CN102853967A - Calculating method of initial values for multi-dimensional wheel force sensor - Google Patents

Calculating method of initial values for multi-dimensional wheel force sensor Download PDF

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CN102853967A
CN102853967A CN2012100774003A CN201210077400A CN102853967A CN 102853967 A CN102853967 A CN 102853967A CN 2012100774003 A CN2012100774003 A CN 2012100774003A CN 201210077400 A CN201210077400 A CN 201210077400A CN 102853967 A CN102853967 A CN 102853967A
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wft
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wheel
coordinate system
normal pressure
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林国余
王东
张为公
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Southeast University
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Abstract

The invention discloses a calculating method of initial values for a multi-dimensional wheel force sensor. The method includes: building a converting relation of a vehicle body coordinate system {O1} and a multi-dimensional wheel force sensor coordinate system {O2}; deducing a function relation of multi-dimensional wheel force sensor channel output and wheel actual stress under the ideal condition according to the converting relation; building a relation between an initial state and an ideal state and a state when a vehicle runs, and substituting the initial values into the function relation of the multi-dimensional wheel force sensor channel output and the wheel actual stress; and obtaining a multi-element non-linear surpass equation set through multi-time of parking on the road, solving the equation set through a Newton iteration method, and obtaining the initial values of the multi-dimensional wheel force sensor. By means of the method, three initial values for decoupling data of the multi-dimensional wheel force sensor can be obtained accurately.

Description

A kind of method of the calculation of initial value for Multi-component WFT
Technical field
The invention belongs to automobile observation and control technology field, relate in particular to a kind of data processing field.
Background technology
Car test techniqes is follow the foundation of auto industry and gradually grow up, and is widely used in the engineering fields such as vehicle research and development, Performance Detection and actual road test.Motor racing is that the effect of ground and wheel produces, and therefore, in vehicle traveling process, the measuring technology of vehicle wheel forces is the gordian technique in Automobile Road Test System.Along with the needs for automotive type exploitation and quality assessment, wheel power sensor also develops to multidimensional from one dimension.Multi-component WFT can be directly used in the research of the collection, suspension performance, vehicle chassis control system of multidimensional road, road surface spectrum etc.Due to the vehicle wheel forces signal have strong coupling, non-linear and the time characteristics such as change, so data while processing technical difficulty larger.China is weaker in this field, to its research substantially in theory stage, when actual vehicle design or Performance Evaluation, often adopt foreign correlation parameter the combination method of design experiences in the past, be difficult to the Apparatus and method for of quantitative data analysis and process.
(automobile wheel multi-dimensional force measuring device ZL 2,003 2 0110714.5 for the Multi-component WFT that the applied object of patent of the present invention is Southeast China University's instrumental science and engineering college's independent research; Automobile wheel multi-dimensional force measuring sensor ZL 2,003 2 0110713.0), this Multi-component WFT in can perception Vehicle Driving Cycle process in the face of the acting force of wheel, tractive force wherein and normal pressure are the semaphore that patent of the present invention is paid close attention to.Tractive force has reflected the effect of automobile dynamic system for the power of wheel, can be used for engine and brake performance research, and normal pressure has reflected the impact of road surface for wheel, can be used for the research fields such as Road spectrum collection.In order to realize the data decoupler to the Multi-component WFT output signal, obtain high-precision tractive force and normal pressure, the initial value of Multi-component WFT tractive force passage and normal pressure passage while needing the Obtaining Accurate wheel not stress, and being arranged on scrambler on axletree and the initial angle deviate between the wheel reference axis, these three initial values have vital role to the accurate data decoupling zero of Multi-component WFT.
