CN102855363A - Method for simulating and calculating dynamic stress of a vehicle body structure of high-speed tracked vehicle - Google Patents
Method for simulating and calculating dynamic stress of a vehicle body structure of high-speed tracked vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of calculation, simulation and estimation of dynamic stress of a bearing structure of a high-speed tracked vehicle, in particular to a method for simulating and calculating dynamic stress of a vehicle body structure of the high-speed tracked vehicle. The method comprises two implementation steps of constructing a finished high-speed tracked vehicle system rigid-flexible coupling model based on a modal comprehensive method and calculating the dynamic stress of the vehicle body structure based on a modal stress recovering method. An integrated rigid body suspension system model, a propelling system model and a high-speed tracked vehicle rigid-flexible coupling complex dynamics model with a vehicle body structure finite element model are built by adopting a modal comprehensive technology, and the characteristics of the coupling dynamics between the vehicle system dynamics and the structure dynamics are accurately reflected. The method can obtain structural edge load at a designing and development stage of the high-speed tracked vehicle and simultaneously obtain structure dynamic stress, and provides effective means for design and improvement of a system structure of the high-speed tracked vehicle.
Description
Technical field
The present invention relates to high speed tracked vehicle bearing structure dynamic stress and calculate and the Simulation Evaluation technical field, refer in particular to a kind of body construction dynamic stress emulated computation method of high speed tracked vehicle.
Background technology
High speed tracked vehicle is in the cross-country road driving of complexity, and the severe impact of abominable road environment and vibration are the main causes that causes the vibration of high speed tracked vehicle system architecture, causes the excessive even structural failure of structure dynamic stress.Yet, for a long time, because the limitation of computing method and means, so that the structural design of car body still depends on traditional Empirical Design.
Since the nineties in 20th century, Finite Element Method progressively is applied in the Stress calculation of high speed tracked vehicle body construction.But, mainly there are two problems based on the car body Stress calculation of the high speed tracked vehicle of Finite Element Method: the one, the edge load that body construction is born is difficult to obtain.Because the complicacy that body construction connects, be difficult to accurately obtain by the means of experimental test all edge load conditions of body construction, especially in the design phase, owing to there not being experimental model, can only adopt the edge load of same types of vehicles, the analysis result that obtains thus obviously can't satisfy actual designing requirement.The 2nd, the coupled problem of Vehicular system dynamic perfromance and body construction characteristic.Body construction not only experiences large-scale rigid motion with Vehicular system, also to bear simultaneously the local deformation under the edge load, intercoupling of these two kinds of motions is so that only adopt the method for finite element analysis can't satisfy the analytical calculation requirement of endless-track vehicle body construction dynamic stress.
Through the prior art literature search is found, Piao Mingwei, the people such as Fang Ji deliver " the container car body vibrating fatigue based on Rigid-Flexible Coupling Simulation is analyzed " in " vibration and impact " the 3rd phase in 2009, the author is for the vibration Fatigue of container car body in this article, consider that Vehicular system vibrates the impact on structural stress and fatigue lifetime, has proposed a kind of vibrating fatigue analytical approach based on the Rigid-Flexible Coupling Simulation technology.Yet up to the present, in the research field of high speed tracked vehicle structural strength, the aspects such as the computation structure dynamic stress that influences each other also considering vehicle system dynamics and Structure dynamic characteristics have not yet to see the record of pertinent literature.
Therefore, take the body construction of high speed tracked vehicle as research object, the endless-track vehicle body construction dynamic stress computing method of a kind of Coupled Dynamics and Structure dynamic characteristics are proposed, and realized by Coupled Rigid-flexible virtual prototype and Modal stress recovery technology, significant for the endless-track vehicle body construction design of development and design stage and resistance to vibration assessment.
Summary of the invention
The object of the invention is to provides a cover based on the method for high speed tracked vehicle Coupled Rigid-flexible Full Vehicle System model and Modal stress recovery computation structure dynamic stress for the deficiencies in the prior art, for structural design and the improvement of high speed tracked vehicle system provides effective technological means.
