CN102692297A - Braking process-based dynamic automobile gravity position detector and method - Google Patents
Braking process-based dynamic automobile gravity position detector and method Download PDFInfo
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- CN102692297A CN102692297A CN2012101945875A CN201210194587A CN102692297A CN 102692297 A CN102692297 A CN 102692297A CN 2012101945875 A CN2012101945875 A CN 2012101945875A CN 201210194587 A CN201210194587 A CN 201210194587A CN 102692297 A CN102692297 A CN 102692297A
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Abstract
The invention relates to braking process-based dynamic automobile gravity position detector and a method. The device consists of an axle weight, a braking force detector, an axle base measuring device, a wheel base measuring device and a data collection processing system; dynamic gravity detection algorithm is obtained by derivation on the basis of braking process, the device is applied to collect axle weight and braking force signals, axle base signals and wheel base signals, thus being capable of calculating the position of the automotive gravity. Based on the automotive gravity position calculation method, sideslip and rolling-over of vehicles can be analyzed to calculate limiting values of sideslip and rolling-over of vehicles under different road conditions and give out early-warning information to avoid occurrence of traffic accidents. The invention can be widely applied in safety driving control process of various vehicles.
Description
Technical field
The invention belongs to centre of gravity of vehicle position dynamic pick-up unit and method based on braking procedure, is the measurement through axle weight, damping force, wheelbase and wheelspan, realizes the method quick, that effectively detect of centre of gravity of vehicle position.
Background technology
In all traffic hazards, the extent of injury of vehicle side turning accident is only second to automobile collision accident.Vehicle rollover is except the error reason of driver's operation, and the deviation of many parameters of vehicle also is concerning important factor.And the centre of gravity of vehicle position is one of parameter of the most important and difficult measurement in these parameters.Therefore significant to the detection of dynamic of centre of gravity of vehicle position.The centre of gravity place of automobile is represented with centre of gravity of vehicle horizontal level and centre of gravity of vehicle height usually.
At present, the method for measuring the centre of gravity of vehicle position both at home and abroad mainly contains the method for waving, suspension method, zero-method, platform reaction of bearing method, weight reaction method.But, more than these all are static measuring methods, measurement is wasted time and energy, and the isoparametric actual bit of height of C.G. of vehicle is equipped with certain deviation when dynamic.Therefore study that a kind of measuring accuracy is high, cost is low, centre of gravity of vehicle position dynamic detection method fast, have important practical value.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of the centre of gravity of vehicle position dynamic pick-up unit and method based on braking procedure that can in braking procedure, detect centre of gravity place accurately, rapidly.
Above-mentioned purpose of the present invention realizes that through following technical scheme accompanying drawings is following:
A kind of centre of gravity of vehicle position dynamic pick-up unit based on braking procedure; Comprise axle weight, damping force pick-up unit, wheelbase measurement mechanism, wheelspan measurement mechanism and data acquisition processing system; Said axle is heavy, the damping force pick-up unit comprises that braking platen 16,13, No. 3 correlation optoelectronic switches 14 of gear wheel, damping force sensor 15 and axle retransmit sensor 12; Said braking platen 16 is by following backboard and frame supported; Said damping force sensor 15 is contained in the left and right sides of every braking platen 16 front ends; Said axle retransmits the below that sensor 12 is contained in braking platen 16, and said gear wheel 13 is contained in the both sides of braking platen 16, and said No. 3 correlation optoelectronic switches 14 are contained in the both sides at braking platen 16 middle parts;
Said wheelbase measurement mechanism comprises left and right sides guide rail 21,11, is contained in the mobile trolley 30 on the guide rail, the laser reflector 35 that is contained in the mobile trolley top, the diffuse reflection type optoelectronic switch 34 that is contained in the mobile trolley middle part and the laser range finder that is contained in left and right side guide rail front respectively;
Said wheelspan measurement mechanism comprise the left and right sides that is contained in plate brake stage 16 front ends 1, No. 2 correlation optoelectronic switch 7,8, be contained in the plate brake stage 16 front end left and right sides and middle laser range finder;
Said braking platen 16 is 4 fast, and per two length and width sum is pressed the wheelbase and the overall width of compact car and confirmed that the attachment coefficient of braking platen 16 plate faces is more than 0.1; Said damping force sensor 15 and 16 gaps that should keep about 0.2mm-0.3mm of braking platen; The below of every block of braking platen 16 is equipped with 6 axles and is retransmitted sensors 12, the maximum 5000kg that weighs.
