CN104462625B - A kind of automotive suspension kinetic model calibration method - Google Patents
A kind of automotive suspension kinetic model calibration method Download PDFInfo
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- CN104462625B CN104462625B CN201310432441.4A CN201310432441A CN104462625B CN 104462625 B CN104462625 B CN 104462625B CN 201310432441 A CN201310432441 A CN 201310432441A CN 104462625 B CN104462625 B CN 104462625B
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Abstract
The present invention provides a kind of automotive suspension kinetic model calibration method, comprises the following steps：It is determined that the whole-car parameterses of current Suspension Model, and adjust unsprung mass；Static balance loading emulation is carried out to the Suspension Model, spring preload is adjusted by loop iteration mode and bushing is preloaded, the dynamic suspension system of vehicles model is calibrated, the dynamic suspension system of vehicles model after the calibration is met predetermined test condition.Implement the present invention, the design point that the method being combined adjusts automotive suspension kinetic model is preloaded using setting spring preload and setting bushing, model calibration efficiency and precision can be quickly improved.
Description
Technical field
The present invention relates to the Design of digital field of automobile, more particularly to a kind of automotive suspension kinetic model calibration side
Method.
Background technology
Dynamic suspension system of vehicles model is research Suspension movement and compliance（Kinematics and Compliance, K＆C）
The basis of characteristic, vehicle control stability, and the precision of model is the premise of whole dynamic analysis work, it is general in auto project
Read that the design phase defines suspension system dynamics performance and design parameter is most important.
The principal element of influence dynamic suspension system of vehicles model accuracy mainly has three aspects：It is first, the accuracy of chassis hard spot；
Next to that the accuracy of chassis elastic component characteristic；It is the calibration accuracy of model in addition.Wherein preceding 2 factors are objective factor, i.e.,
Whether accurate hard spot is with elastic component characteristic, and it can preferably be controlled.And method of the calibration without fixation of model, a lot
Company does not calibrate even, only set up correlation whole-car parameterses after just carry out simulation analysis work, the K＆C actually get with
Vehicle, which grasps steady analysis result and real vehicle, often larger difference, and the committed step for improving dynamic suspension system of vehicles model accuracy is exactly to model
Calibration.
At present, to mechanical system motion and dynamics simulation software/motor vehicle module in industry（Adams/Car）Generated
Dynamic suspension system of vehicles model calibration, mostly only set spring preload, the axle load of suspension is reached design point,
Actually this is that model can not be allowed to reach consistent state with real vehicle, analyzes obtained K＆C characteristics and vehicle grasps steady result and has one
Determine error.
The content of the invention
The technical problems to be solved by the invention are that there is provided a kind of dynamic suspension system of vehicles model calibration method, this method
Suspension Model can be adjusted and reach the more accurate and closer degree of real vehicle, suspension K＆C, vehicle is grasped steady analysis result precision more
Height, as a result more accurately and reliably, can more preferable design.
In order to solve the above-mentioned technical problem, the one side of the embodiment of the present invention provides a kind of automotive suspension kinetic model school
Quasi- method, for being calibrated to automotive suspension kinetic model, comprises the following steps：
It is determined that the whole-car parameterses of current automotive suspension kinetic model, and unsprung mass is adjusted, wherein, the whole-car parameterses
Including：Tyre free radius, tire radial rigidity, tire quality, sprung mass, barycenter height, wheelbase, braking distribution ratio, driving
Distribution ratio, toe-in angle, camber angle, rack pinion ratio；
Static balance simulation analysis are carried out to the automotive suspension kinetic model, spring preload is obtained and bushing is preloaded；
Static balance loading emulation is carried out to the automotive suspension kinetic model, and adjusts described by loop iteration mode
Spring preload and the bushing are preloaded, and are preloaded according to the spring preload and bushing after adjustment to the automotive suspension dynamics
Model is calibrated, and the automotive suspension kinetic model after calibration is met predetermined test condition；
Wherein, static balance simulation analysis are carried out to the automotive suspension kinetic model, obtains spring preload and bushing
Preloading step further comprises：
Static balance loading emulation is carried out to the automotive suspension kinetic model, wherein, in the automotive suspension dynamics
In model at left and right tire earth point, vertical upward application design load；
Spring stress in simulation result is checked, spring stress in the simulation result is regard as automotive suspension kinetic model
In current spring preload；
Abovementioned steps are repeated, until spring stress convergence, then load last time static balance in simulation result
Spring stress is set as spring preload.