Conventional method be by wheel power sensor before installing wheel, level is placed on calibrating table, read the output of current sensor as initial value, this method is a kind of approximate measure method, and it has ignored the impact that wheel and sensor own wt are exported for sensor.For the initial angle deviate, commonly used have two kinds of methods, and a kind of is to carry out vehicle with extremely slow speed, records the output valve of Multi-component WFT normal pressure passage, thinks that when value is maximum, corresponding scrambler angle is initial deviation.Second method is when vehicle at the uniform velocity travels, and records the output valve of Multi-component WFT normal pressure passage, and now this passage output presents the variation tendency of cosine, and this output valve is meaned by the function mode, is designated as F ' z 2(t).Simultaneously, by the output of the angle of scrambler, be designated as θ 2, deducting a variable on output valve, variable is designated as θ 1, for and make cos operation, be designated as cos (θ 2-θ 1) by θ 1+ 90 oto-90 obetween traveled through, work as F ' z 2and cos (θ (t) 2-θ 1) between similarity while reaching maximum, by θ now 1value is as initial deviation.The normal pressure that these two kinds of methods only are subject at wheel could obtain effect preferably under the precondition under tractive force, and these two kinds of methods have been ignored normal pressure and changed for the impact of measuring simultaneously.Therefore, there are certain error in the Multi-component WFT tractive force passage and logical initial value and the angular deviation of normal pressure that adopt classic method to obtain, and this has just caused the tractive force and the normal pressure numerical value that draw in processing afterwards to have deviation.
Therefore, the initial value of Multi-component WFT tractive force passage and normal pressure passage in the time of must studying a kind of effective method and come the Obtaining Accurate wheel not stress, and the angular deviation between scrambler and wheel reference axis, to improve the accuracy of Multi-component WFT decoupling zero.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of, the initial value of Multi-component WFT tractive force passage and normal pressure passage while can the Obtaining Accurate wheel not stressing, and the method for the angular deviation between scrambler and wheel reference axis.The method can be applied to the data decoupler of the Multi-component WFT of Southeast China University's instrumental science and engineering college's research and development, has very strong practicality.
For addressing the above problem, the technical solution used in the present invention is: set up bodywork reference frame { O 1and with the sensor coordinate system { O of vehicle wheel rotation 2between transformational relation, i.e. changes in coordinates matrix.List the output valve of Multi-component WFT tractive force and normal pressure passage and the funtcional relationship of the actual tractive force be subject to of wheel and normal pressure according to the changes in coordinates matrix, and the relation when setting up original state and perfect condition and Vehicle Driving Cycle, by in initial value substitution function, adopt road surface repeatedly to stop and obtain nonlinear multivariable transcendental equation group, and, by Newton iteration method solving equations, obtain the initial value of Multi-component WFT.
In a preferred embodiment of the present invention, described bodywork reference frame { O 1in, X 1axle is the intersection on wheel plane and ground, with working direction for just; Z 1axle is perpendicular to ground level, with upward direction for just; Y 1axle is along axial direction, and and X 1, Z 1axle forms right-handed coordinate system, described sensor coordinate system { O 2in, X 2the tractive force positive dirction that axle is sensor measurement, Z 2the normal pressure positive dirction that axle is sensor measurement, Y 2axle is equally along axial direction, and and X 2, Z 2axle forms right-handed coordinate system, and two coordinate systems all to take the center of axletree be initial point, bodywork reference frame { O 1and Multi-component WFT coordinate system { O 2conversion relational expression be:
Figure 2012100774003100002DEST_PATH_IMAGE001
(1)
R wherein 1radius for wheel.
In a preferred embodiment of the present invention, the output valve F of the normal pressure passage of Multi-component WFT ideally z2output valve F with the tractive force passage of Multi-component WFT x2with the suffered tractive force F of wheel x1with the suffered normal pressure F of wheel z1between relational expression:
Figure 513272DEST_PATH_IMAGE002
(2)。
At θ=θ described in a preferred embodiment of the present invention 2-θ 1, θ 2obtain the absolute angle of current wheel position for being arranged on absolute type encoder on Multi-component WFT, θ 1for vehicle axis system { O 1and sensor coordinate system { O 2between the initial angle deviate, described F x2, F z2be respectively:
F X2= F’ X2—ΔF X2 (3)
F Z2=F’ Z2—ΔF Z2 (4)
Δ F x2with Δ F z2the tractive force passage of Multi-component WFT and normal pressure passage output valve while being respectively original state, F ' x2and F ' z2the real output value of the tractive force passage of Multi-component WFT and normal pressure passage while being designated as Vehicle Driving Cycle respectively.
