CN102944422A - Driving load fatigue representing and testing method for transmission system of automobile - Google Patents

Driving load fatigue representing and testing method for transmission system of automobile Download PDF

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CN102944422A
CN102944422A CN2012105379015A CN201210537901A CN102944422A CN 102944422 A CN102944422 A CN 102944422A CN 2012105379015 A CN2012105379015 A CN 2012105379015A CN 201210537901 A CN201210537901 A CN 201210537901A CN 102944422 A CN102944422 A CN 102944422A
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signal
gear
vibrator
transmission
driving
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CN102944422B (en
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邹喜红
石晓辉
施全
郝建军
张志刚
余勇
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Chongqing University of Technology
Chongqing Academy of Science and Technology
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Chongqing University of Technology
Chongqing Academy of Science and Technology
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Abstract

本发明公开了一种汽车传动系统行驶载荷疲劳再现试验方法，步骤如下：（1）在试验场采集变速器输入转矩、驱动轮轴振动加速度和变速器档位信号；（2）获得各档位实际行驶时的期望响应信号；（3）安装传动系统，计算系统的频率响应函数；（4）计算直线激振器和扭转激振器的初始驱动信号；（5）计算误差对应的驱动信号修正量，记录该档位的最终驱动信号；（6）获得各个档位的最终驱动信号；（7）分别以各个档位最终驱动信号为输入，对传动系统进行疲劳耐久性试验。该方法能很好的反映汽车传动系在实车行驶中的载荷，在室内模拟再现出传动系统在实车行驶时的受力情况和疲劳情况，对汽车传动系疲劳寿命在室内进行准确高效的考核。

The invention discloses a driving load fatigue reproduction test method of an automobile transmission system. The steps are as follows: (1) collecting transmission input torque, driving wheel shaft vibration acceleration and transmission gear signals at the test field; (2) obtaining actual driving of each gear (3) Install the transmission system and calculate the frequency response function of the system; (4) Calculate the initial drive signals of the linear vibrator and torsional vibrator; (5) Calculate the correction amount of the drive signal corresponding to the error, Record the final drive signal of the gear; (6) Obtain the final drive signal of each gear; (7) Perform the fatigue durability test on the transmission system with the final drive signal of each gear as input. This method can well reflect the load of the automobile transmission system in real vehicle driving, simulate and reproduce the stress and fatigue conditions of the transmission system in real vehicle driving indoors, and accurately and efficiently calculate the fatigue life of the automobile transmission system indoors. assessment.

Description

The car transmissions tired test method of reproducing of load of travelling
Technical field
The present invention relates to a kind of car transmissions method for testing performance, relate in particular to a kind of car transmissions tired test method of reproducing of load of travelling.
Background technology
The most car all is preposition forerunner's arrangement form, and its kinematic train mainly is comprised of variator (main reducing gear and differential mechanism and variator are integrated) and length semiaxis, and these component combinations play a part to be the running car transmitting torque together.Car transmissions are subject to the effect of alternate torque and the double action of the dynamic loading that the wheel bob causes in the actual travel process, the destruction of its parts and assembly, the overwhelming majority is because the inefficacy that causes under these two kinds of load actings in conjunction, for indoor car transmissions fatigue reliability performance being verified and is examined, need to simulate and reproduce two kinds of the car transmissions load of mainly travelling, then carry out fatigue life test under the load condition that reproduces, this will improve experimental accuracy and efficient greatly.At present, also there are not car transmissions moment of torsion and wheel bob dynamic loading simultaneously test unit and the method for simulation reconstruction both at home and abroad.