For achieving the above object, the body construction dynamic stress emulated computation method of a kind of high speed tracked vehicle of the present invention comprises the steps:
The first step: make up the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model based on System by Modal Synthesis Method, implementation step is as follows:
1), sets up the cad model of high speed tracked vehicle according to parameters of structural dimension;
2), according to design data and the cad model of high speed tracked vehicle, make up the propulsion system multi-rigid model on the propelling subsystem model basis of setting up high speed tracked vehicle;
3), according to design data and the cad model of high speed tracked vehicle, make up the suspension system multi-rigid model on the suspension subsystem model basis of setting up high speed tracked vehicle;
4), according to design data and the cad model of high speed tracked vehicle, make up the car body finite element model, based on the form structure car body elastomeric model of System by Modal Synthesis Method with modal mass matrix, modal stiffness matrix, modal damping matrix and the Modal Stress matrix norm attitude neutral file of generation body construction;
5), according to the annexation of car body elastomeric model and propulsion system multi-rigid model, suspension system multi-rigid model, in the linkage unit place of car body elastomeric model outside definition restriction relation, realization car body elastomeric model is connected with propulsion system multi-rigid model, suspension system multi-rigid model, makes up the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model that contains the car body flexible body.
Second step: the body construction dynamic stress based on the Modal stress recovery method calculates, and implementation step is as follows:
1), in carrying out the finite element modal combined process, utilize the Elasticity geometric equation
And physical equation
Calculate flexible body Modal Stress matrix
In the formula,
Be the flexible body stain vector,
Be the flexible body stress vector, B is the flexible body strain matrix,
Be degree of freedom on a node basis vector, E is the flexible body elastic matrix,
Be the flexible body modal matrix;
2), make up the three-dimensional artificial road surface model;
3), carry out dynamics simulation based on high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model, the structure dynamic response of vehicle Full Vehicle System under the Calculation of Three Dimensional emulation road environment;
4), calculate the dynamic stress of flexible body by the linear superposition of Modal Stress and modal coordinate,
, calculated the dynamic stress time history of whole vehicle system node by the dynamic stress of flexible body.
Wherein, the propelling subsystem model of described high speed tracked vehicle is respectively driving wheel, bogie wheel, inducer, carrier wheel and crawler belt.
Wherein, the suspension subsystem model of described high speed tracked vehicle is respectively balance arm, torsion shaft, vibration damper and limiter.
Wherein, the step that generates the mode neutral file comprises the division finite element grid, the definition material properties, and the definition external node, hyperelement is set up in definition multi-point constraint unit, selects the Sol103 solver, and output unit is set, and selects modal parameter and selects output information.
Beneficial effect of the present invention: adopt Modal Synthesis Technique to set up the high speed tracked vehicle Coupled Rigid-flexible advanced dynamic model of integrated many rigid bodies suspension system and propulsion system model and body construction finite element model, accurately reflected the Coupled Dynamics characteristic between vehicle system dynamics and the Structural Dynamics; The invention provides and to obtain structure boundary load in the high speed tracked vehicle development and design stage, obtain simultaneously the emulated computation method of structure dynamic stress, for high speed tracked vehicle system structure design and improvement provide effective means.
Description of drawings
Fig. 1 is flow diagram of the present invention.
Fig. 2 is the architecture block diagram that high speed tracked vehicle Full Vehicle System model is arranged of the present invention.
Fig. 3 is for generating the flow diagram of mode neutral file.
Fig. 4 is the road longitudinal diagram of E level random road surface.
Fig. 5 is the three-dimensional pavement illustraton of model of E level random road surface.
Fig. 6 is the dynamic stress time history curve map of E level random road surface condition lower body structural key node.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in detail.
As shown in Figure 1, the body construction dynamic stress emulated computation method of a kind of high speed tracked vehicle of the present invention comprises making up based on the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model of System by Modal Synthesis Method with based on the body construction dynamic stress of Modal stress recovery method and calculates two large implementation steps.Wherein,
The first step: make up the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model based on System by Modal Synthesis Method.High speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model comprises propulsion system multi-rigid model, suspension system multi-rigid model and car body elastomeric model.In computing machine, utilize ADAMS software in the ADAMS/ATV module, to make up propulsion system multi-rigid model and suspension system multi-rigid model, adopt simultaneously the foundation of Nastran software based on the car body elastomeric model of System by Modal Synthesis Method, make up again the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model that contains the car body flexible body.
Its implementation step is as follows:
1), sets up the cad model of high speed tracked vehicle according to the parameters of structural dimension in the design data; Described design data comprises flying characteristic parameter, mass property parameter, parameters of structural dimension and material characteristic parameter, can set up the cad model of high speed tracked vehicle by the parameters of structural dimension of vehicle.
2), according to design data parameter and the cad model of high speed tracked vehicle, make up the propulsion system multi-rigid model on the propelling subsystem model basis of setting up high speed tracked vehicle; Described propelling subsystem model is respectively driving wheel, bogie wheel, inducer, carrier wheel and crawler belt.