Can draw following relational expression in a preferred embodiment of the present invention:
Figure 2012100774003100002DEST_PATH_IMAGE003
（5）
Figure 492729DEST_PATH_IMAGE004
（6）。
By stopping at level road, can draw following relational expression in a preferred embodiment of the present invention:
Figure 2012100774003100002DEST_PATH_IMAGE005
（7）
By after the wheel rolling certain angle, vehicle is stopped again on level road, repeatedly after, can obtain some groups of experiment values, be designated as F ' x2i, F ' z2i, θ 2i(subscript i means experiment i=1 the i time ... n,), and carry it in formula (7) and go, at every turn when level road stops, capital produces an equation, tests for n time, can obtain n equation, its simultaneous can be obtained to the non-linear transcendental equation group of the ternary shown in formula (8), and the problem of obtaining like this three initial values has just converted the Solve problems to the non-linear transcendental equation group of ternary to.
（8）
In a preferred embodiment of the present invention, described n >=10.
The invention has the beneficial effects as follows: the present invention can accurately obtain three required initial values of above-mentioned Multi-component WFT data decoupler, i.e. the initial value Δ F of Multi-component WFT tractive force passage and normal pressure passage x2,Δ F z2and the initial angle deviate θ between scrambler and wheel reference axis 1.
The accompanying drawing explanation
Fig. 1 is bodywork reference frame { O in the present invention 1and Multi-component WFT coordinate system { O 2planimetric map.
Embodiment
For achieving the above object, the specific embodiment of the present invention is as follows:
Set up bodywork reference frame { O 1and Multi-component WFT coordinate system { O 2transformational relation; Derive the functional relation of ideally Multi-component WFT passage output and wheel actual loading according to described transformational relation; Relation while setting up original state and perfect condition and Vehicle Driving Cycle, be updated to initial value in the functional relation of the output of Multi-component WFT passage and wheel actual loading; Adopt road surface repeatedly to stop and obtain nonlinear multivariable transcendental equation group, and, by Newton iteration method solving equations, obtain the initial value of Multi-component WFT.
Bodywork reference frame { O as shown in Figure 1 1and Multi-component WFT coordinate system { O 2, the initial point of two coordinate systems overlaps, and all is positioned at wheel Zhou center, simultaneously the Y of two coordinate systems 1axle and Y 2axle overlaps.Bodywork reference frame { O 1in, X 1axle is the intersection on wheel plane and ground, with working direction for just; Z 1axle is perpendicular to ground level, with upward direction for just; Y 1axle is along axial direction, and and X 1, Z 1axle forms right-handed coordinate system.Sensor coordinate system { O 2in, X 2the tractive force positive dirction that axle is sensor measurement, Z 2the normal pressure positive dirction that axle is sensor measurement, Y 2axle is equally along axial direction, and and X 2, Z 2axle forms right-handed coordinate system.Multi-component WFT is arranged on automotive wheel and rotates together with wheel, Multi-component WFT coordinate system { O 2and bodywork reference frame { O 1relatively rotate, therefore, the force vector defined in Multi-component WFT is different from the force vector defined in bodywork reference frame, must set up the transformational relation between them.Bodywork reference frame { O 1only the motion along with automobile produce translation and along with vehicle wheel rotation, do not produce and rotatablely move.Multi-component WFT coordinate system { O 2and wheel fix, and, along with vehicle wheel rotation, this coordinate system rotates.When initial position, bodywork reference frame { O 1and sensor coordinate system { O 2coincide, when vehicle movement, wheel rolls thereupon, i.e. sensor coordinate system { O 2around Y 2the axle rotation, thus make { O 2coordinate system is with respect to { O 1coordinate system can produce a deflection angle θ.
