裝配圖大學(xué)生方程式賽車設(shè)計(jì)（總體設(shè)計(jì)）（有cad圖+三維圖）

裝配圖大學(xué)生方程式賽車設(shè)計(jì)（總體設(shè)計(jì)）（有cad圖+三維圖）,裝配,大學(xué)生,方程式賽車,設(shè)計(jì),總體,整體,cad,三維 Dynamic Characteristics on the Dual Power State of Flow in Hydro Mechanical Transmission Jibin Hu and Shihua Yuan Xiaolin Guo School of Mechanical and Vehicular Engineering Department of Automotive Engineering Beijing Institute of Technology Tsinghua University Beijing 100081 China Beijing 100084 China hujibin i jz is the mechanical path ratio i p is the transmission ratio from gear Z 22 to Z 3 i hz is the conflux ratio of mechanical path i hy is the conflux ratio of hydrostatic path i b is the transmission ratio from gear Z 5 to Z 7 MTF 1 is the variable displacement hydrostatic unit and can be describe as a variable gyrator The modulus of the gyrator is decided by parameter q p of the signal generator q m and q ml stand for conversion gain coefficient of the fixed displacement hydrostatic unit furthermore q m q ml 1 1 junction is a co flow node in which flow variables is equal 0 junction is a co effect node in which effect variables is equal 10 20 19 18 17 16 15 1413 12 11 29 28 27 26 25 24 2322 21 9 8 7 6 5 4 3 2 1 59 58 57 56 50 55 553 52 51 48 47 46 45 44 43 42 49 41 4039 38 37 36 35 34 33 32 31 30 1 I Io R g541o MTF MTF1 010 TF qm S f no Se Tb R Rp C Cp I Igl C Cm R Rm 1 R g541fm R g541b I Ib I Im 10 C Co 0 C Cb R Rgl 1 TF ihy 1 0 1TF qm1 R Rdl I Idl TF io R g541fp I Ip 1 Se pdl TF ip 1 TF ib 0 0 1 TF ihz R g541jz1 I Ijz1 C Cjz1 011TF ijz R g541jz3 C Cjz2 I Ijz3 I Ijz2 R g541jz2 qp Fig 2 Bond graph model of the HMT system g100 0 is coefficient of viscous friction on input shaft Ns m g100 fp is coefficient of viscous friction counteracting the rotation of the variable displacement hydrostatic unit g100 fm is coefficient of viscous friction counteracting the rotation of the fixed displacement hydrostatic unit g100 b is coefficient of viscous friction on output shaft R gl is leakage fluid resistance of oil in high pressure hydrostatic loop Ns m 5 R dl is leakage fluid resistance of oil in low pressure hydrostatic loop R p is leakage fluid resistance of oil in the variable displacement hydrostatic unit R m is leakage fluid resistance of oil in the fixed displacement hydrostatic unit g100 jz1 is coefficient of viscous friction in drive shafting of the mechanical path transmission g100 jz2 is coefficient of viscous friction in driven shafting of the mechanical path transmission g100 jz3 is coefficient of viscous friction in conflux shafting C o is coefficient of pliability of the input shaft m N C b is coefficient of pliability of the output shaft C p is the fluid capacitance of inner oil in the variable displacement hydrostatic unit m 5 N C m is the fluid capacitance of inner oil in the fixed displacement hydrostatic unit C jz1 is coefficient of pliability of the drive shafting of the mechanical path transmission C jz2 is coefficient of pliability of the driven shafting of the mechanical path transmission I o is the moment of inertia of the input shaft I p is the moment of inertia of the variable displacement hydrostatic unit I m is the moment of inertia of the fixed displacement hydrostatic unit I b is the moment of inertia of the output shaft I gl is the fluid inductance in high pressure oil loop Ns m 5 I dl is the fluid inductance in low pressure oil loop I jz1 is the moment of inertia of the drive shafting of the mechanical path transmission I jz2 is the moment of inertia of the driven shafting of the mechanical path transmission I jz3 is the moment of inertia of the conflux shafting C State equations of the HMT system Analyzing the dynamic characteristic of system using bond graph methods need to choose state variables of system reasonably and establish state equation of the system according to the known bond graph model of system In a general way the generalized momentum p of inertial unit and the generalized displacement of capacitive unit are introduced as state variables of system 5 10 If causalities of the bond graph are annotated according to principle of priority of the integral causality some energy storage elements in bond graph maybe have differential causality on occasion Under the circumstances the amount of state variables of the system is equal to the counterpart of energy storage elements which have the integral causality Energy variables of the energy storage elements which