Said left rail 21 all is parallel to the driving center line with right rail 11; Said diffuse reflection type optoelectronic switch 34 should be parallel to the ground, keeps vertical with the driving center line, and height can not be above the minimum point of wheel hub, and the maximum coverage of diffuse reflection type optoelectronic switch 34 should be between 1000mm～1200mm;
Said laser reflector 35 Surface Vertical are in ground and perpendicular to the driving center line, the accurate heart cruciferous is portrayed at 31 places at laser reflector center, is used for the demarcation and the inspection of laser; No. 1 laser range finder 1 is installed in the place ahead in left rail 21; Front end in right rail 11 is installed No. 2 laser range finders 6; The light of No. 1 laser range finder 1 and No. 2 laser range finder 6 emissions all should be parallel to driving center line and ground; To guarantee simultaneously that in the whole movement travel of mobile trolley 30 point of irradiation of the two is positioned at the accurate heart place on the laser reflector 35 always.
The coverage of said 1, No. 2 correlation optoelectronic switch 7,8 should be between 3500mm-4000mm; Said laser range finder is contained on the wheel alignment line (41); 3, No. 6 laser range finders 2,5 are installed in the left and right sides respectively; 4, in the middle of No. 5 laser range finders 3,4 are installed in; The light of four laser range finders emission all should be perpendicular to driving a vehicle center line and be parallel to ground, and 4, No. 5 laser range finders 3,4 all should be as far as possible near the driving center line, with anti-vehicle open inclined to one side measurement less than.
A kind ofly be used for above-mentioned centre of gravity of vehicle position dynamic pick-up unit and carry out centre of gravity of vehicle position dynamic detection method, comprise following concrete steps based on braking procedure:
Spool heavy, a damping force signal are gathered in equipment zeroing in 1 data acquisition processing system
After vehicle gets into the detection place; Dot matrix display screen 29 prompting vehicles are with pick-up unit on per hour the initial velocity of 5-10 kilometer goes; When vehicle front-wheel during through No. 3 correlation optoelectronic switches 14, cause that the voltage of No. 3 correlation optoelectronic switches 14 changes, this signal is received by industrial computer 28; The record axle is heavy, heavy, the damping force of the axle of the vehicle dynamic of damping force sensor measurement, and shows brake through dot matrix display screen 29; After vehicle is static fully, dot matrix display screen 29 will show left and right vehicle wheel front-wheel weight, left and right sides rear wheel load and automobile gross weight, and the display interfaces appearance axle weight of industrial computer 28 and damping force signal be the curve of variation relation in time.
2 gather the wheelbase signal
After vehicle is static fully; Mobile trolley 30 is moved to the guide rail rear end by the guide rail front end; When the diffuse reflection type optoelectronic switch 34 on the mobile trolley 30 was sensed the before and after edge of forward and backward tire, its voltage all began to change, and industrial computer 28 is according to voltage change signal; Laser range finder is sent instruction, measure the distance that arrives laser range finder at the diffuse reflection type optoelectronic switch 34 in these four moment; After mobile trolley 30 touches travel switch, get back to initial position automatically.
3) gather the wheelspan signal
Vehicle slowly moves forward; When the vehicle front-wheel blocks No. 1 correlation optoelectronic switch 7 and No. 2 correlation optoelectronic switches 8 fully; 3, No. 5 laser range finders 4 of 2, No. 4 laser range finders of No. 3 laser range finders and No. 6 laser range finders 5 are measured simultaneously; Obtain the distance value of corresponding end-faces, the rear track measuring method is identical with front-wheel.
4 calculate the centre of gravity of vehicle position through the centre of gravity place dynamic detection algorithm
The distance of center of gravity to front axle center line:
The distance of center of gravity to rear shaft center line:
The distance of center of gravity to the two revolver line of centres:
The distance of the right wheel of center of gravity to two line of centres:
Height of C.G.:
Wherein:
If φ is angular displacement, the K of vehicle body around center of gravity
fBe front axle spring rate, K
rBe the rear axle spring rate.If G is automobile gross weight, G
1Be rear axle load, G
2Be two right wheel loads, G
3For front axle load, B be automobile wheel track,
Be the plate brake stage attachment coefficient, L is a vehicle wheel base, and G ' is the maximum corresponding constantly automobile gross weight of front axle load, F
Z1, F
Z2Be respectively the maximum corresponding constantly ground of front axle load and face the normal reaction of front and rear wheel.
Technique effect of the present invention:
1, based on the focus position measurement method of static state, not only measuring wastes time and energy, and the isoparametric actual bit of height of C.G. of vehicle is equipped with certain deviation when dynamic, has proposed the method for detection of dynamic centre of gravity of vehicle position in braking procedure.
