stiffness curve construction of the linear section:
where x+0 represents the maximum displacement of the positive displacement side linear segment.
Description: depending on the local coordinate system direction definition, the positive displacement on the displacement side may be either a compressive displacement or a tensile displacement for different suspension systems.
According to the requirements of the rigidity characteristics of the nonlinear transition section, a quadratic function is selected to construct a rigidity curve of the positive nonlinear transition Duan Jing, and the rigidity value of the end point of the positive nonlinear transition section is allowed to be specified, so that the rigidity rising trend of the positive nonlinear transition section is ensured to be mild, and meanwhile, the maximum rigidity of the positive nonlinear transition section can be controlled according to the requirements of different design standards. Assuming that the maximum displacement of the stiffness curve of the positive nonlinear transition Duan Jing is the displacement of the transition end pointx 1 Stiffness value of maximum displacement point of positive nonlinear transition Duan Jing stiffness curveThe basic form of constructing the stiffness function of the positive nonlinear transition Duan Jing is as follows:
wherein k1 (x) is a positive nonlinear transition Duan Jing stiffness function, a1 is a positive nonlinear transition Duan Jing stiffness function quadratic term coefficient, b1 is a positive nonlinear transition Duan Jing stiffness function quadratic term coefficient, c1 is a positive nonlinear transition Duan Jing stiffness function constant term, x +0 Represents the maximum displacement of the positive displacement side of the linear Duan Jing stiffness curve, x 1 Representing the most significant of the stiffness curves of the positive nonlinear transition Duan JingLarge displacement, k1' (x) is the first derivative of the stiffness function of the positive nonlinear transition Duan Jing;
and (3) making:
wherein ,e1 A vector matrix of stiffness function parameters for a positive nonlinear transition Duan Jing;
wherein ,representing a positive nonlinear transition Duan Jing stiffness function variable matrix, x +0 Represents the maximum displacement of the positive displacement side of the linear Duan Jing stiffness curve, x +0 2 Represents the square of the maximum displacement on the positive displacement side of the linear Duan Jing stiffness curve, x +1 Representing the maximum displacement of the stiffness curve of the positive nonlinear transition Duan Jing;
from the constraint conditions, it can be derived:
wherein e1 A vector matrix of parameters of the stiffness curve function of the positive nonlinear transition Duan Jing,represents a positive nonlinear transition Duan Jing stiffness function variable matrix, k0 is a linear segment static stiffness value,/->The static stiffness value of the positive nonlinear transition section at the maximum displacement point is obtained;
solving to obtain:
the positive nonlinear transition Duan Jing stiffness curve function is:
similarly, the negative nonlinear transition section stiffness curve is:
。
according to the requirements of the nonlinear limit section function, the abrupt change characteristic of the nonlinear limit section curve is matched with the characteristic of the monotonically increasing exponential function. However, the ascending trend of the exponential function is inconvenient to control, considering that the rigidity is infinite when the appointed nonlinear limit section end point does not need to reach the limit position in the actual engineering, from the requirement of meeting the ascending trend steepness of different limit design control functions, considering that the high-order function with adjustable power is selected as the nonlinear limit section rigidity curve function, the method is more suitable:
wherein k2 (x) is a positive nonlinear limit section static stiffness curve function, x is a positive nonlinear limit section static stiffness curve independent variable, a 2 Is the index parameter of the static stiffness curve function of the positive nonlinear limit section, b 2 Is a positive nonlinear limit section static stiffness curve function constant term, x +1 Representing the maximum displacement, x, of the stiffness curve of the positive nonlinear transition Duan Jing +2 Representing the maximum displacement of static stiffness curve of positive nonlinear limit section, n + Is the power of the exponential function of the static stiffness curve of the positive nonlinear limit section, and is realized by adjusting n + The steep degree of the static stiffness curve function of the positive nonlinear limit section is adjusted;
and (3) making:
wherein ,e2 The parameter vector matrix is a positive nonlinear limit section static stiffness curve function parameter vector matrix;