Wherein, it is described to determine the whole-car parameterses of current automotive suspension kinetic model, and enter the step of adjust unsprung mass
One step includes：
Preloading for all springs and bushing in the automotive suspension kinetic model is set as 0 newton or 0 newton
Rice；
Parallel wheel is carried out to the automotive suspension kinetic model and jumps operating mode emulation, operating mode emulation is jumped in the parallel wheel
In, it is emulated wheel and slip a line journey by designing 0 position；
Tire ground connection wheel load at design attitude is obtained in simulation result, unilateral wheel load is converted to quality as unilateral spring
Lower quality, judges whether the unsprung mass meets design object；
If the unsprung mass is unsatisfactory for design object, suspension dependent part in the automotive suspension kinetic model is adjusted
The mass parameter of part, and repeating the above steps, until making the unsprung mass meet design object, using final unsprung mass as
The unsprung mass of current automotive suspension kinetic model.
Wherein, static balance simulation analysis are carried out to the automotive suspension kinetic model, obtains spring preload and bushing
Preloading step further comprises：
The last time static balance is loaded to the bushing stress of each bushing in simulation result, to should be used as the vapour
The bushing of each bushing of suspension kinetic model is preloaded.
Wherein, it is described that static balance loading emulation is carried out to the automotive suspension kinetic model, and pass through loop iteration side
Formula adjusts the spring preload and the bushing is preloaded, and is preloaded according to the spring preload and bushing after the adjustment to described
Automotive suspension kinetic model is calibrated, and the automotive suspension kinetic model after the calibration is met predetermined test condition
The step of further comprise：
The automotive suspension kinetic model static balance is loaded and emulated, is that Suspension Model applies design load, checks institute
State whether simulation result meets predetermined test condition；
If the simulation result is unsatisfactory for predetermined test condition, by the obtained spring in the simulation result by
Masterpiece is spring preload, and repeats described to automotive suspension kinetic model progress static balance simulation analysis, sets spring
Preload and the preloading step of bushing, the automotive suspension kinetic model is calibrated, until the simulation result is met
Predetermined test condition.
Wherein, whether the simulation result meets predetermined test condition and is：
When the dynamic suspension system of vehicles model after to the calibration applies design load, its simulation result meets following bar simultaneously
Part, then judge that the model calibration is completed：
Spring stress and set spring in the simulation result emulated to the automotive suspension kinetic model
Differed between preloading within 3 newton；
Wheel disk jerk value in the simulation result emulated to the automotive suspension kinetic model is ± 0.1
In millimeter；
Toe-in angle and camber angle and setting in the simulation result emulated to the automotive suspension kinetic model
Differed between toe-in angle and camber angle within 0.01 degree.
Wherein, the step of determining the whole-car parameterses of current automotive suspension kinetic model described, and adjust unsprung mass
Further comprise before：
Determine design load, the design point of the automotive suspension kinetic model of the automotive suspension, and spring
Rigidity and bushing characteristic.
Wherein, methods described is realized in Adams/Car softwares.
Implement the embodiment of the present invention, with following beneficial effect：
Using iterative method, spring preload rapidly and accurately can be set to automotive suspension kinetic model, improve fine setting
The efficiency of model.
The method being combined is preloaded using setting spring preload and setting bushing and adjusts setting for automotive suspension kinetic model
Meter state, can quickly improve model calibration efficiency and precision.