According to the coordinate system variation relation, can obtain sensor coordinate system { O as the formula (1) 2with respect to bodywork reference frame { O 1transformation matrix, R wherein 1radius for wheel.
Figure 729992DEST_PATH_IMAGE001
（1）
According to above-mentioned bodywork reference frame and sensor coordinate system and wheel stressing conditions, can derive following information:
Figure 2012100774003100002DEST_PATH_IMAGE007
the suffered tractive force of wheel is road to the acting force of tire along bodywork reference frame { O 1the axial component of X1, the suffered normal pressure of wheel is road to the acting force of tire along bodywork reference frame { O 1z 1axial component, the tractive force F that wheel is suffered x1, the normal pressure F that wheel is suffered z1;
Figure 606681DEST_PATH_IMAGE008
the output valve of the tractive force passage of Multi-component WFT is that the suffered tractive force of wheel and normal pressure are along sensor coordinate system { O 2x 2axial component cumulative, in like manner, the output valve of the normal pressure passage of Multi-component WFT is that the suffered tractive force of wheel and normal pressure are along sensor coordinate system { O 2z 2adding up of axial component.
Ideally, when vehicle at the uniform velocity travels, the tractive force F that wheel is suffered x1with normal pressure F z1remain unchanged, and the output valve F of the tractive force passage of Multi-component WFT x2output valve F with the normal pressure passage z2not but invariable.For example: when θ is 0 while spending, two coordinate systems overlap fully, now the output valve F of the normal pressure passage of Multi-component WFT z2equal the suffered normal pressure F of wheel z1value, the output valve F of the tractive force passage of Multi-component WFT now x2reflected the tractive force F that wheel is suffered x1size; When θ is 90 while spending, the output valve F of the normal pressure passage of sensor z2reflected the tractive force F that wheel is suffered x1size, and the output valve F of the tractive force passage of sensor x2equal the suffered normal pressure F of wheel z1value; When θ between 0 degree between 90 degree the time, the output valve F of the tractive force passage of sensor x2output valve F with the normal pressure passage of sensor z2all the suffered tractive force F of wheel x1with the suffered normal pressure F of wheel z1coefficient result.By vehicle axis system, be { O 1and sensor coordinate system { O 2transition matrix, can obtain the output valve F of the tractive force passage of sensor x2output valve F with the normal pressure passage of sensor z2the tractive force F be subject to wheel x1with normal pressure F z1between corresponding relation, as the formula (2).
Figure 992926DEST_PATH_IMAGE002
（2）
Through type (1) can be found out, obtains the output valve F of the tractive force passage of sensor x2output valve F with the normal pressure passage of sensor z2prerequisite under, if obtain two angle theta between coordinate system, can calculate the tractive force F that wheel is subject to x1with normal pressure F z1.
When actual measurement, we can obtain the absolute angle of current wheel position by being arranged on absolute type encoder on Multi-component WFT, are designated as θ 2.Ideally, we wish as vehicle axis system { O 1and sensor coordinate system { O 2while overlapping fully, θ 2it is 0 degree.But, when being installed on wheel by Multi-component WFT, can't guarantee bodywork reference frame { O 1and sensor coordinate system { O 2overlap fully, certainly exist an initial angle deviate between the two, be bodywork reference frame { O 1and sensor coordinate system { O 2between initial angle deviate θ 1if now can obtain θ 1, through type (3) can accurately obtain two angle theta between coordinate system:
（3）
In addition due to the reasons such as contact resistance, conductor resistance and sensor deadweight, ideally the tractive force passage of Multi-component WFT and normal pressure passage output valve, i.e. the initial value Δ F of the tractive force passage of Multi-component WFT and normal pressure passage x2, Δ F z2non-vanishing, through type (4) can calculate and obtain our real required F ideally x2and F z2:
（4）
F ' x2and F ' z2the tractive force passage of Multi-component WFT and the output valve of normal pressure passage while being respectively the vehicle enforcement .
