Inertia Analysis and Vibration Filtering Buffer Design of Electromechanical Suspension of High Speed Tracked Vehicle

doi:10.12382/bgxb.2021.0588

Abstract

Abstract:

In order to solve the problem of performance deterioration and ensure structural reliability of the electromechanical suspension of high-speed tracked vehicles in high-frequency zone, the stiffness characteristics of the electromechanical suspension based on the torsion bar are analyzed, the complex motion relationship of the suspension rod system is solved, the equivalent inertia mass of the electric actuator is calculated, and a two-degree-of-freedom electromechanical suspension model considering inertia mass and load wheel damping is established. We quantitatively analyze the adverse impact of inertia mass on suspension performance, and obtain the frequency domain distribution interval and power spectral density distribution interval of inertia force affecting suspension's ride comfort and component reliability. According to the frequency domain distribution of suspension inertia force and the amplitude frequency characteristics of the suspension's dynamic deflection, the measures of vibration filtering and buffering are put forward, and a suspension model with the vibration filtering buffer is established. The simulation and test results show that vibration filtering and buffering can effectively reduce the influence of inertial mass. Under the driving condition of 40km/h on class D Road, the root mean square value of the original inertial force is reduced from 2143N to 175N, and the root mean square value of sprung mass acceleration is reduced from 3.5108m/s² to 1.2682m/s². The bench test shows that the gear ring stress is greatly attenuated after the vibration filtering and buffering measures are adopted, and the maximum value is reduced from 519.9MPa to 110.1MPa. Through simulation and test, it is verified that the measures of vibration filtering and buffering can improve the performance of the electromechanical suspension and help to solve the problem of performance deterioration in the high frequency zone caused by inertial mass.

Key words: inertial mass, inertia force, vibration filtering, buffer, electromechanical suspension

CLC Number:

TJ81⁺0.1

SONG Huixin, GU Liang, ZHANG Jinqiu, DONG Mingming, WANG Liming. Inertia Analysis and Vibration Filtering Buffer Design of Electromechanical Suspension of High Speed Tracked Vehicle[J]. Acta Armamentarii, 2023, 44(2): 380-393.

Figures/Tables 33

Fig.1 Energy dissipation or recovery principle of electromechanical suspension

Table 1 Suspension parameters

参数	数值
m_s/kg	2400
非簧载质量m_u/kg	235
单元履带质量m_l/kg	170
扭杆材料剪切弹性模量G/MPa	78300
扭杆工作长度l/mm	1940
扭杆工作直径d_T/mm	48
平衡肘初始安装角α₀/(°)	-43.56
负重轮垂向刚度k_f/(N·m)	2160
履带垂向刚度k_l/(N·m)	40000
车辆底甲板距地高度h/mm	406.5
扭杆中心距车底甲板高度h₀/mm	95
履带板厚度h_b/mm	80
平衡肘旋转半径R_d/mm	360
负重轮直径D_f/mm	600
悬架静行程f_j/mm	135
悬架动行程f_d/mm	293

Fig.2 Single wheel's electromechanical suspension assembly and motion relationship

Fig.3 Relationship between suspension deformation and suspension stiffness/sprung mass natural frequency

Fig.4 Analysis of linkage motion relationship for the electromechanical suspension system

Table 2 Suspension linkage parameters

参数	数值
平衡肘与摇臂旋转点水平间距AF/mm	566
平衡肘与摇臂旋转点垂直间距DF/mm	70
摇臂旋转半径CD/mm	260
连杆长度CE/mm	240
平衡肘旋转点至连杆安装点长度AE/mm	300
平衡肘与负重轮旋转点至连杆安装点长度BE/mm	60

Fig.5 Relationship between suspension deformation and rocker arm rotation angle as well as the fitted straight line

Fig.6 Internal structure principle of actuator

Table 3 Parameters of electromechanical actuator

参数	数值
J_r/(kg·m²)	0.32019
J_x/(kg·m²)	0.05316
J_d/(kg·m²)	0.02335
i_r	1
i_x	9.4
i_d	5.2
摇臂的旋转半径R_y/mm	260

Fig.7 Two-degree-of-freedom (2DOF) electromechanical suspension model

Table 4 Parameters of 2DOF electromechanical actuator

参数	数值
m_s/kg	2400
m_l/kg	235
m_r/kg	526
k_s/(N·mm^-1)	154
c_s/(N·s·m^-1)	9612
k_u/mm	1940
c_u/(N·s·m^-1)	800
μ	0.098
β	2.1
γ	13.3
ξ	0.25
ε	0.083
f_s₀/Hz	1.27
f_s/Hz	1.15
f_u₀/Hz	15.41
f_u/Hz	8.57

Fig.8 Variations of inertia force and sprung mass acceleration with vehicle speed

