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Damping Characterictick Shock Absorber
Damping Characterictick Shock Absorber
#4#"74)7 * +a,-ell Scien.ific /rgani0a.ion, !#$3 Su12i..ed: June $3, !#$! Accep.ed: July #4, !#$! 3u1lished: January !$, !#$3
Corresponding A%thor: 4ong5ie 6u, %ns.i.u.e of +echanical Engineering, Shi5ia0huang Tiedao 8ni9ersi.y, Shi5ia0huang, #5##43, 3:R: 7hina
74
Res. J. Appl. Sci. Eng. Technol., 5(3): 842-847, 2 !3 cur9es are o1.ained under differen. fre>uencies and differen. a2pli.ude: The se9en nonlinear para2e.ers of ?esinger 2odel are iden.ified depending on .he .es.ed resul.s: A case of 9ir.ual hea9y 9ehicle is proposed .o pu. .he fi..ed shoc; a1sor1er 2odel in.o ac.ion: "&S" !' (#R DA)* !' CHARAC"&R S" CS "esting system and scheme: %n .his s.udy, .he dyna2ic 2a.erials .es.ing sys.e2 (=ongda =T"'$$) is chosen .o .es. .he da2ping charac.eris.ics of .he shoc; a1sor1er: The .es. sys.e2 con.ains ser9o con.rol sys.e2, signal ac>uisi.ion sys.e2, func.ion genera.or, securi.y 2oni.oring sys.e2, digi.al AD@ in.erface sys.e2, ser9o" 9al9e dri9er and .he .-in".u1e hydraulic shoc; a1sor1er and so on: The specific sche2e of .he .es.ing is designed, as follo-s: Clamping the shock absorber: The lo-er end of a shoc; a1sor1er is 9er.ically fi,ed .o .he hydraulic ser9o"pla.for2 and .he upper end is fas.ened .o .he rigid 1ea2 e>uipped -i.h a force sensor: The shoc; a1sor1er is ad5us.ed along .he 9er.ical direc.ion .o ensure .ha. pis.on does no. produce eccen.ric -ear during .he loading process: Then .he ini.ial posi.ion of .he ser9o"console should 1e also ad5us.ed .o ensure .he pis.on loca.e in .he 2iddle of .he effec.i9e s.ro;e: +oading the shock absorber: The e,ci.a.ion fre>uency, a2pli.ude and sa2pling fre>uency are all .yped in.o .he co2pu.er: The dri9ing signal of sinusoidal displace2en. is produced .hrough a func.ion genera.or: The signal is a2plified 1y .he digi.al AD@ in.erface .o 2a;e ser9o pla.for2 e,ci.e .he shoc; a1sor1er according -i.h .he pre"inpu. fre>uency and a2pli.ude: Collecting the data: ?ecause .he e,ci.a.ion 2e.hod is displace2en. dri9ing, .he displace2en. signal of .he shoc; a1sor1er pis.on can 1e direc.ly o1.ained 1y .he pre"inpu. signal: And .he da2ping force can 1e recorded .hrough .he force sensor on .he rigid 1ea2: The ac.ual pho.o and .es.ing scene of .he shoc; a1sor1 are sho-n in <ig: $ and !, respec.i9ely: "esting res%lts for damping characteristics: <or .he purpose of o1.aining .he nonlinear da2ping charac.eris.ics of .he shoc; a1sor1er, i. is needed .o do so2e e,ci.a.ion .es.s a. differen. e,ci.a.ion fre>uencies and differen. a2pli.udes: The s.eady"s.a.e e,ci.a.ion .o .he shoc; a1sor1er is 2ade according .o .he s.andard G7DT 545"$''': The e,ci.ing fre>uency %ES -ere
") "4
"! # sD22
$#
chosen as $:#, $:5, !:# and !:5 =0, .he e,ci.a.ion a2pli.ude of .he pis.on -ere chosen as 5, $#, $5 and !# 22, respec.i9ely: ?ecause .he shoc; a1sor1er is e,ci.ed 1y sinusoidal displace2en., .he pis.on 2o.ion is gi9en as:
S = S # sin(!
