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VSDK Sem v2
VSDK Sem v2
KKS/VSDK
Tma:
Autor:
Pavel Florian
pflorian@students.zcu.cz
vod
Clem semestrln prce je provst citlivostn analzu nkterch parametr automobilu
v prosted ADAMS/Car Sledovn je jejich vliv na normlov reakce ve stykov ploce, ze kterch lze
vyvodit stabilitu vozidla v zatce. Za tmto elem byly pouita metodika Design of Experiment
(DOE), kter je implementovana do modulu ADAMS/Insight.
Model vozidla
ADAMS/Car e problmy multibody dynamiky se zamenm na vozidla. Automobil je
popsno sestavou skldajc se z nkolika subsystm nap. pedn a zadn nprava, zen, pohonn
jednotka, pneumatiky, karoserie atd. Poet zahrnutch subsystm lze mnit, v tomto ppad byla
eena pouze zjednoduen sestava bez pohonn jednotky a karoserie. Vzhledem k podstat
eenho problmu vak nemlo toto zjednoduen na vsledky dn negativn dopad.
2. Volba faktor systmu, kter budeme zkoumat, a zpsob vyhodnocovn odezvy systmu
na zmnu hodnot faktor
3. Uren hodnot pro jednotliv faktory a naplnovan experimentu, pi kterm se dan
hodnoty mn v kadm kroku.
4. Sputn experimentu.
5. Analza odezvy systmu na zmnu hodnot faktor, identifikace nejvznamnjch faktor.
Navren experiment je definovn matic, kde sloupce pedstavuj faktory a dky jejich
hodnoty pro jednotliv kroky. Se vzrstajcm potem faktor a hodnot exponenciln narst poet
krok een, m roste vpoetn as. Proto byly vyvinuty metody, kter napomhaj redukovat
poet eench kombinac s co nejmen ztrtou informac o modelu. V prosted ADAMS/Insight lze
pout tyto metody:
1. pln faktoriln tato metoda vyuv vechny mon kombinace parametr a je tedy
vhodn pouze pro meni experimenty. Poet krok een
, kde m je poet hodnot a
n poet faktor.
2. sten faktoriln tato metoda je vhodn pro uren nejvznamnjch faktor a pouv
se pedevm, pokud mme pro kad faktor dv hodnoty.
3. Plackett-Burmanova tato metoda slou k identifikaci nejdleitjch faktor a obvykle
zaruuje nejni poet krok een, ale neumouje zkoumat vzjemn psoben faktor.
4. Box-Behnkenova u tto metody je poteba dodret urit poet krok, ale pot je mon
zskat informace o interakcch mezi faktory pi relativn nzkm potu krok een.
5. CCF tato metoda vhodn uspodv vpoetn body, m doke velmi pesn
pedpovdat hodnoty i mimo uzlov body, a lze ji pout na podobn lohy jako BoxBehnekovu metodu.
6. D-optimln tato metoda m pomrn univerzln vyuit, nebo u n lze specifikovat poet
krok a pro vstupn data je mon pout vsledky jinch analz.
7. Latin Hypercube - tato metoda nhodn sestavuje kombinace hodnot a lze u n libovoln
specifikovat poet krok.
Pouziti ADAMS/Insight
Ped sputnm modulu Insight je nutn definovat parametry, jejich odezva ns zajm.
V tomto ppad jsou sledovny normlov sly ve stykov ploce, konkrtn jejich minimln
hodnota bhem simulace.
Modul Insight rovn umouje provst optimalizaci (Obr. 7), ze kter plyne, e vozidlo by
mlo doshnout nejlepch jzdnch vlastnost pi nsledujcch parametrech.
