Simplified physical parameter model for bidirectional-flow yaw dampers
Article Text (Baidu Translation)
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摘要: 为满足快速、精确的动力学仿真需求，建立了油液双向流式抗蛇行减振器的简化物理参数模型。基于油液双向流式抗蛇行减振器工作原理，通过合理分配压缩行程中压缩阻尼阀与底座阻尼阀的流量，实现静态阻尼特性曲线与压力-流量曲线的转换，进而构建了适用于该类型减振器的简化阻尼阀模型；计算各阀系流通流量，考虑油液泄漏效应与压缩效应，建立了各腔室的宏观压力流量方程；采用龙格库塔法对各腔室压力进行数值求解，从而描述减振器的动态行为；根据抗蛇行减振器实际工作状态，进行减振器动态特性的仿真与台架试验对比，分析了单向流式与双向流式减振器动态特性差异及其关键影响因素。研究结果表明：仿真与测试的减振器力-位移曲线、力-速度曲线及作用力时域曲线高度一致，后处理得到的动态刚度、动态阻尼与测试结果的误差在10%以内，模型能准确反映减振器的动态行为；在1 s正弦激扰作用下，复杂物理参数模型的仿真时间超过300 s，而简化物理参数模型在不同频率下的仿真时间均不超过0.5 s，显著提高仿真效率；与单向流式减振器相比，双向流式减振器拉压行程油液回路短，其力-位移曲线的面积更大、对称性更好，表现出更高的动态刚度；空气溶解率和泄漏间隙增加会显著降低减振器的动态刚度和动态阻尼，增大橡胶接头刚度可提升减振器的动态刚度和动态阻尼，但其影响在橡胶接头刚度达到一定水平后逐渐减弱，此时减振器串联刚度主要由油液弹性主导。建立的模型将简化物理参数模型拓展至双向流式抗蛇行减振器，计算效率高，适用于整车动力学仿真。Abstract: To meet the demand of fast and accurate dynamic simulation, a simplified physical parameter model of bidirectional-flow hydraulic yaw dampers was established. According to the working principle of the dampers, the flow rates of compression damping valves and base damping valves during the compression stroke were reasonably allocated. The conversion between static damping characteristic curve and pressure-flow curve was achieved, and then a simplified damping valve model suitable for this type of yaw damper was constructed. Flow rates through each valve system were calculated, and the oil leakage effect and compression effect were considered. Macroscopic pressure-flow equations of each chamber were established. The Runge-Kutta method was adopted for numerical solution of pressure in each chamber, thus dynamic behavior of the yaw damper was described. According to the actual working conditions of yaw dampers, a simulation and bench test comparison of the dynamic characteristics of dampers was carried out, and differences and key influencing factors of dynamic characteristics between unidirectional-flow and bidirectional-flow yaw dampers were analyzed. Research results show that the force-displacement curves, force-velocity curves, and force-time domain curves of the damper from simulation and test are highly consistent. The errors of dynamic stiffness and dynamic damping obtained from post-processing compared with the test results are within 10%. The dynamic behavior of the damper can be accurately reflected by the model. Under 1 s sinusoidal excitation, the simulation time of the complex physical parameter model exceeds 300 s, while that of the simplified physical parameter model at different frequencies does not exceed 0.5 s. Simulation efficiency is significantly improved. Compared with the unidirectional-flow yaw damper, the bidirectional-flow yaw damper has a shorter oil circuit in extension and compression strokes, its force-displacement curve area is larger, and symmetry is better, thus exhibiting higher dynamic stiffness. An increase in air dissolution rate and leakage gap significantly reduces the dynamic stiffness and dynamic damping of yaw dampers. Increasing the stiffness of rubber joints can enhance the dynamic stiffness and dynamic damping of yaw dampers; however, their effect gradually weakens after rubber joint stiffness reaches a certain level. At this time, the series stiffness of yaw dampers is mainly dominated by oil elasticity. The established model extends the simplified physical parameter model to the bidirectional-flow yaw damper. It features high calculation efficiency and is applicable to vehicle dynamics simulation.