t )
Res. J. Appl. Sci. Eng. Technol., 5(3): 842-847, 2 !3 ($) The 2o9e2en. angular fre>uency
s F 5 22 s F $# 22 s F $5 22 s F !# 22
400
80 0 60 0 40 0 20 0 0 200 400
-0.06
-0.04
-0.02
v/m/s
<ig: 5: <orce 9eloci.y cur9e under differen. fre>uency <ig: : <orce 9eloci.y cur9e under rando2 e,ci.a.ion
5### 4### 3### #$% !### $### # "$### "#:! "#:$ # ($'$s #:$ #:! s F 5 22 s F $# 22 s F $5 22 s F !# 22
& =!
S # cos(!
t )
(!)
Through a series of e,peri2en.s, .he da2ping charac.eris.ic cur9es of .he shoc; a1sor1er are 2easured: Then .he force"displace2en. cur9es under differen. fre>uency and a2pli.ude are sho-n in <ig: 3 and 4, respec.i9ely: <igure 5 and ) sho- .ha. .he cur9es presen. o19ious nonlinear charac.eris.ics during 1o.h .he .ension and .he co2pression processes: <ur.h 2ore, .here also e,i.s hys.eresis pheno2enon: %n order .o fur.her si2ula.e .he ac.ual 9i1ra.ion of
e,ci.a.ion .es. is
also done for shoc; a1sor1er: <igure 7 and sho- .he da2ping charac.eris.ics of shoc; a1sor1er under .he rando2 e,ci.a.ion: So2e conclusions could 1e dra-n fro2 .he <ig: 7 and , as follo-s:
Then .he rela.i9e 9eloci.y 1e.-een .he pis.on and cylinder .u1e can 1e deduced as:
The -or;ing poin.s ha9e .he fea.ure of une9en dis.ri1u.ion under .he rando2 e,ci.a.ion: ?u. .hese poin.s 1asically loca.e in an area -i.hin ")H) 22 a2pli.ude, "#:#)H#:#) 2Ds 9eloci.y: The force"displace2en. cur9e presen.s I=a21urgerJ shape and .he lef. and righ. sides are no. co2ple.ely sy22e.rical: The da2ping charac.eris.ics cur9e presen.s I?ananaJ shape: These resul.s once again pro9e .ha. .he shoc; a1sor1 has indeed .he fea.ure of non"lineari.y and non"sy22e.ry: *arameter identification of shock absorber: The e,peri2en. research is only .he 1eginning .o unders.and .he shoc; a1sor1s charac.eris.ics 9isually: The para2e.er iden.ifica.ion should 1e done .o sa.isfy .he 9ehicle dyna2ics research: There are .-o -ays .o acco2plish .he sys.e2 para2e.ers iden.ifica.ion, as follo-ers: in .he .i2e and in .he fre>uency region: The 6S+ (6eas. S>uares +e.hod) is firs.ly proposed 1y Kauss, -hich is a 1asic and effec.i9e 2e.hod .o apply .he iden.ifica.ion .heory in.o .he s.a.ic and dyna2ic sys.e2, or linear and nonlinear sys.e2 e.c: Thus .he 6S+ is u.ili0ed .o iden.ify .he shoc; a1sor1er para2e.ers 1ased on e,peri2en. da.a: %n .his s.udy, .he ?esinger 2odel is chosen for iden.ifying da2ping force: A nonlinear springs and da2per are cascaded .oge.her in .his 2odel, sho-n as <ig: ': The 2odel has .hree fea.ures: nonlinear rela.ionship 1e.-een .he .ension and co2pression s.ages, hys.eresis loop and sa.ura.ion in high"speed s.age during .he .ension s.age: %n .he ?esinger 2odel, .he da2ping force < 9 is defined as:
+ (( )( #( = +e (open + +, (( 9 open ) ( < 9 li2 ( 9 li2
<ig: ': ?esinger 2odel of shoc; a1sor1er
#c = )$ * + )! *
(4)
(3)
-here, ; $ and ; ! are .he coefficien.s of .he spring s.iffness: ?ased on .he .es.ing da.a (fre>uency ! =0, a2pli.ude $# 22), .he 6+S 2e.hod is u.ili0ed .o inden.ify .he da2ping para2e.ers of .he shoc; a1sor1er: The specific da2ping coefficien. are: 7 c F $4:4 &sD22, 7 e F $5:) &sD22, 7 1 F 3:) &sD22, 9 li2 F #:$!5 2Ds, M F #:7 2Ds, ; $ F $5# &D22, ; $ F $5# &D22, ; ! F #:$! &D223: !$)&R CA+ R&S$+"S .ension da2ping force and 7 $ F (7 e " 7 c )D!, 7 $ F (7 e L 7 c )D! According .o .he 2odel <ig: 4, .he da2ping force could 1e -ri..en as:
-here, 7(9) F
1 (v ) 1+(
L c ! : A func.ion
of .he
pis.on
)2
9eloci.y rela.i9e .o cylinder .u1e 7 c : The da2ping coefficien. of shoc; a1sor1er in .he co2pression s.age 7 e : The da2ping coefficien. a. .he lo-"speed s.age of .he .ension s.ro;e 7 1 : The da2ping coefficien. of shoc; a1sor1er a. .he high"speed s.age of .he .ension s.age 9 li2 : The speed a. .he .urning speed 1e.-een high speed and lo- speed during .he .esniling s.ro;e M : A .ransi.ion para2e.er 1e.-een co2pression and
?ased on .he a1o9e iden.ified nonlinear da2ping force and .he 2ul.i"1ody .heory, a full hea9y 9ehicle 2odel is es.a1lished in .he 2ul.i"1o1y sof.-are: The 9ehicle 2odel consis. of .he fron. and rear suspension, s.eering roo2, s.eering sys.e2, engine, .ires and o.her su1sys.e2s 2odels: Af.er precise defini.ion of .he spa.ial loca.ions for .hese su1sys.e2s, 9ehicle 2odel is es.a1lished .hrough .he inpu. and .he ou.pu. co22unica.ion de9ice: The in.egra.ed 2odel could
Ta1le $: +ain para2e.ers of suspension sys.e2 7a21er angle $O 6eng.hD-id.hD.hic;ness of rear leaf spring (22) $)##D'#D!4 Bingpin inclina.ion 7O S.iffness of fron. leaf spring (;&D2) !5! 7as.er angle $O5!S.iffness of .ande2 leaf spring (;&D2) $$'5 6inear &onlinear 6eng.hD-id.hD.hic;ness of fron. leaf spring (22) $)##D'#D$3 Per.ical s.iffness of .ire (;&D2) $$## <ull load of fron. a,le (;g) )'## <ull load of .ande2 a,le (;g) $ ###
reflec. .he fine s.ruc.ure of 9ehicle sys.e2s 2ore accura.ely and .ruly: So2e >uasi"s.a.ic e>uili1riu2 si2ula.ions are i2ple2en.ed .o chec; redundan. cons.rain. and 2a;e .he 9ir.ual 2odel 9alid: The -hole 3@ 9ehicle 2odel is sho-n in <ig: $#: So2e 2ain para2e.ers of .he 9ehicle 2odel are sho-n in Ta1le $: And .he nonlinear para2e.ers of shoc; a1sor1 according .o .he a1o9e e,peri2en. resul.s: The 9ehicle runs on .he 9ir.ual road (.a;ing a 1u2p 2odel as i2pulse e,ci.a.ion) a. a cons.an. speed of 4# ;2Dh: The .o.al si2ula.ion .i2e and s.ep si0e are 5 s and #:##5, respec.i9ely: The defaul. Kear S.iff %n.egra.or (KST%<<) is adop.ed .o sol9e coupled nonlinear @ifferen.ial"Alge1raic E>ua.ions (@AE): The 9ehicle 1ody accelera.ion and .ire dyna2ic force are si2ula.ed 1y co2paring .he linear da2ping and