Using the embodiment of the present invention method calibrate automotive suspension kinetic model closer to real vehicle state, make K＆C and
Vehicle simulation analysis result is more reliable, and model accuracy is high.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is that a kind of main flow of the one embodiment for automotive suspension kinetic model calibration method that the present invention is provided shows
It is intended to.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, being a kind of one embodiment for automotive suspension kinetic model calibration method that the present invention is provided
Main flow schematic diagram.In this embodiment, this method comprises the following steps：
The characteristics such as step S10, clear and definite design load, spring, bushing；
Before the calibration of automotive suspension kinetic model, first have to determine design load, the design point of model.Next basis
Offset frequency sets spring rate and bushing characteristic；Wherein, offset frequency is the particular content of suspension design, and spring rate and bushing
Characteristic influences offset frequency, so offset frequency can be set according to vehicle definition in design early stage, to determine spring and bushing characteristic.Can be with
Understand, the automotive suspensions of different automobile types has the features such as different design load and offset frequency, therefore the step is automobile hangs
The basis of frame kinetic model calibration, only determines these characteristics, selected automobile could be hanged in Adams/Car softwares
Frame kinetic model is calibrated, and obtains the automotive suspension kinetic model for meeting the vehicle feature；
Step S11, for current automotive suspension kinetic model whole-car parameterses are set, and adjust unsprung mass；
Based on Adams/Car softwares, the following whole-car parameterses in automotive suspension kinetic model are set：Tire is certainly
By radius, tire radial rigidity, tire quality, sprung mass, barycenter height, wheelbase, braking distribution ratio, driving analysis ratio, toe-in
Angle, camber angle, rack pinion ratio etc., these parameters are all the reliable premises of Dynamics Simulation Analysis real result, to this
It is more accurate that a little whole-car parameterses are set, and the simulation result drawn by Adams/Car softwares is closer to actual value；
In addition, it is necessary to set unsprung mass, the setting of the unsprung mass determine spring and other elastic components preload by
Power situation, is the whether accurate premise of Suspension Model.Specific establishing method is as follows：
It is 0 newton or 0 newton by the preload settings of all springs and bushing in the automotive suspension kinetic model
Rice；
Parallel wheel is carried out to the automotive suspension kinetic model and jumps operating mode emulation, operating mode emulation is jumped in the parallel wheel
In, it is emulated wheel and slip a line journey by designing 0 position；
Tire ground connection wheel load at design attitude is obtained in simulation result, the unilateral wheel load is converted into quality as list
Side unsprung mass, judges whether the unsprung mass meets design object.Wherein, the design object is usually before automotive development
Phase, the desired value of definition is designed for ease of early stage；
If the unsprung mass is unsatisfactory for design object, suspension dependent part in the automotive suspension kinetic model is adjusted
The mass parameter of part, and above-mentioned simulation process is repeated, until making the unsprung mass meet design object, by under the final spring
Quality as current automotive suspension kinetic model unsprung mass.
Step S12, static balance simulation analysis are carried out to the automotive suspension kinetic model, obtain spring preload and lining
Set is preloaded；
, it is necessary to start to carry out static balance simulation analysis to Suspension Model after unsprung mass setting, to set spring preload,
Ensure correct vehicle posture.
Spring preload is the spring pre compressed magnitude under design load after vehicle is assembled, and can use the drift table of spring
Levy or spring assembling after compression stress characterize, in the present embodiment, spring preload is characterized with spring stress, the step
S12 specifically includes following steps：
Static balance loading emulation is carried out to the automotive suspension kinetic model, to left in the suspension kinetic model
At right wheel tire earth point, vertical upward application design load；
Spring stress in simulation result is checked, spring stress in the simulation result is regard as automotive suspension kinetic model
In current spring preload；
Abovementioned steps are repeated, i.e., are emulated by iteration several times, the spring stress in simulation result can finally be stablized one
The value of individual fixation, namely spring stress are constant and equal to the current spring preload in automotive suspension kinetic model, are now referred to as
Restrained for spring stress.The spring stress then last time static balance loaded in the simulation result of emulation is ultimately set to spring
Preload.
Foregoing last time static balance is loaded to the bushing stress of each bushing in simulation result, to should be used as the vapour
The bushing of each bushing of suspension kinetic model is preloaded.
Step S13, to the automotive suspension kinetic model carry out static balance loading emulate, obtain simulation result.Specifically
Ground, loads to the automotive suspension kinetic model static balance and emulates, and is that the Suspension Model applies design load, is emulated
As a result, the simulation result includes the information such as spring stress, wheel hop amount, toeing-in angle and camber angle.
