南京航空航天大学硕士学位论文基于油气悬架的车轮收放控制系统虚拟样机研究姓名：郝鹏飞申请学位级别：硕士专业：车辆工程指导教师：赵又群2011-01南京航空航天大学硕士学位论文 i摘 要 摘 要 轮式两栖车辆的一个重要性能是水上行驶速度，在发动机和喷水推进器技术一定的情况下通过减少水上行驶阻力可以提高水上行驶速度，通过车轮的收起形成流线型车身可以减少行驶阻力。本文对轮式两栖车车轮收放系统的关键技术进行了研究分析及建模仿真。车轮收放系统主要包括液压控制系统、收放机械结构、悬架结构和油气弹簧。本文对以下几个部分进行了讨论： （1）搜集整理了国内外轮式两栖车辆车轮收放的技术专利，并对各专利进了研究比较。在对专利总结分析的基础上，设计了一套适用于多种轮式两栖车辆车轮收放的悬架机构，包括附件动力中断装置，该附件可以使悬架在不需要收放动力的时候中断悬架与动力提供装置的液压系统的连接。在 ADAMS 软件中对该收放悬架进行了建模，分析了影响油气弹簧收起时最大压缩量的上支点的定位及该定位变化对悬架各关键点受力的影响。 （2） 通过对两栖车辆车轮收放的性能要求进行分析， 设计了一套能够准确实现车轮收放的液压收放控制系统，在 AMESim 中建立了比例调速阀模型作为该液压系统的主要控制元件，并对整个液压系统进行了建模仿真。为了使液压系统仿真时的机械负载更加准确，将 ADAMS 中建立的收放悬架模型导入基于 AMESim 软件建立的液压系统中进行联合仿真分析。 （3）利用油气弹簧的高度可调性能，将油气弹簧引入到车轮收放技术中，为了得到油气弹簧的刚度阻尼特性，在 AMESim 中对油气弹簧进行了建模分析，同时分析了蓄能器充气压力、额定体积、节流孔直径等参数对油气弹簧性能的影响。 （4）为了得到平顺性分析的激励路面，分析了 Sayers 路面模型，利用该模型生成了两侧路面不平度，并对 Sayers 模型的各个参数进行了研究分析。在 ADAMS/car 中建立了整车模型，利用该模型在 ADAMS/car ride 中对整车依据国标进行了平顺性分析， 对仿真结果进行了处理及评价。 关键字：关键字：收放车轮、液压系统建模、油气弹簧、平顺性、ADAMS、AMESim 基于油气悬架的车轮收放控制系统虚拟样机研究 iiAbstract Navigation speed is one of most important performance of the amphibious wheeled vehicle when sailing in water. In addition to the engine and the thruster, the navigation speed of the amphibious can be improved with the reducing of the resistance of water. In this paper the retractable wheel system of the amphibious is designed, then the system is modeled and simulated. The retracting and deploying system of the amphibious vehicle is consisted of the hydraulic control system, the hydraulic mechanical part, the suspension structural element, the hydro-pneumatic spring. The following parts are discussed: (1) The patents of the retracting and deploying wheels system in the world are collected、 discussed and compared. A new retracting suspension is put forward which can be used in other kinds of vehicles. A suspension disconnect apparatus is used, so that the power of the system can be interrupted. The ADAMS model of the system is build and simulated. (2) According to the analysis of the requirements of the retractable vehicle suspension, a hydraulic control system is designed. The proportional control valve is modeled and simulated which is the primary component of the hydraulic system, the whole system is modeled and simulated. In order to gain a more accurate load of the hydraulic system, the suspension model and hydraulic are simulated at one software at the same time. (3) Hydro-pneumatic spring is used in the amphibious vehicle suspension, because it has length adjustable performance. The AMESim model of the hydraulic is simulated for the springs stiffness and damping characteristics. Some important parameters of the hydro-pneumatic spring are discussed for the performance of spring ,such as the gas precharge pressure and the accumulator volume of the hydraulic accumulator, the orifice diameter of the hydraulic orifice. (4) The paper uses the Sayers road model for the analysis of the ride quality of the vehicle in the software ADAMS/car ride. Both the left and right wheel tracks are obtained by the Sayers method. The Sayers model has three components which can influence the roughness of the road. A ADAMS/car vehicle model is build and simulated for its ride quality, and its result data is analyzed to evaluation the vehicle performance by the standard methods. Key Words: retractable wheel、hydraulic system、hydro-pneumatic spring、ride quality、ADAMS、 AMESim 基于油气悬架的车轮收放控制系统虚拟样机研究 vi图表清单图表清单 图 2. 1 驱动轮悬架. 5 图 2. 2 转向轮悬架. 5 图 2. 3 驱动轮悬架机构（收起前） . 6 图 2. 4 驱动轮悬架机构（收起后） . 6 图 2. 5 非驱动轮悬架机构 . 6 图 2. 6 收放动力提供装置侧视图 . 7 图 2. 7 收放动力提供装置俯视图 . 7 图 2. 8 悬架机构（收起前） . 7 图 2. 9 悬架机构（收起后） . 7 图 2. 10 悬架空间结构方案 1 . 8 图 2. 11 悬架空间结构方案 2 . 8 图 2. 12 球笼式 . 8 图 2. 13 液压缸控制的花键式 . 8 图 2. 14 采用离合器控制动力中断 .