Table 5 Comparison of suspension characteristics at 40km/h on class F road in the frequency domain

悬架状态	均方根值
悬架状态	$σ F m r$ /N	$σ z · · s$ /(m·s^-2)	$σ F d / G s$	$σ f d$ /mm
惯性质量为0kg	0	2.15	0.4212	17.47
惯性质量为526kg	2216	5.17	0.5561	17.31

Table 5 Comparison of suspension characteristics at 40km/h on class F road in the frequency domain

悬架状态	均方根值
悬架状态	$σ F m r$ /N	$σ z · · s$ /(m·s^-2)	$σ F d / G s$	$σ f d$ /mm
惯性质量为0kg	0	2.15	0.4212	17.47
惯性质量为526kg	2216	5.17	0.5561	17.31

Fig.9 Power spectral density of sprung mass acceleration with different inertial masses

Fig.10 Inertia force at 40km/h on Class D road

Fig.11 Power spectral density of inertial force under the inertial mass of 526kg

Fig.12 Diagram of the initial frequency of vibration filtering and the vibration filtering region

Fig.13 Variation of the initial frequency of vibration filtering with sprung mass

Table 6 Different speeds on road corresponding to the amplitude value less than 7mm

内容	路面等级
内容	A	B	C	D	E	F
动挠度均方根值/mm	1.9	3.8	7.0	7.0	6.9	5.6
行驶速度不小于/(km·h)	120	120	100	26	7	2

Fig.14 Diagram of 2DOF suspension model with vibration filtering buffer

Fig.15 Vibration filtering buffer structure

Table 7 Motor and buffer parameters

参数	数值
电机的感应电动势常数k_e/(V·s·rad^-1)	0.6
电机的扭矩常数k_i/(N·m·A^-1)	10
电机负载电阻R/Ω	100
电机内阻r/Ω	1.3
缓冲器刚度k_hs/(N·m·rad^-1)	259
缓冲器阻尼系数c_hs/(N·m·s·rad^-1)	0.01
缓冲器转动惯量J_h/(kg·m²)	0.005

Fig.16 Actuator force-displacement characteristics

Fig.17 Actuator force-speed characteristics

Fig.18 Relationship between mean value of standard deviation of damping force at each frequency and buffer stiffness

Table 8 Comparison of suspension characteristics for the three states at 40km/h on Class D road

悬架状态	均方根值
悬架状态	$σ F u i$ /N	$σ z · · s$ /(m·s^-2)	$σ F d / G s$	$σ f d$ /mm
无惯性质量	0	0.8609	0.3076	31.70
惯性质量为526kg	2143	3.5108	0.5568	32.20
惯性质量为526kg (带滤振缓冲器)	175	1.2682	0.4104	34.03

Table 8 Comparison of suspension characteristics for the three states at 40km/h on Class D road

悬架状态	均方根值
悬架状态	$σ F u i$ /N	$σ z · · s$ /(m·s^-2)	$σ F d / G s$	$σ f d$ /mm
无惯性质量	0	0.8609	0.3076	31.70
惯性质量为526kg	2143	3.5108	0.5568	32.20
惯性质量为526kg (带滤振缓冲器)	175	1.2682	0.4104	34.03

Fig.19 Comparison of power spectral density of inertial force with or without vibration filtering and buffering measures

Fig.20 Bench test of electromechanical suspension

Fig.21 Measuring point distribution of inner gear ring

Fig.22 Stress comparison of inner gear ring with or without vibration filtering and buffering measures

Table 9 Comparison of suspension characteristics in multi-frequency bench test

悬架状态	簧载质量振动加速度均方根值/(m·s^-2)
悬架状态	频率3Hz, 振幅30mm	频率7Hz, 振幅8mm	频率10Hz, 振幅5mm	频率15Hz, 振幅3mm
无滤振缓冲	1.8609	8.1693	12.4382	16.3824
有滤振缓冲	0.3881	0.6153	0.3998	1.0373
降低百分比/%	79.14	92.47	96.79	93.67

Fig.23 Comparison of sprung mass acceleration with and without vibration filtering buffer

Table 10 Comparison of suspension characteristics in bench test of Class D road

悬架状态	均方根值
悬架状态	$σ z · · s$ /(m·s^-2)	$σ F d / G s$	$σ f d$ /mm
无滤振缓冲	5.8215	0.8324	35.43
有滤振缓冲	2.5243	0.7121	38.32

Table 10 Comparison of suspension characteristics in bench test of Class D road

悬架状态	均方根值
悬架状态	$σ z · · s$ /(m·s^-2)	$σ F d / G s$	$σ f d$ /mm
无滤振缓冲	5.8215	0.8324	35.43
有滤振缓冲	2.5243	0.7121	38.32

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