CN103076146A - Drop test seven-degree-of-freedom vehicle model-based vehicle parameter identification method - Google Patents

Drop test seven-degree-of-freedom vehicle model-based vehicle parameter identification method Download PDF

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CN103076146A
CN103076146A CN2013100008032A CN201310000803A CN103076146A CN 103076146 A CN103076146 A CN 103076146A CN 2013100008032 A CN2013100008032 A CN 2013100008032A CN 201310000803 A CN201310000803 A CN 201310000803A CN 103076146 A CN103076146 A CN 103076146A
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parameter
measuring point
vehicle
acceleration
fall
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CN103076146B (en
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张农
王立夫
郑敏毅
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Changzhou Wan'an Automobile Parts Technology Co Ltd
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Changzhou Wan'an Automobile Parts Technology Co Ltd
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Abstract

The invention discloses a drop test seven-degree-of-freedom vehicle model-based vehicle parameter identification method, which comprises the following steps of: 1, setting at least six measurement points on a vehicle; 2, performing drop tests under the condition of no load of the vehicle; 3, adding weights the center of mass of the vehicle body, symmetrical positions on the left and right sides of the center of mass and symmetrical positions in front of and behind the center of mass, and performing drop tests to obtain acceleration signals; 4, obtaining modal parameters of the vehicle; and 5, identifying physical parameters. In such a way, a test method is simple, requirements on equipment are low, the estimated physical parameters are high in accuracy, and simulation responses given by the estimated physical parameters are matched with responses obtained by the tests.

