Vibration Reduction Characteristics of Hydraulically Interconnected Suspension on Middle and Rear Axles of Three-Axle Vehicle
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摘要:
三轴矿用自卸车中、后桥为主要承重桥，其输出特性影响车辆的行驶稳定性. 为解决矿用自卸车的承载问题和提高车辆的行驶稳定性，提出一种液压互联悬架；采用阻抗传递矩阵法推导悬架的压力-流量关系式，得到1/2车辆机械-液压耦合方程；通过求解系统状态矩阵实现对车身-车轮运动模态的完全解耦，并开展路面障碍试验对悬架的工作特性进行研究. 分析结果表明：所提悬架系统能够降低车身垂跳运动的固有频率，增大阻尼比，使车身垂跳振动快速衰减，且改善了中、后轮的动载荷分配情况；当车辆以15 km/h速度驶越120 mm高的三角形障碍物时，其2个油气缸产生的最大压差达1.15 MPa，峰值响应出现在0.3 s内，有效实现负载均匀；2个油气缸位移量近似相等而方向互逆，很好地起到位移补偿作用，有助于维持行驶过程中的车身姿态.
Abstract:The middle and rear axles of three-axle mining dump trucks are the main load-bearing axles, and their output characteristics influence the driving stability of the vehicles. To solve the load-bearing problem of mining dump trucks and improve the driving stability of the vehicles at the same time, a kind of hydraulically interconnected suspension was proposed. The impedance transfer matrix method was adopted to derive the flow-pressure relationship of the suspension, and the 1/2 vehicle mechanical-hydraulic coupling equation was obtained. The complete decoupling of body-wheel motion modes was realized by solving the system state matrix. Finally, the road obstacle experiment was carried out to investigate the operational characteristics of the suspension. The analysis results show that the suspension system reduces the natural frequency of body bounce motion, increases the damping ratio, attenuates the body bounce vibration quickly, and improves the dynamic load distribution of the middle and rear wheels. When the vehicle passes a 120 mm high triangular road obstacle at the speed of 15 km/h, the maximum pressure difference between the two oil cylinders of the hydraulically interconnected suspension is 1.15 MPa, and the maximum response time is 0.3 s. These are good to achieve uniform load. At the same time, the displacement of the two oil cylinders is basically equal, but the direction is opposite, which plays a good role of displacement compensation and helps to maintain the attitude of the body during travel.
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图 4 中、后车轮动载荷频响特性
Figure 4. Frequency response characteristics of dynamic load on the middle and rear wheels
图 5 中、后轮输入工况下前轮动载荷频响特性
Figure 5. Frequency response characteristics of front wheel dynamic load under middle or rear wheel input conditions
图 8 通过路面障碍时油气缸压力变化
Figure 8. Pressure variation of the oil cylinders when they pass the road obstacle
图 9 液压互联悬架2个油气缸的压差
Figure 9. Pressure difference between two oil cylinders of hydraulically interconnected suspension
图 10 通过路面障碍时油气缸位移变化
Figure 10. Displacement variation of the oil cylinders when they pass the road obstacle
表 1 悬架系统参数
Table 1. Parameters of suspension system
符号 数值 单位 a, b, c 2.55, 0.75, 1.75 m ms 56000 kg Iyy 105000 kg·m2 mu1, mu2, mu3 1050 ,1550 ,1550 kg ks1, ks2, ks3 1230 ,1230 ,1230 kN/m cs1, cs2, cs3 12.5, 10.0, 10.0 kN·s/m kt1, kt2, kt3 3015 ,4200 ,4200 kN/m 
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表 2 液压系统参数
Table 2. Parameters of hydraulic system
符号 描述 取值 ρ 油液密度/（kg·m−3） 850 Bm 油液体积模量/MPa 1700 Pi 管道内径/m 0.022 Pw 管壁厚度/m 0.01 E 管道材料杨氏模量/MPa 206000 Pd 活塞直径/m 0.22 Pr 活塞杆直径/m 0.16 Ap 蓄能器预充气压/MPa 5 Av 蓄能器预充体积/m3 0.005 ke 耦连悬架等效刚度/（N·m−1） 1015000 pe 系统平均压力/MPa 8.2
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表 3 VCIS和VMR-HIS模态对比表
Table 3. Modal comparison of VCIS and VMR-HIS
模态 VCIS VMR-HIS λ f/Hz ζ λ f/Hz ζ 第一阶 −0.176 + 5.938i 0.945 0.030 −0.262－4.934i 0.786 0.053 第二阶 −0.691 + 12.739i 2.030 0.054 −1.201－10.967i 1.756 0.109 第三阶 −5.236 + 47.618i 7.624 0.109 −5.227－47.619i 7.624 0.109 第四阶 −5.205 + 57.215i 9.144 0.091 −20.668－44.855i 7.860 0.419 第五阶 −5.718 + 57.506i 9.197 0.099 −2.433－61.206i 9.750 0.040
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表 4 试验设备清单
Table 4. List of test equipment
名称 型号 数量 三轴矿用自卸车 TLD110 1 辆 多通道数据采集仪 DEWE-2600 1 台 压力传感器 NS-P-I7 6 个 位移传感器 NS-WY03 6 个
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