基于动力吸振原理的车辆ISD悬架动力学特性与实现方法研究
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摘要
车辆ISD悬架是一种由"Inerter(惯容器)-Spring(弹簧)-Damper(阻尼器)”组成的新型悬架的简称,该悬架以惯容器代替质量元件,改变了基于经典隔振理论的“质量-弹簧-阻尼器”传统悬架结构,解决了运用机电模拟理论研究传统悬架时,质量元件等效为电路元件必须作“接地”处理,从而造成机电元件对应关系不对称的问题。ISD悬架的出现为研究车辆悬架振动控制和隔振技术提供了新的思路和空间,同时也提出了一系列新的课题。因此,研究ISD悬架的动力学特性、拓扑结构设计方法及其应用于车辆的关键技术,具有重要的学术价值和工程指导意义。
本文主要研究新型机械元件惯容器以及基于动力吸振原理的ISD悬架设计的若干理论问题和关键技术。从惯容器的动力学特性、ISD悬架的机电模拟理论和机械阻抗分析方法、基于动力吸振理论的ISD悬架建模与参数优化、ISD悬架的动力学特性及其隔振机理、ISD悬架的拓扑结构设计方法与实现方案、ISD悬架中的惯容器研制与性能测试、车辆ISD悬架系统台架试验等方面,开展了深入而系统的研究,主要工作如下：
建立了惯容器的动力学模型,分析了惯容器中的非线性因素,对可变惯质系数的惯容器、惯容器与阻尼器一体化等新技术进行了剖析。针对ISD悬架的新特点,对研究中涉及的相关基础理论,包括机电模拟理论、机械阻抗分析方法和机械网络综合理论等进行了较系统的论述。
提出了基于动力吸振原理的ISD悬架结构设计理论和方法,并创新设计了ISD悬架结构。分析了传统动力吸振器的结构形式、动力学特性及工作机理,剖析了传统动力吸振器在车辆中应用的效果和问题。通过对含惯容器的动力吸振器与传统动力吸振器的机械阻抗特性的比较研究,证明了两者的机械阻抗特性具有等效性,揭示了惯容器弥补传统动力吸振器缺陷的机理。在此基础上,设计了基于动力吸振原理的ISD悬架结构,分别研究了单质量和双质量ISD悬架模型,并推导了基于1/4车辆的双质量ISD悬架的状态方程和传递函数。针对ISD悬架设计的多参数、多目标特点,提出了基于多目标遗传算法ISD悬架参数优化设计方法,并结合实例进行了优化设计。
构建了基于“惯容器-弹簧-阻尼器”的广义机械网络的元件理想匹配关系,揭示了新型机械网络中元件连接方式的振动控制固有属性。通过研究ISD悬架的振动传递特性,揭示了该新型悬架由于惯容器质量阻抗的引入而产生的多元振动传递本质,及其具有的衰减和抑制低频振动的性能特点。分析了ISD悬架中主弹簧刚度、副弹簧刚度、惯质系数和阻尼系数等四个元件参数对振动传递特性的影响,推导了悬架无阻尼自由振动的频率特性,获得了元件参数对ISD悬架性能的影响规律和作用机理。研究了基于“惯容器-弹簧-阻尼器”的广义机械网络的隔振机理和力传递特性,构建了具有较好隔振效果的元件理想匹配关系,即：惯容器与弹簧宜串联,惯容器与阻尼器宜串联,弹簧与阻尼器串并联皆可。
提出了ISD悬架的机械网络拓扑结构分析和设计方法,并对改进三元件拓扑结构进行了关键技术设计。定义了最具代表性的简单三元件拓扑结构,分析了车用机械网络的拓扑属性和结构特点,设计了一类最适宜ISD悬架应用的改进三元件拓扑结构。提出了ISD悬架相对于惯质系数的性能敛散性分类方法,可用于快速筛选有效的ISD结构。在综合比较5种有效的改进三元件ISD悬架性能基础上,证明了L4结构的ISD悬架在该类结构中性能最为理想。基于动力吸振原理的ISD悬架就是L4结构的ISD悬架,且符合广义机械网络的元件理想匹配关系,证明了设计和研究方法的科学性、有效性。
最后,开发惯容器和基于动力吸振原理的ISD悬架系统,并进行试验研究。论述了ISD悬架中的惯容器选型方法,对螺母旋转式滚珠丝杠惯容器的设计流程进行分析,研制了惯容器样件并进行性能测试,得出研制的惯容器基本符合理论模型,能够满足试验要求。在此基础上,设计了基于动力吸振原理的ISD悬架系统样机,将ISD悬架装配为一体式压杆结构,采用正弦输入和随机输入两种模式,进行台架性能试验。试验结果表明：与等刚度的传统被动悬架相比,在正弦输入条件下,基于动力吸振原理的ISD悬架低频段的性能指标均方根值明显降低；在随机输入条件下,ISD悬架的性能指标均方根值均低于传统被动悬架。车速为40km/h时,ISD悬架的悬架动行程均方根值下降了16.24%,车身加速度和轮胎动载荷均方根值也得到明显改善。试验结果和理论研究相符,进一步证明基于动力吸振原理的ISD悬架能够有效改善低频段工作性能,明显降低悬架动行程均方根值,兼顾改善车身加速度和轮胎动载荷均方根值,较好协调了悬架平顺性与安全性之间的要求。
本文的研究工作,揭示了ISD悬架的工作机理、本质特性以及优于传统被动悬架的显著特点,将惯容器理论和动力吸振原理相结合所设计的ISD悬架,可以解决传统动力吸振器在车辆应用中遇到的诸多问题,丰富和拓展了悬架设计理论,为改善悬架性能和技术创新提供了新的方向。
Vehicle ISD is short for a new suspension composed of "Inerter-Spring-Damper", which uses inerter instead of mass element and changes the traditional suspension structure based on classical vibration isolation theory "Mass-Spring-Damper". The ISD suspension has solved the problem that mass element equivalent to circuit elements must be done "ground connection" treatment when the research of traditional suspension applies electromechanical simulation theory, resulting in an asymmetric relationship between electromechanical components. The appearance of ISD suspension provides new ideas and space for the study of vehicle suspension vibration control and vibration isolation technology, but also proposes a series of new issues. Therefore, the study of ISD suspension dynamics characteristic, the topology design method and its key technologies used in vehicles, have important academic value and engineering guiding significance.
This thesis mainly studies several theoretical problems and key technologies of new mechanical element inerter and ISD suspension based on dynamic vibration absorber theory. This thesis has investigated deeply in the following aspects:the dynamics characteristic of inerter, ISD suspension electromechanical simulation theory and mechanical impedance analysis method, ISD suspension modeling and parameter optimization based on dynamic vibration absorber theory, dynamic characteristic and vibration isolation mechanism of ISD suspension, ISD suspension topology design and the design methods and implementation scheme, inerter development and performance testing in ISD suspension, the vehicle suspension system ISD bench test, etc., the main work is as follows:
Dynamic model of inerter is established; nonlinear factors in the inerter are analyzed; new technologies such as the inerter with variable used qualitative coefficient and damper-inerter integration are analyzed. Aiming at the new features of the ISD suspension, the related basic theories included in research, including mechanical simulation theory, the mechanical impedance analysis method and mechanical network synthesis theory and so on are systematically specified.
Structural design theory and method of ISD suspension based on dynamic vibration absorber theory are proposed, and ISD suspension is innovatively designed. This thesis analyzes the structure form, design method, dynamic characteristics and working mechanism of traditional dynamic vibration absorber. This thesis dissects the effects and problems of traditional dynamic vibration absorber in vehicle applications. By comparing dynamic vibration absorber containing inerter with traditional dynamic vibration absorber on their mechanical impedance characteristics, this thesis proves their characteristics of mechanical impedance have equivalence, and reveals the mechanism that inerter can make up for the defects of traditional dynamic vibration absorber. On this basis, ISD suspension based on dynamic vibration absorption theory is designed, this thesis studies single quality ISD suspension model and double quality ISD suspension model separately. This thesis deduces the state equation and the transfer function of double quality ISD suspension model based on a quarter car model. Aiming at the multiparameter and multiple target characteristics of ISD suspension, this thesis puts forward ISD suspension parameters optimization design method based on multiple target genetic algorithm and optimizes design combined with the instance.
The ideal elements matching relations of generalized mechanical network based on "Inerter-Spring-Damper" are established. The inherent attributes of element connection vibration control in new mechanical network is revealed. By studying the ISD suspension vibration transfer characteristics, this thesis reveals the multiple vibration transfer feature of the new suspension due to the introduction of the inerter quality impedance, and its attenuation and performance characteristics of restraining low frequency vibration. This thesis analyzes four element factors as the main spring stiffness, deputy spring stiffness, used qualitative factor and damper factor, which act on the vibration transfer characteristics. The suspension undamped free vibration frequency characteristic is deduced. The effect law and working mechanism of element parameters on ISD suspension are obtained. The generalized mechanical network isolation mechanism and force transfer characteristics based on "Inerter-Spring-Damper" is studied. The ideal matching relations between the mechanical network elements which has better vibration isolation effects is established, which is "inerter and spring fit in series, inerter and damper fit in series, spring and damper fit both in series or in parallel".