2, the present invention's, damping force signal heavy to axle through axle weight, damping force pick-up unit, wheelbase measurement mechanism, wheelspan measurement mechanism and data acquisition processing system; Wheelbase signal and wheelspan signal are gathered; And through the centre of gravity place dynamic detection algorithm, realized that the centre of gravity of vehicle position measures fast and accurately.
3, the present invention can analyze defective steering stabilizer, rollover based on the centre of gravity of vehicle position that calculates, and calculates the ultimate value of defective steering stabilizer, rollover under different road conditions, and sends early warning information, the generation that avoids traffic accident.The present invention can be widely used in the driving safety control procedure of various vehicles.
4, the inventive method is simple to operate, is easy to safeguard, can be conveniently used on the vehicle testing line, and can implement effectively to detect.
Description of drawings
Fig. 1 is based on the centre of gravity of vehicle position dynamic pick-up unit structural drawing of braking procedure.
Mobile trolley and guide rail synoptic diagram in Fig. 2 wheelbase measurement mechanism.Wherein,
Fig. 2 (a) is a vertical view; Fig. 2 (b) is a front view; Fig. 2 (c) is a left view.
Fig. 3 wheelbase measuring principle figure.
Fig. 4 front tread measurement mechanism figure.Wherein, Fig. 4 (a) is a vertical view; Fig. 4 (b) is a front view.
Fig. 5 rear track measurement mechanism figure.Wherein, Fig. 5 (a) is a vertical view; Fig. 5 (b) is a front view.
Fig. 6 horizontal location of the center of gravity measuring principle figure.
Fig. 7 data acquisition processing system schematic diagram.
Automobile force analysis figure in Fig. 8 braking procedure.
Fig. 9 centre of gravity of vehicle position probing process flow diagram.
Figure: 1.1 No. laser rangefinder? 2.3 No. laser rangefinder? 3.4 No. laser rangefinder? 4.5 No. laser rangefinder? 5.6 No. laser rangefinder? 6.2 No. laser rangefinder? 7.1 Number of radio photoelectric switch? 8.2 Number-beam photoelectric switch? 9 small car right mobile laser reflectors? 10 on the right mobile trolley diffuse photoelectric switch? 11 right rail 12. axle load sensor? 13 gear wheel? No. 14.3-beam photoelectric switch? 15. braking force sensor? 16. brake platen? 17. trip switch on the right track? 18 mobile carts left laser reflectors? 19 The left mobile trolley diffuse photoelectric switch? 20. trip switch on the left side rail? 21 left rail? 22 Laser light? 23-beam photoelectric switch 24 Left front wheel? 25. right front wheel? 26 Left rear? 27. right rear wheel? 28. IPC? 29 dot matrix display? 30. movable trolley 31 laser reflectors center? 32 wheels? 33. rail? 34. Diffuse reflection type photoelectric switch? 35 laser reflectors? 36. switch wiring board? 37 analog wiring board? 38 analog capture card? 39. switch capture card? 40. serial port expansion cards? 41. Wheel Alignment line
Embodiment
Below in conjunction with accompanying drawing illustrated embodiment further explain concrete grammar of the present invention and device embodiments.
For ease of experiment, this paper is example with compact car (below 3.5 tons), analysis of being correlated with and experiment.
Based on the centre of gravity of vehicle position dynamic pick-up unit of braking procedure, it comprises axle weight, damping force pick-up unit, wheelbase measurement mechanism, wheelspan measurement mechanism and data acquisition processing system:
1) consult Fig. 1, described axle is heavy, the damping force pick-up unit comprises that braking platen (16), gear wheel (13), No. 3 correlation optoelectronic switches (14), damping force sensor (15) and axle retransmit sensor (12).The overall width of compact car generally can not surpass 2.1m (except the special purpose vehicle), but considers the deviation of vehicle ', brakes platen (16) width and is controlled at about 2700mm for two.And the wheelbase of compact car generally all concentrates on 2340mm (QQ of Cherry)-3150mm (benz E level lengthening); Add that braking distance (brakes under the situation of speed 5-10km/h; Braking distance generally can not surpass 1-1.5m), the length of the braking platen (16) of design should reach 4.7m, and the length of this device design two brakings platen (16) is 2400mm; The middle distance that also has 360mm makes physical length near 6m.Braking platen (16) plate face adopts the adhesive composite materials layer of special process, effectively improves the attachment coefficient (should reach more than 0.1) of plate face, so just can increase brake efficiency, and reduction has water because of surface of tyre or is stained with the influence of factor such as snow to damping force.Braking platen (16) should be solid and reliable, and the framework of backboard and support is arranged below.Braking platen (16) front side should be provided with damping force sensor (15) (about each), and the measurement maximal value is 4000N.Damping force sensor (15) one side is connected with braking platen (16), and one side is connected with framework, should keep the gap about 0.2mm-0.3mm between damping force sensor (15) and braking platen (16).Be provided with axle in the below of braking platen (16) and retransmit a sensor (12), consider the length of braking platen (16), this device is equipped with 6 axles re-transmission sensors (12) in the below of every block of braking platen (16), the maximum 5000kg that weighs.