have the differential causality depend upon state variables of the system These variables are dependent variables Algebraic loop problem will occur while establishing state equation of 891 these kinds of bond graph The bond graph model of the HMT system established as above belongs to these kinds In Fig 2 energy variables in inertial elements I o I jz2 and I m have differential causalities The resolution is to express the generalized momentum and the generalized displacement of energy storage elements which have the differential causality with involved state variables and to work out the first derivative of these equations toward time The expressions of the inertial elements I o I jz2 and I m are derived as follows 274 p I Iii p p opo g6g6 g32 1 11 1 2 15 p Ii I p jzjz jz g6g6 g32 2 43 1 49 p I qI p dl mm g6g6 g32 3 Therefore the amount of state variables of the HMT system is just 12 2 tq 9 tq 11 tp 18 tq 20 tp 27 tp 31 tq 34 tp 37 tq 43 tp 55 tq 58 tp The input state vector U g62g64 T bdlo Tpng32 According to the structural characteristics of the system shown by bond graph the differentials of state variables can be describe as functions of state variables related to input variables 12 state equations can be formulated as follows 272 p I ii nq p po o g16g32g6 4 2711 1 9 1 p I i p I q p p jz g14g16g32g6 5 18 21 112 11 21 2 9 11 11 11 q CiC p iIC i q CC p jzjzjzjz jzjzjz jz g16 g14 g16g32 g80g80 g6 6 20 3 11 1 18 11 p I p Ii q jzjzjz g16g32g6 7 5520 3 3 18 2 20 11 q Cii p I q C p bbhzjz jz jz g16g16g32 g80 g6 8 27 2 22 9 12 2 2 27 p IC li q CC i q CC ii p p opofp jz p o po g80g80 g14 g16g16g32g6 dl p p p p C qt q CC qt 2 31 2 g72g72 g14g16 9 34312731 11 p I q CR p I qt q glppp p g16g16g32 g72 g6 10 37343134 11 q C p I R q C p mgl gl p g16g16g32g6 11 43373437 111 p I q CR p I q dlmmgl g16g16g32g6 12 432 3 2 37 3 43 1 p IqC Rq q CC p dlm dlmfm m g14 g16g32 g80 g6 dl bbhym p C q CiiqC 3 55 3 11 g16g16 13 584320 3 55 111 p I p Iqii p Iii q bdlmbhyjzbhz g16g14g32g6 14 b b b b Tp I q C p g14g16g32 585558 1 g80 g6 15 Where 1 2 1 2 1 1 jzjz jz Ii I C g14g32 p opo I Iii C 22 2 1g14g32 23 1 mdl m qI I C g14g32 III SIMULATION RESULTS In these equations above with the structural and calculative parameters of the known HMT system dynamic simulation can be done in computer In the process of simulation initial values are given primarily After the system stabilized input signal is stimulated Meanwhile the results of dynamic response of the system are recorded The response curves of the output speed of system and the oil pressure in main pipe of the bump motor system under varied input signals are shown from Fig 3 to Fig 8 Fig 3 shows the pulsed response curves of the output speed and the oil pressure of the system as the load change instantaneously The rising time of the oil pressure response is 22ms The control time is 445ms The overshoot is equal to 86 Times s Fig 3 Pulsed response of the system as load changing Pressure Output speed Speed response rpm Pressure response MPa 892 Fig 4 shows the pulsed response curves of the output speed and the oil pressure of the system as the speed changes instantaneously The rising time of the speed response is 17ms The control time is 479ms The overshoot is equal to 65 Times s Fig 4 Pulsed response of the system as speed changing Fig 5 shows a group of slope response curves as the angle of swing plate of the variable displacement bump is a ramp excitation In this figure the ascending gradients of the angle of swing plate whose range is from 0 to its maximum correspondingly relative rate of changing displacement is from 0 to 1 i e 1 0g32g72 are assigned some values respectively such as 50 20 8 4 corresponding rising time for ramp excitation are 0 04 0 10 0 25 0 50s The rising times of response of the output speed are 43 108 255 505 ms Overshoot are respectively 47 12 4 2 Times s Fig 5 Slope response of the system as angle of swing plate changing Fig 6 shows the pulsed response curves of the output speed and the main oil pressure of the system as the angle of swing plate changes instantaneously The rising time of the speed response is 22ms The control time is 420ms The overshoot is equal to 73 The bond graph model of the two range HMT system established by the author is a linear system The results of simulation demonstrate that the speed of response of the system is quite fast and the stability is satisfactory but the overshoot of