This thesis proposes the mechanical network topology structure analysis and design method of ISD suspension, and designs key technology for improved three-element topological structure. This thesis defines the most representative simple three-element topology. This thesis analyzes the topology properties and structural characteristics of the vehicle mechanical network, and designs a class of improved three-component topology structure which is most suitable to the ISD suspension application. This thesis proposes the performance convergence and divergence classification methods about ISD suspension compared to used qualitative factor, which can be used for screening effective ISD structure rapidly. On the basis of comprehensive comparison of5kinds of improved three-element ISD suspensions, this thesis proves that ISD suspension with L4structure is the most ideal one among the above kinds. ISD suspension based on dynamic vibration absorber theory is ISD suspension with L4structure, which conforms to the ideal element matching relations of generalized mechanical network. Design method and research method are proved to be scientific and effective.
Finally, inerter and ISD suspension based on dynamic vibration absorber theory are developed and tested. This thesis discusses the selection methods of inerter in ISD suspension, analyzes the design process of nut-rotary ball screw inerter and develops the inerter sample to test its performance. The designed inerter basically conforms to theoretical model and can meet test requirements. Based on this, this thesis designs the ISD suspension system sample and assembles the ISD suspension as an integrated suspension structure, using sinusoidal input and random input modes for bench performance test. The results shows that:compared with traditional passive suspension which have the same stiffness, in the sinusoidal input conditions, the performance index root-mean-square value in low frequency performance of ISD suspension based on dynamic vibration absorber theory decreases obviously; in the random input conditions, the performance index root-mean-square value of ISD suspension are all lower than traditional passive suspension. When the speed is40km/h, the travel root-mean-square value of suspension decreases16.24%; the body accelerated speed root-mean-square value and tyre dynamic load root-mean-square value have also improved obviously. Test results conform to theoretical research, and prove that ISD suspension based on dynamic vibration absorber theory can effectively improve the working performance of suspension in low frequency. This kind of ISD suspension can obviously decrease travel root-mean-square value and improve both the body accelerated speed root-mean-square value and tyre dynamic load root-mean-square value.
The research work in this thesis reveals the working mechanism, natural characteristics and the advantages than traditional passive suspension. The design of ISD suspension combining with inerter theory and dynamic absorber theory conforms to the ideal matching relation of mechanical network element, and can solve many problems of traditional dynamic vibration absorber appearing in vehicle application. The design of ISD suspension enriches and expands the suspension design theory, provides a new direction for improving suspension performance and technological innovation.
本文主要研究新型机械元件惯容器以及基于动力吸振原理的ISD悬架设计的若干理论问题和关键技术。从惯容器的动力学特性、ISD悬架的机电模拟理论和机械阻抗分析方法、基于动力吸振理论的ISD悬架建模与参数优化、ISD悬架的动力学特性及其隔振机理、ISD悬架的拓扑结构设计方法与实现方案、ISD悬架中的惯容器研制与性能测试、车辆ISD悬架系统台架试验等方面,开展了深入而系统的研究,主要工作如下：
建立了惯容器的动力学模型,分析了惯容器中的非线性因素,对可变惯质系数的惯容器、惯容器与阻尼器一体化等新技术进行了剖析。针对ISD悬架的新特点,对研究中涉及的相关基础理论,包括机电模拟理论、机械阻抗分析方法和机械网络综合理论等进行了较系统的论述。