Summary of the invention
For above shortcomings in the prior art, the invention provides a kind of car transmissions tired test method of reproducing of load of travelling.This test method can reflect well that vehicle transmission ties up to the load of real vehicle in travelling, in stressing conditions and the tired situation of lab simulation reproducing car transmissions when real vehicle travels, to automotive transmission fatigue lifetime in the indoor examination of carrying out precise and high efficiency.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
The car transmissions tired test method of reproducing of load of travelling, adopted in the method a kind of car transmissions tired pilot system of reproducing of load of travelling, this pilot system comprises the first linear vibration exciter, the second linear vibration exciter, the first hold-down support, the second hold-down support, acceleration transducer, reverse vibration generator, torque sensor and computer control system; Described the first linear vibration exciter and the second linear vibration exciter vertically arrange, on the piston rod of the first linear vibration exciter and the second linear vibration exciter, a brace table is set respectively, each brace table is provided with the relative support slide unit of this brace table horizontal slip, described the first hold-down support vertically is fixed on the support slide unit of the first linear vibration exciter top, described the second hold-down support vertically is fixed on the support slide unit of the second linear vibration exciter top, be equipped with acceleration transducer on described the first hold-down support and the second hold-down support, described torque sensor is connected with reverse vibration generator, described the first linear vibration exciter, the second linear vibration exciter and reverse vibration generator are controlled by computer control system, the signal input computer control system that acceleration transducer and torque sensor gather;
The method comprises the steps:
(1), at transmission input shaft the strain-type torque sensor is installed, acceleration transducer is installed on the wheel hub, is gathered the vibration acceleration of gear-box input torque and output terminal at the testing field, and gather simultaneously the Transmission gear signal;
(2), according to gear signal, torque signal and the acceleration signal that gathers carried out cutting, rejects the singular term pre-service, the Expected Response signal when obtaining each gear actual travel, the Expected Response signal when recording this gear actual travel is , be 1 * 3 matrix;
(3), car transmissions are installed in car transmissions and travel that load is tired to be reproduced on the pilot system, reverse vibration generator is connected with the power input shaft of variator, the moving semiaxis of long pass of variator is fixedly connected with the first hold-down support, the moving semiaxis of the short pass of variator is fixedly connected with the second hold-down support, by computer control system linear vibration exciter and reverse vibration generator is applied white noise signal , the response signal of collecting acceleration transducer and torque sensor
Figure 2012105379015100002DEST_PATH_IMAGE006
, calculate the frequency response function of this pilot system by formula (1)
Figure 2012105379015100002DEST_PATH_IMAGE008
Figure 2012105379015100002DEST_PATH_IMAGE010
（1）
In the formula:
Figure 2012105379015100002DEST_PATH_IMAGE012
-white noise signal
Figure 2012105379015100002DEST_PATH_IMAGE014
Autopower spectral density;
Figure 2012105379015100002DEST_PATH_IMAGE016
-white noise signal
Figure 429335DEST_PATH_IMAGE014
With the sensor response signal
Figure 608644DEST_PATH_IMAGE006
Between cross-spectral density;
Frequency response function between-acceleration transducer and torque sensor and linear vibration exciter and the reverse vibration generator is 3 * 3 matrixes;
Expected Response signal during (4), with this gear actual travel
Figure 402604DEST_PATH_IMAGE002
Be simulated target, according to the initial driving signal of formula (2) and (3) calculated line vibrator and reverse vibration generator:
Figure 2012105379015100002DEST_PATH_IMAGE018
（2）
Figure 2012105379015100002DEST_PATH_IMAGE020
（3）
In the formula:
Figure 2012105379015100002DEST_PATH_IMAGE022
-
Figure 610207DEST_PATH_IMAGE008
Inverse matrix;
-Expected Response signal
Figure 2012105379015100002DEST_PATH_IMAGE026
Fourier transform;
Figure 2012105379015100002DEST_PATH_IMAGE028
-linear vibration exciter and reverse vibration generator initially drive signal;
Figure 2012105379015100002DEST_PATH_IMAGE030
-
Figure 152178DEST_PATH_IMAGE028
Fourier transform;
(5), with initial drive linear vibration exciter and reverse vibration generator, gather simultaneously the response signal of acceleration transducer and torque sensor
Figure 2012105379015100002DEST_PATH_IMAGE032
, calculate time domain response and frequency domain response weighted error with formula (4), (5), (6) and (7), use driving signal correction amount corresponding to formula (8) and (9) error of calculation:
Figure 2012105379015100002DEST_PATH_IMAGE034
（4）
Figure 2012105379015100002DEST_PATH_IMAGE036
（5）
Figure 2012105379015100002DEST_PATH_IMAGE038
（6）
Figure 2012105379015100002DEST_PATH_IMAGE040
（7）
（8）
Figure 2012105379015100002DEST_PATH_IMAGE044
（9）
In the formula: -time domain response error signal;
Figure 2012105379015100002DEST_PATH_IMAGE048
-sensor response signal
Figure 797704DEST_PATH_IMAGE032
Fourier transform;
Figure 2012105379015100002DEST_PATH_IMAGE050
-frequency domain response error signal;
Figure 2012105379015100002DEST_PATH_IMAGE052
-frequency domain response error signal
Figure 171048DEST_PATH_IMAGE050
Inverse Fourier transform;
Figure 2012105379015100002DEST_PATH_IMAGE054
-time domain response and frequency domain response weighted error;
Figure 2012105379015100002DEST_PATH_IMAGE056
-
Figure 818061DEST_PATH_IMAGE054
Fourier transform;
Figure 2012105379015100002DEST_PATH_IMAGE058
The corresponding signal that drives of-error;
Figure 2012105379015100002DEST_PATH_IMAGE060
-
Figure 706382DEST_PATH_IMAGE058
Fourier transform;
Revising the driving signal is
Figure 2012105379015100002DEST_PATH_IMAGE062
In the formula
Figure 2012105379015100002DEST_PATH_IMAGE064
Be attenuation coefficient, initial value gets 0.5 usually, suitably increases or reduces according to the iteration convergence situation, but must satisfy: 0＜
Figure 461324DEST_PATH_IMAGE064
≤ 1;
Drive signal to revise
Figure 2012105379015100002DEST_PATH_IMAGE066
As driving, constantly repeat the process of front in this step and carry out iteration, and with the real-time error of calculation value of formula (10)
Figure 2012105379015100002DEST_PATH_IMAGE068
, when each sensor response error≤5%, the final signal that drives of record, this finally drives the final driving signal that signal is this gear;
Figure 2012105379015100002DEST_PATH_IMAGE070
（10）
In the formula:
Figure 626857DEST_PATH_IMAGE068
-the nInferior iteration error value;
Figure 2012105379015100002DEST_PATH_IMAGE072
-the nThe response signal that inferior iteration gathers;
Figure 2012105379015100002DEST_PATH_IMAGE074
-
Figure 507089DEST_PATH_IMAGE072
Fourier transform;
(6), repeating step (4) and step (5), the Expected Response signal during to each gear actual travel of variator carries out simulative iteration, obtains the final driving signal of each gear;
(7), finally drive signal as input take each gear respectively, variator is fixed on corresponding gear, kinematic train is carried out the fatigue durability test.
Compared with prior art, the car transmissions of the present invention tired test method of reproducing of load of travelling has following advantage:
1, uses linear vibration exciter and reverse vibration generator respectively simulated automotive kinematic train output axle shaft wheel bob dynamic loading and automotive transmission actual travel torsion load, reflected that well vehicle transmission ties up to the load of real vehicle in travelling.
2, use the multi parameters control method of time domain error and error of frequency domain weighting, in stressing conditions and the tired situation of lab simulation reproducing car transmissions when real vehicle travels, to automotive transmission fatigue lifetime in the indoor examination of carrying out precise and high efficiency.
Description of drawings
Fig. 1 is the car transmissions tired front views that reproduce pilot system of load that travel;
Fig. 2 is the car transmissions tired vertical views that reproduce pilot system of load that travel.