(3) calculate initial value
As seen from the above analysis, want exact solution to calculate the vehicle suffered tractive force F of wheel in motion x1, normal pressure F z1, at first to determine the tractive force passage of Multi-component WFT and the initial value Δ F of normal pressure passage x2, Δ F z2and bodywork reference frame { O 1and sensor coordinate system { O 2between initial angle deviate θ 1these three original bulies, the circular of these three original bulies is as follows:
Figure 521176DEST_PATH_IMAGE007
formula (2) is launched into to polynomial form, shown in (5) and formula (6):
Figure 2012100774003100002DEST_PATH_IMAGE011
（5）
（6）
Figure 245735DEST_PATH_IMAGE008
by formula (3) and formula (4) respectively substitution formula (5) and formula (6) must:
Figure 62382DEST_PATH_IMAGE003
（7）
Figure 799393DEST_PATH_IMAGE004
（8）
eliminate the vehicle suffered tractive force F of wheel in motion x1, normal pressure F z1these two unknown quantitys.The tractive force passage of Multi-component WFT and the initial value Δ F of normal pressure passage have been set up in formula (7) and (8) x2, Δ F z2with car coordinate system { O 1and sensor coordinate system { O 2between initial angle deviate θ 1multi-component WFT output valve F ' during with Vehicle Driving Cycle x2and F ' z2between funtcional relationship.In above formula except Δ F x2, Δ F z2, θ 1beyond the unknown quantity that these three needs solve, also has F x1and F z1these two unknown quantitys, eliminate these two unknown quantitys in function by this method of stopping at level road here.By vehicle stop on level road the time, the tractive force F that wheel is subject to x1be 0, normal pressure F z1remain unchanged, can regard a constant as, therefore by these two condition substitution formulas (7) and formula (8), and two equatioies are divided by, obtain:
Figure 945948DEST_PATH_IMAGE005
（9）
Figure 375792DEST_PATH_IMAGE014
obtain system of equations after repeatedly stopping.Formula only contains Δ F in (9) x2, Δ F z2, θ 1three unknown quantitys.By after the wheel rolling certain angle, vehicle is stopped again on level road, repeatedly after, can obtain some groups of experiment values, be designated as F ' x2i, F ' z2i, θ 2i(subscript i means experiment i=1 the i time ... n), and carry it in formula (9) and go.At every turn when level road stops, capital produces an equation, test for n time, can obtain n equation, its simultaneous can be obtained to the non-linear transcendental equation group of the ternary shown in formula (10), and the problem of obtaining like this three initial values has just converted the Solve problems to the non-linear transcendental equation group of ternary to.
Figure 679734DEST_PATH_IMAGE006
（10）
Figure 2012100774003100002DEST_PATH_IMAGE015
adopt the Newton iteration method to obtain optimum solution.In theory, when n >=3, there is a well-determined solution in the equation with three unknowns group.Due to the system of equations shown in constitutional formula (10) be all non-linear transcendental function, its analytic solution do not exist, so patent of the present invention is calculated the numerical solution of this system of equations by the method for Newton iteration.In practice, consider the uncertain factors such as measuring error, environmental interference, in order to obtain high-precision solution, require equation number n >=10, to eliminate enchancement factor for the interference of measuring.
So far, can obtain the initial value Δ F of Multi-component WFT tractive force passage and normal pressure passage by above-mentioned step x2, Δ F z2and car coordinate system { O 1and sensor coordinate system { O 2between initial angle deviate θ 1.