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图 3 双向流式减振器阻尼阀转换曲线
Figure 3. Transition curves of damping valves in a bidirectional-flow damper
图 6 减振器力-位移(F-D)特性曲线
Figure 6. Force-displacement (F-D) characteristics curves of the damper
图 7 减振器力-速度(F-v)特性曲线
Figure 7. Force-velocity (F-v) characteristics curves of the damper
图 9 两种减振器力-位移特性曲线
Figure 9. Force-displacement characteristics curves of two types of dampers
图 10 空气溶解率对动态特性的影响
Figure 10. Impact of air dissolution rate on dynamic characteristics
图 11 橡胶接头刚度对动态特性的影响
Figure 11. Impact of r ubber joint stiffness on dynamic characteristics
表 1 抗蛇行减振器主要参数及其取值
Table 1. Main parameters and their values of the yaw damper
参数 数值 参数 数值 参数 数值 Eo/(N·m-2) 1.75×109 μ/(Pa·s) 3.92×10-2 Dh/mm 70 ρ/(kg·m-3) 863 Au/m2 9.81×10-5 Dg/mm 28 KM/(kN·mm-1) 110 δ/m 2.3×10-5 Pr0/kPa 101 KR/(kN·mm-1) 35 Ll/mm 3 γ 1.4 Cd 0.6 e/m 0 L/m 0.329 ε/‰ 0.2 
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表 2 动态刚度测试和仿真结果对比
Table 2. Comparison of dynamic stiffnesses between testing and simulation results
频率/Hz 动态刚度 0.75 mm 1.00 mm 2.00 mm 测试/
(MN·m-1)仿真/
(MN·m-1)误差/
%测试/
(MN·m-1)仿真/
(MN·m-1)误差/
%测试/
(MN·m-1)仿真/
(MN·m-1)误差/
%2 13.14 12.45 5.21 13.68 13.23 3.28 14.37 14.70 2.30 3 15.27 14.51 5.01 15.47 14.54 5.97 14.01 14.85 6.03 4 16.31 15.62 4.22 16.24 16.08 0.97 13.66 14.53 6.37 5 16.70 15.88 4.92 16.56 16.73 1.02 13.54 14.30 5.62 6 16.81 16.37 2.59 16.65 17.03 2.33 13.49 14.19 5.18 7 16.87 16.70 0.99 16.72 17.20 2.87 13.62 14.28 4.87 8 16.85 16.90 0.26 16.75 17.31 3.36 13.77 14.44 4.88 9 16.87 17.00 0.73 16.80 17.42 3.73 13.99 14.65 4.70 10 16.86 17.06 1.21 16.81 17.50 4.10 14.21 14.95 5.24
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表 3 动态阻尼测试和仿真结果对比
Table 3. Comparison of dynamic dampings between testing and simulation results
频率/Hz 动态阻尼 0.75 mm 1.00 mm 2.00 mm 测试/(kN· s·m-1) 仿真/(kN· s·m-1) 误差/ % 测试/(kN· s·m-1) 仿真/(kN· s·m-1) 误差/ % 测试/(kN· s·m-1) 仿真/(kN· s·m-1) 误差/ % 2 330.4 324.6 1.76 425.3 389.3 8.46 564.1 523.2 7.24 3 432.5 398.9 7.77 534.7 520.0 2.74 440.6 429.6 2.49 4 489.8 445.7 8.99 568.4 532.5 6.32 357.6 352.5 1.42 5 512.9 520.8 1.53 548.3 515.5 5.98 303.8 301.7 0.68 6 520.6 540.0 3.72 533.7 501.9 5.97 266.5 265.7 0.31 7 518.0 540.7 4.38 518.1 495.3 4.40 237.5 237.6 0.04 8 514.2 536.0 4.24 507.0 489.9 3.37 214.6 215.7 0.52 9 502.8 534.5 6.30 489.7 484.1 1.16 196.2 198.6 1.22 10 491.7 534.9 8.78 481.6 480.8 0.16 182.3 185.3 1.63
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