基于改进半递推多体动力学方程的车辆动力学特性高效建模技术研究

In recent decades, with the strong demands of complex numerical simulations of vehicle models, a great deal of interest has emerged around efficient semi-recursive formulations. The current research mainly focuses on the real-time simulation, sensitivity analysis and dynamic response optimization based on sophisticated semi-recursive formulations. However, due to the theory complexity, the improved semi-recursive formulation and related numerical algorithms to solve the vehicle dynamics problem is still an open topic, which needs further investigation. The project will combine the theory of three state-of-the-art semi-recursive formulations and propose rod-removal technique, second-derivative-based inertial forces approximation technique and rod inertia partitioning method to derive a new semi-recursive formulation for efficient vehicle dynamics modeling. Another critical research topic of this project is to develop new numerical integration scheme to improve the computational efficiency and stability. It consists of implementation of efficient numerical integrator and iterative refinement technique applied to it. Several vehicle dynamics models (sedan vehicle, planetary rover and semi-trailer truck) will be built up and simulated to verify the high efficiency and stability of the presented semi-recursive vehicle dynamics modeling technique. Overall, an improved semi-recursive formulation and related numerical algorithms have been presented in the context of efficient dynamic formulations. It provides scientific basis for the complex numerical simulations of vehicle models and useful guidance for the vehicle NVH research.

随着车辆模型复杂数值计算需求日益增长，基于半递推多体动力学方程的高效建模技术已成为当前的研究热点。目前的研究主要集中于利用既有的半递推多体动力学方程开展实时仿真计算、设计灵敏度分析及动态响应优化等；由于理论复杂性，改进的半递推多体动力学方程及数值积分方法求解车辆模型等关键问题研究还未系统展开。本项目将采用理论推导、模型创建、数值计算等方法，开展基于改进半递推多体动力学方程的车辆动力学特性高效建模与数值算法研究。拟通过轻质杆移除理论、依赖于加速度的惯性力近似计算理论、轻质杆惯性矩分解法、高效的数值积分方法和迭代优化理论，改进半递推多体动力学方程并建立车辆动力学模型，有效提高模型的求解效率和求解稳定性。在此基础上，提出完整的轻质杆移除理论并给出高效的数值积分方案。所提出的高效建模技术对车辆模型复杂数值计算具有一定的理论意义，对车辆NVH低频范围特性研究具有一定的工程指导价值。

随着车辆多体动力学模型的复杂数值计算需求日益增长，基于半递推多体系统动力学理论的高效建模技术已成为当前的研究热点之一。目前的研究主要围绕既有的半递推多体动力学方程开展设计灵敏度分析及动态响应优化等；由于理论复杂性，改进的半递推多体动力学方程及数值积分方法求解车辆动力学模型并开展实时仿真等关键问题研究还未系统展开。本项目融合了理论推导、模型创建、数值计算等方法，开展了基于改进半递推多体动力学方程的车辆动力学特性高效建模与数值算法研究。项目利用轻质杆移除理论推导了依赖于加速度的惯性力近似计算机技术，并高效运用了轻质杆惯性矩分解法。项目研究了高效的数值积分方法，并提出了相对速度与加速度迭代优化技术。项目最终改进半递推多体动力学建模方法，基于某车辆具体结构建立车辆多体系统动力学模型；有效提高了车辆模型的求解效率和求解稳定性。在此基础上，提出完整的轻质杆移除理论并给出了高效的数值积分方案。所提出的高效建模技术对车辆模型复杂数值计算具有一定的理论意义，对智能汽车动力学控制研究具有一定的工程指导价值。