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方程式赛车转向系统设计（转向系统）

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方程式赛车转向系统设计（转向系统）

摘要

赛车转向系的设计对赛车转向行驶性能、操纵稳定性等性能都有较大影响。在赛车转向系设计过程中首先通过转向系统受力计算和UG草图功能进行运动分析，确定转向系的传动比，确定了方向盘转角输入与轮胎转角输出之间的角传动比为3.67；运用空间机构运动学的原理,采用Matlab软件编制转向梯形断开点的通用优化计算程序,确定汽车转向梯形断开点的最佳位置,从而将悬架导向机构与转向杆系的运动干涉减至最小；然后采用UG运动分析的方法,分析转向系在转向时的运动,求解内外轮转角、拉杆与转向器及转向节臂的传动角、转向器的行程的对应关系,为转向梯形设计及优化提供数据依据。

完成结构设计与优化后我们对转向纵拉杆与横拉杆计算球铰的强度与耐磨性校核以及对一些易断的杆件进行了校核计算，确保赛车有足够的强度与寿命。完成了对转向轻便性的计算，我们计算了转向轮的转向力矩M转，转向盘上作用力p手以及转向盘回转总圈数n，以确认是否达到赛车规则中所规定的要求以及转向的灵活性与轻便性。最后我们建立三维模型数据进行预装配，在软件上检查我们设计的转向系是否存在干涉等现象以及检查我们的转向系是否满足我们的设计要求，对我们的设计进行改进。

关键词：赛车，转向，UG，转向梯形，运动分析，齿轮齿条

The design of Formula front and rear suspension and steering system (steering system)

ABSTRACT

Steering System Design of a car has a significant impact of driving performance, steering stability. In the car design process, first through the steering force calculations and the UG kinetic analysis we determine the ratio of steering system, the relationship between the wheel angle input and output; The principles of spatial mechanism kinetics and a related optimization program by using Matlab are applied to the calculation of the spatial motion of the ackerman steering linkage. By using the method,the interference between suspension guiding mechanism and steering linkage is minimized; then UG kinetic analysis is used to analysis the motion of steering system when turning and calculating the corresponding relation between the turning angle of inside and outside wheels, the transmission angle of steering linkage and steering box or steering linkage and track-rod, and steering box stroke. And it provides a theoretical basis for designing and optimizing the steering trapezoidal mechanism.

After the work we calculate the ball joints tie rod strength and wear resistance, and some calculations was made on some dangerous bars, to ensure the car has enough strength and life. After carrying out a complete calculation of the portability, we calculate the torque of the wheel, the force of steering wheel on the hands and the total number of turns , to meet the requirements in the car rules. Finally, we set up pre-assembled three-dimensional model data, checking the steering we designed whether there is interference phenomena and to examine whether our steering meet our design requirements, to improve our design.

KEY WORDS：FSAE，UG, steering trapezoid, motion analysis, rack and pinion

第一章绪论1

§1.1 Formula SAE 概述1

§1.1.1 背景1

§1.1.2 发展和现状2

§1.2 中国FSAE发展概况2

§1.3 任务和目标3

第二章转向系设计方案分析4

§2.1 赛车转向系概述4

§2.2 转向系的基本构成4

§2.3 转向操纵机构4

§2.4 转向传动机构6

§2.5 机械式转向器方案分析6

§2.5.1 齿轮齿条式转向器6

§2.5.2 其他形式的转向器8

§2.5.3 转向器形式的选择9

§2.6 赛车转向系统传动比分析9

§2.7 转向梯形机构的分析与选择10

§2.7.1 转向梯形机构的选择10

§2.7.2 断开式转向梯形参数的确定10

§2.7.3 转向系内外轮转角的关系的确定12

§2.7.4 MATLAB内外轮转角关系曲线部分程序14

第三章转向系主要性能参数16

§3.1 转向器的效率16

§3.1.1 转向器的正效率η+16

§3.1.2 转向器的逆效率η-17

§3.2 传动比的变化特性17

§3.2.1 转向系传动比17

§3.2.2 力传动比与转向系角传动比的关系18

§3.2.3 转向系的角传动比19

§3.2.4 转向器角传动比及其变化规律19

§3.3 转向器传动副的传动间隙Δt20

§3.3.1 转向器传动间隙特性20

§3.3.2如何获得传动间隙特性21

§3.4 转向系传动比的确定22

第四章齿轮齿条式转向器设计与计算23

§4.1 转向系计算载荷的确定23

§4.1.1 原地转向阻力矩MR的计算23

§4.1.2 作用在转向盘上的手力Fh23

§4.1.3转向横拉杆直径的确定24

§4.1.4初步估算主动齿轮轴的直径24

§4.2 齿轮齿条式转向器的设计25

§4.2.1 齿条的设计25

§4.2.2 齿轮的设计25

§4.2.3 转向横拉杆及其端部的设计25

§4.2.4齿条调整26

§4.2.5转向传动比27

§4.3 齿轮轴和齿条的设计计算28

§4.3.1 选择齿轮材料、热处理方式及计算许用应力28

§4.3.2 初步确定齿轮的基本参数和主要尺寸29

§4.3.3确定齿轮传动主要参数和几何尺寸30

§4.4 齿轮齿条转向器转向横拉杆的运动分析31

§4.5 齿轮齿条传动受力分析32

§4.6 齿轮轴的强度校核32

§4.6.1轴的受力分析32

§4.6.2判断危险剖面33

§4.6.3轴的弯扭合成强度校核33

§4.6.4轴的疲劳强度安全系数校核33

第五章转向梯形的优化设计36

§5.1 目标函数的建立36

§5.2 设计变量与约束条件37

§5.2.1 保证梯形臂不与车轮上的零部件发生干涉37

§5.2.2保证有足够的齿条行程来实现要求的最大转角38

§5.2.3保证有足够大的传动角α38

第六章基于UG运动仿真的转向梯形设计与优化41

§6.1 建立UG三维模型41

§6.2 基于UG工程图模块的转向机动图42

§6.3 UG模型以及基于UG高级仿真的零部件校核42

§6.4 UG装配模型检查干涉问题43

第七章结论45

参考文献46

致谢47

第一章绪论

§1.1 Formula SAE 概述

§1.1.1 背景

Formula SAE 赛事由美国汽车工程师协会（the Society of Automotive Engineers 简称SAE）主办。SAE 是一个拥有超过60000 名会员的世界性的工程协会，致力与海、陆、空各类交通工具的发展进步。

Formula SAE 是一项面对美国汽车工程师学会学生会员组队参与的国际赛事，于1980 年在美国举办了第一届赛事。比赛的目的是设计、制造一辆小型的高性能赛车。目前美国、欧洲和澳大利亚每年都会定期举办该项赛事。比赛由三个主要部分组成：工程设计、成本以及静态评比；多项单独的性能试验；高性能耐久性测试。

参考文献

[1] 刘惟信.汽车设计.北京：清华大学出版社,2000

[2] 王望予.汽车设计(第三版). 北京：机械工业出版社,2000

[3] 陈家瑞.汽车构造(下册). 北京：机械工业出版社,2005

[4] 张文春.汽车理论北京：机械工业出版社,2005

[5] 王文斌.机械设计手册（新版）. 北京：机械工业出版社,2004

[6] 汽车工程手册编委会.汽车工程手册. 北京：人民交通出版社,2001

[7] [日].自动车技术协会.小林明.汽车工程手册. 北京：机械工业出版社,1996

[8] 刘鸿文.材料力学. 北京：高等教育出版社,1991

[9] 侯洪生.机械工程图学.北京：科学技术出版社,2001

[10] 浙江交通学校.汽车构造教学图册.人民交通出版社,1986

[11] 孙桓.机械原理.北京：高等教育出版社,2006

[12] 濮良贵.机械设计.北京.高等教育出版社

[13] 中国汽车技术研究中心.汽车设计标准（标准件篇）.吉林科技大学出版社，2000

[14] William F.Milliken. Race.Car.Vehicle.Dynamics. SAE

[15] 居小凡. Formula SAE赛车的设计制造及测试,上海交通大学硕士论文

[16] 张敏中. 齿轮—齿条式转向器转向梯形机构优化设计,1994年,第15期,N0.2

[17] 林秉华.最新汽车设计实用手册.黑龙江人民出版社，2005

[18] Unigraphics Solutions Inc.UG运动分析培训教程.北京：清华大学出版社,2002

[19] 张于贤.空间机构自由度计算，2003年，第26期，No.9

[20] 吴毅萍.桑塔纳轿车转向系的机构与维修，2007年

[21] David Tremayne. The Science of Formula1 Design,2004

赛车转向系统装配图.gif

转向器.gif

内容简介：: Procedia Engineering 24 (2011) 123 1271877-7058 2011 Published by Elsevier Ltd.doi:10.1016/eng.2011.11.2613Available online at Procedia Engineering Procedia Engineering 00 (2011) 000000/locate/procedia2011 International Conference on Advances in EngineeringA General Test Platform for Cyber-Physical Systems: Unmanned Vehicle with Wireless Sensor Network NavigationJiafu Wana, b, Hui Suob,*, Hehua Yanb, Jianqi LiubaSchool of Computer Science and Engineering, South China University of Technology, Guangzhou, ChinabCollege of Information Engineering, Guangdong Jidian Polytechnic, Guangzhou, ChinaAbstractCyber-Physical Systems (CPSs) integrate the virtual cyber world with the real physical world. Nowadays, the theories and applications of CPSs still face enormous challenges. In order to facilitate this emerging domain, a general test platform for CPSs, low-priced intelligent vehicle with Wireless Sensor Networks (WSNs) navigation, is designed to test and verify the proposed methods and theories. We in brief review the research progresses of CPSs, WSNs and unmanned vehicles. By means of deeply analyzing the test platform architecture and WSN navigation principle, the software and hardware of this platform are developed. The experiment results show that the resolution of wireless sensor navigation is less than 0.67m. On the basis of these, how to conduct studies from different perspectives is illustrated, and the implementation challenges are also outlined. 2011 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of ICAE2011.Keywords: Cyber-physical systems, wireless sensor networks, unmanned vehicle, navigation, intelligent road1. IntroductionCyber-Physical Systems (CPSs) integrate computing, communication, and control with the physical world 1. Applications of CPSs include medical devices and systems, assisted living, traffic control and safety, advanced automotive systems, process control, energy conservation, instrumentation, critical infrastructure (e.g. power, water), distributed robotics, weapons systems, manufacturing, distributed sensing command and control, smart structures, biosystems, and communications systems 2-4. Although the application prospects of this field are attractive, there are still many challenges.In order to expedite development of this emerging domain, it is very necessary for CPSs to develop a general test platform. Taking unmanned vehicle with Wireless Sensor Networks (WSNs) navigation as an *Corresponding author. Tel.: +86-13580418089.E-mail address: .nts124 Jiafu Wan et al. / Procedia Engineering 24 (2011) 123 1272 Jiafu Wan/ Procedia Engineering 00 (2011) 000000example, we designed software and hardware, and established a low-priced intelligent vehicle. This platform is a classic CPS, that is advantageous to verify the new methods and theories, and concludes two distinguishing features: (1) the vehicle and WSN may be designed by ourselves or purchased, whose prices are very low, and (2) most of challenges are embodied in this platform, and it is the most representative.2. WSNs and CPSsWSNs are more than just a specic form of ad hoc networks. The cost constraints and stringent miniaturization make economic usage of energy and computational power a signicantly bigger problemthan in normal ad hoc networks 5-7. Nowadays, WSNs are widely used in tracking and monitoring.CPSs are not todays sensor networks, and they are more complicated than WSNs. In CPSs, one of the most conspicuous features is that control loops must close.WSNs started to appear in the 1990s, and they have great potential for many applications in scenarios such as military target tracking and surveillance, natural disaster relief, biomedical health monitoring, hazardous environment exploration, and seismic sensing 6. In these applications, all of them are not real-time systems. At present, though many practical applications have been conducted, there are still many challenges. These key issues include topology structure, communication protocol, implementation of protocols, limited battery power, energy conservation, energy harvesting, reliable communication and services, mass-data processing, etc 8.In recent years, CPSs have been treated as a new development strategy by American government. The goals of CPSs research program are to deeply integrate physical and cyber design. Some researchers from related research institutes and universities discussed the related concepts, technologies, applications and challenges during CPSweek and the international conference on CPS subject 9. The research results ofCPSs mainly concentrate in the following respects, e.g. energy control, secure control, transmission and management, control technique, system resource allocation, and model-based software design, etc.4, 10. Now, this field is still in the beginning stage, which has been attracting the significant interest, and will continue for the years to come.3. Unmanned vehicleIn nearly ten years, intelligent vehicles have become a fascinating field which attracts more attention over the world. In these unmanned vehicles, the vision navigation system plays a significant role in detecting physical environment. GPS and some other sensors are subsidiary to locate and navigate. Nowadays, many practical applications have been implemented. The 2getthere develop Personal Rapid Transit (PRT) that is a transport method to offer personal, on-demand non-stop transportation between any two points on a network of specially built guide-ways. This system consists of a number of small automated vehicles 11. Similarly, ParkShuttle is an automated people mover connecting two cities 12.In addition, RobuRide and Serpentine system are also unmanned vehicles 13. As a whole, unmannedvehicles are not now in widespread use because of some technological constraints.With development of embedded systems and WSNs, CPSs as a newly-emerged domain are proposed. M. Li et al 14 propose to utilize WSN infrastructure as a CPS for navigating internal users during emergencies. In this system, the location information comes mainly from WSNs, while GPS and vision system provide ancillary datum. This mode with WSNs navigation is different from the mentioned method in the previous paragraph. Integrating intelligent road with unmanned vehicle is a classic feature.4. A case of CPSs: unmanned vehicle with WSNs navigation4.1. Platform architectureFor most researchers, a general and low-priced test platform for CPSs serves to conduct the theoreticaland practical experiments. On the basis of available technologies such as WSNs, embedded systems and nts125Jiafu Wan et al. / Procedia Engineering 24 (2011) 123 127Jiafu Wan/ Procedia Engineering 00 (2011) 000000 3software design, we analyzed and discussed the proposed test platform from the following three aspects:platform architecture, navigation principle and highway application, and these include many challenges.Fig. 1 shows the test platform architecture, which is mainly made up of WSNs and unmanned vehicles. Many sensor nodes (e.g. IEEE 802.15.4/ZigBee) construct wireless networks with the features of dynamically reorganizing and reconfiguring. The unmanned vehicles with sensor nodes get datum from WSNs and further process information so as to determine the behaviors of vehicles. An unmanned vehiclecomprises vision system, GPS, main body mainboard, etc. The GPS and vision system serve as auxiliarylocation, while the unmanned vehicles primarily realize navigation depending on WSNs.Two intelligent vehicles with wireless sensors are shown in Fig. 2. The left unmanned vehicle without vision system locates and navigates by means of WSNs and GPS. The open source Linux is chosen as operating system. : SensorsWSNs: Unmanned vehicleCCDDrivesystemCPUmoduleVoiceProcessingVideoProcessingSensorsMotor driveDCMotorSensorsATmega128LXScale PXA272Operating System: LinuxMainboardVision systemMain bodyDescribe structure diagramGPSFig. 1. Test platform architecture Fig. 2. Intelligent vehicle with wireless sensors4.2. Navigation principleThe navigation principle of unmanned vehicle is given as shown in Fig. 3, which is formulated by WSNs and flat surface for vehicle trajectory. Via WSNs navigation, unmanned vehicle can move anywhereon the flat surface.Assume that unmanned vehicle move from a starting point to an ending point. Before experiment, the location information about ending point should be sent to unmanned vehicle that conducts path planning so as to determine an optimizing trajectory. In the process of running, wireless sensor nodes belonging tounmanned vehicle exchange real-time data with WSNs. In this way, using the dynamic programmingachieves a rational trajectory. According to current position of unmanned vehicle, wireless sensors for communications continually keep switching. If a sensor goes wrong, this fault is solved by now and again reorganizing and reconfiguring WSNs. The red line in Fig. 3 demonstrates the real trajectory.4.3. Application: integrating intelligent road with unmanned vehicleWith the development of WSNs, embedded systems, etc., some new solutions can be applied to unmanned vehicle. Adopting the proposed test platform in this paper, we are conducting a program that intelligent road and unmanned vehicle are tightly integrated in the form of CPSs. Fig. 4 shows a case of CPSs. Both sides of highway install many wireless sensors nodes to form WSNs that provide navigation through exchanging and processing related information. For the proposed test platform, the resolution of the wireless sensor navigation depends on the positioning accuracy of WSNs, real-time performance, control algorithm, etc. The experiment results show that the resolution of wireless sensor navigation is less than 0.67m.nts126 Jiafu Wan et al. / Procedia Engineering 24 (2011) 123 1274 Jiafu Wan/ Procedia Engineering 00 (2011) 000000AB: Sensors A: WSNs B: Vehicle trajectory on the flat surface: Starting point : Ending point : Unmanned vehicleUV: Unmanned VehicleVisionGPSUV: SensorsHighwayIPIP: Information ProcessingWSNsVisionGPSUVIPFig. 3. Navigation principle of unmanned vehicle Fig. 4. A case of CPSs: integrating intelligent road with unmanned vehicle5. Studies from different perspectivesThe studies from different perspectives are shown in Fig. 5. On the basis of this platform, the followingaspects, e.g. system resource allocation, energy control, secure control, transmission and management, model-based software design, system modeling, control technology, etc. are tested and verified. It is fit formost of related researchers.In the past ten years, many studies have been devoted to WSNs. Large numbers of outstanding achievements have been registered in this field. However, CPSs emphasize the salient features ofintegrating the virtual cyber world with the real physical world, which introduces many new challengessuch as real-time performance, and control methods. Control techniqueEnergy controlNetwork topologySecure control, transmissionand management, etcModel-based software designModel for CPSs, resource allocation, etcCDC: WSNs D: Unmanned vehicle : Software systemFig. 5. Studies from different perspectives6. ChallengesCPSs as a very active and new research field, a variety of questions need to be solved, at different layers of the architecture and from different aspects of systems design, to trigger and to ease the integration of the physical and cyber worlds 1. The Common Challenges for CPSs include abstractions, model-based development, control and hybrid systems, sensor and mobile networks, robustness, reliability, safety and security, verification and certification 4. Besides above common challenges, high performance unmanned vehicles still face some key issues. Inaddition, how to implement the innovative methods and theories is also a critical challenge. The vehicle speed is intimately associated with system performance. As the speed increases, we must ensure that real-time performance meets requirements. However, many factors such as hardware platform, and design nts127Jiafu Wan et al. / Procedia Engineering 24 (2011) 123 127Jiafu Wan/ Procedia Engineering 00 (2011) 000000 5methods, affect response speed. Besides this, the unmanned vehicles highlight high safety and reliability,and this is more rigorous than other CPSs. Therefore, an innovative methodology to guarantee system safety should be established. Now, the applications of unmanned vehicle with WSNs navigation have been conducting by means of miniature prototype, little work focuses on their practical implementations.7. ConclusionsIn the last few years, this emerging domain for CPSs has been attracting the significant interest, and will continue for the years to come. In spite of rapid evolution, we are still facing new difficulties and severe challenges. In this literature, we concisely reviewed WSNs and CPSs, and designed a general and low-priced test platform for CPSs. This platform includes some intelligent vehicles with WSNs navigation, which is widely applied to test and verify related theories. On this basis, a classic application, integrating intelligent road with unmanned vehicle, is used to show the good prospects. Then, we summarize several research issues and encourage more insight into this new field.AcknowledgementsThe authors would like to thank the China Postdoctoral Science Foundation (No. 20090460769), the Fundamental Research Funds for the Central Universities, SCUT (No. 2011ZM0070), the National Natural Science Foundation of China (No. 50905063), and the Natural Science Foundation of Guangdong Province, China (No. S2011010001155) for their support in this research.References1E. Lee, “Syber Physical Systems: Deisgn Challenges,” In Proc. of 11th IEEE I

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