摘要
随着现代科学技术的进步,振动试验在产品的生产、设计以及可靠性、耐久性试验方面起到了越来越重要的作用,其中多轴电液振动试验系统是目前振动领域广泛采用的试验系统。多轴电液振动试验系统在摩托车可靠性试验中具有重要的应用价值,通过在试验台复现摩托车的在路面上实际的行驶环境,进而考核摩托车的质量和寿命。试验过程中,摩托车需要通过一套专用的夹具固定在试验系统的台面上,振动系统通过摩托车的前、后轴将运动和能量传递给摩托车。考虑到专用夹具中轴和轴承之间存在间隙,振动试验中转动副间隙会导致运动的失真,引起冲击动载荷,影响系统载荷传递,增加构件的动应力,甚至造成振动系统的破坏。因此本文对含间隙副多轴电液振动试验系统的动力学特性展开深入研究,对多轴振动试验系统的夹具设计和振动控制系统的开发有良好的工程应用价值。
含间隙副多轴电液振动试验系统的动力学建模。首先,从夹具的角度,优先考虑夹具的重量和刚度,在试验振动频率范围内不会发生结构共振。论文多轴电液振动试验系统的激振频率在80HZ以下,通过有限元的分析方法获得夹具的一阶固有频率都远远超过实验的有效频率范围,因此,系统的动力学响应不会受到由于结构耦合共振产生的影响。其次,基于虚功原理详细推导了间隙转动副的一般动力学方程。针对多体系统的动力学方程,归纳总结出标准直接积分方法(DIM)的流程图。分析了动力学方程的求解,研究了对转动副间隙模型建模的两种方式：连续接触模式和非连续接触模式,并基于广义冲量-动量定律详细推导了含间隙系统动力学模型。
正弦定频振动激励下系统动力学特性研究。针对间隙对多轴电液振动系统动力学响应的影响,建立了间隙转动副数学模型。考虑到基于Lankarani和Nikravesh新的非线性弹簧阻尼碰撞力学模型能够反映碰撞过程中的能量损失行为,建立了干摩擦球面接触和圆柱面接触的法线方向的碰撞力和穿透深度之间的模型。同时,对转动副间的摩擦力模型进行研究,并将整个系统嵌入到机械系统动力学分析软件ADAMS中,进行动力学仿真,分析了正弦激励下不同激振频率、相位差以及间隙尺寸对系统加速度响应的影响。通过分析运动副间隙对多轴电液振动试验系统动力学响应的影响,能够准确地预测试验系统在正弦激励下的动力学特性。
随机振动激励下系统动力学特性研究。文中对基于LuGre间隙转动副摩擦力进行了研究,建立了带润滑间隙转动副的碰撞力学模型。考虑到轴和轴承处于接触状态时,接触区会发生变形(穿透深度)从而产生接触力,详细研究了不同恢复系数条件下以及不同初始碰撞速度条件下碰撞中能量耗散的变化规律。最后,以典型的随机激励信号El-Centro地震波和Taft地震波作为输入,相关系数作为评价指标,研究两种典型的地震波激励下,间隙对系统波形复现精度的影响。
含间隙多轴电液振动试验系统动力学特性实验研究。根据实验的需求,归纳了含间隙副多轴电液振动试验系统的构成,明确了搭建多轴电液振动试验系统时存在的一些关键技术,并搭建了两套振动试验系统的硬件平台和软件平台。在对正弦定频激励下系统动态特性响应规律研究的基础上,在两套系统平台上进行了相关的实验研究,主要针对激振频率和不同的相位差对加速度响应的影响,验证了所构建的间隙碰撞副力学模型的的有效性。最后,针对含间隙转动副的摩托车多轴电液振动试验系统,以随机激励信号El-Centro地震波和Taft地震波作为激励信号,从输出信号和输入目标信号的时域相关系数的的角度研究了单间隙和两个间隙副对波形复现精度的影响,得出了随机振动试验过程中,间隙对系统动力学响应特性影响的一般规律,对合理设计转动副间隙从而消除由于间隙副的非线性因素的影响具有重要意义。
Vibration test plays an increasing role in design, reliability and durability of products with the development of modern science and technology, presently, Multi-axis Electro-hydraulic Vibration Test System is widely used in the field of vibration. Multi-axis Electro-hydraulic Vibration Test System witnesses significant application value in the reliability test of motorcycle, where quality and lifetime of motorcycle can be determined through replicating the actual driving environment on the road. Motorcycle is fastened on the table of vibrator via a customized clamp, and motion and energy from the Multi-axis vibrator are transferred to motorcycle through the front shaft and back shaft. Since clearance in practice unavoidably exists between journal and bearing, which leads to the distortion of motion in the course of vibration test and impact load, thus, load transferring is affected, dynamic stress is also increased, and vibration system could even be destroyed in some cases. Deep investigation on dynamics of multi-axis electro-hydraulic vibration test system with clearance joints is implemented, which no doubt brings favorable application value in designing clamp and vibration controller in terms of vibrator.