3), according to design data parameter and the cad model of high speed tracked vehicle, make up the suspension system multi-rigid model on the suspension subsystem model basis of setting up high speed tracked vehicle; Described suspension subsystem model is respectively balance arm, torsion shaft, vibration damper and limiter.
The propulsion system of above-mentioned high speed tracked vehicle and the framed structure of suspension system are referring to Fig. 2.
4), according to design parameter and the cad model of high speed tracked vehicle, make up the car body finite element model, pass through the Nastran software foundation of computing machine based on the car body elastomeric model of System by Modal Synthesis Method, described car body elastomeric model comprises modal mass matrix, modal stiffness matrix, modal damping matrix and the Modal Stress matrix norm attitude neutral file of body construction with generation form makes up again; As shown in Figure 3, step based on Nastran Software Create mode neutral file comprises the division finite element grid, the definition material properties, the definition external node, hyperelement is set up in definition multi-point constraint unit (MPC), selects the Sol103 solver, output unit is set, selects modal parameter and select output information.By above-mentioned steps, can generate the modal mass matrix, modal stiffness matrix, modal damping matrix and the Modal Stress matrix norm attitude neutral file that comprise body construction.Wherein, definition external node, MPC unit and hyperelement are mainly used in making up the outside linkage unit of flexible body and other rigid body among the ADAMS.The selection of modal parameter is to be undertaken by definition SPOINT and SEQSET card in Nastran.Select output information by the definition of the Output card among the Nastran, consider the dynamic stress that adopts Modal stress recovery method computational dynamics environment lower body structure, need to comprise the information of node stress (gpstress) and element stress (stress) at the mode neutral file.
Body construction is comprised of armour plate, reinforcement gusset and column, mainly adopts two kinds of different materials, strengthens gusset and column and adopts the 16Mn steel, and armour plate adopts high pressure 5 steel.The physical characteristics of materials parameter of body construction is as shown in table 1.
The physical characteristics of materials parameter of table 1 body construction
Described System by Modal Synthesis Method is mainly used in the associative simulation of implementation structure finite element model and multi-body Dynamics Model, in multi-body Dynamics Model during the integrated morphology finite element model, for the degree of freedom quantity that does not make multi-body Dynamics Model excessive, the degree of freedom that needs the reduction structural finite element model, adopt the method for modal synthesis, mode with modal coordinate and Mode Shape stack represents the degree of freedom on a node basis, can effectively structural finite element model be reduced into the flexible body that has the mode degree of freedom in the Rigid-flexible Coupling Dynamics model.The degree of freedom on a node basis can be expressed as:
Wherein,
,
,
Be respectively degree of freedom on a node basis vector, modal matrix, modal coordinate vector.
Because the flexible body in the Rigid-flexible Coupling Dynamics model is subject to hinge and bearing effect of contraction, thus obtain with the flexible body kinetics equation of equation of constraint by method of Lagrange multipliers be:
Wherein,
Be the flexible body general mass matrix,
Be the equation of constraint Jacobian matrix,
Be Lagrange multiplier,
Be flexible body bonding force vector,
Be the generalized internal force vector,
Be the generalized external force vector,
Be flexible body displacement of the lines vector;
Be the flexible body angular velocity vector; A is that local coordinate system is with respect to the direction cosine matrix of inertial coordinates system initial point;
Be transpose of a matrix,
Be the modal coordinate vector.Modal coordinate, being the result of calculation that obtains according to dynamics simulation, is one-to-one relationship between modal coordinate and the flexible body Modal Stress matrix, and every single order Modal Stress is to modal coordinate that should rank mode, how many rank Modal Stress are arranged, the modal coordinate on how many rank is just arranged.
5), according to the annexation of car body elastomeric model and propulsion system multi-rigid model, suspension system multi-rigid model, in the linkage unit place of car body elastomeric model outside definition restriction relation, realization car body elastomeric model is connected with propulsion system multi-rigid model, suspension system multi-rigid model, makes up the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model that contains the car body flexible body.
Second step: the body construction dynamic stress based on the Modal stress recovery method calculates, and implementation step is as follows:
1), in carrying out the finite element modal combined process, utilize the Elasticity geometric equation
And physical equation
Calculate flexible body Modal Stress matrix
In the formula,
Be the flexible body stain vector,
Be the flexible body stress vector, B is the flexible body strain matrix,
Be degree of freedom on a node basis vector, E is the flexible body elastic matrix,
Be the flexible body modal matrix.
