Luận văn thạc sĩ Cơ khí động lực: Phân tích đặc tính chống lắc ngang xe khách wenda trên hai nền sát xi Doosan và Isuzu sử dụng bộ phần đàn hồi phi tuyến

Hình 4.8: BiӃn thiên vұn tӕc góc lҳc theo thӡi gian DOOSAN.. Hình 4.9: BiӃn thiên gia tӕc góc lҳc theo thӡi gian DOOSAN.. Hình 4.10: BiӃn thiên chuyӇn vӏ thҷng theo thӡi gian DOOSAN.. Hì

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ABSTRACT

In order to analyze the effect of nonlinear air spring on the horizontal stability of vehicles in WENDA passenger cars and the effect of suspension on this vehicle (on the DOOSAN and ISUZU chassis) in the case of crabs by mathematical models, which consider the influence of the flip angle to stabilize the vehicle body horizontally The mathematical model used in the problem is the horizontal model of the car with 4 degrees of freedom (4DOF), considering the influence of the central position as well as the influence of the horizontal force on the vehicle over time, which was calculated from vertical models The result show the influences of nonlinear air spring on the horizontal stability of the car when cornering, and also shows the effect of suspension physical on this stability From there, we can determine the parameters affecting the steady state The above calculation results are considered as a basis initial reference for the design as well as proposed improvement plans to enhance the horizontal stability of the vehicle in actual operating conditions

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Hình 4.2: Ĉһc tính bҫXKѫLWUѭӟc và sau xe WENDA DOOSAN

Hình 4.3: Ĉһc tính bӝ phұQÿjQKӗi 1/2 xe WENDA DOOSAN

Hình 4.4: Ĉһc tính bӝ phҫQÿjQKӗi cҫXWUѭӟc và cҫu sau xe WENDA ISUZU Hình 4.5: Ĉһc tính bӝ phҫQÿjQKӗi 1/2 xe WENDA ISUZU

Hình 4.6: Ĉһc tính bӝ phҫQÿjQKӗi 1/2 xe DOOSAN và 1/2 xe ISUZU

Hình 4.7: BiӃn thiên góc lҳc theo thӡi gian DOOSAN

Hình 4.8: BiӃn thiên vұn tӕc góc lҳc theo thӡi gian DOOSAN

Hình 4.9: BiӃn thiên gia tӕc góc lҳc theo thӡi gian DOOSAN

Hình 4.10: BiӃn thiên chuyӇn vӏ thҷng theo thӡi gian DOOSAN

Hình 4.11: BiӃn thiên vұn tӕc chuyӇn vӏ thҷng theo thӡi gian DOOSAN

Hình 4.12: BiӃn thiên gia tӕc chuyӇn vӏ thҷng theo thӡi gian DOOSAN

Hình 4.13: BiӃn thiên góc lҳc theo hr DOOSAN

Hình 4.14: BiӃn thiên vұn tӕc góc lҳc theo hr DOOSAN

Hình 4.15: BiӃn thiên gia tӕc góc lҳc theo hr DOOSAN

Hình 4.16: BiӃn thiên chuyӇn vӏ thҷQJÿӭng theo hr DOOSAN

Hình 4.17: BiӃn thiên vұn tӕc chuyӇn vӏ thҷQJÿӭng theo hr DOOSAN

Hình 4.18: BiӃn thiên gia tӕc chuyӇn vӏ thҷQJÿӭng theo hr DOOSAN

Hình 4.19: BiӃn thiên góc lҳc theo thӡi gian ISUZU

Hình 4.20: BiӃn thiên vұn tӕc góc lҳc theo thӡi gian ISUZU

Hình 4.21: BiӃn thiên gia tӕc góc lҳc theo thӡi gian ISUZU

Hình 4.22: BiӃn thiên chuyӇn vӏ thҷng theo thӡi gian ISUZU

Hình 4.23: BiӃn thiên vұn tӕc chuyӇn vӏ thҷng theo thӡi gian ISUZU

Hình 4.24: BiӃn thiên gia tӕc chuyӇn vӏ thҷng theo thӡi gian ISUZU

Hình 4.25: BiӃn thiên góc lҳc theo hr ISUZU

Hình 4.26: BiӃn thiên vұn tӕc góc lҳc theo hr ISUZU

Hình 4.27: BiӃn thiên gia tӕc góc lҳc theo hr ISUZU

Hình 4.28: BiӃn thiên chuyӇn vӏ thҷQJÿӭng theo hr ISUZU

Hình 4.29: BiӃn thiên vұn tӕc chuyӇn vӏ thҷQJÿӭng theo hr ISUZU

Hình 4.30: BiӃn thiên gia tӕc chuyӇn vӏ thҷQJÿӭng theo hr ISUZU

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Hình 4.32: BiӃn thiên YұQWӕFJyFOҳFWKHRWKӡLJLDQ'226$19¬,68=8