Step S14, judges whether the simulation result meets predetermined test condition, is specifically by the spring in simulation result
Whether stress is compared with set spring preload, see difference between the two within 3 newton；Emulation knot is judged simultaneously
Whether the wheel disk jerk value in fruit is in ± 0.1 millimeter；And by the toe-in angle and camber angle in simulation result respectively with
Whether the toe-in angle and camber angle of setting are compared, see and differ between the two within 0.01 degree.
If above-mentioned three kinds of conditions are satisfied by, then it is assumed that this time the calibration of automotive suspension kinetic model has been completed,
Otherwise still need further to calibrate current automotive suspension kinetic model, flow goes to step S15；
In step S15, the spring stress this static balance loaded in the simulation result of emulation is set as spring preload,
Flow is gone into step S12, according to step S12 method, spring preload is redefined and bushing is preloaded.
Repeat step S13 and step S14, until simulation result meets above-mentioned three predetermined test conditions simultaneously, from
And complete the calibration of automotive suspension kinetic model.
We term it loop iteration mode for above-mentioned calibration process（Also referred to as iteration convergence method）, i.e., the reality in the present invention
Apply in example, the spring preload is adjusted by loop iteration mode and the bushing is preloaded, and it is pre- according to the spring after adjustment
Carry and bushing is preloaded to be calibrated to the automotive suspension kinetic model, make the automotive suspension dynamics after the calibration
Model meets predetermined test condition.In actual application, general circulate 2 times can meet condition.
Implement the embodiment of the present invention, with following beneficial effect：
Using iterative method, spring preload rapidly and accurately can be set to automotive suspension kinetic model, improve fine setting
The efficiency of model.
The method being combined is preloaded using setting spring preload and setting bushing and adjusts setting for automotive suspension kinetic model
Meter state, can quickly improve model calibration efficiency and precision.
Using the embodiment of the present invention method calibrate automotive suspension kinetic model closer to real vehicle state, make K＆C and
Vehicle simulation analysis result is more reliable, and model accuracy is higher.
It is understood that one of ordinary skill in the art will appreciate that realizing the whole in above-described embodiment method or portion
Split flow, can be by computer program to instruct the hardware of correlation to complete, the program can be stored in embodied on computer readable
In storage medium, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can
For magnetic disc, CD, read-only memory（Read-Only Memory, ROM）Or random access memory（Random
Access Memory, RAM）Deng.
Above disclosed is only a kind of preferred embodiment of the invention, can not limit the power of the present invention with this certainly
Sharp scope, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (7)
1. a kind of automotive suspension kinetic model calibration method, for being calibrated to automotive suspension kinetic model, its feature
It is, comprises the following steps：
It is determined that the whole-car parameterses of current automotive suspension kinetic model, and unsprung mass is adjusted, wherein, the whole-car parameterses bag
Include：Tyre free radius, tire radial rigidity, tire quality, sprung mass, barycenter height, wheelbase, braking distribution ratio, driving point
Proportioning, toe-in angle, camber angle, rack pinion ratio；
Static balance simulation analysis are carried out to the automotive suspension kinetic model, spring preload is obtained and bushing is preloaded；
Static balance loading emulation is carried out to the automotive suspension kinetic model, and the spring is adjusted by loop iteration mode
Preload and the bushing is preloaded, preloaded according to the spring preload and bushing after adjustment to the automotive suspension kinetic model
Calibrated, the automotive suspension kinetic model after calibration is met predetermined test condition；
Wherein, static balance simulation analysis are carried out to the automotive suspension kinetic model, obtains spring preload and bushing is preloaded
The step of further comprise：
Static balance loading emulation is carried out to the automotive suspension kinetic model, wherein, in the automotive suspension kinetic model
At middle left and right tire earth point, vertical upward application design load；
Check spring stress in simulation result, using spring stress in the simulation result as in automotive suspension kinetic model when
Preceding spring preload；
Abovementioned steps are repeated, until spring stress convergence, then load the spring in simulation result by last time static balance
Stress is set as spring preload.
