多轴车辆悬架及转向系统多领域统一建模与仿真
Multi-Domain United Modeling for the Suspension and Steering System of Multi-axis Vehicle

针对多领域系统建模与仿真，传统的软件联合仿真方法存在软件接口复杂、求解不稳定、模型结构分散等问题，基于多领域统一建模与仿真技术Modelica，提出了层次划分和参数化拓扑的建模方法，以此方法建立5轴车辆悬架及转向系统模型库并搭建整车虚拟样机模型。以5轴整车模型操纵稳定性仿真为例，说明该技术在系统设计验证中的应用；用该模型库快速开发同系列9轴车辆整车模型，验证模型库可重用性。研究表明：多领域统一建模方法能够用于多轴车辆悬架及转向系统设计验证，具有软件架构简单、模型可重用等优点。
As a traditional method to solve the problem of modeling and simulation for multi-domain system, Co-simulation has some shortcomings. For example, the interfaces between software may be complex; it may sometimes unstable to cause the fixed step communication; and system must be broken down into different software leads that models may be difficult to use. In this paper, a hierarchical library that contains variable topology models for multi-axis vehicle is developed based on the Modelica, which is a multi-domain united modeling and simulation technology. Also, the method for building this library is introduced. Then, using the components from this library, a whole-vehicle virtual prototype for a 5-axis crane is modeled. Several applications are carried out on this proto-type, including some full-bridge steering cases and a rapid development of 9-axis vehicle system. The result shows that the multi-domain united method is feasible for multi-axis vehicle design and validation, and has its own benefit of simple architecture and highly reusability