In the accompanying drawing: 1-mounting foundation; The 2-the first linear vibration exciter; 3-support slide unit; The 4-the first hold-down support; 5-acceleration transducer; Semiaxis is moved in 6-long pass; 7-reverse vibration generator; 8-torque sensor; 9-variator bearing; 10-variator; Semiaxis is moved in 11-short pass; 12-support platform; 13-support platform column; 14-torque sensor; 15-reverse vibration generator pedestal; 16-brace table; The 17-the second linear vibration exciter; The 18-the second hold-down support.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
The car transmissions tired test method of reproducing of load of travelling has adopted a kind of car transmissions tired pilot system of reproducing of load of travelling in the method.As shown in Figure 1, 2, these car transmissions tired pilot system of reproducing of load of travelling comprises mounting foundation 1, variator bearing 9, support platform 12, support platform column 13, torque sensor pedestal 14, reverse vibration generator pedestal 15, the first linear vibration exciter 2, the second linear vibration exciter 17, the first hold-down support 4, the second hold-down support 18, acceleration transducer 5, reverse vibration generator 7, torque sensor 8 and computer control system.The first linear vibration exciter 2 and the second linear vibration exciter 17 vertically are arranged on the mounting foundation 1, are used for the bob of simulating wheel.Support platform 12 is horizontally set on the top of mounting foundation 1 by three support platform columns 13, and support platform 12 is used for supporting reverse vibration generator 7, torque sensor 8 and variator 10.One brace table 16 is set respectively on the piston rod of the first linear vibration exciter 2 and the second linear vibration exciter 3, each brace table 16 is provided with the relative support slide unit 3 of these brace table 16 horizontal slips, the effect of supporting slide unit 3 is to support hold-down support, supporting simultaneously slide unit 3 can slide by along continuous straight runs on brace table 16, the variation of distance during with compensation wheel bob.The first hold-down support 4 vertically is fixed on the support slide unit 3 of the first linear vibration exciter 2 tops, the second hold-down support 18 vertically is fixed on the support slide unit 3 of the second linear vibration exciter 17 tops, is equipped with acceleration transducer 5 on the first hold-down support 4 and the second hold-down support 18.Torque sensor 8 is installed on the support platform 12 by torque sensor pedestal 14, and reverse vibration generator 7 is installed on the support platform 12 by reverse vibration generator pedestal 15, and variator 10 is installed on the support platform 12 by variator bearing 9.Torque sensor 8 is connected with reverse vibration generator 7 and is connected with the power input shaft of variator 10 by reverse vibration generator 7, and reverse vibration generator 7 is used for simulated engine and outputs to dynamically reversing of variator.The first linear vibration exciter 2, the second linear vibration exciter 17 and reverse vibration generator 7 are by computer control system control, and the signal that acceleration transducer 5 and torque sensor 8 gather is inputted computer control system.
The ultimate principle of this pilot system is: the acceleration that at first gathers automotive transmission input torque and wheel hub vertical direction when real vehicle travels, and carry out signal cutting and processing according to gear, then apply respectively white noise signal with linear vibration exciter and reverse vibration generator, gather the output of acceleration transducer and torque sensor, calculate the frequency response function of this pilot system, the analysis of wheel vertical directional acceleration and the torque that gather when travelling according to real vehicle, calculated line vibrator and reverse vibration generator input signal, and constantly carry out iteration, the analysis of wheel vertical directional acceleration and the drive train torque that when acceleration transducer and torque sensor simulate real vehicle and travel, gather, so that the load of travelling of power train is well reproduced in this system, under the real load condition, carry out torture test according to each gear at last.
These car transmissions tired test method of reproducing of load of travelling comprises the steps:
(1), at transmission input shaft the strain-type torque sensor is installed, acceleration transducer is installed on the wheel hub, is gathered the vibration acceleration of gear-box input torque and output terminal at the testing field, and gather simultaneously the Transmission gear signal.
(2), according to gear signal, torque signal and the acceleration signal that gathers carried out cutting, rejects the singular term pre-service, the Expected Response signal when obtaining each gear actual travel, the Expected Response signal when recording this gear actual travel is , be 1 * 3 matrix.
