【作者】 王杰；

【导师】 毕凤荣；

【作者基本信息】 天津大学 ， 工程（专业学位）， 2020， 硕士

【摘要】 工程车辆、重型卡车等商用车辆由于经常行驶在非铺装路面上,在行驶过程中会因路面不平、加速减速和转弯变向等情况受到较大的多维冲击振动。这类车辆的悬架系统减振效果较差,会使驾驶员长期处于低频大振幅的振动环境中,严重影响了驾驶员的乘坐舒适性,更有甚者,会对驾驶员的身体健康造成危害。本文系天津大学-墨尔本皇家理工大学国际合作项目,以某款重型商用车座椅为研究对象,模拟其处于多维低频大振幅的工作环境下,进行半主动控制多维协同减振研究。主要研究路线为:将可实现半主动控制的磁流变减振器与可实现三维平动的3-RCC型并联机构相结合,达到多维协同减振的同时,通过半主动控制进一步提升座椅悬架的减振效果。本文以磁流变减振器与并联机构相结合的商用车座椅悬架为研究对象,对其进行多维协同减振以及半主动控制研究,主要包括以下几个方面:(1)选用可实现三维平动的3-RCC型并联机构作为座椅悬架,并对该机构进行运动学分析,运用支链向量法推导出了该机构的位置、速度、加速度表达式。在ADAMS中建立悬架的三维虚拟样机,通过对比ADAMS运动仿真数值与Matlab理论运算,验证了模型正确性。最后,分析了阻尼对悬架系统的影响,为半主动控制研究提供了理论依据。(2)对磁流变阻尼器进行阻尼特性试验,根据试验数据,基于Bouc-Wen模型完成了磁流变阻尼器的建模。Bouc-Wen模型能够较为准确地反应出磁流变阻尼器的输出阻尼特性,充分验证了磁流变阻尼器的半主动特性。为半主动控制应用于座椅悬架中奠定了基础。(3)结合模糊控制、PID控制、天棚控制设计出了半主动控制器,建立了ADAMS和Matlab联合仿真座椅悬架系统模型。在三维随机振动输入情况下,对半主动座椅悬架与被动座椅悬架的减振效果进行了对比分析。证明了所设计的并联机构座椅悬架具有很好的多维减振能力,并且在加入半主动控制后,座椅悬架多维协同减振效果进一步提升。更多还原

【Abstract】 Commercial vehicles such as construction vehicles and heavy-duty trucks often run on non-paved roads,so they will experience greater multi-dimensional shock and vibration due to uneven roads,acceleration,deceleration,and turning changes during driving.The suspension system of this type of vehicle has a poor damping effect,which will cause the driver to stay in a low-frequency and large-amplitude vibration environment for a long time,which will seriously affect the ride comfort of the driver,and what is more,it will cause the driver’s health.harm.This article is an international cooperation project between Tianjin University and Royal Melbourne Institute of Technology.It takes a heavy commercial vehicle seat as the research object and simulates its working environment with multi-dimensional low-frequency and large-amplitude,and conducts semi-active control multi-dimensional coordinated vibration reduction research.The main research route is: Combine a magnetorheological damper that can achieve semi-active control and a 3-RCC parallel mechanism that can achieve three-dimensional translation,to achieve multi-dimensional coordinated vibration reduction,and to further improve the seat through semi-active control The damping effect of the suspension.This paper takes the commercial vehicle seat suspension combining the magnetorheological damper and the parallel mechanism as the research object,and conducts multi-dimensional collaborative vibration reduction and semi-active control research on it,mainly including the following aspects:(1)The 3-RCC parallel mechanism that can realize three-dimensional translation is selected as the seat suspension,and the kinematics analysis of the mechanism is carried out,and the position,speed and acceleration expressions of the mechanism are derived using branch chain vector method.A three-dimensional virtual prototype of the suspension was established in ADAMS,and the correctness of the model was verified by comparing the ADAMS motion simulation value with the theoretical calculation of Matlab.Finally,the influence of damping on the suspension system is analyzed,which provides a theoretical basis for semi-active control research.(2)The damping characteristic test of the magnetorheological damper is carried out.According to the test data,the modeling of the magnetorheological damper is completed based on the Bouc-Wen model.The Bouc-Wen model can more accurately reflect the output damping characteristics of the magnetorheological damper,fully verifying the semi-active characteristics of the magnetorheological damper.Laid the foundation for the application of semi-active control in seat suspension.(3)A semi-active controller is designed based on fuzzy control,PID control,and ceiling control,and a joint simulation seat suspension system model of ADAMS and Matlab is established.In the case of three-dimensional random vibration input,the vibration reduction effects of semi-active seat suspension and passive seat suspension are compared and analyzed.It is proved that the designed parallel mechanism seat suspension has a good multi-dimensional damping ability,and with the addition of semi-active control,the multi-dimensional collaborative damping effect of the seat suspension is further improved.更多还原