基于特性的牵引车-半挂车刚柔组合车架动力学模型研究

Research on a Property-Based Dynamic Model of the Rigid-Flexible Combining Frame for the Tractor-Semitrailer

商用车较大的车架柔性会影响到整车的操纵稳定性和乘坐舒适性,尤其是在共振时车架柔性会放大对车辆运动品质的影响。为实时模拟牵引车-半挂车的车架运动,采用基于总成特性的建模技术路线,根据运动响应频域将车架运动解耦为低频刚体运动和高频柔体运动,并将车架模型模块化划分为基于多体动力学的刚体车架模块、基于模态综合法的柔体车架模块,然后将两模块求解结果叠加形成刚柔组合车架模型。最后,将车架模型嵌入牵引车89DOF-半挂车73DOF整车模型中,针对某款商用车进行仿真,通过对比实车场地试验结果,验证了模型的有效性。

The evident frame flexibility of the commercial vehicle will affect the handling stability and ride comfort of the whole vehicle,especially during resonance when the frame flexibility amplifies the impact on the vehicle’s motion quality.The property-based modeling technical route is adopted in this paper to simulate the frame motion of the tractor-semitrailer in real time.Firstly,the movement of the frame is decoupled into low-frequency rigid movement and high-frequency flexible movement according to the frequency domain.Then a rigid frame module based on multi-body dynamics and a flexible frame module based on the modal synthesis method is modularly built.Afterward,the results of the two modules are superimposed to form a rigid-flexible combining frame model.Finally,the frame model is embedded into the tractor 89DOF-semitrailer 73DOF vehicle model to conduct simulation on a certain commercial vehicle.The model′s effectiveness is verified by comparing it with the field test results of an actual vehicle.