中置轴挂车列车操纵稳定性与参数优化

张京明; 任泽凯; 张浩; 张红卫

doi:10.19818/j.cnki.1671-1637.2018.02.008

中置轴挂车列车操纵稳定性与参数优化

doi: 10.19818/j.cnki.1671-1637.2018.02.008

张京明^1,,
任泽凯^{1, 2},
张浩^{2, 3},
张红卫^{2, 3}

1.
哈尔滨工业大学威海汽车工程学院, 山东威海 264209
2.
交通运输部公路科学研究院机构, 北京 100088
3.
交通运输部公路科学研究院运输车辆运行安全技术交通行业重点实验室, 北京 100088

基金项目:

交通运输部应用基础研究项目 2014 319 223 020

中央级公益性科研所基本科研业务费专项资金项目 2015-9019

详细信息

作者简介:
张京明(1963-), 男, 山东莱西人, 哈尔滨工业大学(威海) 教授, 工学博士, 从事汽车动力学研究

中图分类号: U469.5
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出版历程
- 收稿日期: 2017-11-09
- 刊出日期: 2018-04-25

Handling stability and parameter optimization of centre axle trailer train

ZHANG Jing-ming^1
,,
REN Ze-kai^{1, 2},
ZHANG Hao^{2, 3},
ZHANG Hong-wei^{2, 3}

1.
School of Automotive Engineering, Harbin Institute of TechnologyWeihai, Weihai 264209, Shandong, China
2.
Research Institute of Highway of Ministry of Transport, Beijing 100088, China
3.
Key Laboratory of Operation Safety Technology on Transport Vehicles of Ministry of Transport, Research Institute of Highway of Ministry of Transport, Beijing 100088, China

More Information

Author Bio:
ZHANG Jing-ming(1963-), male, professor, PhD, whjingming@hitwh.edu.cn

摘要

摘要: 为了提高中置轴挂车列车的操纵稳定性, 分析了其横摆运动、侧倾运动、纵向运动、侧向运动的关系, 根据汽车动力学理论, 采用MATLAB/Simulink建立了列车四自由度动力学仿真模型, 采用TruckSim搭建了列车的多自由度复杂非线性仿真模型, 利用VBOX数据采集系统与RT陀螺仪构建了列车操纵稳定性测试系统, 根据试验标准开展了列车的单车道变换实车试验与仿真试验, 并对比分析了仿真与试验结果; 基于列车横摆角速度后部放大系数、铰接角速度、侧向加速度后部放大系数、载荷转移率, 建立了列车综合评价得分模型; 通过均匀试验和多元线性回归分析理论, 利用虚拟样机技术, 对显著影响列车操纵稳定性的相关参数进行了优化分析。优化结果表明: 优化后牵引车、中置轴挂车的相关参数都得到了不同程度的改善, 牵引车、中置轴挂车横摆角速度最大值分别由0.107 2、0.140 8rad·s^-1降低到0.092 5、0.103 7rad·s^-1, 中置轴挂车列车的横摆角速度后部放大系数减小了15.15%;牵引车、中置轴挂车侧向加速度最大值分别由0.21g、0.27g降低到0.19g、0.20g, 中置轴挂车列车的侧向加速度后部放大系数减小12.10%;中置轴挂车列车的最大铰接角速度减小23.01%, 最大载荷转移率减小了29.41%;列车综合评价得分由86.66提高到109.02, 综合性能得到提高。
- 汽车工程 /
- 中置轴挂车列车 /
- 操纵稳定性 /
- 参数优化 /
- 仿真分析 /
- 均匀试验
Abstract: To improve the handling stability of centre axle trailer train, the relationships among yaw motion, roll motion, longitudinal and lateral motion were analyzed.The 4-degree of freedom (DOF) dynamics simulation model was established by using MATLAB/Simulink based on the theory of vehicle dynamics.The multi-DOF complex nonlinearity simulation model of the train was established by using TruckSim.The handling stability testing system of the train was constructed through VBOX data acquisition system and RT gyroscope.According to the related standard, single lane change tests were carried out in real vehicle test condition and simulation test condition, and the comparative analysis between test result and simulation result was carriedout.Comprehensive evaluation score model of the train was proposed based on the rearward amplification (RA) of yaw rate, articulation rate, rearward amplification of lateral acceleration, load transfer ratio (LTR).Through virtual prototyping technology, the related parameters that have significant impacts on the handling stability of the train were optimized based on the theory of uniform test and multiple linear regression analysis.Optimization result shows that the related parameters of tractor and centre axle trailer improve in varying degrees after the optimization.The maximum yaw rates of tractor and centre axle trailer decrease from 0.107 2 and 0.140 8 rad·s^-1 to 0.092 5 and 0.103 7 rad·s^-1, respectively, and the rearward amplification of yaw rate of centre axle trailer train reduces by 15.15%.The maximum lateral accelerations of tractor and centre axle trailer decrease from 0.21 g and 0.27 g to 0.19 g and 0.20 g, respectively, and the rearward amplification of lateral acceleration of centre axle trailer train reduces by 12.10%.The maximum articulation rate and maximum load transfer ratio of centre axle trailer train reduce by23.01% and 29.41%, respectively.The comprehensive evaluation score of centre axle trailer train increases from 86.66 to 109.02, so the comprehensive performance improves.
- automotive engineering /
- centre axle trailer train /
- handling stability /
- parameter optimization /
- simulation analysis /
- uniform test

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图 1 中置轴挂车列车坐标系

Figure 1. Coordinate system of centre axle trailer train

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图 2 中置轴挂车列车动力学模型

Figure 2. Dynamics model of centre axle trailer train

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图 3 牵引车侧倾运动模型

Figure 3. Rolling motion model of tractor

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图 4 中置轴挂车列车TruckSim仿真模型

Figure 4. Simulation model of centre axle trailer train in TruckSim

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图 6 测试系统安装位置

Figure 6. Testing system installation position

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图 5 操纵稳定性测试系统

Figure 5. Handling stability testing system

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图 7 方向盘转角

Figure 7. Steering wheel angles

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图 8 仿真与试验轨迹

Figure 8. Simulation and testing trajectories

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图 9 牵引车横摆角速度

Figure 9. Yaw rates of tractor

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图 10 中置轴挂车横摆角速度

Figure 10. Yaw rates of centre axle trailer

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图 11 牵引车质心侧偏角

Figure 11. Centroid side slip angles of tractor

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图 12 牵引车侧向加速度

Figure 12. Lateral accelerations of tractor

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图 13 中置轴挂车侧向加速度

Figure 13. Lateral accelerations of centre axle trailer

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图 14 牵引车侧倾角

Figure 14. Roll angles of tractor

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图 15 中置轴挂车侧倾角

Figure 15. Roll angles of centre axle trailer

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图 16 横摆角速度时域响应曲线

Figure 16. Time-domain response curves of yaw rate

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图 17 铰接角速度时域响应曲线

Figure 17. Time-domain response curves of articulation rate

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图 18 侧向加速度时域响应曲线

Figure 18. Time-domain response curves of lateral acceleration

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图 19 载荷转移率时域响应曲线

Figure 19. Time-domain response curves of load transfer ratio

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表 1 中置轴挂车列车仿真参数

Table 1. Simulation parameters of centre axle trailer train

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表 2 选取的参数与水平

Table 2. Selected parameters and levels

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表 3 均匀试验结果

Table 3. Result of uniform test

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表 4 方差分析结果

Table 4. Variance analysis result

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表 5 参数优化限值与结果

Table 5. Parameter optimization limits and results

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表 6 各指标优化结果

Table 6. Optimization results of indicators

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