人-电动助力车系统结构参数稳定性分析  

Stability Analysis for Structural Parameters of Human-E-Bike System

作　　者：黄华[1] 闫俊涛 张军[1] HUANG Hua;YAN Juntao;ZHANG Jun(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《北京理工大学学报》2022年第5期485-492,共8页Transactions of Beijing Institute of Technology

摘　　要：基于电动助力自行车全局结构参数模型并引入人体质量参数、路面坡度及外部载荷等因素,得到全面且完整的人-车系统动力学方程.利用二阶微分方程特征值来分析人-车系统稳定性并在此基础上划分出人-车系统的5种骑行车速区间.定义了6个系统稳定性评价指标,以此来分析不同结构参数对系统稳定性的影响程度.引入了量纲一的区域灵敏度指标和区间车速灵敏度指标,来表征结构参数对不同运动模式区域及系统骑行自稳定性的影响,基于相关性分析对区间车速灵敏度指标进行区域分类并对不同结构参数与系统自稳性能的关系进行解释说明.结果表明,系统主要结构参数、人体不同姿态角及不同路面坡度角等参数对系统车速区间及系统自稳性的影响程度有着显著差别,可以使用灵敏度指标来表征系统结构参数对系统稳定性的影响程度,灵敏度参数的大小能够反映系统稳定性的强弱.A comprehensive and complete dynamics equation was established for a rider-E-bike system based on the global structural parameters of the E-Bike and the factors,including rider parameters,road slope and external loads.According to the eigenvalues of the second-order differential equation,the stability of the rider-E-bike system was analyzed,and based on the analysis results the cycling speed range of the rider-E-bike system was divided into five kinds.And then,six stability indicators were defined to analyze the influence of different structural parameters on system stability.Finally,two non-dimensional indicators,namely regional sensitivity index and interval speed sensitivity index,were introduced to characterize the influence of structural parameters on different mode regions and self-stability of system.Based on the relativity analysis,the interval speed sensitivity index was classified for correlation area and the relationship between different structural parameters and self-stability performance of the system was defined.The results show that the main structural parameters of the system、parameters of the rider and different road slope angles have significant differences in the degree of influence of the system speed range and system self-stability.The sensitivity indicators can be used to characterize the degree of influence of the system structure parameters on the system stability,the size of the sensitivity parameter can reflect the strength of the system stability.

关 键 词：人-车系统 自稳定性 结构参数 稳定性指标 灵敏度参数 

分 类 号：TU411.01[建筑科学—岩土工程]