液罐车精确动力学建模及其侧倾稳定性

doi:10.16183/j.cnki.jsjtu.2020.03.011

摘要/Abstract

摘要： 建立了常见罐体内液体侧向晃动的等效椭圆规钟摆模型，推导了罐体非惯性参照系下的钟摆动力学方程，并通过整车受力分析构建了液罐车精确动力学模型.基于此，在TruckSim中搭建了液罐车模型，研究其动力学响应特性.研究发现：与普通载货汽车相比，液罐车在侧向稳定性上有轻微的过多转向特性，其转弯半径下降约3%～7%；在侧倾稳定性上，罐车横向载荷转移率显著提高，充液比小于0.7时其临界稳定车速下降30%以上.参与冲击的液体质量占整车总质量的比值是影响罐车侧倾稳定性的关键因素，该值主要由充液比和罐体形状决定.罐车应尽量避免充液比0.4～0.7的情况，此时车辆的侧倾稳定性最差；当绝大多数情况下货物充液比不低于0.8时，车辆应装配长短轴之比较大的椭圆柱罐体，其他情况下应装配圆柱罐体.液体黏度主要对车辆的瞬态响应产生影响.液体黏度的提高能显著降低车辆稳态响应时间和超调量，且罐体长短轴之比越大，效果越显著.

关键词: 液罐车；动力学建模；等效椭圆规钟摆模型；侧倾稳定性；临界车速

Abstract: Equivalent trammel pendulum model is established to describe lateral liquid sloshing in common tanks, and its dynamical equation under non-inertial coordinate system is then derived. The accurate dynamic model of tank vehicle is established on the basis of vehicle force analysis. Thereafter, the model of tanker vehicle is established in TruckSim, and its dynamic response is analyzed. The results show that compared to normal trucks, tankers have slight understeer characteristics, and their turning radius decreases about 3%-7%. At the same time, tankers have much greater lateral load transfer, and their critical speed decreases more than 30% when liquid fill level is lower than 0.7. The ratio of pendulum mass to tanker mass is the main factor that alleviates vehicle roll stability, and it is determined mainly by liquid fill percentage and tank shape. Tank vehicle has quite bad stability when liquid fill percentage is 0.4-0.7, which should be avoided as much as possible. When liquid fill level is not lower than 0.8 most of the time, tankers with elliptical cross section are recommended, otherwise cylinder tank is a better choice. Liquid viscous has a great influence on vehicle transient dynamics. With its increase, vehicle steady time and its overshoot is greatly alleviated, and the function would be more obvious when tank vehicle is flatter.

Key words: tank vehicle; dynamics modeling; equivalent trammel pendulum model; roll stability; critical speed

中图分类号:

U 469.5

任园园，李显生，郑雪莲，王杰. 液罐车精确动力学建模及其侧倾稳定性[J]. 上海交通大学学报, 2020, 54(3): 312-321.

REN Yuanyuan,LI Xiansheng,ZHENG Xuelian,WANG Jie. Accurate Dynamics Modeling and Roll Stability of Tank Vehicle[J]. Journal of Shanghai Jiaotong University, 2020, 54(3): 312-321.

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