汽车罐车液体晃动动力学分析与防侧翻控制研究

发布时间：2018-05-13 03:04

本文选题：液罐车 + 液体晃动　；参考：《重庆交通大学》2016年硕士论文

【摘要】：近年来,随着国民经济的持续快速发展,对石油化工原料、民用绿色燃料以及其他散装液体状货物的需求越来越大,而汽车液罐车运输效率高、综合运输成本较低,逐渐成为公路运输液体状货物的主体。汽车液罐车装载质量大、运输能力强,同时也使得其质心位置较高,轮距相对于整车高度过窄,再加上罐车非满载条件下行驶时,液体晃动使得整车质心偏移,更是增大了其发生侧翻的可能性。而液罐车运输的介质大多具有易燃、易爆或有毒的特性,一旦发生侧翻,罐内危险品泄漏后,将会对驾驶员自身与周围的人身、财产安全造成重大损失,同时也会对环境造成很大破坏。因此研究汽车液罐车防侧翻控制系统,对其潜在的侧翻危险进行实时的监控,主动调整车身姿态,对提高液罐车的侧向稳定性,避免侧翻和危险品泄漏事故的发生具有重要的意义。本文针对汽车液罐车转向时,液体晃动使得其侧向稳定性下降的问题,基于主动横向稳定杆开展液罐车防侧翻控制研究,具体研究如下:1)液体受迫晃动动力学分析。根据液体受迫晃动动力学方程,建立基于欧拉多相流的数学模型,并运用数值分析方法研究罐内液体晃动对罐体的影响,在此基础上分析液体受迫晃动时的质心偏移,将液体晃动对罐车侧向稳定性的影响等效为液体质心的横向偏移。2)汽车液罐车动力学建模。基于多体动力学仿真软件ADAMS建立汽车液罐车动力学模型,并通过角阶跃转向和正弦角输入操纵稳定性仿真分析装载液体和同等质量固体的罐车侧向稳定性参数,研究液体晃动对液罐车侧向稳定性的影响。3)主动横向稳定杆设计。依据车辆转向侧倾模型研究横向稳定杆对车辆侧向稳定性的影响,在此基础上分析横向稳定杆刚度与其结构尺寸之间的内在关系,并根据主动横向稳定杆工作特点,设计适用于液罐车的液压驱动式主动横向稳定杆。4)液罐车主动防侧翻控制特性研究。基于主动横向稳定杆,建立以横向载荷转移率为控制目标,以模糊PID为控制策略的防侧翻控制系统,并进行角阶跃转向和正弦角输入操纵稳定性仿真分析,结果表明:主动防侧翻系统能够提高车辆的侧向稳定性,防止侧翻事故的发生。
[Abstract]:In recent years, with the continuous and rapid development of the national economy, the demand for petrochemical raw materials, civil green fuel and other bulk liquid goods is increasing, while the transportation efficiency of automobile liquid tank truck is high, and the integrated transportation cost is low. It has gradually become the main body of liquid goods transported by road. The liquid tank truck has the advantages of high loading quality, strong transportation capacity, high center of mass, narrow wheel spacing relative to the height of the whole vehicle, and liquid sloshing makes the center of mass of the whole vehicle shift when the tank car is running under the condition of non-full load. It also increases the possibility of rollover. However, most of the medium transported by the liquid tank truck has the characteristics of flammability, explosive or toxic. Once the rollover occurs and the dangerous goods in the tank leak, it will cause great losses to the safety of the driver himself and the surrounding person and property. It can also cause great damage to the environment. Therefore, the anti-roll control system of vehicle liquid tank vehicle is studied, the potential rollover danger is monitored in real time, the body posture is adjusted actively, and the lateral stability of liquid tank car is improved. It is of great significance to avoid rollover and dangerous goods leakage accidents. Aiming at the problem that liquid sloshing reduces the lateral stability of liquid tank truck when it is steering, based on the active lateral stabilizer, the anti-roll control of liquid tank car is studied in this paper. The detailed research is as follows: 1) dynamic analysis of forced sloshing of liquid. According to the dynamic equation of forced sloshing of liquid, a mathematical model based on Euler multiphase flow is established, and the influence of liquid sloshing on tank body is studied by using numerical analysis method. On this basis, the centroid migration of liquid under forced sloshing is analyzed. The effect of liquid sloshing on the lateral stability of the tank car is equivalent to the lateral displacement of the liquid centroid. 2) the dynamic model of the liquid tank car is established. Based on the multi-body dynamics simulation software ADAMS, the dynamic model of the liquid tank car is established, and the lateral stability parameters of the tank truck loaded with liquid and the same mass solid are analyzed by the angle step steering and sinusoidal angle input control stability simulation. The influence of liquid sloshing on lateral stability of liquid tank car was studied. Based on the vehicle steering roll model, the influence of the lateral stabilizer rod on the lateral stability of the vehicle is studied. On this basis, the inherent relationship between the stiffness of the lateral stabilizer rod and its structural size is analyzed, and according to the working characteristics of the active lateral stabilizer rod, The design of hydraulic driven active lateral stabilizer. 4) the control characteristics of active roll control of liquid tank truck. Based on the active lateral stabilizer rod, an anti-rollover control system with lateral load transfer rate as control target and fuzzy PID as control strategy is established, and the simulation analysis of angle step steering and sinusoidal angle input manipulation stability is carried out. The results show that the active roll control system can improve the lateral stability of the vehicle and prevent the rollover accident.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U461.6;U469.61

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