(3), car transmissions are installed in car transmissions and travel that load is tired to be reproduced on the pilot system, reverse vibration generator is connected with the power input shaft of variator, the moving semiaxis of long pass of variator is fixedly connected with the first hold-down support, the moving semiaxis of the short pass of variator is fixedly connected with the second hold-down support, by computer control system linear vibration exciter and reverse vibration generator is applied white noise signal
Figure 241007DEST_PATH_IMAGE004
, the response signal of collecting acceleration transducer and torque sensor
Figure 713576DEST_PATH_IMAGE006
, calculate the frequency response function of this pilot system by formula (1)
Figure 755920DEST_PATH_IMAGE008
Figure 681150DEST_PATH_IMAGE010
（1）
In the formula:
Figure 843142DEST_PATH_IMAGE012
-white noise signal
Figure 842322DEST_PATH_IMAGE014
Autopower spectral density;
-white noise signal
Figure 476882DEST_PATH_IMAGE014
With the sensor response signal
Figure 504881DEST_PATH_IMAGE006
Between cross-spectral density;
Figure 624147DEST_PATH_IMAGE008
Frequency response function between-acceleration transducer and torque sensor and linear vibration exciter and the reverse vibration generator is 3 * 3 matrixes.
Expected Response signal during (4), with this gear actual travel
Figure 751503DEST_PATH_IMAGE002
Be simulated target, according to the initial driving signal of formula (2) and (3) calculated line vibrator and reverse vibration generator:
Figure 651326DEST_PATH_IMAGE018
（2）
Figure 155119DEST_PATH_IMAGE020
（3）
In the formula:
Figure 456788DEST_PATH_IMAGE022
- Inverse matrix;
Figure 76917DEST_PATH_IMAGE024
-Expected Response signal Fourier transform;
Figure 274998DEST_PATH_IMAGE028
-linear vibration exciter and reverse vibration generator initially drive signal;
Figure 72052DEST_PATH_IMAGE030
-
Figure 618571DEST_PATH_IMAGE028
Fourier transform.
(5), with initial drive linear vibration exciter and reverse vibration generator, gather simultaneously the response signal of acceleration transducer and torque sensor
Figure 729747DEST_PATH_IMAGE032
, calculate time domain response and frequency domain response weighted error with formula (4), (5), (6) and (7), use driving signal correction amount corresponding to formula (8) and (9) error of calculation:
Figure 740428DEST_PATH_IMAGE034
（4）
（5）
（6）
Figure 391486DEST_PATH_IMAGE040
（7）
Figure 194357DEST_PATH_IMAGE042
（8）
Figure 333215DEST_PATH_IMAGE044
（9）
In the formula: -time domain response error signal;
Figure 104042DEST_PATH_IMAGE048
-sensor response signal
Figure 29928DEST_PATH_IMAGE032
Fourier transform;
Figure 277370DEST_PATH_IMAGE050
-frequency domain response error signal;
Figure 348094DEST_PATH_IMAGE052
-frequency domain response error signal
Figure 339184DEST_PATH_IMAGE050
Inverse Fourier transform;
Figure 178964DEST_PATH_IMAGE054
-time domain response and frequency domain response weighted error;
-
Figure 827431DEST_PATH_IMAGE054
Fourier transform;
Figure 684528DEST_PATH_IMAGE058
The corresponding signal that drives of-error;
Figure 316498DEST_PATH_IMAGE060
-
Figure 968059DEST_PATH_IMAGE058
Fourier transform;
Revising the driving signal is
Figure 951059DEST_PATH_IMAGE062
In the formula
Figure 283951DEST_PATH_IMAGE064
Be attenuation coefficient, initial value gets 0.5 usually, suitably increases or reduces according to the iteration convergence situation, but must satisfy: 0＜
Figure 832744DEST_PATH_IMAGE064
≤ 1;
Drive signal to revise
Figure 855539DEST_PATH_IMAGE066
As driving, constantly repeat the process of front in this step and carry out iteration, and with the real-time error of calculation value of formula (10)
Figure 122572DEST_PATH_IMAGE068
, when each sensor response error≤5%, the final signal that drives of record, this finally drives the final driving signal that signal is this gear;
Figure 259156DEST_PATH_IMAGE070
（10）
In the formula: -the nInferior iteration error value;
Figure 859081DEST_PATH_IMAGE072
-the nThe response signal that inferior iteration gathers;
-
Figure 288106DEST_PATH_IMAGE072
Fourier transform.