2) consult Fig. 1, Fig. 2, described wheelbase measurement mechanism is that left rail (21) and right rail (11) are installed respectively in the both sides of plate brake stage, and two guide rails all are parallel to the driving center line; Installation and moving formula dolly (30) on guide rail; Install a diffuse reflection type optoelectronic switch (34) additional in the centre of mobile trolley (30), this diffuse reflection type optoelectronic switch (34) should be parallel to the ground; Keep vertical with the driving center line; And height can not surpass the minimum point of wheel hub, and the width of considering tire is all more than 150mm, so the maximum coverage of diffuse reflection type optoelectronic switch (34) should be at 1200mm with interior and should be less than 1000mm.A laser reflector of installation (35) on mobile trolley (30); The surface of this laser reflector (35) not only will perpendicular to ground and also will perpendicular to the driving center line; And locate to portray the accurate heart cruciferous at laser reflector center (31), for the demarcation and the inspection of laser are prepared.Front end in left rail (21) is installed No. 1 laser range finder (1), at the front end of right rail (11) No. 2 laser range finders (6) is installed.No. 1 laser range finder (1) and No. 2 laser range finders (6); The two light of launching all should be parallel to driving center line and ground; To guarantee also that simultaneously in the whole movement travel of mobile trolley (30), the point of irradiation of the two is positioned at the accurate heart place on the laser reflector (35) always.
3) consult Fig. 1, Fig. 4 and Fig. 5, described front and rear wheel wheelspan measurement mechanism is in the left and right sides of plate brake stage front end 1, No. 2 correlation optoelectronic switch (7), (8) to be installed, and its coverage should be between 3500mm-4000mm.On the wheel alignment line, No. 3 laser range finders (2) are installed in the left side, and center-left side is installed No. 4 laser range finders (3), and center-right side is installed No. 5 laser range finders (4), and No. 6 laser range finders (5) are installed on the right side.Because 3,4,5, No. 6 per two distance of laser range finder does not all surpass 1500mm; So it is a little bit smaller just passable that the coverage of this laser range finder is selected; The light of four laser range finders emission all should be perpendicular to driving a vehicle center line and be parallel to ground; No. 4 laser range finders (3) and No. 5 laser range finders (4) all should try one's best near the driving center line, with anti-vehicle open inclined to one side measurement less than.
4) consult Fig. 7, described data acquisition processing system comprises industrial computer (28), switching value terminal block (36), dot matrix display screen (29), switch acquisition card (39), analog acquisition card (38), analog quantity terminal block (37) and serial port expanding module (40).Dot matrix display screen (29) commonly used on the market has 16 dot matrix display screens and 24 dot matrix display screens.16 dot matrix display screens split screen up and down respectively show six words, and 24 dot matrix display screens split screen up and down respectively show eight words, and in order to reach better display effect, the present invention has selected 24 dot matrix display screens for use.Simultaneously, the communication port of dot matrix display screen is designed to 485 serial ports patterns, the effective like this interference of avoiding signal.For reaching higher effective utilization; Selected the more industrial computer of function (28) for use; Its parameter is: CPU Duo double-core 2.4G, internal memory 2G, hard disk 250G, 24XDVD CD-ROM drive; This machine itself has 1 VGA mouth, 1 netting twine mouth, 1 keyboard and mouse connection jaws, 1 printer port, 2 232 interfaces, 1 485 interface, 2 USB interfaces, removes the interface of itself being with (taking 3 ISA slots), also has 5 ISA slots and 4 PCI slots subsequent use.Switching value terminal block (36) selects for use Bei Jingkang to open up the IPC5375I/O plate of industrial computer company.Analog quantity terminal block (37) selects for use Bei Jingkang to open up the IPC5488 plate of industrial computer company.Serial port expanding module (40) is selected MOXA 168H type for use.Damping force in the system retransmits sensor with axle and is analog signals; Output is about 0-10mV, and the signal input requirement according to analog acquisition card (38) needs to install signal processing module; The present invention selects the A11B11 type signal processing module of Beijing Art Technology Development Co., Ltd. for use; This module for power supply voltage+24V, input voltage 0-15mV, output voltage 0-5V.The Great Wall power supply that power supply selects for use Shenzhen to produce.This data acquisition processing system is gathered spool heavy, a damping force signal in real time; The signal of each correlation optoelectronic switch, diffuse reflection type optoelectronic switch, travel switch and laser range finder; Show related data and order through dot matrix display screen (29), and carry out corresponding computing through the algorithm of its set inside.