step response is too large On condition that the input signal is ramp type and the gradients is greater than 8 the time interval in which the angle of swing plate changed from 0 to the maximum is not less than 0 25s the transition process of the system whose overshoot will not exceed 5 will approach steady state Times s Fig 6 Pulsed response of the system as angle of swing plate changing The results of simulation indicated by Fig 3 Fig 6 is acquired on condition that the fluid capacitances C m and C p in the model denoted in Fig 2 are set to 0 0085 As other conditions are invariable response curves indicated by Fig 7 and Fig 8 can be obtained for C m and C p are set to 0 0850 Fig 7 shows the slope response curves of the rotation speed and the pressure as the angle of swing plate changes on the principle of ramp excitation The rising times of response of the output speed are 87 121 204 519 ms Overshoot are respectively 52 38 11 5 Times s Fig 7 Slope response of the system when C m and C p are set to 0 0850 Pressure Output speed Speed response rpm Pressure response MPa Pressure Output speed Speed response rpm Pressure response MPa Pressure Output speed Speed response rpm Pressure response MPa Pressure Output speed Speed response rpm Pressure response MPa 893 Fig 8 shows the pulsed response curves of the rotation speed and the pressure The rising time of response of the output speed is 68ms Overshoot is 57 Compared with the results of simulation indicated in Fig 5 and Fig 6 the speed of response of the system is slowing down and the time interval needed to reach the steady state is delayed At the same time the number of oscillations of the response and fluctuating quantity of the pressure is decreasing The overshoot of the pulsed response increased a little but the overshoot of the slope response increased a bit as well Times s Fig 8 Pulsed response of the system when C m and C p are set to 0 0850 IV CONCLUSIONS A bond graph model of the dual power state of flow of the two ranges HMT system is established based on the bond graph theory The model can be applied to simulate and study the dynamic characteristics of a hydro mechanical transmission HMT system On conditions that the displacement of the hydrostatic bump is constant the system focused in this article can be simplified to a linear stationary system On conditions that the displacement of the hydrostatic bump changes along with time the system is a linear time varying system the transition of the system approaches to stable state while the ramp input signal draws 8s The value of the fluid capacitance in the hydrostatic system affects the dynamic response performance of the system A further study on the influence of the fluid capacitance and the fluid resistance will be done REFERENCES 1 X Liu Analysis of Vehicular Transmission System Beijing National Defense Industry Press 1998 pp 255 310 2 D Margolis T Shim A Bond Graph Model Incorporating Sensors Actuators and Vehicle Dynamics for Developing Controllers for Vehicle Safety Journal of the Franklin Institute Vol 338 pp 21 34 2001 3 M Cichy M Konczakowski Bond Graph Model of the IC Engine as an Element of Energetic Systems Mechanism and Machine Theory Vol 36 pp 683 687 2001 4 N Chenglie N Chen Y Na Dynamic Simulation Research of Power Matching on Axial Plunger Pump Journal of Gansu University of Technology Vol 26 24 pp 54 59 2000 5 Z Wang Bond Graph Theory and Its Application in System Dynamic Harbin Harbin Engineering University Press 2000 6 J Liu The Application of Bond Graph Theory for Dynamic Simulations on Driving Mechanism of Automobile Brake System Journal of Xi an Highway University Vol 19 pp 97 100 April 1999 7 J Zheng W Peng The Application of Bond Graph Theory for Dynamic Simulation on Hydraulic Control System Journal of Wuhan Automotive Polytechnic University Vol 20 pp 43 45 April 1998 8 R F Ngwompo P J Gawthrop Bond Graph based Simulation of Non linear Inverse Systems Using Physical Performance Specifications Journal of the Franklin Institute Vol 336 pp 1225 1247 1999 9 W Borutzky B Barnard J U Thoma Describing Bond Graph Models of Hydraulic Components in Modelica Mathematics and Computer in Simulation Vol 53 pp 381 387 2000 10 R Cacho J Felez C Vera Deriving Simulation Models from Bond Graphs with Algebraic Loops Journal of Franklin Institute Vol 337 pp 579 600 2000 Pressure Output speed Speed response rpm Pressure response MPa 894