厦门大学博硕士论文摘要库 - core.ac.uk · key technologies of optimization for backhoe...

学校编码：10384 分类号密级

学号：19920101152735 UDC

硕士学位论文

挖掘装载机动力总成悬置系统优化关键技术

Key Technologies of Optimization for Backhoe Loader’s

Powertrain Mounting System

刘丕晶

指导教师姓名：侯亮教授

专业名称：机械工程

论文提交日期：2013 年 6 月

论文答辩时间：2013 年 6 月

学位授予日期：2013 年月

答辩委员会主席：

评阅人：

2013 年 6 月 5

厦门大学博硕士论文摘要库

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摘要

摘要

近年来，随着我国现代化建设工程的发展，工程机械行业发展保持强劲的势

头，同时，日益严峻的环保问题使得人们对工程机械的环保性能和舒适性提出了

更高的要求，振动与噪声参数作为工程机械主要性能指标，标准日益严格，但是

工程机械振动噪声控制技术水平与国外仍存在不小的差距，动力总成(包括发动

机、变矩器和变速器)是挖掘装载机的主要激励源之一，对整机的乘坐舒适性有

很大的影响。为了降低整机的振动噪声，本文以理论分析、计算机仿真和实验测

试为手段，对某型号挖掘装载机动力总成悬置系统进行优化，并提出了面向装载

机动力总成悬置系统优化的软件开发设计方法。

阐述了动力总成悬置系统隔振的设计要求，分析了引起工程机械振动的主要

激励源。从动力总成单自由度振动出发，对动力总成的隔振原理进行了研究，并

分析了作用在动力总成悬置系统的激振力及固有频率的分布限定范围。为提高动

力总成悬置系统的隔振性能奠定了理论基础。

建立了某型号挖掘装载机动力总成悬置系统空间六自由度刚体振动动力学

模型，根据拉格朗日方程推导出系统振动微分方程，运用 Matlab 软件对其进行

固有频率、振型和解耦率计算；对挖掘装载机悬置支架进行了模态及刚度分析，

悬置支架模态频率和刚度是否满足要求。并运用 Adams 软件建立动力总成悬置

系统模型，对系统进行固有特性分析，得到悬置系统各阶模态振型、固有频率及

解耦率，并与基于 Matlab 软件求解的结果相比较，验证模型正确性，分析了该

悬置系统的隔振性能。后进行时域仿真和频域仿真分析，得到各悬置响应力、

响应加速度、质心位移、质心加速度曲线图、各悬置及质心位置的加速度、速度、

位移幅频特性图，对悬置系统的动态特性进行更深入的研究。

对挖掘装载机动力总成悬置系统进行了四种典型工况振动测试，对实验曲线

的分析与仿真结果比较，并利用悬置上下端的加速度均方根值计算悬置系统的各

减震器衰减率，为后续改进悬置系统提供试验基础。

基于悬置系统隔振优化理论，以固有频率合理匹配与提高模态解耦率为优化

目标，橡胶减震器三向刚度为设计变量，并考虑悬置系统的约束条件对系统进行

优化。对优化后悬置系统模型进行模态分析与动态特性仿真，并将优化前后的仿

真结果进行对比分析，结果表明：优化后悬置系统的固有频率分布范围和能量解


耦率有了明显的改善，各悬置元件动反力和加速度响应振幅均显著降低，改善整

机的 NVH 性能，证明了该悬置系统的优化方案的可行性。后，基于 Matlab

与 Isight 软件联合仿真对优化后的悬置系统进行了鲁棒性分析。

后，为了克服优化过程中操作过程复杂和数据处理费时的问题，提高动力

总成悬置系统的优化效率，本文后提出了装载机动力总成悬置系统优化软件开

发的设计方法，实现了悬置系统悬置减震器刚度、安装位置的参数化优化设计。

首先，建立了该软件的总体应用框架图，随后，基于 Matlab 语言和 Matlab/Gui

用户开发图形界面完成该软件的自定义菜单栏、主界面及子界面各模块的开发。

该软件为企业设计人员提供了悬置系统快速设计方法，并使设计人员的设计工作

变得简单，能有效缩短产品试制周期。

本文所研究的挖掘装载机动力总成悬置系统的设计理论、优化流程及方法，

为同类工程机械悬置系统匹配设计中提供参考，尤为重要的是本文所开发的装载

机动力总成悬置匹配优化软件具有一定的工程使用价值。

关键词：挖掘装载机；NVH；动力总成悬置系统；隔振；优化

本工作主要是基于参加的厦门市科技计划：工程机械减振降噪技术创新研

究与应用，项目编号：3502Z2011000


ABSTRACT

ABSTRACT

In recent years, with the development of modern construction in China,

construction machinery has been maintained a strong moment of development.