nonlinear da2ping force: The resul.s are illus.ra.ed in <ig: $$ and $!: As can 1e seen fro2 .he <ig: $$ and $!, .here e,i. differences for 9ehicle perfor2ance 1e.-een .he nonlinear and linear shoc; a1sor1er 2odel: The 9ehicle 1ody accelera.ion is no. sensi.i9e .o .he effec. of nonlinear shoc; a1sor1, 1u. .he dyna2ic .ire force has o19ious difference, -hich has an i2por.an. 2eaning for researching .he in.erac.ion 1e.-een .he 9ehicle and road: C#!C+$S #! A de.ailed .es.ing sche2e for .he da2ping charac.eris.ics of shoc; a1sor1er is proposed: The da2ping charac.eris.ics are .es.ed on dyna2ic
2a.erial pla.for2 under .he sinusoidal and rando2 e,ci.a.ion: The resul.s sho- .ha. .he shoc; a1sor1er has .he fea.ures of non"lineari.y, non"sy22e.ry and hys.eresis: The ?esinger nonlinear 2odel is chosen .o iden.ify .he da2ping force 1ased e,peri2en.al da.a: And a nonlinear 9ir.ual pro.o.ype 2odel of hea9y du.y 9ehicle is 2odeled considering .he a1o9e fi..ed shoc; a1sor1er 2odel: Thus i. is an effec.i9e 2e.hod .o 1uild nonlinear shoc; a1sor1er 2odel, -hich can 1e easy .o 1e u.ili0ed in 9ehicle si2ula.ion: ACK&!#,+&D')&!" This s.udy -as suppor.ed 1y .he Bey 3ro5ec. of 7hinese +inis.ry of Educa.ion (Kran. &o: $#'3!##):), &a.ional &a.ural Science <ounda.ion of 7hina (Kran. &o: $$$#!$!$, $$#7!$5') and .he &a.ural Science <ounda.ion of =e1ei pro9ince (Kran. &o: A!#$!!$##$ ): R&(&R&!C&S Adrian, S:, !##!: The %nfluence of @a2per 3roper.ies on Pehicle @yna2ic ?eha9ior: SAE, !##!"#$" #3$':
Baradayi, R: and K:4: +asada, $' ': A nonlinear shoc; a1sor1er 2odel: 3roceeding of .he Sy2posiu2 on Si2ula.ion and 7on.rol on Kround Pehicles and Transpor.a.ion Sys.e2s, A+3 #, @S7 $!, pp: $4'"$)5: 6ang, =:=:, $'77: A s.udy of .he charac.eris.ics of au.o2o.i9e hydraulic da2pers a. high s.ro;ing fre>uencies: 3h:@: Thesis, 8ni9ersi.y of +ichigan: 6u, Q:=: and S:+: 6i, !##!: Si2ula.ion .echni>ues for nonlinear dyna2ic charac.eris.ics of .elescopic hydraulic da2pers: J: Tsinghua 8ni9: Sci: Tech:, 4!($$): $53!"$53): /E7@, @:, $'' : @yna2ic %n.erac.ion 1e.-een Pehicles and %nfras.ruc.ure E,peri2en.: Technical Repor.: /rgani0a.ion for Econo2ic 7o"opera.ion and @e9elop2en. (/E7@): Road Transpor. Research, Scien.ific E,per. Kroup: 4ang, S:3:, S:=: 6i and 4:J: 6u, !##': @yna2ics of 9ehicle"pa9e2en. coupled sys.e2 1ased on a re9ised fle,i1le roller con.ac. .ire 2odel: Sci: 7hina Series E"Technol: Sci:, 5!(3): 7!$"73#: