CN101480904A - Method for monitoring dynamic load of intelligent sensing wheel based on wheel load - Google Patents
Method for monitoring dynamic load of intelligent sensing wheel based on wheel load Download PDFInfo
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- CN101480904A CN101480904A CNA2009100777940A CN200910077794A CN101480904A CN 101480904 A CN101480904 A CN 101480904A CN A2009100777940 A CNA2009100777940 A CN A2009100777940A CN 200910077794 A CN200910077794 A CN 200910077794A CN 101480904 A CN101480904 A CN 101480904A
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Abstract
The invention discloses a monitoring method based on wheel load type intelligent sensing wheel dynamic load. The method comprises the following steps: an intelligent sensing module is arranged on a hub equatorial plane of each wheel of a motor vehicle, an intelligent sensing unit without gyroscopic inertia is arranged in the vehicle, and an intelligent sensing unit is hung in the vehicle to carry out complete inspection of the driving condition of the vehicle. Signal conditioning, digitalization, posture algorithm and dynamic load algorithm are carried out to various sensing signals to obtain main dynamic load parameters of the wheel. The dynamic load parameters are merged and analyzed by multiple sensing data and can be used for monitoring and actively evaluating the driving safety condition of a motor vehicle. The method can previously warn overload, tyre burst, brake performance fault, and the like of the motor vehicle, and is beneficial to avoiding and reducing the occurrence of traffic accidents.
Description
Technical field
The present invention relates to self-propelled vehicle safe operation condition monitoring field, be particularly useful for the monitoring motor vehicle real-time condition of dynamic wheel load in the process of moving.
Background technology
Self-propelled vehicle safe in operation Condition Monitoring Technology is the main means that guarantee motor vehicle safe drive, also is the inexorable trend of self-propelled vehicle safe in operation detection technique development.Adopt self-propelled vehicle safe in operation condition monitoring technology that self-propelled vehicle safe in operation state and operating index are carried out dynamic monitoring, in time find and the prevention vehicle trouble, development is monitored, controls, manages and made a strategic decision in the safety supervisory network system of one, and is significant to the self-propelled vehicle safe operation; It is the important social public good technical work that is related to the country and people's security of the lives and property, is to ensure that power actuated vehicle safe in operation important techniques supports, and be the very important technical guarantee of government administration section to the self-propelled vehicle safe operation; It can not only improve technical guarantee ability, the minimizing traffic accident of self-propelled vehicle safe operation, and the development that promotes automotive industry and communications and transportation cause is of great importance.
Self-propelled vehicle safe in operation condition monitoring mainly comprises monitoring motor vehicle (vehicle body, wheel) athletic posture parameter, live load parameter, deceleration and stopping performance parameter.Self-propelled vehicle can produce braking, quickens, turns to, operating mode such as straight-line travelling in operational process, and wheel is a unique and ground engaging element in the motor-driven vehicle going process, and the safety of wheel is most important, and dynamic wheel load is the important parameter that influences tire safety.Dynamic wheel load be weigh vehicle under the different pavement conditions, vehicle body and tire be in the tire under the different attitudes and the parameter of car load dynamic load situation.Live load by monitoring wheel can be than the live load of thoroughly evaluating self-propelled vehicle, thereby obtains more directly, truer, more rich self-propelled vehicle safe operation information.
At present, the monitoring of dynamic wheel load is just attempted coming by the measurement to tire rotational speed, pressure and other parameters the static load of indirect calculation wheel, also the live load in the motor-driven vehicle going process is not monitored in real time, fail accurately to analyze vehicle under the different pavement conditions, vehicle body and tire be in tire and car load dynamic load situation under the different attitudes, thereby effective monitoring wheel live load is unfavorable for automobile tyre in the operational process prediction and the assessment of unsafe condition such as overload, blow out.
Summary of the invention
For solving above-mentioned middle problem and the defective that exists, the invention provides the self-propelled vehicle wheel load formula dynamic wheel load monitoring method that a kind of real-time is good, reliability is high, data-handling capacity is strong.Mainly, vehicle status in running is carried out complete detection on the wheel hub equatorial plane of each wheel of self-propelled vehicle in car by the intelligent sensing module being installed, the no gyroscopic inertia sensing unit of intelligence is installed and the intelligent sensing unit is installed in suspension.Each transducing signal calculates the main live load parameter that obtains wheel through signal condition, digitalisation, attitude algorithm, live load algorithm.Above-mentioned live load parameter merges and analysis through many sensing datas, can monitor and initiatively estimate the motor-driven vehicle going safety case.
The present invention is achieved by the following technical solutions:
Involved in the present invention is a kind of based on wheel-loaded intelligent sensing wheel live load monitoring method, comprising:
According at least a acquisition body movement attitude angle parameter in the vehicle body three-dimensional acceleration parameter;
Hang vertical acceleration by hanging the unit perception of vehicle body intelligent sensing;
Utilize at least a parameter in vehicle body three-dimensional acceleration parameter, body movement attitude angle parameter and the complete vehicle quality to obtain suspended mass;
Obtain the dynamic wheel load data according at least a parameter in suspended mass, suspension vertical acceleration parameter, wheel mass and the wheel vertical acceleration parameter and through calculation of dynamic load;
The dynamic wheel load data are merged and analyze the variation tendency of acquisition dynamic wheel load.
Also comprise based on wheel-loaded intelligent sensing wheel live load monitoring method:
Three-dimensional acceleration by wheel intelligent sensing module perception wheel;
Obtain the wheel vertical acceleration according at least a parameter in the three-dimensional acceleration parameter;
By vehicle body intelligent sensing unit perception vehicle body three-dimensional acceleration.
The three-dimensional acceleration signal is carried out digital filter, compensation and interpolation arithmetic draw three-dimensional acceleration value in the wheel movement attitude.
Described wheel three-dimensional acceleration is: tangential acceleration, lateral acceleration and centripetal acceleration; Described vehicle body three-dimensional acceleration is: vertically quicken, lateral acceleration and vertical acceleration.
Described body movement attitude angle comprises angle of roll, pitch angle and yaw angle.
Each athletic posture parameter of described wheel and vehicle body is merged and judges the working condition of intelligent sensing unit.
Described wheel intelligent sensing module is arranged on the equatorial plane of wheel nave.
The beneficial effect of technical scheme provided by the invention is:
1,, realized under the different running velocitys real-time monitoring to the vehicle wheels live load by using the MEMS gyro free strap down inertia measurement commercial measurement dynamic wheel load that declines;
2, the dynamic wheel load parameter can weigh vehicle under the different pavement conditions, vehicle body and tire be in tire and car load dynamic load situation under the different attitudes, by to the dynamic wheel load parameter monitoring with analyze the thoroughly evaluating of realizing the self-propelled vehicle live load;
3, by the analyses and prediction program dynamic wheel load data and its historical data analysis are compared, obtain the trend of dynamic wheel load, increase is to the forecast function of dynamic wheel load, form complete, a relatively independent measuring table, and can provide the uniform data interface modes to be applied for government concerned's supervisory management zone.
Description of drawings
Fig. 1 illustrates wheel-loaded intelligent sensing wheel live load measurement module scheme of installation involved in the present invention with the wheel side view;
Fig. 2 illustrates wheel-loaded intelligent sensing wheel live load measurement module scheme of installation involved in the present invention with the wheel birds-eye view;
Fig. 3 illustrates wheel-loaded intelligent sensing wheel live load measurement module scheme of installation involved in the present invention with the wheel front elevation;
Fig. 4 illustrates wheel-loaded intelligent sensing wheel live load monitoring system complete layout involved in the present invention with the vehicle birds-eye view;
Fig. 5 illustrates wheel-loaded intelligent sensing wheel live load monitoring system complete layout involved in the present invention with the vehicle side view;
Fig. 6 is the cardinal principle scheme drawing based on wheel-loaded intelligent sensing wheel live load monitoring method of the present invention;
Fig. 7 is that machine of the present invention is described based on wheel-loaded intelligent sensing wheel live load monitoring system hardware configuration scheme drawing;
Fig. 8 illustrate respectively the intelligent sensing module monitors of utilizing Fig. 1 one of them regulation point of tire entad, the curve of tangential and lateral acceleration.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, present embodiment provides the self-propelled vehicle wheel load formula dynamic wheel load that a kind of real-time is good, reliability is high, data-handling capacity is strong monitoring method.Mainly, vehicle status in running is carried out complete detection on the wheel hub equatorial plane of each wheel of self-propelled vehicle in car by the intelligent sensing module being installed, the no gyroscopic inertia sensing unit of intelligence is installed and the intelligent sensing unit is installed in suspension.Each transducing signal calculates the main live load parameter that obtains wheel through signal condition, digitalisation, attitude algorithm, live load algorithm.Above-mentioned live load parameter merges and analysis through many sensing datas, can monitor and initiatively estimate the motor-driven vehicle going safety case.Embodiment of the present invention is described further in detail below in conjunction with accompanying drawing:
It is a kind of based on wheel-loaded intelligent sensing wheel live load monitoring method that present embodiment provides.
Referring to Fig. 1, this method may further comprise the steps:
The interior temperature of tangential acceleration, lateral acceleration, centripetal acceleration and the tire of wheel intelligent sensing module output is totally four tunnel analog signals.
After will handling, step 104 wheel intelligent sensing module obtains the three-dimensional acceleration value.
Three-dimensional acceleration comprises tangential acceleration, lateral acceleration and centripetal acceleration, and this accekeration sends to the Central Control Module (CCM) that is installed in the car in the mode of wireless telecommunications.
Referring to Fig. 2, Fig. 3, Fig. 4, dynamic wheel load intelligent sensing module is installed on the surface of the wheel nave equatorial plane, the installation requirement of wheel intelligent sensing module: three sensitive axes X-axis of acceleration pick-up, Y-axis, Z axle point to the direction in axle center of side direction, the wheel hub of wheel hub tangential direction, wheel hub respectively; System of axes Oxyz is the right-handed system of quadrature.
Referring to Fig. 5, Fig. 6, be a kind of entire system layout that is adopted based on wheel-loaded intelligent sensing wheel live load monitoring method of the present invention, comprise Central Control Module (CCM) 3 in wheel 1, wheel intelligent sensing module 2, the car, hang intelligent sensing module 4, wherein wheel intelligent sensing module is installed on the surface, wheel hub equator of each wheel, Central Control Module (CCM) 3 is installed in the car in the car, hangs intelligent sensing module 4 and is installed on the wheel upper position suspension; Realize two way communication by less radio-frequency between the Central Control Module (CCM) 3 in wheel intelligent sensing module 2 and the car, hang and pass through the two way communication of CAN bus in intelligent sensing module 4 and the car between the Central Control Module (CCM) 3.
Referring to Fig. 7, the hardware system based on wheel load formula dynamic wheel load monitoring method that the present invention relates to comprises being installed on the interior wheel intelligent sensing module 2 of each wheel, being installed on the suspension intelligent sensing module 4 of vehicle body suspension and being installed on Central Control Module (CCM) 3 in the interior car of car; (1) wheel intelligent sensing module 2 comprises wheel inertia measuring unit 2a, conditioning unit 2b, wireless singlechip 2c and the first power supply 2d; This wheel inertia measuring unit 2a comprises a 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a; 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a output analog signal, this wheel inertia measuring unit 2a and conditioning unit 2b are electrically connected; Conditioning unit 2b is used for the acceleration/accel and the temperature signal of input are carried out filtering and pressure regulation, and this conditioning unit 2b and wireless singlechip 2c interconnect, and this signal is an analog signal; Wireless singlechip 2c can send self-test signal to 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a, is used to check whether 3-axis acceleration sensor 21a, temperature sensor 22a and pressure sensor 23a work is normal; Integrated wireless transmission circuit and micro controller system on the wireless singlechip 2c sheet, be used to carry out sensing collection, computing and realize with car in the bi-directional communication function of Central Control Module (CCM) 2; The first power supply 2d provides direct supply for wheel inertia measuring unit 2a, conditioning unit 2b and wireless singlechip 2c; Wherein, the 3-axis acceleration sensor 21a of wheel inertia measuring unit 2a adopts one two axle acceleration sensor ADXL323 and a single-axis acceleration sensors ADXL193 to combine, and wireless singlechip 2c adopts CC2510F32; (2) hang intelligent sensing module 4 and comprise the 3rd Inertial Measurement Unit 4a, modulate circuit 4b, treater 4c, the 3rd power supply 4d and CAN interface 4e, the 3rd Inertial Measurement Unit 4a is made up of single-axis acceleration sensors 41a, temperature sensor 42a, unit 4b interconnects with conditioning, and this signal is an analog signal; Conditioning unit 4b and treater 4c are electrically connected mutually, and this signal is an analog signal; Single-axis acceleration sensors 4a adopts the ADXL103 type; The 3rd power supply 4d provides direct supply for the 3rd Inertial Measurement Unit 4a, conditioning unit 4b, treater 4c; Wherein, treater 4c selects the C8051F041 type for use; (3) Central Control Module (CCM) 3 comprises wireless singlechip 3a, the second no gyroscopic inertia measuring unit 3b, second source 3c, arm processor 3d and man-machine interaction unit 3e in the car; This wireless singlechip 3a realizes and wheel intelligent sensing module communications functions, interconnects by digital signal and arm processor 3d; The second no gyroscopic inertia measuring unit 3b and arm processor 3d interconnect, and this signal is a digital signal; Second source 3c provides direct supply for wireless singlechip 3a, the second no gyroscopic inertia measuring unit 3b, arm processor 3d and man-machine interaction unit 3e; Man-machine interaction unit 3e is made up of liquid crystal display 31e, touch-screen 32e, buzzer phone 33e, CAN interface 34e; Liquid crystal display 31e is used to export the output that shows arm processor 3d and shows information, comprises parameters such as dynamic wheel load parameter, state; Touch-screen 32e is used to be provided with parameter, data query; When being used to break down, buzzer phone 33e sends caution by arm processor 3d driving; CAN interface 34e is used to provide the interface of Central Control Module (CCM) 3d in other CAN device access cars; Wherein, wireless singlechip 3a (2c) adopts CC2510F32.
The hardware system that the present invention relates to based on wheel load formula dynamic wheel load monitoring method, adopt the C language to work out each corresponding processing program, its workflow comprises: the tangential acceleration of (1) wheel inertia measuring unit 2a output, lateral acceleration, centripetal acceleration, temperature analog signal are behind conditioning unit 2b signal condition, convert digital signal to through the ADC of wireless singlechip 2c peripheral hardware, offer the CPU visit of wireless singlechip 2c in the down trigger mode; Wireless singlechip 2c can carry out self check to acceleration pick-up by driving self-test signal when being necessary; (2) microprocessor among the wireless singlechip 2c carries out digital filter, compensation and interpolation arithmetic to signal and draws three-dimensional acceleration value in the wheel movement attitude, comprise: tangential acceleration, lateral acceleration and centripetal acceleration characterize any instantaneous three-dimensional state that quickens of wheel; By wireless singlechip 2c in-to-in wireless transceiver circuit data transmission is outputed to the wireless singlechip 3a of central processing module 3 in the car, simultaneously by this wireless singlechip 2c in-to-in wireless transceiver circuit also can receive send a car in the order that sends over by wireless singlechip 3a of central processing module 3; (3) task of central processing module 3 in the car: 1. receive body gesture information from the second no gyroscopic inertia measuring unit 3b; 2. receive from hanging intelligent sensing module 4 and hang vertical acceleration information; 3. by the data of wireless singlechip 3a reception, send order by wireless singlechip 3a to wheel intelligent sensing module 2 in the time of necessary from wheel intelligent sensing module 2; 4. the acceleration information that sends over from wheel intelligent sensing module 2 to receiving draws the live load parameter of wheel through Attitude Calculation, calculation of dynamic load; 5. above-mentioned dynamic wheel load data are carried out active safety evaluation and trend prediction; 6. dynamic wheel load data and car load live load data are carried out data fusion and analysis so that whether normal operation judges to wheel intelligent sensing module 2, and the variation tendency of prediction dynamic wheel load; Wherein, one of them regulation point of the intelligent sensing module monitors tire entad, the curve (referring to Fig. 8) of tangential and lateral acceleration; 7. show dynamic wheel load information, opinion rating, tendency prediction information etc. by control liquid crystal display 31e output; 8. handle interruption that touch-screen 32e the triggers operations such as line parameter setting and historical query of going forward side by side; 9. when appearance is unusual, drive buzzer phone 33e and make the buzzing caution with digital signal; 10. set up be used to store relevant live load data and historical data electronic data sheet for other external devices by CAN interface 34e visit.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (7)
1, a kind ofly it is characterized in that based on wheel-loaded intelligent sensing wheel live load monitoring method this method comprises:
A, according at least a acquisition body movement attitude angle parameter in the vehicle body three-dimensional acceleration parameter;
B, hang vertical acceleration by hanging the unit perception of vehicle body intelligent sensing;
C, utilize at least a parameter in vehicle body three-dimensional acceleration parameter, body movement attitude angle parameter and the complete vehicle quality to obtain suspended mass;
D, according to suspended mass, hang at least a parameter in vertical acceleration parameter, wheel mass and the wheel vertical acceleration parameter and obtain the dynamic wheel load data through calculation of dynamic load;
E, the dynamic wheel load data are merged and analyze the variation tendency that obtains dynamic wheel load.
2, according to claim 1ly it is characterized in that, before execution in step A, also comprise based on wheel-loaded intelligent sensing wheel live load monitoring method:
Three-dimensional acceleration by wheel intelligent sensing module perception wheel;
Obtain the wheel vertical acceleration according at least a parameter in the three-dimensional acceleration parameter;
By vehicle body intelligent sensing unit perception vehicle body three-dimensional acceleration.
3, according to claim 1 based on wheel-loaded intelligent sensing wheel live load monitoring method, it is characterized in that described method also comprises: the three-dimensional acceleration signal is carried out digital filter, compensation and interpolation arithmetic draw three-dimensional acceleration value in the wheel movement attitude.
4, according to claim 1 and 2ly it is characterized in that based on wheel-loaded intelligent sensing wheel live load monitoring method described wheel three-dimensional acceleration is: tangential acceleration, lateral acceleration and centripetal acceleration; Described vehicle body three-dimensional acceleration is: vertically quicken, lateral acceleration and vertical acceleration.
5, according to claim 1ly it is characterized in that based on wheel-loaded intelligent sensing wheel live load monitoring method described body movement attitude angle comprises angle of roll, pitch angle and yaw angle.
6, according to claim 1 and 2ly it is characterized in that, each athletic posture parameter of described wheel and vehicle body is merged and judges the working condition of intelligent sensing unit based on wheel-loaded intelligent sensing wheel live load monitoring method.
7, according to claim 1ly it is characterized in that based on wheel-loaded intelligent sensing wheel live load monitoring method described wheel intelligent sensing module is arranged on the equatorial plane of wheel nave.
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| CN2009100777940A CN101480904B (en) | 2009-02-19 | 2009-02-19 | Method for monitoring dynamic load of intelligent sensing wheel based on wheel load |
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Cited By (13)
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| CN102589807A (en) * | 2012-01-16 | 2012-07-18 | 华南理工大学 | Method for measuring dynamic balance based on wheel-load type intelligent sensing wheels |
| CN102749050A (en) * | 2011-04-20 | 2012-10-24 | 昆达电脑科技(昆山)有限公司 | Wheel alignment detection device |
| CN102834700A (en) * | 2010-04-01 | 2012-12-19 | 基斯特勒控股公司 | Method for calibrating wim-sensors |
| CN103042887A (en) * | 2011-10-11 | 2013-04-17 | 昆达电脑科技(昆山)有限公司 | Monitoring device for number of revolutions of wheel |
| CN106274308A (en) * | 2015-06-24 | 2017-01-04 | 通用汽车环球科技运作有限责任公司 | Integrated sensing unit and the method being used for determining wheel of vehicle speed and tire pressure |
| CN106394111A (en) * | 2016-10-17 | 2017-02-15 | 天津电子信息职业技术学院 | Automatic trimming device for hubs |
| CN107571692A (en) * | 2017-09-13 | 2018-01-12 | 上海志工电子科技有限公司 | A kind of directly or indirectly compensation tire pressure monitoring system |
| CN107650589A (en) * | 2017-09-13 | 2018-02-02 | 上海志工电子科技有限公司 | A kind of radio circuit tire pressure monitoring system based on velocity sensor |