Hình 4.33: BiӃn thiên JLDWӕFJyFOҳFWKHRWKӡLJLDQ'226$19$,68=8

Hình 4.34: BiӃn thiên FKX\ӇQYӏWKҷQJÿӭQJWKHRWKӡLJLDQ'226$19¬,68=8

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Hình 4.38: BiӃn thiên YұQWӕF JyFOҳFWKHRKU'226$19¬,68=8

Hình 4.39: BiӃn thiên JLDWӕF JyFOҳFWKHRKU'226$19¬,68=8

Hình 4.40: BiӃn thiên chu\ӇQYӏWKҷQJÿӭQJWKHRKU'226$19¬,68=8

Hình 4.8: BiӃn thiên YұQWӕFFKX\ӇQYӏWKҷQJÿӭQJWKHRKU'229¬,68

Hình 4.42: BiӃn thiên JLDWӕFFKX\ӇQYӏWKҷQJÿӭQJWKHRKU'229¬,68

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[XҩWEҧQ6SULQJHU[XҩWEҧQQăP[1] 7URQJFKѭѫQJFӫDViFKFNJQJWUuQKEj\YӅGDRÿӝQJFӫD[HEҵQJP{KuQKGDRÿӝQJ[HWURQJPһWSKҷQJQJDQJ Mô hình cho pKpSNKҧRViWWK{QJVӕGDRÿӝQJFӫDWKkQ[HWKHRSKѭѫQJWKҷQJÿӭQJ[OҳFQJDQJTXDQKWUөF2[FӫD[HYӟLJyFOҳFQJDQJijFKX\ӇQÿӝQJWKҷQJÿӭQJFӫDFiFEiQK[H

x1,x2 YjFiFGDRÿӝQJULrQJELӋWWӯPһWÿѭӡQJ\1,y2 7X\QKLrQViFKFKѭDWUuQKEj\ÿѭӧFҧQKKѭӣQJ FӫDFӫDOӵFTXiQWtQKÿӃQÿӝQJKӑFYjÿӝQJOӵFKӑFFӫD[HYjҧQKKѭӣQJFӫDәQÿӏQKQJDQJFӫD[HNKLTXD\YzQJ

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Multi ± ERG\6\VWHP'\QDPLFV´ (The Open Mechanical Engineering Journal,

2014, 8, 865 ±  FӫDWiFJLҧ/LQ+X6KHQJ\RQJ)DQJ-LD<DQJ[2] Trong bài EiRQj\WiFJLҧÿmVӱGөQJSKҫQPӅP$'$06&$5ÿӇWLӃQKjQKNKҧRViWP{SKӓQJÿһFWtQKNLӇPVRiWYjәQÿӏQKFӫD[HQKѭNKҧQăQJTXD\YzQJNKҧQăQJWUѭӧWWUrQÿѭӡQJGӕFFyFKѭӟQJQJҥLYұWNKҧQăQJKӗLYӏFӫDKӋWKӕQJOiLNӃWTXҧU~WUDÿѭӧFOjÿӇFҧLWKLӋQÿһFWtQKWӕLѭXÿyOjFy\ӃXWӕNKӕLOѭӧQJ{W{WҧLWUӑQJÿһWOrQFҫXWUѭӟFYjÿӝFӭQJ[RҳQFӫDWKDQKәQÿӏQKFKӕQJOұWVDX

[5] Georg Rill, ³5RDGYHKLFOHG\QDPLFVIXQGDPHQWDOVDQGPRGHOLQJ´, CRC, 2011

1.3 7әQJTXDQWuQKKuQKQJKLrQFӭXWURQJQѭӟF

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2013 [3] ĈӅWjLWUrQÿѭӧF[k\GӵQJWUrQP{KuQKÿӝQJOӵFKӑFFKX\ӇQÿӝQJSKҷQJFӫD[HNKLTXD\YzQJGҥQJEiQK;HFKX\ӇQÿӝQJYӟLYұQWӕFGӑFWKHRFKLӅXWUөF

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ĈӅWjLOXұQYăQWKҥFVƭ³3KkQWtFKÿһFWtQKFKӕQJOҳFQJDQJFӫDKӋWKӕQJWUHR

xe DOOSAN và ISUZU´'RVõ Thành Nhân WKӵFKLӋQ9 [10]7iFJLҧÿm

NKҧRViW[iFÿӏQKFiFÿLӅXNLӋQWӟLKҥQәQÿӏQKÿӝQJOӵFKӑFDQWRjQFKX\ӇQÿӝQJFӫD[HNKiFKWENDA NKLTXD\YzQJWӯÿӅ[XҩWJLҧLSKiSWKLӃWNӃFҧLWLӃQQKҵPÿҧPEҧRWӕWKѫQDQWRjQFKX\ӇQÿӝQJFӫD[HNKLquay vòng hay vào cuaĈӅWjLcó [pWÿӃQҧQKKѭӣQJFӫDWKDQKFKӕQJ[RҳQÿӃQ\ӃXWӕNӻWKXұWYjDQWRjQFӫD[H Tuy