Tuhost pruin
vpedu [N/mm]
100
Tuhost pruin
vzadu [N/mm]
240
hel odklonu
vpedu []
0
hel odklonu
vzadu []
0
Na prvn pohled se mi vsledky zdly ponkud zvltn, ale nsledn kvazistatick analza
s tmito parametry potvrdila pomrn znan nrst minimln normlov reakce a to z 1186 N na
1295 N pi pnm peten 0,9 g.
Zvr
V rmci tto semestrln prce byla vypracovna citlivostn studie vybranch parametr
automobilu. Z analzy plyne, e nejlepch jzdnch vlastnost dosahuje vozidlo pi nulovm hlu
odklonu a velkm rozdlu v tuhosti pruin mezi pedn a zadn npravou. Cel experiment byl
rozdlen do 100 krok s rznmi parametry a vsledky jsou aproximovny polynomilnmi funkcemi,
aby bylo mon odhadnout een i mimo uzlov body. Vzhledem k tomu, e mi nen znmo, jakm
zpsobem probh pouit kvazistatick analza, nejsem schopen posoudit sprvnost vsledk, ale
mohu ci, e mi na prvn pohled pipadaj pinejmenm zvltn. Pro lep pedstavu o chovn
systmu by bylo vhodn rozdlit lohu do vtho potu krok a eit ji jako nestacionrn, co ovem
znamen vy asovou nronost.
1
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32
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40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
camber_front
[]
-4
0
-4
-12
-10
-4
-6
-8
-4
-12
-12
-8
0
0
0
-14
-2
-2
-10
-8
-14
-6
-8
-6
-12
-8
-12
-4
-10
-12
-10
0
-10
-6
-8
0
-10
-10
-2
0
-14
-2
-4
-10
-2
-8
-14
-2
-2
-8
-4
-14
0
-8
-14
-12
-6
-8
-12
-2
sp_rate_front
[N/mm]
120
220
220
100
240
200
100
140
220
200
240
120
160
220
160
100
100
180
120
120
180
200
160
140
120
100
160
200
200
160
160
180
240
120
220
100
180
100
120
200
180
120
180
140
240
240
140
140
240
100
200
140
120
220
220
120
200
100
100
180
camber_rear
[]
-10
-6
0
-2
0
-4
-12
-14
-2
-14
-2
0
-4
-2
-2
-14
0
-8
-8
-14
-6
-4
0
-12
-14
-4
-8
-10
-6
-8
-4
-10
-10
-10
-6
-8
-6
-10
-10
-2
-6
-8
-2
-2
-14
-12
0
-12
-12
0
-4
-10
-10
-2
-14
-6
-12
-12
-8
-12
sp_rate_rear
[N/mm]
220
140
200
160
200
240
100
140
200
240
100
120
160
180
180
240
180
160
140
120
160
120
180
200
220
240
240
120
220
220
180
120
140
200
160
160
180
120
140
140
100
240
240
160
160
220
180
120
240
140
240
220
100
140
180
180
240
140
160
140
fl_normal
[N]
3159.24
3156.94
3158.62
3162.88
3157.49
3158.85
3236.11
2806.21
3158.13
1581.31
3153.57
3159.05
3158.56
3158.28
3159.41
787.797
3162.66
3157.23
3159.71
2806.21
3155.43
3155.33
3159.38
3236.11
1581.31
3164.09
3158.33
3156.28
3157.25
3158.11
3158.6
3157.66
3153.56
3159.23
3155.51
3160.45
3157.54
3161.82
3159.17
3157.18
3155.9
3160.23
3160.14
3159.21
3728.17
2806.21
3160.75
3728.17
3728.17
3161.74
3158.85
3158.6
3161.05
3154.6
787.797
3160.76
3236.11
2806.21
3161.88
3728.17
fr_normal
[N]
3148.57
3139.33
3143.55
3150.66
3141.96
3145.41
3236.11
2806.21
3143.21
1581.31
3135.56
3144.75
3143.3
3142.25
3145.43
787.796