Building model targeted to multi-axis electro-hydraulic vibration test system with clearance joints. First of all, clamp weight and stiffness are given priority based on factor that structure resonance can't be caused in the range of vibration test. Exciting frequency in research is less than80HZ, Finite element analysis indicates that the first order natural frequency of customized clamp is far greater than effective range of frequency in vibration experiment; therefore, dynamics response of system is immune to the structure coupling resonance. Secondly, general dynamics equation of system with revolute joints clearance is deduced based on virtual work principle. Aimed on the multi-body system dynamics equation, a kind of new standard integration method (DIM) is generalized. Later on, solving the dynamics equation is analyzed, two ways in the course of modeling revolute joints clearance is investigated:continuous contract model and non-continuous contract model. Dynamical model for system with clearance is deduced by applying General impulse-momentum law.
Dynamics response investigation for system under the excitation of sinusoidal signal with a certain excitation frequency. Mathematical model for revolute joint with clearance is built aimed at clearance influence on multi-axis electro-hydraulic vibration test system. Nonlinear spring damping impact model based on Lankarani and Nikravesh takes energy loss during the impact into consideration, model related to impact force in normal direction for spherical surface contact and cylindrical surface contact with dry friction against penetration depth is built. Meanwhile, friction force in revolute joint is studied, and the whole system is embedded into dynamical analysis software ADAMS for simulating dynamics response. Simulation is carried out in terms of different exciting frequency and phase difference as well as clearance size, which respectively have a dramatic influence on acceleration response under the excitation of sinusoidal signal. Dynamics response under the excitation of sinusoidal signal for multi-axis electro-hydraulic vibration test system can be correctly predicted based on the above research.
Dynamics investigation under random vibration excitation. Friction model of revolute joint with clearance based on LuGre model is studied, and impact model of lubricated revolute joint with clearance is also built. When the journal keeps contact with bearing, the deformation (penetration depth) in contact area occurs, the detailed investigation about energy loss under different restitution coefficients and initial impact velocity is carried out. At the end of the chapter, two typical random signals (El-Centro earthquake wave and Taft earthquake wave)from earthquake process are input to the system, clearance influence on wave reproduction accuracy in terms of correlation coefficient under their actions is investigated.
Experimental investigation on dynamics prosperities of multi-axis electro-hydraulic vibration test system with clearance joints is implemented. Firstly, the structure of multi-axis electro-hydraulic vibration test system is introduced according to requirements of test is summarized, the critical technology in the process of setting up that system is clarified, then,two sets of hardware and software platform related to vibration test system is built. Based on research on dynamical properties under sinusoidal signal excitation, the desired experiment is carried out on two set of system respectively, the experiment involves mainly in the influence on the acceleration response under different excitation frequencies and phrase difference, the efficiency of impact model of revolute joint is verified. Finally, aimed at the multi-axis motorcycle electro-hydraulic vibration test system with clearance joints, when random El-Centro earthquake wave and Taft earthquake wave are treated as excitation signals, single clearance influence on the wave reproduction and double clearances influence on the wave reproduction are respectively investigated from the perspective of correlation coefficient in time domain between input signal and output signal, and general patterns of clearance influence on dynamical responses is obtained, which brings favorable and significant conditions for designing reasonable revolute joint with clearance in order to eliminate the nonlinear effect caused by clearance.
引文
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