(6), repeating step (4) and step (5), the Expected Response signal during to each gear actual travel of variator carries out simulative iteration, obtains the final driving signal of each gear.
(7), finally drive signal as input take each gear respectively, variator is fixed on corresponding gear, kinematic train is carried out the fatigue durability test.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (1)

1.汽车传动系统行驶载荷疲劳再现试验方法，其特征在于，在该方法中采用了一种汽车传动系统行驶载荷疲劳再现试验系统，该试验系统包括第一直线激振器、第二直线激振器、第一固定支座、第二固定支座、加速度传感器、扭转激振器、扭矩传感器和计算机控制系统；所述第一直线激振器和第二直线激振器竖直设置，在第一直线激振器和第二直线激振器的活塞杆上分别设置一支撑台，每个支撑台上设有一可相对该支撑台水平滑动的支撑滑台，所述第一固定支座竖直固定在第一直线激振器上方的支撑滑台上，所述第二固定支座竖直固定在第二直线激振器上方的支撑滑台上，所述第一固定支座和第二固定支座上均设有加速度传感器，所述扭矩传感器与扭转激振器连接，所述第一直线激振器、第二直线激振器和扭转激振器由计算机控制系统控制，加速度传感器和扭矩传感器采集的信号输入计算机控制系统； 1. Automobile transmission system driving load fatigue reproduction test method, it is characterized in that, adopted a kind of automobile transmission system driving load fatigue reproduction test system in this method, this test system comprises the first linear exciter, the second linear exciter vibrator, first fixed support, second fixed support, acceleration sensor, torsional vibrator, torque sensor and computer control system; the first linear vibrator and the second linear vibrator are vertically arranged, A support platform is respectively arranged on the piston rods of the first linear vibrator and the second linear vibrator, and each support platform is provided with a support sliding platform that can slide horizontally relative to the support platform. The first fixed support The seat is vertically fixed on the support slide above the first linear vibrator, the second fixed support is vertically fixed on the support slide above the second linear vibrator, and the first fixed support and the second fixed support are provided with acceleration sensors, the torque sensor is connected to the torsional vibrator, and the first linear vibrator, the second linear vibrator and the torsional vibrator are controlled by a computer control system , the signals collected by the acceleration sensor and the torque sensor are input into the computer control system; 该方法包括如下步骤： The method comprises the steps of: （1）、在变速器输入轴上安装应变式扭矩传感器，车轮轮轴上安装加速度传感器，在试验场采集变速器输入转矩和输出端的振动加速度，并同时采集变速器档位信号； (1) Install a strain gauge torque sensor on the input shaft of the transmission, install an acceleration sensor on the wheel axle, collect the input torque of the transmission and the vibration acceleration of the output end in the test field, and simultaneously collect the gear position signal of the transmission; （2）、根据档位信号，对采集的扭矩信号和加速度信号进行裁剪、剔除奇异项预处理，得到各个档位实际行驶时的期望响应信号，记录该档位实际行驶时的期望响应信号为                                               ，为1×3矩阵； (2) According to the gear position signal, the collected torque signal and acceleration signal are cut out and the singular items are preprocessed to obtain the expected response signal of each gear position when actually driving, and the expected response signal when the gear position is actually driven is recorded as , is a 1×3 matrix; （3）、将汽车传动系统安装在汽车传动系统行驶载荷疲劳再现试验系统上，使扭转激振器与变速器的动力输入轴连接，使变速器的长传动半轴与第一固定支座固定连接，变速器的短传动半轴与第二固定支座固定连接，通过计算机控制系统对直线激振器和扭转激振器施加白噪声信号，收集加速度传感器和扭矩传感器的响应信号
Figure 2012105379015100001DEST_PATH_IMAGE006
，按式（1）计算该试验系统的频率响应函数
Figure 2012105379015100001DEST_PATH_IMAGE008