Claims (7)

1. the method for the calculation of initial value for Multi-component WFT, it comprises the following steps:
Set up bodywork reference frame { O 1and Multi-component WFT coordinate system { O 2transformational relation;
Derive the functional relation of ideally Multi-component WFT passage output and wheel actual loading according to described transformational relation;
Relation while setting up original state and perfect condition and Vehicle Driving Cycle, be updated to initial value in the functional relation of the output of Multi-component WFT passage and wheel actual loading;
Adopt road surface repeatedly to stop and obtain nonlinear multivariable transcendental equation group, and, by Newton iteration method solving equations, obtain the initial value of Multi-component WFT.
2. a kind of method of the calculation of initial value for Multi-component WFT according to claim 1, is characterized in that: described bodywork reference frame { O 1in, X 1axle is the intersection on wheel plane and ground, with working direction for just; Z 1axle is perpendicular to ground level, with upward direction for just; Y 1axle is along axial direction, and and X 1, Z 1axle forms right-handed coordinate system, described sensor coordinate system { O 2in, X 2the tractive force positive dirction that axle is sensor measurement, Z 2the normal pressure positive dirction that axle is sensor measurement, Y 2axle is equally along axial direction, and and X 2, Z 2axle forms right-handed coordinate system, and two coordinate systems all to take the center of axletree be initial point, bodywork reference frame { O 1and Multi-component WFT coordinate system { O 2conversion relational expression be:
Figure 2012100774003100001DEST_PATH_IMAGE001
(1)
R wherein 1radius for wheel.
3. a kind of method of the calculation of initial value for Multi-component WFT according to claim 2 is characterized in that: the output valve F of the normal pressure passage of Multi-component WFT ideally z2output valve F with the tractive force passage of Multi-component WFT x2with the suffered tractive force F of wheel x1with the suffered normal pressure F of wheel z1between relational expression:
Figure 222922DEST_PATH_IMAGE002
(2)。
4. a kind of method of the calculation of initial value for Multi-component WFT according to claim 3,, it is characterized in that: described θ=θ 2-θ 1, θ 2obtain the absolute angle of current wheel position for being arranged on absolute type encoder on Multi-component WFT, θ 1for vehicle axis system { O 1and sensor coordinate system { O 2between the initial angle deviate, described F x2, F z2be respectively:
F X2= F’ X2—ΔF X2 (3)
F Z2=F’ Z2—ΔF Z2 (4)
Δ F x2with Δ F z2the tractive force passage of Multi-component WFT and normal pressure passage output valve while being respectively original state, F ' x2and F ' z2the real output value of the tractive force passage of Multi-component WFT and normal pressure passage while being designated as Vehicle Driving Cycle respectively.
5. a kind of method of the calculation of initial value for Multi-component WFT according to claim 4 is characterized in that: draw following relational expression:
（5）
Figure 403237DEST_PATH_IMAGE004
（6）。
6. a kind of method of the calculation of initial value for Multi-component WFT according to claim 5 is characterized in that: by stopping at level road, draw following relational expression:
Figure 2012100774003100001DEST_PATH_IMAGE005
（7）
By after the wheel rolling certain angle, vehicle is stopped again on level road, repeatedly after, can obtain some groups of experiment values, be designated as F ' x2i, F ' z2i, θ 2i(subscript i means experiment i=1 the i time ... n,), and carry it in formula (7) and go, at every turn when level road stops, capital produces an equation, tests for n time, can obtain n equation, its simultaneous can be obtained to the non-linear transcendental equation group of the ternary shown in formula (8), and the problem of obtaining like this three initial values has just converted the Solve problems to the non-linear transcendental equation group of ternary to:
Figure 95249DEST_PATH_IMAGE006
（8）。
7. a kind of method of the calculation of initial value for Multi-component WFT according to claim 6, is characterized in that: described n >=10.
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Publication number Priority date Publication date Assignee Title
CN105007058A (en) * 2015-07-15 2015-10-28 东南大学 Real-time filtering method suitable for multi-dimensional wheel force sensor
CN109141742A (en) * 2018-08-29 2019-01-04 南京工业大学 A kind of Nonlinear Decoupling method for wheel force

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Application publication date: 20130102