3151.39
3141.38
3145.92
2806.21
3139.87
3138.47
3144.5
3236.11
1581.31
3154.41
3146.5
3139.67
3143.7
3145.91
3144.2
3141.35
3136.34
3148.18
3138.32
3149.03
3140.96
3148.84
3145.5
3139.92
3139.81
3149.78
3147.12
3144.49
3728.17
2806.21
3146.34
3728.17
3728.17
3148.55
3145.41
3147.27
3146.41
3137.35
787.796
3149.11
3236.11
2806.21
3150.37
3728.17
rr_normal
[N]
4328.74
4336.02
4332.12
4325.61
4334.7
4326.78
0
0
4332.1
0
4339.76
4331.08
4332.28
4333.79
4330.88
0
4324.7
4334.24
4330.16
0
4334.66
4336.85
4331.21
0
0
4314.88
4331.01
4336.16
4330.96
4331.59
4331.96
4334.61
4338.61
4329.18
4336.71
4327.69
4334.28
4327.84
4330.68
4335.14
4335.78
4327.35
4324.42
4330.88
0
0
4329.21
0
0
4327.21
4326.78
4330.41
4330.35
4337.29
0
4327.6
0
0
4326.59
0
rl_normal
[N]
4344.88
4347.67
4342
4340.82
4343.88
4329.54
0
0
4341.49
0
4348.85
4345.01
4345.49
4344.48
4342.97
0
4339.16
4346.88
4344.25
0
4346.89
4347.95
4344.38
0
0
4320.01
4345.6
4347.24
4332.6
4345.83
4344.48
4346.52
4349
4344.84
4348.3
4341.46
4347.03
4342.26
4344.66
4347.38
4346.07
4344.07
4330.71
4344.9
0
0
4343.49
0
0
4342.86
4329.54
4345.15
4343.34
4348.42
0
4340.1
0
0
4340.61
0
Trial 61
Trial 62
Trial 63
Trial 64
Trial 65
Trial 66
Trial 67
Trial 68
Trial 69
Trial 70
Trial 71
Trial 72
Trial 73
Trial 74
Trial 75
Trial 76
Trial 77
Trial 78
Trial 79
Trial 80
Trial 81
Trial 82
Trial 83
Trial 84
Trial 85
Trial 86
Trial 87
Trial 88
Trial 89
Trial 90
Trial 91
Trial 92
Trial 93
Trial 94
Trial 95
Trial 96
Trial 97
Trial 98
Trial 99
Trial 100
-2
-8
0
0
-4
-12
-14
-6
-4
-14
-10
0
-10
-6
-10
-12
-6
-6
-4
-12
-14
-2
-4
-12
-8
0
0
-6
-6
-10
-14
-10
-14
-2
-2
-4
-6
-4
-14
-14
140
140
240
180
240
180
200
220
180
200
220
220
100
160
240
140
120
140
160
200
180
100
120
140
240
220
240
180
200
240
200
160
160
140
240
160
100
160
140
220
-2
-6
-2
0
-14
-10
-6
-10
-6
-14
-8
-8
0
-14
-14
-14
-12
-2
-4
-10
-6
-12
-4
0
-6
-8
-14
-4
-12
-12
-10
-8
0
-4
-4
-4
-8
0
0
-4
200
200
120
200
180
220
100
100
220
160
180
100
120
200
120
140
120
220
200
200
220
120
220
240
240
200
100
100
100
100
140
180
100
220
200
140
240
100
160
160
3160.57
3159.45
3156.44
3160.01
3543.55
3156.41
3155.05
3157.12
3158.24
787.797
3155.59
3158.32
3161.12
3236.11
2254.39
1581.31
3236.11
3161.14
3159.15
3155.6
3157.98
3728.17
3161.58
3162.67
3156.7
3157.09
3789.74
3156.63
3236.11
2254.39
3153.53
3157.65
3155.84
3160.48
3157.63
3157.37
3162.07
3156.92
3158.75
3154.12
3148.07
3147.35
3137.99
3145.93
3543.55
3143.71
3138.41
3139.73
3145.12
787.796
3139.33
3140.46
3147.89
3236.11
2254.39
1581.31
3236.11
3149.14
3146.1
3141.95
3145.08
3728.17
3150.52
3151
3142.52
3142.5
3789.73
3139.98
3236.11
2254.39
3137.69
3143.81
3140.09
3148.56
3142.33
3141.69
3152.62
3140.57
3144.33
3137.33
4326.04
4326.34
4337.46