The inventive method may further comprise the steps:
1) spool heavy, a damping force signal are gathered in the zeroing of the equipment in the data acquisition processing system
After vehicle gets into the detection place; Dot matrix display screen (29) prompting vehicle is with pick-up unit on per hour the initial velocity of 5-10 kilometer goes; When vehicle front-wheel during through No. 3 correlation optoelectronic switches (14), the voltage of No. 3 correlation optoelectronic switches (14) will change, and industrial computer (28) is after receiving this voltage change signal; Heavy, the damping force of axle of the vehicle dynamic of record axle is heavy, damping force sensor measurement, and show brake through dot matrix display screen (29).After vehicle is static fully; Dot matrix display screen (29) will show vehicle the near front wheel load, off-front wheel load, left rear wheel load, off hind wheel load and automobile gross weight, and the display interfaces appearance axle weight of industrial computer (28) and damping force signal be the curve of variation relation in time.
2) gather the wheelbase signal
After vehicle is static fully, beginning measurement axis distance.Because the measuring principle of left and right sides wheelbase is identical, so in Fig. 3, only indicated the measuring principle of right-hand axis distance.Consult Fig. 3; The measuring principle that can know the right-hand axis distance is: after vehicle is static fully; The mobile trolley on vehicle right side is moved the rear end of guide rail (11) by the front end of right rail (11) to the right; When the diffuse reflection type optoelectronic switch (10) on the mobile trolley of right side was sensed the forward position of front tyre, the voltage of this diffuse reflection type optoelectronic switch began to change, and industrial computer (28) is according to this voltage change signal; No. 2 laser range finders (6) are sent instruction, measure diffuse reflection type optoelectronic switch (10) on the mobile trolley of current right side to the distance of No. 2 laser range finders (6); Mobile trolley continues to move; When the diffuse reflection type optoelectronic switch (10) on the travelling car of right side sense front tyre back along the time; The voltage of this diffuse reflection type optoelectronic switch begins to change; Industrial computer (28) sends instruction according to this voltage change signal to No. 2 laser range finders (6), measures diffuse reflection type optoelectronic switch (10) on the mobile trolley of current right side to the distance of No. 2 laser range finders (6); Mobile trolley continues to move; When the diffuse reflection type optoelectronic switch (10) on the travelling car of right side is sensed the forward position of rear tyre; The voltage of this diffuse reflection type optoelectronic switch begins to change; Industrial computer (28) sends instruction according to this voltage change signal to No. 2 laser range finders (6), measures diffuse reflection type optoelectronic switch (10) on the mobile trolley of current right side to the distance of No. 2 laser range finders (6); Mobile trolley continues to move; When the diffuse reflection type optoelectronic switch (10) on the mobile trolley of right side sense rear tyre back along the time; The voltage of this diffuse reflection type optoelectronic switch begins to change; Industrial computer (28) sends instruction according to this voltage change signal to No. 2 laser range finders (6), measures diffuse reflection type optoelectronic switch (10) on the mobile trolley of current right side to the distance of No. 2 laser range finders (6); Mobile trolley continues to move, and after it touches travel switch, gets back to initial position automatically.
Generally speaking, diffuse reflection type optoelectronic switch (10) has certain diffusion angle (establishing this angle is θ), so it has a lead and a hysteresis in induction wheel (32).In addition, because the vehicle lay-off direction is not necessarily parallel completely with the driving center line, so the diffuse reflection type optoelectronic switch has certain difference near wheel side to the vertical range of tire sensitive surface.If right-to-left among Fig. 3, the diffuse reflection type optoelectronic switch is followed successively by c near wheel side to the vertical range of tire sensitive surface
1, c
2, c
3, c
4, the lead of the preceding induction point of off-front wheel when then measuring (25) is c
1* tan θ, the hysteresis of off-front wheel (25) back induction point is c
2* tan θ, the lead of the preceding induction point of off hind wheel (27) is c
3* tan θ, the hysteresis of off hind wheel (27) back induction point is c
4* tan θ.But the deviation angle when considering most of vehicle lay-off is little and θ is very little, so can think c at this
1* tan θ=c
2* tan θ, c
3* tan θ=c
4* tan θ.If the right side mobile trolley is when dextrosinistral four positions shown in Figure 3, the distance of the diffuse reflection type optoelectronic switch (10) of No. 2 laser range finders (6) to the mobile trolley of right side is respectively L
F1, L
F2, L
R1, L
R2, No. 2 laser range finders (6) are L to the distance on the plane vertical with its travel direction at place, off-front wheel (25) center
f, the distance L on the plane vertical that belongs to off hind wheel (27) center with its travel direction
r, then
L
f＝(L
f1+c
1×tanθ+L
f2-c
2×tanθ)/2＝(L
f1+L
f2)/2
L
r＝(L
r1+c
3×tanθ+L
r2-c
4×tanθ)/2＝(L
r1+L
r2)/2
If the right-hand axis distance is L
2, then
L
2＝L
r-L
f＝(L
r1+L
r2)/2-(L
f1+L
f2)/2＝(L
r1+L
r2-L
f1-L
f2)/2
If the left-hand axis distance is L
1, then in like manner can get left-hand axis apart from L
1
If vehicle wheel base is L, then
L＝(L
1+L
2)/2
3) gather the wheelspan signal
The wheelbase measurement finishes, and vehicle slowly moves ahead, beginning measured automobiles wheelspan.Consult Fig. 4 and Fig. 5, the automobile wheel track measuring principle is: vehicle slowly moves ahead, and when the vehicle front-wheel only blocked No. 2 correlation optoelectronic switches (8), dot matrix display screen (29) prompting vehicle advanced slightly; When only having blocked No. 1 correlation optoelectronic switch (7), dot matrix display screen (29) prompting vehicle moves back slightly; When the vehicle front-wheel blocked No. 1 correlation optoelectronic switch (7) and No. 2 correlation optoelectronic switches (8) fully, dot matrix display screen (29) prompting was stopped.No. 3 laser range finders (2), No. 4 laser range finders (3), No. 5 laser range finders (4) and No. 6 laser range finders (5) are measured simultaneously at this moment, obtain the distance value of corresponding end-faces.Measurement finishes, dot matrix display screen (29) prompting " measuring the rear track vehicle slowly advances ".When vehicle rear wheel is blocked No. 1 correlation optoelectronic switch (7) and No. 2 correlation optoelectronic switches (8) fully; No. 3 laser range finders (2), No. 4 laser range finders (3), No. 5 laser range finders (4) and No. 6 laser range finders (5) are measured simultaneously, obtain the distance value of corresponding end-faces.Wherein
B
f---front tread
B
r---rear track
S
1---the distance in No. 3 laser range finders (2) right side to 4 laser range finders (3) left side
S
2---No. 4 laser range finders (3) left side is to the distance on No. 5 laser range finders (4) right side
S
3---the distance in No. 5 laser range finders (4) right side to 6 laser range finders (5) left side
B
F1---No. 3 laser range finders (2) right side is to the distance of the near front wheel (24) left surface
B
R1---No. 3 laser range finders (2) right side is to the distance of left rear wheel (26) left surface
B
F2---No. 4 laser range finders (3) left side is to the distance on the right surface of the near front wheel (24)
B
R2---No. 4 laser range finders (3) left side is to the distance on the right surface of left rear wheel (26)
B
F3---No. 5 laser range finders (4) right side is to the distance of off-front wheel (25) left surface
B
R3---No. 5 laser range finders (4) right side is to the distance of off hind wheel (27) left surface
B
F4---No. 6 laser range finders (5) left side is to the distance on the right surface of off-front wheel (25)
B
R4---No. 6 laser range finders (5) left side is to the distance on the right surface of off hind wheel (27)
Front tread B
f=S
2+ B
F2+ (S
1-B
F1-B
F2)/2+B
F3+ (S
3-B
F3-B
F4)/2
Rear track B
r=S
2+ B
R2+ (S
1-B
R1-B
R2)/2+B
R3+ (S
3-B
R3-B
R4)/2
If B is an automobile wheel track, then
B＝(B
f+B
r)/2
4) calculate the centre of gravity of vehicle position through the centre of gravity place dynamic detection algorithm
According to data acquisition system (DAS) (consulting Fig. 7), the information after gathering, handling, through the centre of gravity place dynamic detection algorithm, calculate the centre of gravity of vehicle position:
(1) calculates horizontal location of the center of gravity: consult Fig. 6, establish center of gravity position point and be O, G
1Be rear axle load, G
11Be left rear wheel load, G
12Be off hind wheel load, G
2Be two right wheel loads, G
21Be off-front wheel load, L
1For left-hand axis distance, L are vehicle wheel base, L
2For right-hand axis distance, B are automobile wheel track, B
fBe front tread, B
rFor rear track, a are the distance of center of gravity to front axle center line, distance that b is center of gravity to rear shaft center line, c is center of gravity to the two revolver line of centres distance, d are that distance, the G of the right wheel of center of gravity to two line of centres is the automobile gross weight, then
G
1＝G
11+G
12
G
2＝G
21+G
12
L＝(L
1+L
2)/2
B＝(B
f+B
r)/2
(2) calculate height of C.G.: consult Fig. 8, establishing the preceding speed of automobile brake is u, and inertial force F acts on focus point O place, and the component at inertial force M, N place on forward and backward bridge is respectively F
1And F
2
In the front axle load maximum constantly, to nosewheel contact point range momental equation:
F
Z2L+F
2h
2+F
1h
1-G′a＝0
H wherein
1=h-asin φ
h
2＝h+bsinφ
The simultaneous following formula, abbreviation gets
Have again
Then height of C.G. does
Wherein:
If φ is angular displacement (rad), the K of vehicle body around center of gravity
fBe front axle spring rate (N/m), K
rBe rear axle spring rate (N/m).On plate brake stage, trace routine according to gather the heavy and damping force signal of axle in time the curve of variation relation can directly draw the value of spring rate.If G
3For front axle load (N),
Be plate brake stage attachment coefficient, h
1, h
2Being respectively front axle load maximum corresponding constantly forward and backward axle suspension frame spring height (m), h is height of C.G. (m), F
Z1, F
Z2Be respectively the maximum corresponding constantly ground of front axle load and face the normal reaction (N) of front and rear wheel, F
Xb1, F
Xb2The ground damping force (N), the G ' that are respectively the maximum corresponding front and rear wheel constantly of front axle load are the maximum corresponding constantly automobile gross weight (N) of front axle load.
Claims (6)
1. the centre of gravity of vehicle position dynamic pick-up unit based on braking procedure comprises axle weight, damping force pick-up unit, wheelbase measurement mechanism, wheelspan measurement mechanism and data acquisition processing system, it is characterized in that,
Said axle is heavy, the damping force pick-up unit comprises that braking platen (16), gear wheel (13), No. 3 correlation optoelectronic switches (14), damping force sensor (15) and axle retransmit sensor (12); Said braking platen (16) is by following backboard and frame supported; Said damping force sensor (15) is contained in the left and right sides of every braking platen (16) front end; Said axle retransmits the below that sensor (12) is contained in braking platen (16); Said gear wheel (13) is contained in the both sides of braking platen (16), and said No. 3 correlation optoelectronic switches (14) are contained in the both sides at braking platen (16) middle part;
Said wheelbase measurement mechanism comprises left and right sides guide rail (21,11), is contained in the mobile trolley (30) on the guide rail, the laser reflector (35) that is contained in the mobile trolley top, the diffuse reflection type optoelectronic switch (34) that is contained in the mobile trolley middle part and the laser range finder that is contained in left and right side guide rail front respectively;
Said wheelspan measurement mechanism comprise the left and right sides that is contained in plate brake stage (16) front end 1, No. 2 correlation optoelectronic switch (7,8), be contained in plate brake stage (16) the front end left and right sides and middle laser range finder.
2. a kind of centre of gravity of vehicle position dynamic pick-up unit according to claim 1 based on braking procedure; It is characterized in that; Said braking platen (16) is 4 fast, and per two length and width sum is pressed the wheelbase and the overall width of compact car and confirmed that the attachment coefficient of braking platen (16) plate face is more than 0.1; Should keep the gap about 0.2mm-0.3mm between said damping force sensor (15) and braking platen (16); The below of every block of braking platen (16) is equipped with 6 axles and is retransmitted sensors (12), the maximum 5000kg that weighs.
3. a kind of centre of gravity of vehicle position dynamic pick-up unit based on braking procedure according to claim 1 is characterized in that said left rail (21) and right rail (11) all are parallel to the driving center line; Said diffuse reflection type optoelectronic switch (34) should be parallel to the ground, keeps vertical with the driving center line, and height can not be above the minimum point of wheel hub, and the maximum coverage of diffuse reflection type optoelectronic switch (34) should be between 1000mm～1200mm.