Because of the improvement of people’s living standards and paying more attention to

environmental problems, higher requirements for environmental performance and

comfort of construction machinery have been put forward. Vibration and noise

parameters as main performance indicators of engineering machinery are becoming

increasingly strict. However, noise and vibration control technology of construction

machinery in china is far behind that of foreign countries. As one of the main

excitation source of backhoe loader, the powertrain (including the engine, torque

converter and transmission) has a great effect on comfort ride of the whole machinery.

In order to reduce the vibration and noise of the whole machinery, theoretical analysis,

computer simulation and experimental study were used to optimize the system of a

certain type of backhoe loader, and a design method of software development was

also proposed.

Design requirements of powertrain mounting system vibration were described,

and the main excitation source of construction machinery vibration was also analyzed

in this paper. Starting from the single degree of freedom vibration of powertrain,

vibration isolation principle of powertrain was studied, and the effect on the exciting

force of powertrain mounting system and distribution limited range of natural

frequency was analyzed. It laid theoretical foundation for improving isolation

performance of powertrain mounting system.

A 6-degree-of-freedom of vibration dynamic model of powertrain mounting

system of a certain type of backhoe loader was set up. According to Lagrange

equation, vibration differential equation was deduced. A Matlab software was applied

to program natural frequency, mode and decoupling rate. Modal and stiffness analysis

of backhoe loader mount bracket was used to check whether the bracket’s modal

frequency and stiffness could comply with requirements or not. Model of powertrain

mounting system was set up using the Adams, and inherent characteristic of the



system was analyzed to get mode, natural frequency and decoupling rate. The

correctness of the model was validated, and vibration performance of the system was

analyzed by the experiments. Finally, time-domain simulation and frequency domain

simulation were analyzed, getting the mount response force, acceleration,

displacement of center of mass, acceleration of center of mass, and acceleration,

velocity, and displacement amplitude frequency characteristics. It was helpful to

further research for dynamic characteristic of mounting system.

Experimental curve was analyzed and compared with simulation results based on

vibration test of the four typical conditions of backhoe loader’s powertrain mounting

system, and shock absorber damping rates were calculated using root mean square

values of acceleration of mount up down side. It provided experimental basis for

improvement of mounting system.

Based on isolation optimization theory of the mount system, reasonable

allocation of natural frequency and modal decoupling rate were chosen to be objective

function of optimization design, shock absorber’s three-dimensional stiffness were

close to design variables, and constraint conditions were considered. Thus, the system

was optimized. Modal analysis and dynamic characteristic of optimized system were

carried out, and simulation results of system of optimized and unoptimized were

analyzed comparatively. The results showed that distribution range of natural

frequency and energy decoupling of optimized system had significantly improvement,

and dynamic reaction force and the amplitude of acceleration response of mount

components were significantly reduced. So it proved the feasibility of the mounting

system’s optimization scheme. At last, the robustness of optimized system was

analyzed based on Matlab and Isight software.

Finally, in order to overcome complex operation in optimization process and

time-consuming problem, and improve the efficiency of the system optimization, a

design method of software development of loader’s powertrain mounting system was

also raised in this paper. It realized optimization design of stiffness and installation

location of mount shock absorber. Firstly, the overall framework of the software was

established. Later on, the custom menu bar, main interface and interface module of


ABSTRACT

the software were developed based on Matlab language and Matlab/Gui development

graphical user interface. The software could offer enterprise designers design methods

quickly, make their design work simple and shorten trial production cycle effectively.

The design theory, optimization process and methods of backhoe loader’s

powertrain mounting system were studied in this paper. It provided reference for

mounting system matching design of similar construction machinery. It was

particularly important that the software developed in this paper had engineering value

in use.

Key words: Backhoe loader; NVH; Powertrain mounting system; Vibration isolation;

Optimization

This thesis is supported by the Science and Technology of Xiamen, China.

(No: 3502Z2011000)


目录

目录

第一章绪论 .............................................................................................. 1

1.1 引言 .................................................................................................................. 1

1.2 动力总成悬置系统的研究现状与分析 .......................................................... 3

1.2.1 悬置元件国内外研究现状..................................................................... 3

1.2.2 悬置系统优化国内外研究现状............................................................. 4

1.2.3 研究课题的来源和研究意义................................................................. 6

1.3 本文主要的研究内容 ...................................................................................... 7

第二章挖掘装载机动力总成悬置系统的隔振理论与建模 .................. 9

2.1 动力总成悬置系统的隔振原理 ..................................................................... 9

2.2 动力总成悬置系统的激振力 ........................................................................ 10