wherein ,is a positive nonlinear limit section static stiffness curve function variable matrix, x 1 Representing the maximum displacement, n, of the stiffness curve of the positive nonlinear transition Duan Jing + Is the power of the exponential function of the static stiffness curve of the positive nonlinear limit section;
from the constraint conditions, it can be derived:
solving to obtain:
therefore, the positive nonlinear limit section static stiffness curve function is:
；
the static stiffness curve of the negative nonlinear limit section of the suspension system can be obtained by the same method:。
example 2
Referring to fig. 1, 5 and 6, in a method for designing a nonlinear stiffness curve of a suspension system, before the stiffness of the linear Duan Jing is finally determined, the position, the rotation angle and the stiffness value of the suspension system are optimized by software, and the static stiffness value of the linear section of the suspension system is finally determined. After the rigidity value of the linear Duan Jing is determined, loading the corresponding working condition load of the linear section in simulation software, calculating the active displacement of the suspension system of the power assembly, decomposing the active displacement into three directions of XYZ of a local coordinate system, and taking up 10% of the maximum calculated value as the end point coordinate of the linear section (which can be adjusted according to the actual engineering requirement), namely the starting point x0 of the nonlinear transition section. And determining the length of the nonlinear transition section according to engineering experience, inputting the load of a critical working condition in simulation software to calculate the branch counter force of the suspension system, reversely pushing out critical stiffness k (x 1) by the branch counter force, calculating the curve coefficients a1, b1 and c1 of the nonlinear transition section according to the conditions, and fitting the curve. And (3) pushing out a stiffness curve taking the displacement x of the suspension system as an independent variable through the end position x1 and the stiffness k (x 1) of the nonlinear transition section, and then regulating the value of n through the limiting of the power assembly position and the movement of the limiting working condition, so as to deduce the stiffness curve of the nonlinear limiting section.
Taking an X-direction suspension system of a left suspension system of a certain pick-up as an example:
1. and finally confirming the X-direction linear Duan Jing rigidity k0=96.43N/mm of the left suspension system (obtained by dynamic rigidity/dynamic and static ratio of the suspension system) after the front-stage optimization, inputting the static rigidity value into a dynamic simulation model, loading the corresponding working conditions in the figure 5, and calculating to obtain the maximum displacement of the driving end of the suspension system in the positive direction of 6.33mm, taking 10% upwards, and the displacement value of about 7mm, namely x0=7.
2. According to the previous test and design experience, the length of the nonlinear transition section is generally 3-6mm (the curve length can be adjusted arbitrarily, and a large amount of experience proves that the direction of 3-6mm is the optimal length), and the nonlinear transition section length is 3mm, namely x1=7+3=10 mm.
3. When the front 2g acceleration working condition is oriented, the rigidity of the suspension system is critical rigidity, the X-direction stress F of the left suspension system is 1486N through load calculation in simulation software, and at the moment(the inclination angle of the power assembly around the Y axis is 6.13 degrees, the mass of the power assembly is 360Kg, G is the counter force of the self weight of the power assembly in the X axis direction), and the nonlinear transition section curve is approximately regarded as oneAnd a trapezoid, k (x 1) ≡500N/mm at x1=10 mm can be obtained.
4. The combination of 1, 2 and 3 can calculate that the curve coefficients of the nonlinear transition section in the positive direction are a1=44.8, b1= -627.8 and c1= 2293.7 respectively, so that the stiffness curve function of the nonlinear transition section in the positive direction is as follows:
5. the forward nonlinear limit section function can be obtained according to the formulas in 4 and 1-4 as follows:
wherein n is a positive real number which can be adjusted at will, the function taking x as an independent variable is input in Matlab or other data processing software, and the value of n is adjusted so that the nonlinear limit section curve is steep enough and the arrangement of the power assembly is satisfied. In this example, n=9.3 is arbitrarily taken, and the curve equation of the positive direction nonlinear limit section can be obtained as follows:
the suspension stiffness curve in the positive X direction is:
6. according to different parameters, the steps 1-5 are repeated to design a negative direction nonlinear curve, and the negative direction nonlinear curve is shown in fig. 5.
7. And (3) according to different parameters, repeating the steps 1-6 to design nonlinear curves of other suspension systems, and obtaining a complete nonlinear stiffness curve of the automobile suspension system.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the application.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means 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 application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
It will be apparent that the described embodiments are only some, but not all, embodiments of the application. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application for the embodiment. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A method for designing a rigidity curve structure of a suspension system is characterized in that the method is applied to the suspension system of an automobile power assembly and comprises the following steps of,
step S1: determining the static stiffness curve composition of a suspension system of the automobile power assembly, establishing a local coordinate system of the suspension system, wherein the static stiffness curve in each direction based on the established local coordinate system of the suspension system consists of five sections, including a negative nonlinear limit section, a negative nonlinear transition section, a linear section, a positive nonlinear transition section and a positive nonlinear limit section;
step S2: determining a linear section static stiffness curve of the suspension system;
step S3: determining a positive nonlinear transition Duan Jing stiffness curve of the suspension system;
step S4: determining a static stiffness curve of a positive nonlinear limit section of the suspension system;
step S5: determining a negative nonlinear transition Duan Jing stiffness curve of the suspension system;
step S6: determining a static stiffness curve of a negative nonlinear limit section of the suspension system;
step S7: completing the structural design process of the rigidity curve of the suspension system;
step S2 is specifically to input initial values of static stiffness of a linear section of the suspension system into algorithm software, calculate a stiffness value, wherein the stiffness value is dynamic stiffness of the suspension system, and convert the dynamic stiffness into the static stiffness of the linear section of a static stiffness curve of the suspension system by selecting dynamic stiffness ratio of the suspension system, so as to construct the static stiffness curve of the linear section of the suspension system as follows:
wherein k (x) is a linear section static stiffness curve function, k0 is a linear section static stiffness value, x is a stiffness curve independent variable,x +0 representing the maximum displacement of the linear segment on the positive displacement side,x -0 maximum displacement of the linear segment on the negative displacement side is shown;
step S3 determines that the positive non-linear transition Duan Jing stiffness curve of the suspension system is in particular,
the constraint condition of the positive nonlinear transition Duan Jing stiffness curve is established: the positive nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 The stiffness value of (2) is equal to the linear Duan Jing stiffness valuek 0 The method comprises the steps of carrying out a first treatment on the surface of the The positive nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 Is the first derivative of (2)k 0 ’ =0; maximum displacement of the stiffness curve function of the positive non-linear transition Duan Jing in the stiffness curve of the positive non-linear transition Duan Jingx +1 Static stiffness value of (2)Can be arbitrarily set, namely:
；
wherein k1 (x) represents a positive nonlinear transition Duan Jing stiffness curve function, k' represents a first derivative of the positive nonlinear transition Duan Jing stiffness curve function k1 (x), x +0 Representing the positive displacement side maximum displacement of the linear Duan Jing stiffness curve;
based on the constraint conditions, constructing a positive nonlinear transition Duan Jing stiffness curve, selecting a quadratic function to construct a positive nonlinear transition Duan Jing stiffness curve, and allowing a stiffness value of a stiffness curve end point of the positive nonlinear transition Duan Jing to be specified, so that the stiffness rising trend of the stiffness curve of the positive nonlinear transition Duan Jing is ensured to be gentle, and meanwhile, the maximum stiffness of the stiffness curve of the positive nonlinear transition Duan Jing can be controlled according to standard requirements;
assuming that the maximum displacement of the stiffness curve of the positive nonlinear transition Duan Jing isx +1 Stiffness value of maximum displacement point of positive nonlinear transition Duan Jing stiffness curveThe basic form of constructing the stiffness function of the positive nonlinear transition Duan Jing is as follows:
wherein k1 (x) is a positive nonlinear transition Duan Jing stiffness function, a1 is a positive nonlinear transition Duan Jing stiffness function quadratic term coefficient, b1 is a positive nonlinear transition Duan Jing stiffness function quadratic term coefficient, c1 is a positive nonlinear transition Duan Jing stiffness function constant term, x is a stiffness curve independent variable, x +0 Represents the maximum displacement of the positive displacement side of the linear Duan Jing stiffness curve, x +1 Representing the maximum displacement of the stiffness curve of the positive non-linear transition Duan Jing, k1' (x) is the first derivative of the stiffness function of the positive non-linear transition Duan Jing;
and (3) making:
wherein ,e1 A vector matrix of stiffness function parameters for a positive nonlinear transition Duan Jing;
