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DV Predavanja RavnotezjeSilNaVozilu 20131125
DV Predavanja RavnotezjeSilNaVozilu 20131125
s
G co
l' ' hn
Z1 = ⋅ G ⋅ cos α − ⋅ G ⋅ sin α
l l
l' h
Z 2 = ⋅ G ⋅ cos α + n ⋅ G ⋅ sin α
l l
Statično ravnotežje sil na strmini
Določitev višine težišča:
v,a
T
G sin
hn
A G
h'
l'
l'' G''
l
∑M
A = 0:
l ⋅ G ' '⋅ cos α − l '⋅G ⋅ cos α − hn ⋅ G ⋅ sin α = 0
⎛ G' ' ⎞
hn = ⎜ ⋅ l − l ' ⎟ ⋅ ctgα
⎝G ⎠
Dinamično ravnotežje sil na strmini pri
pospeševanju
s
G co
∑M
= 0:
( 2)
F1 + F2 − R f 1 − R f 2 = G ⋅ sin α + Ri + Rz + ( R p )
F1 + F2 = F ; R f 1 + R f 2 = R f = f ⋅ G ⋅ cos α ; R p = 0
⎛ l ' ' f ⋅ hn ⎞ hn M L1 + M L 2
Z1 = G ⋅ cos α ⋅ ⎜ + ⎟− ⋅F −
⎝l l ⎠ l l
Z1 ⎛ l ' ' f ⋅ hn ⎞ hn M L1 + M L 2
= cos α ⋅ ⎜ + ⎟ − ⋅ F −
G ⎝l l ⎠ l ⋅G l ⋅G
⎛ l ' f ⋅ hn ⎞ hn M L1 + M L 2
Z 2 = G ⋅ cos α ⋅ ⎜ − ⎟+ ⋅F +
⎝l l ⎠ l l
Z2 ⎛ l ' f ⋅ hn ⎞ hn M L1 + M L 2
= cos α ⋅ ⎜ − ⎟ + ⋅ F +
G ⎝l l ⎠ l ⋅G l ⋅G
Maksimalne pogonske sile
Pogon na sprednja kolesa:
⎡l'' hn ⎤
F1,max = μtr ,m ⋅ ⎢ ⋅ G ⋅ cos α − ⋅ ( F1,max − f ⋅ G ⋅ cos α )⎥
⎣l l ⎦
F1,max l ' '+ hn ⋅ f
= μtr ,m ⋅ cos α ⋅
G l + hn ⋅ μtr ,m
Maksimalne pogonske sile
Pogon na zadnja kolesa:
⎡ l' hn ⎤
F2, max = μtr , m ⋅ ⎢ ⋅ G ⋅ cos α + ⋅ ( F2, max − f ⋅ G ⋅ cos α )⎥
⎣l l ⎦
F2, max l '−hn ⋅ f
= μtr , m ⋅ cos α ⋅
G l − hn ⋅ μtr , m
v
a
Ri
Rz T
Mi1 G sin
ML1
hn
G
Rf1 Mi2
ML2
Z1 K1
Rp
l' z
Rf2 hp
l'' Z2 K2
l
x
∑M
= 0:
( 2)
∑F
x ( 2) = 0:
[
K1 + K 2 + R f 1 + R f 2 = Ri − G ⋅ sin α + Rz + ( R p ) ]
K1 + K 2 = K ; R f 1 + R f 2 = R f = f ⋅ G ⋅ cos α ; R p = 0
⎛ l ' ' f ⋅ hn ⎞ hn M L1 + M L 2
Z1 = G ⋅ cos α ⋅ ⎜ + ⎟ + ⋅ K −
⎝l l ⎠ l l
Z1 ⎛ l ' ' f ⋅ hn ⎞ hn M L1 + M L 2
= cos α ⋅ ⎜ + ⎟+ ⋅K −
G ⎝l l ⎠ l ⋅G l ⋅G
⎛ l ' f ⋅ hn ⎞ hn M L1 + M L 2
Z 2 = G ⋅ cos α ⋅ ⎜ − ⎟− ⋅K +
⎝l l ⎠ l l
Z2 ⎛ l ' f ⋅ hn ⎞ hn M L1 + M L 2
= cos α ⋅ ⎜ − ⎟− ⋅K +
G ⎝l l ⎠ l ⋅G l ⋅G
Maksimalne zavorne sile
M L1 + M L 2 ≈ 0
K1 = Z 1 ⋅ μ H
K2 = Z2 ⋅ μH
K1 + K 2 = K = Z1 ⋅ μ H + Z 2 ⋅ μ H = μ H ⋅ G ⋅ cos α