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1.6.2 3KҥPYLQJKLrQFӭX

ĈӅWjLQj\WKӵFKLӋQQJKLrQFӭXFѫVӣWtQKWRiQP{SKӓQJÿӝQJKӑFYjÿӝQJOӵFKӑFFKX\ӇQÿӝQJWKHRSKѭѫQJQJDQJFӫD{W{WKHRP{KuQKÿӝQJOӵFKӑFSKѭѫQJngang 6ӱGөQJP{KuQKWtQKWRiQ ÿӝQJOӵFKӑFWURQJPһWSKҷQJQJDQJ EұFWӵGR( 4 DOF ) YӟLFiFWK{QJVӕÿjQKӗLYjJLҧPFKҩQOjWX\ӃQWtQK;iFÿӏQKWKjQKSKҫQOӵFQJDQJNKL[HYjRcua YӟLJyFÿiQKOiLOjKjPEѭӟF ӃWTXҧWtQKWRiQP{SKӓQJFӫDFiFP{KuQKWRiQKӑFP{WҧÿӝQJKӑFYjÿӝQJOӵFKӑFFKX\ӇQÿӝng

- TtQKWRiQYjSKkQWtFKNӃWTXҧP{SKӓQJ

1.8 éQJKƭDNKRDKӑFYjWKӵFWLӉQ

1.8.1 éQJKƭDNKRDKӑF

1JKLrQFӭXӭQJGөQJP{KuQKWRiQKӑFWtQKWRiQP{SKӓQJÿiQKJLiWtQKQăQJÿӝQJOӵFKӑFFӫD[HNKiFK:(1'$VӱGөQJViW[LQӅQDOOSAN VÀ ISUZU ) WURQJPһWSKҷng ngang

.ӃWTXҧWtQKWRiQVӁÿѭӧFSKkQWtFKÿiQKJLiÿӇWӯÿy[iFÿӏQKÿѭӧFVӵҧQKKѭӣQJFӫDFiFWK{QJVӕWKLӃWNӃÿӃQWtQKDQWRjQFKX\ӇQÿӝQJFӫD[HNKiFK:(1'$VӱGөQJViW[LQӅQDOOSAN VÀ ISUZU NKLYjRFXDPӝWFiFKFyKӋWKӕQJ

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VÀ ISUZU QyLULrQJYjFiFFKӫQJORҥL[HNKiFQyLFKXQJ

1.9 3KѭѫQJSKiSQJKLrQFӭX

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1JKLrQFӭXOêWKX\ӃWFiFP{KuQKÿӝQJKӑFYjÿӝQJOӵFKӑFOӕS[HYjFKX\ӇQÿӝQJQJDQJFӫD[H

0{SKӓQJÿӝQJKӑFYjÿӝQJOӵFKӑFFKX\ӇQÿӝQJQJDQJFӫD[H

&+ѬѪ1*&Ѫ6Ӣ/é7+8<ӂ7 2.1 Mô hình OӵFWiFGөQJ

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SSF=

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Mô hình ttQKFӫD[HÿѭӧFP{WҧӣKuQK ErQGѭӟL&iFWK{QJVӕNtFKWKѭӟFQKѭFKLӅXGjLFѫVӣFKLӅXUӝQJFѫVӣFKLӅXFDRWUӑQJWkP«ҧQKKѭӣQJUҩWOӟQÿӃQFiFWK{QJVӕYӅKuQKKӑFFNJQJQKѭVӵәQÿӏQKFӫD[HWURQJO~FYұQKjQK0{KuQKQj\P{WҧWKkQ[HӣWUҥQJWKiLEҩWNuYӟLPӝWJLDWӕFWKHRSKѭѫQJQJDQJFӫD[HFQJFiFOӵFWiFÿӝQJOrQWKkQ[HWURQJO~FGLFKX\ӇQ

Hình 2.1: 0{KuQKSKkQWtFKOӵFWiFÿӝQJOrQ[H

Fy: là lӵFWiFÿӝng lên thân xe do gia tӕc ngang sinh ra (N)

z,L z,fL z,rL

F =F +F : là tәng hӧp lӵFWKHRSKѭѫQJÿӭQJWiFÿӝng lên bên trái cӫa xe (N) z,R z,fR z,rR