； (3) Install the vehicle transmission system on the driving load fatigue reproduction test system of the vehicle transmission system, connect the torsional vibration exciter to the power input shaft of the transmission, and connect the long transmission half shaft of the transmission to the first fixed support, The short transmission half-shaft of the transmission is fixedly connected with the second fixed support, and the white noise signal is applied to the linear vibrator and torsional vibrator through the computer control system , collect the response signals of the acceleration sensor and the torque sensor
Figure 2012105379015100001DEST_PATH_IMAGE006
, according to formula (1) to calculate the frequency response function of the test system
Figure 2012105379015100001DEST_PATH_IMAGE008
;         
Figure 2012105379015100001DEST_PATH_IMAGE010
                              （1）
Figure 2012105379015100001DEST_PATH_IMAGE010
(1) 式中：
Figure 2012105379015100001DEST_PATH_IMAGE012
—白噪声信号
Figure 2012105379015100001DEST_PATH_IMAGE014
的自功率谱密度； In the formula:
Figure 2012105379015100001DEST_PATH_IMAGE012
— white noise signal
Figure 2012105379015100001DEST_PATH_IMAGE014
The self power spectral density of ;       
Figure 2012105379015100001DEST_PATH_IMAGE016
—白噪声信号
Figure 994976DEST_PATH_IMAGE014
与传感器响应信号之间的互功率谱密度；
Figure 2012105379015100001DEST_PATH_IMAGE016
— white noise signal
Figure 994976DEST_PATH_IMAGE014
with the sensor responding to the signal The cross power spectral density between;
Figure 629537DEST_PATH_IMAGE008
—加速度传感器和扭矩传感器与直线激振器和扭转激振器之间的频率响应函数，为3×3矩阵； 
Figure 629537DEST_PATH_IMAGE008
—The frequency response function between the acceleration sensor and the torque sensor and the linear vibrator and the torsional vibrator, which is a 3×3 matrix; （4）、以该档位实际行驶时的期望响应信号
Figure 962429DEST_PATH_IMAGE002
为模拟目标，根据式（2）和（3）计算直线激振器和扭转激振器的初始驱动信号： (4) Expected response signal when actually driving in this gear
Figure 962429DEST_PATH_IMAGE002
For the simulation purpose, the initial driving signals of the linear vibrator and the torsional vibrator are calculated according to equations (2) and (3):                                  （2） (2)
Figure 2012105379015100001DEST_PATH_IMAGE020
                                  （3）
Figure 2012105379015100001DEST_PATH_IMAGE020
(3) 式中：
Figure 2012105379015100001DEST_PATH_IMAGE022
—
Figure 589851DEST_PATH_IMAGE008
的逆矩阵； In the formula:
Figure 2012105379015100001DEST_PATH_IMAGE022
—
Figure 589851DEST_PATH_IMAGE008
the inverse matrix;       
Figure 2012105379015100001DEST_PATH_IMAGE024
—期望响应信号的傅里叶变换；
Figure 2012105379015100001DEST_PATH_IMAGE024
— expected response signal The Fourier transform of; —直线激振器和扭转激振器初始驱动信号； —Initial drive signal of linear vibrator and torsional vibrator;   —
Figure 228292DEST_PATH_IMAGE028
的傅里叶变换； —
Figure 228292DEST_PATH_IMAGE028
The Fourier transform of; （5）、以初始驱动信号驱动直线激振器和扭转激振器，同时采集加速度传感器和扭矩传感器的响应信号
Figure DEST_PATH_IMAGE032
，用式（4）、（5）、（6）和（7）计算时域响应和频域响应加权误差，用式（8）和（9）计算误差对应的驱动信号修正量： (5) Drive the linear vibrator and torsional vibrator with the initial drive signal, and collect the response signals of the acceleration sensor and torque sensor at the same time
Figure DEST_PATH_IMAGE032
, use equations (4), (5), (6) and (7) to calculate the weighted error of time domain response and frequency domain response, and use equations (8) and (9) to calculate the corresponding driving signal correction amount of the error:       