Z1 l ' ' hn
= + ⋅ ( f + μH )
G ⋅ cos α l l
Z2 l ' hn
= − ⋅ ( f + μH )
G ⋅ cos α l l
Maksimalne zavorne sile
μ H ⋅ Z1
K1 ⎛ l ' ' hn ⎞ 2 hn
= = μH ⋅ ⎜ + ⋅ f ⎟ + μH ⋅
G ⋅ cos α G ⋅ cos α ⎝l l ⎠ l
K2 μH ⋅ Z2 ⎛ l ' hn ⎞ 2 hn
= = μH ⋅ ⎜ − ⋅ f ⎟ − μH ⋅
G ⋅ cos α G ⋅ cos α ⎝l l ⎠ l
K1
G cos K1
G cos
K2
G cos
K2
G cos
0 H
Ravnotežje sil na premo vozila pri vožnji v ovinek
Nevzmetena nadgradnja:
l'' l'
Gn ,1 = G ⋅ ; Gn , 2 = G ⋅
l l
v2 l' ' l'
Fc = mn + p ⋅ ; Fc ,1 = Fc ⋅ ; Fc , 2 = Fc ⋅
Rov l l
Ravnotežje sil na premo vozila pri vožnji v ovinek
Vzmetena nadgradnja:
Vir: en.wikipedia.org/wiki/Corvette_leaf_spring
Tipi vzmetenja na vozilu
Pnevmatsko in hidro-pnevmatsko vzmetenje – togostna
karakteristika pnevmatske vzmeti:
n = 1,4 ⇒ izentropa
n ≈ 1,3 ⇒ politropa
Tipi vzmetenja na vozilu
Pnevmatsko in hidro-pnevmatsko vzmetenje – togostna
karakteristika pnevmatske vzmeti:
p0 ⋅V0n = p ⋅V n
F n
p0 ⋅ A ⋅ h = ⋅ A ⋅ (h0 − s) n
n n
0
A
p0 ⋅ A ⋅ h0n
F=
(h0 − s) n
dF n ⋅ p0 ⋅ A ⋅ h0n
c= =
ds (h0 − s) n +1
Tipi vzmetenja na vozilu
Pnevmatska vzmet z odvaljnim batom:
Tipi vzmetenja na vozilu
Citröenov hidro-pnevmatski sistem vzmetenja (ena prema):
Navpično nihanje vzmetenih delov vozila
Vozilo s posamičnimi obesami:
Navpično nihanje vzmetenih delov vozila
Vozilo s togo premo:
Prostostne stopnje:
- navpični pomiki in zasuki prem: z1, z2, 1,yz, 2,yz
- navpični pomik nadgradnje: zn
- zasuka nadgradnje: xz, yz
mn, Jxz, Jyz
Tn z
d1 c1
y
d1 c1 x
T1 c2
d2
d1,P c1,P c2,t
d2
c2
m1, J1,yz
T2
d1,P c1,P d2,P c2,P
z1,D(t)
m2, J2,yz
z1,L(t) d2,P c2,P z2,D(t)
z2,L(t)
Navpično nihanje vzmetenih delov vozila
Ravninski model vozila:
Navpično nihanje vzmetenih delov vozila
Primer izpeljave gibalnih za ravninski model vozila:
L
xc
T
z2,s zT ϕT z2,z
1 2
mc, Jc
z1,s z1,z
3 m1,s m1,z 4
x
Navpično nihanje vzmetenih delov vozila
Predpostavke:
z 2, s > z1, s > h s
z 2, z > z1, z > h z
z 2, z > z 2, s
z& 2, s > z&1, s > h&s
z& > z& > h&
2, z 1, z z
⎛ x ⎞ x