2. automotive suspension kinetic model calibration method as claimed in claim 1, it is characterised in that the current automobile of determination
The whole-car parameterses of dynamic suspension system of vehicles model, and further comprise the step of adjust unsprung mass：
Preloading for all springs and bushing in the automotive suspension kinetic model is set as meters of 0 newton or 0 newton；
Parallel wheel is carried out to the automotive suspension kinetic model and jumps operating mode emulation, in the parallel wheel jumps operating mode emulation, is made
It emulates wheel and slips a line journey by designing 0 position；
Tire ground connection wheel load at design attitude is obtained in simulation result, unilateral wheel load is converted to quality as matter under unilateral spring
Amount, judges whether the unsprung mass meets design object；
If the unsprung mass is unsatisfactory for design object, suspension associated components in the automotive suspension kinetic model are adjusted
Mass parameter, and repeating the above steps, until making the unsprung mass meet design object, using final unsprung mass as current
The unsprung mass of automotive suspension kinetic model.
3. automotive suspension kinetic model calibration method as claimed in claim 2, it is characterised in that dynamic to the automotive suspension
Mechanical model carries out static balance simulation analysis, obtains spring preload and bushing preloads step and further comprised：
The last time static balance being loaded to the bushing stress of each bushing in simulation result, being hanged to should be used as the automobile
The bushing of each bushing of frame kinetic model is preloaded.
4. automotive suspension kinetic model calibration method as claimed in claim 3, it is characterised in that described outstanding to the automobile
Frame kinetic model carries out static balance loading emulation, and adjusts the spring preload and the bushing by loop iteration mode
Preload, preloaded according to the spring preload and bushing after the adjustment and the automotive suspension kinetic model is calibrated, made
The step of automotive suspension kinetic model after the calibration meets predetermined test condition further comprises：
The automotive suspension kinetic model static balance is loaded and emulated, is that Suspension Model applies design load, checks described imitative
Whether true result meets predetermined test condition；
If the simulation result is unsatisfactory for predetermined test condition, the obtained spring stress in the simulation result is made
For spring preload, and repeat it is described static balance simulation analysis are carried out to the automotive suspension kinetic model, set spring preload
And the preloading step of bushing, the automotive suspension kinetic model is calibrated, until the simulation result meets predetermined
Test condition.
5. automotive suspension kinetic model calibration method as claimed in claim 4, it is characterised in that whether the simulation result
Meeting predetermined test condition is：
When the dynamic suspension system of vehicles model after to the calibration applies design load, its simulation result meets following condition simultaneously,
Then judge that the model calibration is completed：
Spring stress and set spring preload in the simulation result emulated to the automotive suspension kinetic model
Between differ within 3 newton；
Wheel disk jerk value in the simulation result emulated to the automotive suspension kinetic model is at ± 0.1 millimeter
It is interior；
Toe-in angle and camber angle and the toe-in of setting in the simulation result emulated to the automotive suspension kinetic model
Differed between angle and camber angle within 0.01 degree.
6. the automotive suspension kinetic model calibration method as described in claim 1-5 any one, it is characterised in that described
It is determined that the whole-car parameterses of current automotive suspension kinetic model, and the step of adjust unsprung mass before further comprise：
Determine design load, the design point of the automotive suspension kinetic model of the automotive suspension, and spring rate
With bushing characteristic.
7. automotive suspension kinetic model calibration method as claimed in claim 6, it is characterised in that methods described is in Adams/
Realized in Car softwares.
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| CN109598005A (en) * | 2017-09-30 | 2019-04-09 | 长城汽车股份有限公司 | The construction method of tire positional parameter acquisition methods and automobile tire motion envelope |
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| CN108959748A (en) * | 2018-06-22 | 2018-12-07 | 上海思致汽车工程技术有限公司 | A kind of stiffness analysis method of subframe and the attachment point of vehicle body flexible connection |
| CN109684705A (en) * | 2018-12-18 | 2019-04-26 | 江铃控股有限公司 | Body structure optimization method and system |
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