| CN107727416A (en) * | 2017-09-30 | 2018-02-23 | 广东工贸职业技术学院 | Based on combination sensor automobile tire load-bearing capacity monitoring method |
| CN108871814A (en) * | 2018-07-09 | 2018-11-23 | 广东工贸职业技术学院 | One kind being based on wheel load type intelligent sensing automobile tire dynamic load capacity monitoring method |
| CN110612559A (en) * | 2017-03-08 | 2019-12-24 | 看门人系统公司 | Navigation system for wheeled vehicle |
| CN114174793A (en) * | 2021-11-03 | 2022-03-11 | 焦旭 | Real-time detection system for vehicle body vibration and automobile |
| CN114858489A (en) * | 2022-07-05 | 2022-08-05 | 山东亚华机械制造有限公司 | Vehicle suspension performance analysis experiment platform |
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| CN102834700A (en) * | 2010-04-01 | 2012-12-19 | 基斯特勒控股公司 | Method for calibrating wim-sensors |
| CN102834700B (en) * | 2010-04-01 | 2014-09-17 | 基斯特勒控股公司 | Method for calibrating wim-sensors |
| CN102749050A (en) * | 2011-04-20 | 2012-10-24 | 昆达电脑科技(昆山)有限公司 | Wheel alignment detection device |
| CN103042887A (en) * | 2011-10-11 | 2013-04-17 | 昆达电脑科技(昆山)有限公司 | Monitoring device for number of revolutions of wheel |
| CN102589807B (en) * | 2012-01-16 | 2015-08-12 | 华南理工大学 | A kind of based on wheel-loaded intelligent sensing wheel balancing measuring method |
| CN102589807A (en) * | 2012-01-16 | 2012-07-18 | 华南理工大学 | Method for measuring dynamic balance based on wheel-load type intelligent sensing wheels |
| US9944134B2 (en) | 2015-06-24 | 2018-04-17 | GM Global Technology Operations LLC | Integrated sensing unit and method for determining vehicle wheel speed and tire pressure |
| CN106274308A (en) * | 2015-06-24 | 2017-01-04 | 通用汽车环球科技运作有限责任公司 | Integrated sensing unit and the method being used for determining wheel of vehicle speed and tire pressure |
| CN106394111A (en) * | 2016-10-17 | 2017-02-15 | 天津电子信息职业技术学院 | Automatic trimming device for hubs |
| CN106394111B (en) * | 2016-10-17 | 2018-06-08 | 天津电子信息职业技术学院 | A kind of wheel hub automatic balancing device |
| CN110612559B (en) * | 2017-03-08 | 2021-10-15 | 看门人系统公司 | Navigation system for wheeled vehicle |
| CN110612559A (en) * | 2017-03-08 | 2019-12-24 | 看门人系统公司 | Navigation system for wheeled vehicle |
| CN107650589A (en) * | 2017-09-13 | 2018-02-02 | 上海志工电子科技有限公司 | A kind of radio circuit tire pressure monitoring system based on velocity sensor |
| CN107571692A (en) * | 2017-09-13 | 2018-01-12 | 上海志工电子科技有限公司 | A kind of directly or indirectly compensation tire pressure monitoring system |
| CN107727416A (en) * | 2017-09-30 | 2018-02-23 | 广东工贸职业技术学院 | Based on combination sensor automobile tire load-bearing capacity monitoring method |
| CN108871814A (en) * | 2018-07-09 | 2018-11-23 | 广东工贸职业技术学院 | One kind being based on wheel load type intelligent sensing automobile tire dynamic load capacity monitoring method |
| CN114174793A (en) * | 2021-11-03 | 2022-03-11 | 焦旭 | Real-time detection system for vehicle body vibration and automobile |
| WO2023077301A1 (en) * | 2021-11-03 | 2023-05-11 | 焦旭 | Vehicle body vibration real-time detection system, and vehicle |
| CN114858489A (en) * | 2022-07-05 | 2022-08-05 | 山东亚华机械制造有限公司 | Vehicle suspension performance analysis experiment platform |
| CN114858489B (en) * | 2022-07-05 | 2022-09-09 | 山东亚华机械制造有限公司 | Vehicle suspension performance analysis experiment platform |
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