2.3 动力总成悬置系统固有频率范围 ................................................................ 11

2.4 橡胶悬置的基本结构及力学模型建立 ........................................................ 13

2.4.1 橡胶悬置的基本结构........................................................................... 13

2.4.2 橡胶悬置的力学模型建立................................................................... 13

2.5 动力总成悬置系统模型的建模 .................................................................... 14

2.5.1 广义坐标系、动坐标系和悬置坐标系............................................... 14

2.5.2 动力总成悬置系统振动总动能、势能和耗散能的计算................... 15

2.6 动力总成悬置系统微分方程的建立 ............................................................ 19

2.7 基于 Matlab 悬置系统固有特性和解耦率计算与分析 .............................. 20

2.7.1 动力总成悬置系统相关参数............................................................... 20

2.7.2 悬置系统固有频率和固有振型求解................................................... 20

2.7.3 悬置系统解耦率求解........................................................................... 22

2.8 本章小结 ........................................................................................................ 23

第三章悬置支架和动力总成悬置系统动力学仿真 ............................ 25

3.1 挖掘装载机悬置支架有限元分析 ................................................................ 25

3.1.1 支架约束模态分析............................................................................... 26

3.1.2 悬置支架刚度分析............................................................................... 27



3.2 动力总成悬置系统固有特性分析 ................................................................ 29

3.2.1 动力总成悬置系统建模...................................................................... 29

3.2.2 悬置系统固有特性分析...................................................................... 30

3.3 动力总成悬置系统动态特性响应仿真与分析 ............................................ 34

3.3.1 怠速工况时域仿真分析....................................................................... 34

3.3.2 怠速工况频域响应仿真分析.............................................................. 39

3.4 本章小结 ........................................................................................................ 42

第四章挖掘装载机动力总成悬置系统试验研究 ................................ 43

4.1 振动测试实验设计 ........................................................................................ 43

4.2 实验结果及分析 ............................................................................................ 45

4.2.1 不同转速下车架端振动加速度........................................................... 46

4.2.2 动力总成悬置上下端振动加速度....................................................... 46

4.3 悬置隔振性能 ................................................................................................ 48

4.4 本章小结 ........................................................................................................ 49

第五章挖掘装载机动力总成悬置系统的优化 .................................... 50

5.1 目标函数 ........................................................................................................ 50

5.2 设计变量 ........................................................................................................ 51

5.3 约束条件 ........................................................................................................ 51

5.3.1 频率约束条件....................................................................................... 51

5.3.2 位移约束............................................................................................... 52

5.3.3 刚度约束条件....................................................................................... 52

5.4 悬置系统优化基本准则 ............................................................................... 53

5.5 优化方法 ....................................................................................................... 53

5.5.1 femincon 函数简介 ............................................................................. 53

5.5.2 悬置系统优化流程............................................................................... 54

5.6 动力总成悬置系统悬置元件刚度设计变量优化分析 ................................ 55

5.6.1 优化后悬置系统的模态仿真分析....................................................... 56

5.6.2 动力总成悬置系统优化后的动态响应仿真与分析........................... 59

5.7 悬置系统优化方案鲁棒性分析 .................................................................... 62


目录

5.8 本章小结 ........................................................................................................ 65

第六章装载机动力总成悬置系统优化软件开发 ................................ 66

6.1 动力总成悬置系统优化软件开发的目标 .................................................... 66

6.2 动力总成悬置系统优化软件技术分析与实现 ............................................ 66

6.2.1 软件开发背景....................................................................................... 66

6.2.2 软件总体设计....................................................................................... 66

6.3 软件主要特点 ................................................................................................ 68

6.4 软件界面 ........................................................................................................ 68

6.4.1 运行文件............................................................................................... 68

6.4.2 软件界面介绍....................................................................................... 69

6.5 软件设计实例 ................................................................................................ 74

6.5.1 启动软件主界面................................................................................... 74

6.5.2 生成悬置系统固有特性计算子界面................................................... 75

6.5.3 参数优化子界面................................................................................... 75

6.5.4 保存或打印所生成的优化子界面....................................................... 78

6.6 本章小结 ........................................................................................................ 79

第七章结论与展望 ................................................................................ 81

7.1 结论 ................................................................................................................ 81

7.2 展望 ................................................................................................................ 82

参考文献 .................................................................................................. 83

攻读学位期间所取得的相关科研成果 .................................................. 87


CONTENTS

CONTENTS

Chapter 1 Preface ...................................................................................... 1