Figure DEST_PATH_IMAGE034
                                （4）
Figure DEST_PATH_IMAGE034
(4)       
Figure DEST_PATH_IMAGE036
                              （5）
Figure DEST_PATH_IMAGE036
(5)       
Figure DEST_PATH_IMAGE038
                               （6）
Figure DEST_PATH_IMAGE038
(6)       
Figure DEST_PATH_IMAGE040
                          （7）
Figure DEST_PATH_IMAGE040
(7)       
Figure DEST_PATH_IMAGE042
                               （8）
Figure DEST_PATH_IMAGE042
(8)       
Figure DEST_PATH_IMAGE044
                                （9）
Figure DEST_PATH_IMAGE044
(9) 式中：
Figure DEST_PATH_IMAGE046
—时域响应误差信号； In the formula:
Figure DEST_PATH_IMAGE046
- time domain response error signal; —传感器响应信号
Figure 56178DEST_PATH_IMAGE032
的傅里叶变换； — sensor response signal
Figure 56178DEST_PATH_IMAGE032
The Fourier transform of;       —频域响应误差信号； - frequency domain response error signal;       
Figure DEST_PATH_IMAGE052
—频域响应误差信号
Figure 68127DEST_PATH_IMAGE050
的逆傅里叶变换；
Figure DEST_PATH_IMAGE052
—Frequency Domain Response Error Signal
Figure 68127DEST_PATH_IMAGE050
The inverse Fourier transform of ;
Figure DEST_PATH_IMAGE054
—时域响应和频域响应加权误差；
Figure DEST_PATH_IMAGE054
- time domain response and frequency domain response weighted error;
Figure DEST_PATH_IMAGE056
—
Figure 612372DEST_PATH_IMAGE054
的傅里叶变换；
Figure DEST_PATH_IMAGE056
—
Figure 612372DEST_PATH_IMAGE054
The Fourier transform of;       
Figure DEST_PATH_IMAGE058
—误差对应驱动信号；
Figure DEST_PATH_IMAGE058
—The error corresponds to the driving signal;       —
Figure 481102DEST_PATH_IMAGE058
的傅里叶变换； —
Figure 481102DEST_PATH_IMAGE058
The Fourier transform of; 修正驱动信号为； The corrected driving signal is ; 式中为衰减系数，初始值通常取0.5，根据迭代收敛情况适当增大或减小，但必须满足：0＜≤1； In the formula is the attenuation coefficient, the initial value is usually 0.5, and it can be increased or decreased appropriately according to the iteration convergence, but it must satisfy: 0< ≤1; 以修正驱动信号作为驱动，不断重复本步骤中前面的过程进行迭代，并以式（10）实时计算误差值
Figure DEST_PATH_IMAGE068
，当各传感器响应误差≤5%时，记录最终驱动信号，该最终驱动信号即为该档位的最终驱动信号； to modify the drive signal As a driving force, iteratively repeat the previous process in this step, and calculate the error value in real time by formula (10)
Figure DEST_PATH_IMAGE068
, when the response error of each sensor is ≤5%, record the final driving signal, which is the final driving signal of the gear;
Figure DEST_PATH_IMAGE070
       （10）
Figure DEST_PATH_IMAGE070
(10) 式中：
Figure 675507DEST_PATH_IMAGE068
—第n次迭代误差值； In the formula:
Figure 675507DEST_PATH_IMAGE068
— the error value of the nth iteration;  
Figure DEST_PATH_IMAGE072
—第n次迭代采集的响应信号；
Figure DEST_PATH_IMAGE072
- the response signal collected by the nth iteration;      
Figure DEST_PATH_IMAGE074
—的傅里叶变换；
Figure DEST_PATH_IMAGE074
— The Fourier transform of; （6）、重复步骤（4）和步骤（5），对变速器的各个档位实际行驶时的期望响应信号进行模拟迭代，得到各个档位的最终驱动信号； (6) Steps (4) and (5) are repeated to simulate and iterate the expected response signals of each gear of the transmission during actual driving to obtain the final drive signal of each gear; （7）、分别以各个档位最终驱动信号为输入，将变速器固定在相应档位，对传动系统进行疲劳耐久性试验。 (7) Take the final drive signal of each gear as input, fix the transmission in the corresponding gear, and carry out the fatigue durability test on the transmission system.
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