提出了基于动力吸振原理的ISD悬架结构设计理论和方法,并创新设计了ISD悬架结构。分析了传统动力吸振器的结构形式、动力学特性及工作机理,剖析了传统动力吸振器在车辆中应用的效果和问题。通过对含惯容器的动力吸振器与传统动力吸振器的机械阻抗特性的比较研究,证明了两者的机械阻抗特性具有等效性,揭示了惯容器弥补传统动力吸振器缺陷的机理。在此基础上,设计了基于动力吸振原理的ISD悬架结构,分别研究了单质量和双质量ISD悬架模型,并推导了基于1/4车辆的双质量ISD悬架的状态方程和传递函数。针对ISD悬架设计的多参数、多目标特点,提出了基于多目标遗传算法ISD悬架参数优化设计方法,并结合实例进行了优化设计。
构建了基于“惯容器-弹簧-阻尼器”的广义机械网络的元件理想匹配关系,揭示了新型机械网络中元件连接方式的振动控制固有属性。通过研究ISD悬架的振动传递特性,揭示了该新型悬架由于惯容器质量阻抗的引入而产生的多元振动传递本质,及其具有的衰减和抑制低频振动的性能特点。分析了ISD悬架中主弹簧刚度、副弹簧刚度、惯质系数和阻尼系数等四个元件参数对振动传递特性的影响,推导了悬架无阻尼自由振动的频率特性,获得了元件参数对ISD悬架性能的影响规律和作用机理。研究了基于“惯容器-弹簧-阻尼器”的广义机械网络的隔振机理和力传递特性,构建了具有较好隔振效果的元件理想匹配关系,即：惯容器与弹簧宜串联,惯容器与阻尼器宜串联,弹簧与阻尼器串并联皆可。
提出了ISD悬架的机械网络拓扑结构分析和设计方法,并对改进三元件拓扑结构进行了关键技术设计。定义了最具代表性的简单三元件拓扑结构,分析了车用机械网络的拓扑属性和结构特点,设计了一类最适宜ISD悬架应用的改进三元件拓扑结构。提出了ISD悬架相对于惯质系数的性能敛散性分类方法,可用于快速筛选有效的ISD结构。在综合比较5种有效的改进三元件ISD悬架性能基础上,证明了L4结构的ISD悬架在该类结构中性能最为理想。基于动力吸振原理的ISD悬架就是L4结构的ISD悬架,且符合广义机械网络的元件理想匹配关系,证明了设计和研究方法的科学性、有效性。
最后,开发惯容器和基于动力吸振原理的ISD悬架系统,并进行试验研究。论述了ISD悬架中的惯容器选型方法,对螺母旋转式滚珠丝杠惯容器的设计流程进行分析,研制了惯容器样件并进行性能测试,得出研制的惯容器基本符合理论模型,能够满足试验要求。在此基础上,设计了基于动力吸振原理的ISD悬架系统样机,将ISD悬架装配为一体式压杆结构,采用正弦输入和随机输入两种模式,进行台架性能试验。试验结果表明：与等刚度的传统被动悬架相比,在正弦输入条件下,基于动力吸振原理的ISD悬架低频段的性能指标均方根值明显降低；在随机输入条件下,ISD悬架的性能指标均方根值均低于传统被动悬架。车速为40km/h时,ISD悬架的悬架动行程均方根值下降了16.24%,车身加速度和轮胎动载荷均方根值也得到明显改善。试验结果和理论研究相符,进一步证明基于动力吸振原理的ISD悬架能够有效改善低频段工作性能,明显降低悬架动行程均方根值,兼顾改善车身加速度和轮胎动载荷均方根值,较好协调了悬架平顺性与安全性之间的要求。
本文的研究工作,揭示了ISD悬架的工作机理、本质特性以及优于传统被动悬架的显著特点,将惯容器理论和动力吸振原理相结合所设计的ISD悬架,可以解决传统动力吸振器在车辆应用中遇到的诸多问题,丰富和拓展了悬架设计理论,为改善悬架性能和技术创新提供了新的方向。
Vehicle ISD is short for a new suspension composed of "Inerter-Spring-Damper", which uses inerter instead of mass element and changes the traditional suspension structure based on classical vibration isolation theory "Mass-Spring-Damper". The ISD suspension has solved the problem that mass element equivalent to circuit elements must be done "ground connection" treatment when the research of traditional suspension applies electromechanical simulation theory, resulting in an asymmetric relationship between electromechanical components. The appearance of ISD suspension provides new ideas and space for the study of vehicle suspension vibration control and vibration isolation technology, but also proposes a series of new issues. Therefore, the study of ISD suspension dynamics characteristic, the topology design method and its key technologies used in vehicles, have important academic value and engineering guiding significance.
This thesis mainly studies several theoretical problems and key technologies of new mechanical element inerter and ISD suspension based on dynamic vibration absorber theory. This thesis has investigated deeply in the following aspects:the dynamics characteristic of inerter, ISD suspension electromechanical simulation theory and mechanical impedance analysis method, ISD suspension modeling and parameter optimization based on dynamic vibration absorber theory, dynamic characteristic and vibration isolation mechanism of ISD suspension, ISD suspension topology design and the design methods and implementation scheme, inerter development and performance testing in ISD suspension, the vehicle suspension system ISD bench test, etc., the main work is as follows:
Dynamic model of inerter is established; nonlinear factors in the inerter are analyzed; new technologies such as the inerter with variable used qualitative coefficient and damper-inerter integration are analyzed. Aiming at the new features of the ISD suspension, the related basic theories included in research, including mechanical simulation theory, the mechanical impedance analysis method and mechanical network synthesis theory and so on are systematically specified.