F =F +F : là tәng hӧp lӵFWKHRSKѭѫQJÿӭQJWiFÿӝng lên bên phҧi cӫa xe (N)

h: là chiӅu cao trӑng tâm CG (m)

Hình 2.2: Moment xoҳQWiFÿӝng lên dҫm cҫXWUѭӟc và sau

7LrXFKXҭQÿiQKJLi:

66)ÿѭӧFGQJEӣL1+76$ÿӇÿiQKJLiNKҧQăQJWDLQҥQFNJQJQKѭOұWFӫD[H6ӕ

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KRһF[HGӉEӏOұWKѫQVRYӟL[HFRQKD\QyLFiFKNKiFFiF[HFyWUӑQJWkPFDRGӉOұWKѫQFiFGzQJ[HFyWUӑQJWkPWKҩSKѫQ

Các WK{QJVӕNtFKWKѭӟFYӅNKRҧQJFiFK d và e ÿѭӧFWKӇKLӋQWUrQKuQKWѭѫQJӭQJYӟLÿӝOӋFKFӫDWkPOҳFQJDQJ VRYӟLWUӑQJWkPWKHRSKѭѫQJÿӭQJYjSKѭѫQJQJDQJ7kPOұWQJDQJNK{QJFKӍJLҧLTX\ӃWVӵEҩWәQÿӏQKFӫD[HPjFzQFyPӝWVӕWiFÿӝQJOrQKӋWKӕQJWUHRFӫD[HYj NKҧQăQJOұWFӫD[H

2.3 ĈӝQJOӵFKӑFWKHRSKѭѫQJQJDQJ

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(2.4) (2.5) (2.6) (2.7)

l a

W

l b M

y

Fy l

W F F

6

6

6

6

7әQJFiFPRPHQWWKHRWUөF[YӟLJLҧÿӏQKUҵQJJyF[RD\EiQKWUѭӟFYjVDXEҵQJQKDXÿ~QJÿӕLYӟLWUѭӡQJKӧS[HÿӕL[ӭQJYӟLWҩWFҧEiQK[HFӕÿӏQKWUrQPһWÿҩW GүQÿӃQ

(2.8) (2.9) (2.10) 9ӟLOӵFVLQKUDGRJLDWӕFQJDQJFy may, ay OjJLDWӕFQJDQJÿӝFӭQJ

[RҳQFҫXWUѭӟFVDXWѭѫQJӭQJOjKrf, Krr*LҧÿӏQKUҵQJJLDWӕFQJDQJVLQKUDGR[HÿDQJFKҥ\WURQJTXӻÿҥRWUzQYӟLay U2 / RYӟL8OjYұQWӕFFӫD[H R là bán NtQKFӫDTXӻÿҥRFXQJWUzQ7DFyW mgOӵFVLQKUDGRJLDWӕFQJDQJÿѭӧF[iFÿӏQKQKѭVDX

2W

y

U F

0RPHQWVLQKUDWUrQFҫXWUѭӟFYjFҫXVDXGo TXiWUuQK[RD\ÿѭӧFYLӃWOҥLQKѭsau :

12

2.4 &iFP{KuQKGDRÿӝQJ{W{

2.4.1 0{KuQKGDRÿӝQJò{W{WURQJPһWSKҷQJQJDQJNK{QJOӵFO\WkP

0{KuQKFKRSKpSNKҧRViWWK{QJVӕGDRÿӝQJFӫDWKkQ[HWKHRSKѭѫQJWKҷQJÿӭQJ[OҳFQJDQJTXDQKWUөF2[FӫD[HFKX\ӇQÿӝQJWKҷQJÿӭQJFӫDFiFEiQK[H[[YjFiFGDRÿӝQJULrQJELӋWWӯPһWÿѭӡQJ\\

(2.21) ĈӇWuPFiFSKѭѫQJWUuQKFKX\ӇQÿӝQJFӫDP{KuQKGDRÿӝQJ{W{WURQJPһWSKҷQJQJDQJWKHRSKѭѫQJWUuQK/DJUDQJHWD[iFÿӏQK

K

m x

ww

K

ww

m m

&KLӅXFDRK0 = hR + r0YӟLK0 OjFKLӅXFDRWӯ PһWÿѭӡQJÿӃQWUӑQJWkPFӫD[HYjU0 OjFKLӅXFDRWӯPһWÿѭӡQJÿӃQWUӑQJWkPFӫDOӕS[H

x h h

0 arctan

r

b h

sin( ) sin cos cos sin

: 0 cos 1;sin sin( ) sin cos

0 0

1

(cos sin )2

K

ww

K

FNJQJVLQKUDPӝWPRPHQWQKҵPFKӕQJOҥLPRPHQWQj\KҥQFKӃJyFQJKLrQJGӑFWKkQ[HQKҵPWăQJVӵәQÿӏQK

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