胡三宝　吴攀　王潮

摘   要：以轮心六分力作为输入，研究了基于Udwadia-Kalaba理论的悬架零部件动态载荷计算方法.以五连杆后悬架作为建模对象，建立了悬架系统动力学模型，并将系统总约束力进行分解，得到各部件所受动态载荷的解析表达式.与传统拉格朗日建模方法相比，该方法无需借助拉格朗日乘子，降低了建模复杂程度.为验证方法的正确性，将数值计算结果与传统建模软件Adams/Car仿真结果进行对比，结果表明：该方法准确、高效，计算所得动态载荷与Adams/Car仿真结果均具有较好的吻合性;最后将该方法应用到实车试验中，进行了某SUV后悬架的动态载荷预测.

关键词：悬架零部件;Udwadia-Kalaba理论;六分力;动态载荷;载荷预测

中图分类号：TH242                                文献标志码：A

A Method for Calculating Dynamic Load of Suspension

Part Based on Udwadia-Kalaba Theory

HU Sanbao1，2，WU Pan1，，WANG Chao1，2

（1.Hubei Key Laboratory of Advanced Technology of Automotive Components，Wuhan University of Technology，Wuhan 430070，China;

2. Hubei Collaborative Center for Automotive Technology，Wuhan 430070，China）

Abstract： Based on Udwadia-Kalaba theory，a method for calculating the dynamic load of suspension part was studied by taking the six-component force of wheel center as the input. Taking the five-rod rear suspension as the modeling object，the dynamic model of the suspension system was established，and the analytical expression of the load at each part was obtained with the decomposition of the total binding force. Compared with the traditional Lagrange modeling method，the method does not need the Lagrange multiplier and reduces the complexity of modeling. In order to verify the correctness of the method，the numerical results were compared with the simulation results of the traditional modeling software Adams/Car. The analysis result shows that the proposed method is accurate and efficient，and the calculated dynamic loads are in good agreement with the Adams/Car simulation results. Finally，the method was applied to the actual vehicle test，and the load prediction for the rear suspension of a SUV was carried out.

Key words： suspension part;Udwadia-Kalaba theory;six-component force;dynamic load;load prediction

汽车悬架的主要功用是传递来自车轮的力并承受车身的质量，在悬架的设计开发中，耐久性评价是非常重要的环节，而载荷则是进行悬架零部件耐久性评价的核心基础，可为悬架的耐久性试验和评价提供依据[1].

目前为获取悬架零部件载荷，常用的方法是将实际采集的载荷信号在试验台架上迭代出驱动信号，然后通过作动器加载到相应位置来模拟道路试验[2].伴随着轮心六分力测量技术的发展成熟，在采集实车道路载荷信号时，可以较为准确地记录下行驶过程中轮心的6个分力，不必考虑轮胎的复杂非线性特性，从而可以获得更精確的当量关系.文献[3]采用4个车轮六分力传感器、加速度传感器和应……