wherein ,representing a positive nonlinear transition Duan Jing stiffness function variable matrix, x +0 Represents the maximum displacement of the positive displacement side of the linear Duan Jing stiffness curve, x +0 2 Represents the square of the maximum displacement on the positive displacement side of the linear Duan Jing stiffness curve, x +1 Representing the maximum displacement of the stiffness curve of the positive nonlinear transition Duan Jing;
from the constraint conditions, it can be derived:
wherein e1 A vector matrix of parameters of the stiffness curve function of the positive nonlinear transition Duan Jing,represents a positive nonlinear transition Duan Jing stiffness function variable matrix, k0 is a linear segment static stiffness value,/->The static stiffness value of the positive nonlinear transition section at the maximum displacement point is obtained;
solving to obtain:
the positive nonlinear transition Duan Jing stiffness curve function is:
the first derivative of the positive nonlinear transition Duan Jing stiffness curve end point stiffness curve is determined by the derivative of the transition function:
wherein k1' (x) +1 ) The first derivative of the stiffness curve function that is a positive nonlinear transition Duan Jing;
step S4, determining a positive nonlinear limit section static stiffness curve of the suspension system to be specific,
and (3) establishing constraint conditions of the static stiffness curve of the positive nonlinear limit section: the function of the static stiffness curve of the positive nonlinear limit section must be a monotonically increasing function in the limit section range; the steepness of the static stiffness curve function of the positive nonlinear limit section is adjusted in a sufficient range;
based on the constraint conditions, constructing a positive nonlinear limit section static stiffness curve, thereby meeting the requirements of steep rising trend of different limit design control functions, and selecting a high-order function with the power of the power as the positive nonlinear limit section static stiffness curve function:
wherein k2 (x) is a positive nonlinear limit section static stiffness curve function, x is a positive nonlinear limit section static stiffness curve independent variable, a 2 Is the index parameter of the static stiffness curve function of the positive nonlinear limit section, b 2 Is a positive nonlinear limit section static stiffness curve function constant term, x +1 Representing the maximum displacement, x, of the stiffness curve of the positive nonlinear transition Duan Jing +2 Representing the maximum displacement of static stiffness curve of positive nonlinear limit section, n + Is the power of the exponential function of the static stiffness curve of the positive nonlinear limit section, and is realized by adjusting n + The steep degree of the static stiffness curve function of the positive nonlinear limit section is adjusted;
and (3) making:
wherein ,e2 The parameter vector matrix is a positive nonlinear limit section static stiffness curve function parameter vector matrix;
wherein ,is positively nonlinearLimiting section static stiffness curve function variable matrix, x 1 Representing the maximum displacement, n, of the stiffness curve of the positive nonlinear transition Duan Jing + Is the power of the exponential function of the static stiffness curve of the positive nonlinear limit section;
from the constraint conditions, it can be derived:
solving to obtain:
therefore, the positive nonlinear limit section static stiffness curve function is:
；
step S5 determines that the negative nonlinear transition Duan Jing stiffness curve of the suspension system is specifically,
establishing a constraint condition of a negative nonlinear transition Duan Jing stiffness curve of the suspension system: the negative nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 The stiffness value of (2) is equal to the linear Duan Jing stiffness valuek 0 The method comprises the steps of carrying out a first treatment on the surface of the The negative nonlinear transition Duan Jing stiffness curve function is at the starting pointx 0 Is the first derivative of (2)k 0 ’ =0; displacement of negative nonlinear transition Duan Jing stiffness curve end pointx -1 The stiffness curve function of the negative nonlinear transition Duan Jing can be arbitrarily set at the maximum displacement pointx 1 The static stiffness value k (x) -1 ) Can be arbitrarily set, namely:
；
wherein ,k- 1 (x) represents a negative nonlinear transition Duan Jing stiffness curve function, k - ' represents a negative nonlinear transition Duan Jing stiffness curve function k - 1 (x), x -0 Representing the linear Duan Jing stiffness curve negative displacement side maximum displacement;
based on the constraint conditions, constructing a negative nonlinear transition Duan Jing stiffness curve, selecting a quadratic function to construct a negative nonlinear transition Duan Jing stiffness curve, and allowing the stiffness value of the end point of the negative nonlinear transition Duan Jing stiffness curve to be specified, so that the stiffness decreasing trend and the slow speed of the negative nonlinear transition Duan Jing stiffness curve are ensured, and meanwhile, the maximum stiffness of the negative nonlinear transition Duan Jing stiffness curve can be controlled according to standard requirements;
assuming that the maximum displacement of the negative nonlinear transition Duan Jing stiffness curve design is x -1 Static stiffness k (x) of negative nonlinear transition Duan Jing stiffness curve function at maximum displacement point -1 ) The basic form of the function that constructs the negative nonlinear transition Duan Jing stiffness curve is as follows:
wherein ,k- 1 (x) is a negative nonlinear transition Duan Jing stiffness function, a 3 A quadratic term coefficient of a stiffness function of the negative nonlinear transition Duan Jing, b 3 Coefficient of the first order term of the stiffness function of the negative nonlinear transition Duan Jing, c 3 Is a constant term of a stiffness function of the negative nonlinear transition Duan Jing, x -0 Represents the maximum displacement of the negative displacement side of the linear Duan Jing stiffness curve, x -1 Representing the maximum displacement, k, of the stiffness curve of the negative nonlinear transition Duan Jing - 1' (x) is the first derivative of the stiffness function of the negative nonlinear transition Duan Jing;
and (3) making:
wherein ,e3 A vector matrix of stiffness function parameters for the negative nonlinear transition Duan Jing;
wherein ,representing a matrix of stiffness function variables, x, of a negative nonlinear transition Duan Jing -0 Represents the maximum displacement of the negative displacement side of the linear Duan Jing stiffness curve, x -0 2 Represents the square of the maximum displacement on the negative displacement side of the linear Duan Jing stiffness curve, x -1 Representing the maximum displacement of the negative nonlinear transition Duan Jing stiffness curve;
from the constraint conditions, it can be derived:
wherein e3 Is a vector matrix of the stiffness curve function parameters of the negative nonlinear transition Duan Jing,representing a matrix of stiffness function variables, k, of a negative nonlinear transition Duan Jing 0 Is the static stiffness value of the linear segment, k (x -1 ) The static stiffness of the negative nonlinear transition Duan Jing stiffness curve function at the maximum displacement point;
solving to obtain:
the negative nonlinear transition Duan Jing stiffness curve function is:
the first derivative of the negative nonlinear transition Duan Jing stiffness curve end point stiffness curve is determined by the derivative of the transition function:
wherein , k- 1'（x -1 ) The first derivative of the stiffness curve function that is a negative nonlinear transition Duan Jing;
step S6, determining that the static stiffness curve of the negative nonlinear limit section of the suspension system is specifically,
establishing constraint conditions of a static stiffness curve of the negative nonlinear limit section: the function of the static stiffness curve of the negative nonlinear limit section must be a monotonically increasing function in the limit section range; maximum displacement point of static stiffness curve of negative nonlinear limit sectionx- 2 Needs to be large enough;
based on the constraint conditions, constructing a static stiffness curve of the negative nonlinear limit section, thereby meeting the requirements of steep rising trend of different limit design control functions, and selecting a high-order function with the power of the power as the static stiffness curve function of the negative nonlinear limit section:
wherein ,k- 2 (x) is a static stiffness curve function of the negative nonlinear limit section, a 4 Is the index parameter of the static stiffness curve function of the negative nonlinear limit section, b 4 Is a constant term, x of a static stiffness curve function of a negative nonlinear limit section -1 Representing the maximum displacement, x, of the stiffness curve of the negative nonlinear transition Duan Jing -2 Represents the maximum displacement of the static stiffness curve of the negative nonlinear limit section,n - is the power of the exponential function of the static stiffness curve of the negative nonlinear limit section, and is adjusted by adjustingn - The steepness of the static stiffness curve function of the negative nonlinear limit section can be effectively adjusted;
and (3) making:
wherein ,e4 The static stiffness curve function parameter vector matrix is a negative nonlinear limit section;
wherein ,variable matrix, x of static stiffness curve function of negative nonlinear limit section -2 Representing the maximum displacement, n, of the stiffness curve of the negative nonlinear transition Duan Jing - Is the power of the exponential function of the static stiffness curve of the negative nonlinear limit section;
according to the constraint conditions, the following can be obtained:
solving to obtain:
therefore, the static stiffness curve function of the negative nonlinear limit section is:
。
2. the method of claim 1, wherein steps S3 and S4 and steps S5 and S6 are not in sequential order.
3. The method of claim 1, wherein the initial value of the static stiffness of the linear segment of the suspension system is determined based on the weight of the vehicle powertrain, the placement of the suspension system, and the motion of the vehicle.
4. The suspension system stiffness curve construction design method according to claim 1, wherein the algorithm software is one of Matlab software, adams software, hyperstus software, nastran software.
5. A suspension system stiffness curve construction design apparatus according to the method of any of claims 1-4, comprising:
the data acquisition module is used for acquiring the parameters of the automobile power assembly and the rigidity value of the suspension system;
the model building module is used for building a stiffness curve of the suspension system according to the automobile power assembly parameters and the stiffness value of the suspension system;
and the curve construction module is used for constructing a required negative nonlinear limit section static stiffness curve, a negative nonlinear transition Duan Jing stiffness curve, a linear Duan Jing stiffness curve, a positive nonlinear transition Duan Jing stiffness curve and a positive nonlinear limit section static stiffness curve of the suspension system by using data of the model construction module.
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