应用驾驶员在环平台非独立后悬架特性分析

Characteristics Analysis of Dependent Rear Suspension Based on Driver-in-the-Loop

悬架对矿用自卸车具有举足轻重作用,其特性直接影响整车性能。由于整车结构特殊性,后悬大多数采用非独立悬架,主要有A型架-横拉杆式和四连杆式。针对两种悬架特点,基于MapleSim建立分析模型,对悬架刚体运动学和弹性运动学性能(K&C特性)进行分析;基于驾驶员在环仿真平台对整车进行闭环操纵稳定性试验对比分析。结果可知:C特性指标数值非常小;两种非独立后悬架在不同K特性指标上发挥优势;平行轮跳时,四连杆式悬架运动学性能在侧向位移变化上优于A型架-横拉杆式悬架,纵向位移变化相差不大;反向轮跳时,A型架-横拉杆式悬架在后桥侧向位移和纵向位移两个指标上变化优于四连杆式,而在后桥侧倾转向角指标上则劣于四连杆式;A型架-横拉杆式悬架应用于整车后表现出较好稳态回转特性,不足转向度高;四连杆式悬架应用于整车后瞬态响应速度快,横摆角速度稳态增益较小。

Suspension design plays a vital role on development of mining dump truck,which has a great influence on handling stability of vehicle.Because of the special nature of the vehicle structure,most of the rear suspension using dependent suspension,the form includes A-frame and lateral-rod type and four-linkage type of dependent suspension.According to the structural characteristics of the two types rear suspension,the complete model library of suspension used in mining dump truck was established in MapleSim software which consists of A-frame and lateral-rod type and four-linkage type of dependent suspension.And their kinematics and compliance characteristics were obtained and compared by respectively applying displacement and force load.And a driver-in-the-loop(DIL)simulation platform was designed to investigate the interaction between vehicle model and real driver.The results show that the C characteristic index value is very small;the two dependent rear suspension play a dominant role in the differentK characteristic index;when the parallel wheel jump,the kinematic performance of the four-linkage suspension is better than the lateral displacement A-frame and lateral-rod type suspension,the longitudinal displacement changes little difference;reverse wheel jump,A-frame and lateral-rod type suspension in the lateral displacement of the rear axle and the longitudinal displacement of the two indicators of the changes to be superior In the four-linkage,and in the rear axle roll steering angle on the index is inferior to the four-bar;A-frame and lateral-rod type suspension applied to the vehicle after the show good steady-state rotation characteristics,High steering degree;four-linkage suspension applied to the vehicle after the transient response speed,yaw rate of the steady-state gain is small.