1.1 Introduction ..................................................................................................... 1

1.2 Research status of powertrain mounting system ......................................... 3

1.2.1 Reseach status of mount components ..................................................... 3

1.2.2 Reseach status of mounting system optimization ................................... 4

1.2.3 The significance of this research ............................................................. 6

1.3 The framework of this dissertation ............................................................... 7

Chapter 2 Vibration isolation theory and modeling of the system of a

certain type of backhoe loader ................................................................. 9

2.1 Vibration isolation principle .......................................................................... 9

2.2 Exciting force ................................................................................................. 10

2.3 Natural frequency ......................................................................................... 11

2.4 Basic structure and mechanics model of rubber mount ............................ 13

2.4.1 Basic structure of rubber mount ............................................................ 13

2.4.2 Establishment of rubber mount’s mechanical model ............................ 13

2.5 Model of powertrain mounting system ....................................................... 14

2.5.1 Generalized coordinate system, moving coordinate system, mount

coordinate system........................................................................................... 14

2.5.2 Calculation of total kinetic energy, potential energy and dissipated

energy ............................................................................................................. 15

2.6 Establishment of differential equation of the system ................................. 19

2.7 Calculation and analysis of inherent characteristic and decoupling based

on Matlab ............................................................................................................. 20

2.7.1 Relevant parameter of powertrain mounting system ............................ 20

2.7.2 Solution of natural frequencies and natural modes ............................... 20

2.7.3 Solution of decoupling rate ................................................................... 22

2.8 Brief summary ............................................................................................... 23



Chapter 3 Dynamics simulation of mount bracket and powertrain

mounting system ..................................................................................... 25

3.1 Finite element analysis of mount bracket ................................................... 25

3.1.1 Constraint modal analysis of bracket .................................................... 26

3.1.2 Stiffness analysis of bracket .................................................................. 27

3.2 Inherent characteristic analysis of powertrain mounting system ............ 29

3.2.1 Modeling of the system ......................................................................... 29

3.2.2 Inherent characteristic analysis of the system ....................................... 30

3.3 Dynamic response simulation and analysis of powertrain mounting

system ................................................................................................................... 34

3.3.1 Time domain simulation analysis of idle speed condition .................... 34

3.3.2 Frequency response simulation analysis of idle speed condition ......... 39

3.4 Brief summary ............................................................................................... 42

Chapter 4 Experimental study of backhoe loader’s powertrain

mounting system ..................................................................................... 43

4.1 Vibration test experimental design .............................................................. 43

4.2 Experimental results and analysis ............................................................... 45

4.2.1 Vibration acceleration of frame side of under different speed .............. 46

4.2.2 Up and down vibration acceleration of powertrain mount ................... 46

4.3 Isolation performance ................................................................................... 48

4.4 Brief summary ............................................................................................... 49

Chapter 5 Optimization of backhoe loader’s powertrain mounting

system ....................................................................................................... 50

5.1 Objective function ......................................................................................... 50

5.2 Design variable .............................................................................................. 51

5.3 Constraint condition ..................................................................................... 51

5.3.1 Natural frequency constraint ................................................................. 51

5.3.2 Displacement constraint ........................................................................ 52


CONTENTS

5.3.3 Stiffness constraint ................................................................................ 52

5.4 Optimization criteria of mounting system .................................................. 53

5.5 Optimization method .................................................................................... 53

5.5.1 Femincon function introduction .......................................................... 53

5.5.2 Optimal process of mounting system .................................................... 54

5.6 Opimization analysis of stiffness design variables ..................................... 55

5.6.1 Modal simulation and analysis of the system after optimization .......... 56

5.6.2 Dynamic response simulation and analysis of the system after

optimization ................................................................................................... 59

5.7 Robustness analysis of optimization scheme .............................................. 62

5.8 Brief summary ............................................................................................... 65

Chapter 6 Development of loader’s powertrain mounting system

optimization software ............................................................................. 66

6.1 Powertrain mounting system optimization software design goal ............. 66

6.2 Techinical analysis and realization of this software ................................... 66

6.2.1 Software development background and overall design ........................ 66

6.2.2 Software overall design ......................................................................... 66

6.3 Main characteristics...................................................................................... 68

6.4 Software Interface ......................................................................................... 68

6.4.1 Running the file..................................................................................... 68

6.4.2 Interface introduction ............................................................................ 69

6.5 Design example .............................................................................................. 74

6.5.1 Startup of software main interface ........................................................ 74

6.5.2 Creating a inherent characteristic interface ........................................... 75

6.5.3 Creating a parameters optimization interface ....................................... 75

6.5.4 Saving or printing the optimization interface ....................................... 78

6.6 Brief summary ............................................................................................... 79

Chapter 7 Conclusion and Prospect ...................................................... 81

7.1 Conclusion ..................................................................................................... 81


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