Structural design theory and method of ISD suspension based on dynamic vibration absorber theory are proposed, and ISD suspension is innovatively designed. This thesis analyzes the structure form, design method, dynamic characteristics and working mechanism of traditional dynamic vibration absorber. This thesis dissects the effects and problems of traditional dynamic vibration absorber in vehicle applications. By comparing dynamic vibration absorber containing inerter with traditional dynamic vibration absorber on their mechanical impedance characteristics, this thesis proves their characteristics of mechanical impedance have equivalence, and reveals the mechanism that inerter can make up for the defects of traditional dynamic vibration absorber. On this basis, ISD suspension based on dynamic vibration absorption theory is designed, this thesis studies single quality ISD suspension model and double quality ISD suspension model separately. This thesis deduces the state equation and the transfer function of double quality ISD suspension model based on a quarter car model. Aiming at the multiparameter and multiple target characteristics of ISD suspension, this thesis puts forward ISD suspension parameters optimization design method based on multiple target genetic algorithm and optimizes design combined with the instance.
The ideal elements matching relations of generalized mechanical network based on "Inerter-Spring-Damper" are established. The inherent attributes of element connection vibration control in new mechanical network is revealed. By studying the ISD suspension vibration transfer characteristics, this thesis reveals the multiple vibration transfer feature of the new suspension due to the introduction of the inerter quality impedance, and its attenuation and performance characteristics of restraining low frequency vibration. This thesis analyzes four element factors as the main spring stiffness, deputy spring stiffness, used qualitative factor and damper factor, which act on the vibration transfer characteristics. The suspension undamped free vibration frequency characteristic is deduced. The effect law and working mechanism of element parameters on ISD suspension are obtained. The generalized mechanical network isolation mechanism and force transfer characteristics based on "Inerter-Spring-Damper" is studied. The ideal matching relations between the mechanical network elements which has better vibration isolation effects is established, which is "inerter and spring fit in series, inerter and damper fit in series, spring and damper fit both in series or in parallel".
This thesis proposes the mechanical network topology structure analysis and design method of ISD suspension, and designs key technology for improved three-element topological structure. This thesis defines the most representative simple three-element topology. This thesis analyzes the topology properties and structural characteristics of the vehicle mechanical network, and designs a class of improved three-component topology structure which is most suitable to the ISD suspension application. This thesis proposes the performance convergence and divergence classification methods about ISD suspension compared to used qualitative factor, which can be used for screening effective ISD structure rapidly. On the basis of comprehensive comparison of5kinds of improved three-element ISD suspensions, this thesis proves that ISD suspension with L4structure is the most ideal one among the above kinds. ISD suspension based on dynamic vibration absorber theory is ISD suspension with L4structure, which conforms to the ideal element matching relations of generalized mechanical network. Design method and research method are proved to be scientific and effective.
Finally, inerter and ISD suspension based on dynamic vibration absorber theory are developed and tested. This thesis discusses the selection methods of inerter in ISD suspension, analyzes the design process of nut-rotary ball screw inerter and develops the inerter sample to test its performance. The designed inerter basically conforms to theoretical model and can meet test requirements. Based on this, this thesis designs the ISD suspension system sample and assembles the ISD suspension as an integrated suspension structure, using sinusoidal input and random input modes for bench performance test. The results shows that:compared with traditional passive suspension which have the same stiffness, in the sinusoidal input conditions, the performance index root-mean-square value in low frequency performance of ISD suspension based on dynamic vibration absorber theory decreases obviously; in the random input conditions, the performance index root-mean-square value of ISD suspension are all lower than traditional passive suspension. When the speed is40km/h, the travel root-mean-square value of suspension decreases16.24%; the body accelerated speed root-mean-square value and tyre dynamic load root-mean-square value have also improved obviously. Test results conform to theoretical research, and prove that ISD suspension based on dynamic vibration absorber theory can effectively improve the working performance of suspension in low frequency. This kind of ISD suspension can obviously decrease travel root-mean-square value and improve both the body accelerated speed root-mean-square value and tyre dynamic load root-mean-square value.
The research work in this thesis reveals the working mechanism, natural characteristics and the advantages than traditional passive suspension. The design of ISD suspension combining with inerter theory and dynamic absorber theory conforms to the ideal matching relation of mechanical network element, and can solve many problems of traditional dynamic vibration absorber appearing in vehicle application. The design of ISD suspension enriches and expands the suspension design theory, provides a new direction for improving suspension performance and technological innovation.
引文
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