铰接式电动轮自卸车动力学建模与仿真分析

发布时间：2018-07-06 14:37

本文选题：铰接式电动轮自卸车 + 平顺性　；参考：《西南交通大学》2015年硕士论文

【摘要】：铰接式自卸车是为适应复杂路况与恶劣气候条件应运而生的一种非公路运输设备。与刚性自卸车相比,铰接式自卸车引入了附加的自由度,从而使车辆具有更好的机动性和更广泛的适应性。随着矿产资源的不断开采与工程机械行业的快速发展,铰接式自卸车得到了越来越广泛的应用。因此,建立整车虚拟样机动力学模型,研究铰接式自卸车的动力学性能,对于铰接式自卸车的研究与制造具有重要的科研意义和工程应用价值。本文以中国南车广州电力机车有限公司研发的60t铰接式电动轮自卸车为研究对象,建立了整车虚拟样机协同仿真模型。为搭建与实际尽可能相符的动力学模型,本文在SIMPACK环境下建立了多体动力学仿真模型；考虑到铰接式自卸车在装配于前、后车体的液压转向缸筒与转向活塞杆之间存在弹性耦合,本文建立了基于AMESim的全液压转向系统仿真模型；由于铰接式电动轮自卸车取消了传动轴和轴间差速器等机构,为避免在车辆转向时,驱动轮之间发生拖滑和轮胎的过度磨损,本文设计了一种基于“车轮工作状态和车轮路面附着特性识别”的电子差速控制策略,并在Simulink环境下搭建了采用这种电子差速控制策略的铰接式自卸车电动轮驱动转矩控制模型。为有效集成动力学系统、液压系统、控制系统仿真模型,本文以Simulink为主仿真环境,通过软件接口将SIMPACK多体动力学仿真模型、AMESim全液压转向系统仿真模型和Simulink电动轮驱动转矩控制模型集成到Simulink环境中,利用参数关联建立了SIMPACK/AMESim/Simulink协同仿真模型。在建立了SIMPACK/AMESim/Simulink协同仿真模型的基础上,本文参照汽车平顺性试验国家标准,对铰接式自卸车虚拟样机进行了随机路面输入平顺性仿真试验。并参照汽车操纵稳定性试验国家标准,对分别采用“等电动轮驱动转矩控制策略”与采用“基于车轮工作状态和车轮路面附着特性识别的电动轮驱动转矩控制策略”的铰接式自卸车,进行了稳态回转、转向盘角阶跃输入瞬态响应两项操纵稳定性仿真试验。在仿真试验的基础上,本文依据相关标准对整车平顺性和操纵稳定性进行了评价。本文所研究成果为铰接式电动轮自卸车的设计提供了理论依据。
[Abstract]:Articulated dump truck is a kind of non-road transportation equipment which can adapt to complicated road conditions and bad weather conditions. Compared with the rigid dump truck, the articulated dump truck introduces additional degrees of freedom, so that the vehicle has better mobility and wider adaptability. With the continuous exploitation of mineral resources and the rapid development of construction machinery industry, articulated dump trucks have been more and more widely used. Therefore, it is of great significance in scientific research and engineering application for the research and manufacture of articulated dump truck to establish the dynamic model of virtual prototype of the whole vehicle and to study the dynamic performance of the articulated dump truck. In this paper, the virtual prototype collaborative simulation model of 60 t articulated electric wheel dump truck developed by Guangzhou Electric Locomotive Co., Ltd. In order to build a dynamic model that is as consistent as possible with practice, this paper establishes a multi-body dynamics simulation model under the environment of SIMPACK, considering that the articulated dump truck is assembled in front of it. There is an elastic coupling between the hydraulic steering cylinder and the steering piston rod of the rear body. In this paper, the simulation model of the full hydraulic steering system based on AMESim is established, because the articulated electric wheel dump truck cancels the mechanism such as the drive shaft and the differential between the shafts. In order to avoid the drag and slip between the driving wheels and the excessive wear of the tires during the vehicle steering, an electronic differential control strategy based on the recognition of the working state of the wheels and the adhesion characteristics of the wheels is designed in this paper. An electric wheel drive torque control model of articulated dump truck using this electronic differential control strategy is built in Simulink environment. In order to effectively integrate dynamic system, hydraulic system and control system simulation model, Simulink is used as the main simulation environment in this paper. SIMPACK multi-body dynamics simulation model, AMESim full-hydraulic steering system simulation model and Simulink electric wheel drive torque control model are integrated into Simulink environment through the software interface. The SIMPACK / AMESimSimulink collaborative simulation model is established by using parameter correlation. Based on the establishment of SIMPACKR / AMESim-Simulink collaborative simulation model, a random road input ride comfort simulation test was carried out on the virtual prototype of articulated dump truck according to the national standard of vehicle ride comfort test. With reference to the national standards for vehicle handling and stability testing, In this paper, the steady-state rotation is carried out for the articulated dump truck which adopts "equal electric wheel drive torque control strategy" and "electric wheel drive torque control strategy based on wheel working state and wheel road adhesion characteristic identification", respectively. Two simulation tests of steering wheel angle step input transient response are presented. On the basis of simulation test, this paper evaluates the ride comfort and handling stability of the whole vehicle according to the relevant standards. The research results in this paper provide a theoretical basis for the design of articulated electric wheel dump truck.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD562.1

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