2), make up the three-dimensional artificial road surface model, be used under three-dimensional artificial road traveling environment the simulation calculation of high speed tracked vehicle Rigid-flexible Coupling Dynamics model.Cross-country run road surface commonly used comprises: fluctuating wheel face, random road surface, distortion road surface etc.Wherein, the road longitudinal diagram of E level random road surface as shown in Figure 4, the horizontal ordinate among Fig. 4 is road surface fore-and-aft distance (m), ordinate is unevenness elevation (m).The three-dimensional pavement illustraton of model of E level random road surface as shown in Figure 5.
3), carry out dynamics simulation based on high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model, the structure dynamic response of vehicle Full Vehicle System under the Calculation of Three Dimensional emulation road environment.
4), calculate the dynamic stress of flexible body by the linear superposition of Modal Stress and modal coordinate,
, because the modal coordinate q that obtains in the flexible body Dynamic solving is time dependent vector set, namely
Therefore, be can be calculated the dynamic stress time history of whole vehicle system node by the dynamic stress of flexible body
The dynamic stress time history curve of the E level random road surface condition lower body structural key node that calculates as shown in Figure 6.Horizontal ordinate among Fig. 6 is time (t), and ordinate is stress amplitude (Mpa).According to body construction dynamic stress distribution trend and the stress amplitude that the dynamic stress time history is calculated, can carry out design phase body construction strength assessment, Optimal Structure Designing etc., thereby shorten development and design time and funds.
Above content is preferred embodiment of the present invention only, for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, and this description should not be construed as limitation of the present invention.
Claims (5)
1. the body construction dynamic stress emulated computation method of a high speed tracked vehicle is characterized in that comprising the steps:
The first step: make up the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model based on System by Modal Synthesis Method, implementation step is as follows:
1), sets up the cad model of high speed tracked vehicle according to parameters of structural dimension;
2), according to design data and the cad model of high speed tracked vehicle, make up the propulsion system multi-rigid model on the propelling subsystem model basis of setting up high speed tracked vehicle;
3), according to design data and the cad model of high speed tracked vehicle, make up the suspension system multi-rigid model on the suspension subsystem model basis of setting up high speed tracked vehicle;
4), according to design data and the cad model of high speed tracked vehicle, make up the car body finite element model, based on the form structure car body elastomeric model of System by Modal Synthesis Method with modal mass matrix, modal stiffness matrix, modal damping matrix and the Modal Stress matrix norm attitude neutral file of generation body construction;
5), according to the annexation of car body elastomeric model and propulsion system multi-rigid model, suspension system multi-rigid model, in the linkage unit place of car body elastomeric model outside definition restriction relation, realization car body elastomeric model is connected with propulsion system multi-rigid model, suspension system multi-rigid model, makes up the high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model that contains the car body flexible body.
2. second step: the body construction dynamic stress based on the Modal stress recovery method calculates, and implementation step is as follows:
1), in carrying out the finite element modal combined process, utilize the Elasticity geometric equation
Calculate flexible body Modal Stress matrix with physical equation
In the formula,
Be the flexible body stain vector,
Be the flexible body stress vector, B is the flexible body strain matrix,
Be degree of freedom on a node basis vector, E is the flexible body elastic matrix,
Be the flexible body modal matrix;
2), make up the three-dimensional artificial road surface model;
3), carry out dynamics simulation based on high speed tracked vehicle Full Vehicle System Rigid-flexible Coupling Model, calculate the structure dynamic response of vehicle Full Vehicle System under three-dimensional artificial road traveling environment, described structure dynamic response comprises modal coordinate;
4), the linear superposition of the Modal Stress that goes out by flexible body Modal Stress matrix computations in the step 1) and the modal coordinate in the step 3) calculates the dynamic stress of flexible body,
, calculated the dynamic stress time history of whole vehicle system node by the dynamic stress of flexible body
3. the body construction dynamic stress emulated computation method of high speed tracked vehicle according to claim 1, it is characterized in that: the propelling subsystem model of described high speed tracked vehicle is respectively driving wheel, bogie wheel, inducer, carrier wheel and crawler belt.
4. the body construction dynamic stress emulated computation method of high speed tracked vehicle according to claim 1, it is characterized in that: the suspension subsystem model of described high speed tracked vehicle is respectively balance arm, torsion shaft, vibration damper and limiter.
5. the body construction dynamic stress emulated computation method of high speed tracked vehicle according to claim 1, it is characterized in that: the step that generates the mode neutral file comprises the division finite element grid, the definition material properties, the definition external node, hyperelement is set up in definition multi-point constraint unit, selects the Sol103 solver, output unit is set, selects modal parameter and select output information.
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