4. a kind of centre of gravity of vehicle position dynamic pick-up unit according to claim 1 based on braking procedure; It is characterized in that; Said laser reflector (35) Surface Vertical is in ground and perpendicular to the driving center line; Locate to portray the accurate heart cruciferous at laser reflector center (31), be used for the demarcation and the inspection of laser; No. 1 laser range finder (1) is installed in the place ahead in left rail (21); Front end in right rail (11) is installed No. 2 laser range finders (6); The light of No. 1 laser range finder (1) and No. 2 laser range finders (6) emission all should be parallel to driving center line and ground; To guarantee simultaneously that in the whole movement travel of mobile trolley (30) point of irradiation of the two is positioned at the accurate heart place on the laser reflector (35) always.
5. a kind of centre of gravity of vehicle position dynamic pick-up unit based on braking procedure according to claim 1 is characterized in that the coverage of said 1, No. 2 correlation optoelectronic switch (7,8) should be between 3500mm-4000mm; Said laser range finder is contained on the wheel alignment line (41); 3, No. 6 laser range finders (2,5) are installed in the left and right sides respectively; 4, in the middle of No. 5 laser range finders (3,4) are installed in; The light of four laser range finders emission all should be perpendicular to driving a vehicle center line and be parallel to ground, and 4, No. 5 laser range finders (3,4) all should be as far as possible near the driving center line, with anti-vehicle open inclined to one side measurement less than.
6. one kind is used for the described centre of gravity of vehicle position dynamic pick-up unit based on braking procedure of claim 1 and carries out centre of gravity of vehicle position dynamic detection method, it is characterized in that, comprises following concrete steps:
1) spool heavy, a damping force signal are gathered in the zeroing of the equipment in the data acquisition processing system
After vehicle gets into the detection place; Dot matrix display screen (29) prompting vehicle is with pick-up unit on per hour the initial velocity of 5-10 kilometer goes; When vehicle front-wheel during through No. 3 correlation optoelectronic switches (14), cause that the voltage of No. 3 correlation optoelectronic switches (14) changes, this signal is received by industrial computer (28); The record axle is heavy, heavy, the damping force of the axle of the vehicle dynamic of damping force sensor measurement, and shows brake through dot matrix display screen (29); After vehicle is static fully, dot matrix display screen (29) will show left and right vehicle wheel front-wheel weight, left and right sides rear wheel load and automobile gross weight, and the display interfaces appearance axle weight of industrial computer (28) and damping force signal be the curve of variation relation in time.
2) gather the wheelbase signal
After vehicle is static fully; Mobile trolley (30) is moved to the guide rail rear end by the guide rail front end; When the diffuse reflection type optoelectronic switch (34) on the mobile trolley (30) was sensed the before and after edge of forward and backward tire, its voltage all began to change, and industrial computer (28) is according to voltage change signal; Laser range finder is sent instruction, measure the distance that arrives laser range finder at the diffuse reflection type optoelectronic switch (34) in these four moment; After mobile trolley (30) touches travel switch, get back to initial position automatically.
3) gather the wheelspan signal
Vehicle slowly moves forward; When the vehicle front-wheel blocks No. 1 correlation optoelectronic switch (7) and No. 2 correlation optoelectronic switches (8) fully; No. 3 laser range finders (2), No. 4 laser range finders (3), No. 5 laser range finders (4) and No. 6 laser range finders (5) are measured simultaneously; Obtain the distance value of corresponding end-faces, the rear track measuring method is identical with front-wheel.
4) calculate the centre of gravity of vehicle position through the centre of gravity place dynamic detection algorithm
The distance of center of gravity to front axle center line:
The distance of center of gravity to rear shaft center line:
The distance of center of gravity to the two revolver line of centres:
The distance of the right wheel of center of gravity to two line of centres:
Height of C.G.:
Wherein:
If φ is angular displacement, the K of vehicle body around center of gravity
fBe front axle spring rate, K
rBe the rear axle spring rate.If G is automobile gross weight, G
1Be rear axle load, G
2Be two right wheel loads, G
3For front axle load, B be automobile wheel track,
Be the plate brake stage attachment coefficient, L is a vehicle wheel base, and G ' is the maximum corresponding constantly automobile gross weight of front axle load, F
Z1, F
Z2Be respectively the maximum corresponding constantly ground of front axle load and face the normal reaction of front and rear wheel.
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