z T = z 2 , s ⋅ ⎜1 − c ⎟ + z 2 , z ⋅ c
⎝ L⎠ L
z 2, z − z 2, s
ϕ T ≈ tan ϕ T =
L
z 2, s = zT − ϕ T ⋅ xc
z 2, z = z T + ϕ T ⋅ (L − x c )
Navpično nihanje vzmetenih delov vozila
Gibalne enačbe:
[ ]
J c ⋅ ϕ&&T = k12, s (zT − ϕ T ⋅ x c − z1, s ) + f 12, s (z&T − ϕ& T ⋅ x c − z&1, s ) ⋅ xc −
[ ]
− k12, z (zT + ϕ T (L − x c ) − z1, z ) + f 12, z (z&T + ϕ& T (L − x c ) − z&1, z ) ⋅ (L − x c ) −
− F12, s ⋅ x c + F12, z (L − x c )
Navpično nihanje vzmetenih delov vozila
Postavitev sistema diferencialnih enačb 1. stopnje za lokalne
koordinatne sisteme (*) in matrični zapis tega sistema enačb:
z1, s = y1 + z1* ⇒ y& 1 = z&1, s , &y&1 = &z&1, s y 5 = y& 1
y& = A ⋅ y + u G + u F + u P + u K
y = ( y , y , y , y , y , y , y , y )T
1 2 3 4 5 6 7 8
⎡ 0 , I4 ⎤
A=⎢ ⎥
⎣ K , F ⎦
u = (0,0,0,0,− g ,− g ,− g ,0)T
G
Navpično nihanje vzmetenih delov vozila
⎡ 0 ⎤ ⎡ 0 ⎤
⎢ 0 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ 0 ⎥
⎢ 0 ⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥
⎢ 0 ⎥ ⎢ 0 ⎥
uP = ⎢
uF =⎢
⎢
(F01,s − F12,s ) m1, s ⎥
⎥ ⎢
[ ]
k 01, s ⋅ y '+ f 01, s ⋅ y& ' m1, s ⎥
⎥
⎢ (F01, z − F12, z ) m1, z ⎥ k[
⎢ 01, z ⋅ y "+ f 01, z ⋅ y& " m]1, s ⎥
⎢ ⎥ ⎢ ⎥
⎢ (F12,s + F12, z ) mc ⎥ ⎢ 0 ⎥
⎢(F ⋅ (L − x ) − F ⋅ xc ) J c ⎥⎦ ⎢⎣ 0 ⎥⎦
⎣ 12, z c 12 , s
⎡ 0 ⎤
⎢ 0 ⎥
⎢ ⎥
⎢ 0 ⎥
⎢ ⎥
⎢ 0 ⎥
uK = ⎢
⎢
[ ( ) ( )]
k12, s ⋅ − z1* + z 3* − z 4* ⋅ x c + k 01, s ⋅ z '− z1* m1, s ⎥
⎥
⎢
⎢
[ ( ) ( )]
k12, z ⋅ − z 2* + z 3* + z 4* ⋅ (L − x c ) + k 01, z ⋅ z"− z 2* m1, z ⎥
⎥
⎢
⎢
[ ( * * *
) (
k12, s ⋅ z1 − z 3 + z 4 ⋅ x c + k12, z ⋅ z 2 − z 3 − z 4 ⋅ (L − x c ) mc
* * *
)] ⎥
⎥
[ ( ) ( ) ]
⎢⎣ k12, s ⋅ z1 − z 3 + z 4 ⋅ x c ⋅ x c − k12, z ⋅ z 2 − z 3 − z 4 ⋅ (L − x c ) ⋅ (L − x c ) J c ⎥⎦
* * * * * *
Navpično nihanje vzmetenih delov vozila
Reševanje sistema diferencialnih enačb z implicitnim
odvajanjem po Eulerju:
y ( n + 1) − y (n)
y& ( n + 1) =
t ( n + 1) − t ( n)
y (n + 1) = y (n) + (t (n + 1) − t (n) ) ⋅
⋅ [A ⋅ y (n + 1) + u G (n + 1) + u F (n + 1) + u P (n + 1) + u K (n + 1)]