4329.05
0
4333.88
4337.04
4336.67
4328.05
0
4336.58
4336.01
4328.2
0
0
0
0
4322.96
4328.17
4335.63
4330.48
0
4320.08
4321.29
4332.54
4331.81
0
4336
0
0
4336.84
4332.85
4335.4
4322.64
4332.34
4333.61
4324.66
4335.35
4330.46
4336.87
4337.53
4334.79
4348.15
4340.08
0
4347.43
4346.79
4346.4
4329.99
0
4347.24
4346.23
4343.12
0
0
0
0
4332.59
4338.33
4348.25
4332.38
0
4327.32
4331.28
4328.52
4332.86
0
4346.89
0
0
4347.86
4344.24
4346.49
4329.57
4340.55
4346.67
4342.08
4347.15
4344.29
4348.09
=
=
=
=
=
=
=
=
=
=
=
=
'crc_baseline5_ssc_doe3';
'crc_baseline5_ssc_doe3.m';
'Linear';
'RSM';
'LatinHypercube';
100;
'StandardOrder';
4;
4;
'2014-08-17 20:52:03';
'Adams/Insight Adams 2013.1';
'Adams/Insight Adams 2013.1';
%##########################################################################
####
% Factor Information Block - (4)
ainFactors(1).Name
ainFactors(1).Abbreviation
ainFactors(1).Type
ainFactors(1).DeltaType
ainFactors(1).Settings
-14, -12, -10, -8, ...
-6, -4, -2, 0};
ainFactors(1).Units
ainFactors(1).Value
ainFactors(1).Tolerance
ainFactors(1).Minimum
ainFactors(1).Maximum
ainFactors(1).Desc
=
=
=
=
=
'camber_angle_front';
'camber_front';
'Discrete';
'Absolute';
{ ...
=
=
=
=
=
=
'"deg"';
-0.5;
0;
-14;
0;
'';
ainFactors(2).Name
ainFactors(2).Abbreviation
ainFactors(2).Type
ainFactors(2).DeltaType
ainFactors(2).Settings
=
=
=
=
=
'spring_rate_front';
'spring_rate_front';
'Discrete';
'Absolute';
{ ...
'"newton/mm"';
125;
0;
100;
240;
'';
=
=
=
=
=
'camber_angle_rear';
'camber_rear';
'Discrete';
'Absolute';
{ ...
=
=
=
=
=
=
'"deg"';
-0.5;
0;
-14;
0;
'';
ainFactors(4).Name
=
ainFactors(4).Abbreviation =
ainFactors(4).Type
=
ainFactors(4).DeltaType
=
ainFactors(4).Settings
=
100, 120, 140, 160, ...
180, 200, 220, 240};
ainFactors(4).Units
=
ainFactors(4).Value
=
ainFactors(4).Tolerance
=
ainFactors(4).Minimum
=
ainFactors(4).Maximum
=
ainFactors(4).Desc
=
'spring_rate_rear';
'spring_rate_rear';
'Discrete';
'Absolute';
{ ...
'"newton/mm"';
125;
0;
100;
240;
'';
%##########################################################################
####
% Model Information Block
ainModel.Name
= 'Model_01';
ainModel.Desc
= '';
ainModel.Comments = {};
%##########################################################################
####
% Response Information Block - (4)
ainResponses(1).Name
= 'fl_normal_force';
ainResponses(1).Abbreviation = 'fl_normal_force';
ainResponses(1).Type
= 'Scalar';
ainResponses(1).Units
= '';
ainResponses(1).Desc
= '';
ainResponses(1).NumRegs
= 1;
ainResponses(1).Stats
= [0.271695, 0.24103, 4.00925e-06, 11.4571];
% [R^2, R^2adj, P, R/V]
ainResponses(1).ModelOrder = 'Linear';
ainResponses(1).Coeff
= [ ...
%##########################################################################
####
% End