Description

Vehicle parameter recognition methods based on fall-down test seven freedom auto model
Technical field
The present invention relates to vehicle parameter identification field, particularly relate to a kind of vehicle parameter recognition methods based on fall-down test seven freedom auto model.
Background technology
Need to set up an accurately car model for the Dynamical Characteristics of automobile, determine that therefore the physical parameter of automobile plays vital effect for the research of its dynamics.Can be obtained by frequency domain method or time domain approach for the automobile Modal Parameter Identification.
Need to use four-way suspension testing table in frequency domain method automobile is encouraged, and the comparison in equipment of four-way suspension testing table is expensive, general enterprises and research institute do not have four-way suspension testing table.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of vehicle parameter recognition methods based on fall-down test seven freedom auto model, can estimate to obtain accurate physical parameter, and test method is simple, and is low for equipment requirements.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of vehicle parameter recognition methods based on fall-down test seven freedom auto model is provided, may further comprise the steps:
1) sets at least 6 measuring points at vehicle, the first measuring point and the second measuring point are located at respectively apart from vehicle body barycenter both sides maximum distance apart, the 3rd measuring point is located at the intersection point place of the front axle of the longitudinal centre line of vehicle body and vehicle body, described the 4th measuring point is located at the afterbody of the longitudinal centre line of vehicle body, described the 5th measuring point is located at vehicle body barycenter place, and the 6th measuring point is located on the vehicle body the arbitrary position without any measuring point;
2) be in the situation of zero load at vehicle, obtain the acceleration signal of each measuring point by four tire fall-down tests, front or rear tire fall-down test and a left side or right tire fall-down test;
3) at vehicle body centroid position place, symmetrical position increases weight in the symmetrical position of barycenter and before and after the barycenter, and respectively by step 2) in three kinds of fall-down tests obtain acceleration signals;
4) utilize state-based variable modal parameter Time domain identification method and step 2) with each acceleration signal of step 3) identification gained, obtain the modal parameter of automobile, modal parameter comprises the vertical vibration frequency, pitch frequency, roll vibration frequency of vehicle body, take tire vibration frequency and seven corresponding damping ratios of model frequency as main vertical vibration, pitch vibration, roll vibration, the Torsional Vibration that disappears;
5) identification physical parameter, physical parameter comprises mass parameter, stiffness parameters, damping parameter and dimensional parameters, and described dimensional parameters obtains by measuring, and described mass parameter, stiffness parameters and damping parameter are identified by the seven freedom auto model.
In a preferred embodiment of the present invention, step 2) four tire fall-down tests are that four tires in front and back are propped with the wooden unit of sustained height in, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal that can obtain to vibrate by the sensor on the measuring point, the 5th measuring point can obtain the free damping signal of vehicle body barycenter place vibration, or the acceleration responsive of the first measuring point is added that the acceleration responsive of the second measuring point obtains the free damping signal that vehicle body barycenter place vibrates divided by two again.
In a preferred embodiment of the present invention, step 2) front tyre or rear tyre fall-down test are that two front-wheels or two trailing wheels of vehicle are propped with the wooden unit of sustained height in, vehicle is pushed from wooden unit, vehicle obtains an excitation, obtain the free damping signal of vibration by the sensor on the measuring point, the acceleration responsive of the 3rd measuring point is deducted behind the acceleration responsive of the 5th measuring point again the free damping signal of the angle of pitch acceleration that the distance divided by the 3rd measuring point to the five measuring points obtains vibrating, or the acceleration responsive of the 5th measuring point is deducted behind the acceleration responsive of the 4th measuring point again the free damping signal of the angle of pitch acceleration that the distance divided by the 4th measuring point to the five measuring points obtains vibrating.
In a preferred embodiment of the present invention, step 2) left tire or right tire fall-down test are that the tire in the left side of vehicle or the tire on right side are propped with the wooden unit of sustained height in, vehicle is pushed from wooden unit, vehicle obtains an excitation, the acceleration signal of the first measuring point deducts behind the acceleration signal of the second measuring point the free damping signal of the roll angle acceleration that obtains vibrating to the distance of the second measuring point divided by the first measuring point again, after the acceleration signal of the first measuring point or the 5th measuring point deducts the acceleration signal of the 5th measuring point or the second measuring point, the free damping signal of the roll angle acceleration that obtains vibrating divided by the distance of the first measuring point or the 5th measuring point to the five measuring points or the second measuring point again.
In a preferred embodiment of the present invention, the method by the identification of seven freedom auto model in the step 5) may further comprise the steps:
A, with the natural frequency of step 4) identification
Figure 2013100008032100002DEST_PATH_IMAGE002
And damping ratio As input;
The population number of b, setting particle cluster algorithm is n, and random initializtion n group physical parameter is designated as in given parameter area
Figure 2013100008032100002DEST_PATH_IMAGE006
, and the increment of physical parameter variation
Figure 2013100008032100002DEST_PATH_IMAGE008
,
Figure 2013100008032100002DEST_PATH_IMAGE010
Expression initialization automotive system the iThe group physical parameter, Be physical parameter
Figure 2013100008032100002DEST_PATH_IMAGE010A
Corresponding increment;
Utilize initialized automotive system nThe group physical parameter, calculate unloaded, only increase body quality, increase body quality and roll moment of inertia and increase system mode parameter in the situation of body quality and pitch rotation inertia, undamped natural frequency of a mechanical system and the damping ratio of above-mentioned four kinds of corresponding systems of situation are designated as respectively
Figure 2013100008032100002DEST_PATH_IMAGE014
,
Figure 2013100008032100002DEST_PATH_IMAGE016
,
Figure 2013100008032100002DEST_PATH_IMAGE018
,
Figure 2013100008032100002DEST_PATH_IMAGE020
,
Figure 2013100008032100002DEST_PATH_IMAGE022
, ,
Figure 2013100008032100002DEST_PATH_IMAGE026
,
Figure 2013100008032100002DEST_PATH_IMAGE028
, use again formula
Figure 2013100008032100002DEST_PATH_IMAGE030
Calculate the error of Experimental Modal Parameters and compute mode parameter;
Wherein
Figure 2013100008032100002DEST_PATH_IMAGE032
,
Figure 2013100008032100002DEST_PATH_IMAGE034
Be weighting coefficient, relatively nThe error that the group calculation of parameter obtains, wherein the corresponding one group of parameter of least error is designated as the local optimum parameter PbestWith global optimum's parameter Gbest, least error is designated as the error of local optimum Jpbest, the error of global optimum Jgbest
C, utilize formula
Figure 2013100008032100002DEST_PATH_IMAGE036
With
Figure 2013100008032100002DEST_PATH_IMAGE038
, the increment of renewal physical parameter and physical parameter; Judge and upgrade rear physical parameter
Figure 2013100008032100002DEST_PATH_IMAGE010AA
Whether in its corresponding region of search, if should be taken as minimum value less than its minimum value, if should be taken as maximal value greater than its maximal value;
Calculate every group of corresponding error amount of physical parameter by the method for step b, nOne of the error minimum group parameter is designated as in the group Pbest, nThe least error of group is designated as Jpbest,Relatively JpbestWith JgbestValue, if JpbestRatio JgbestLittle, should with PbestThe parameter assignment give Gbest,If JpbestRatio JgbestGreatly, just continue next step;
D, judge global optimum error whether less than the permissible error of setting or searching times whether greater than the maximum search number of times, if the error of global optimum less than the permissible error of setting or searching times greater than the maximum search number of times with regard to terminator and export the parameter of global optimum, then get back on the contrary step c;
E, search procedure finish, output global optimum physical parameter.
In a preferred embodiment of the present invention, among the step c
Figure 2013100008032100002DEST_PATH_IMAGE040
Expression the jThe of group physical parameter increment iIndividual component,
Figure 2013100008032100002DEST_PATH_IMAGE042
Expression the jThe of group physical parameter iIndividual component,
Figure 2013100008032100002DEST_PATH_IMAGE044
With
Figure 2013100008032100002DEST_PATH_IMAGE046
Be aceleration pulse;
Figure 2013100008032100002DEST_PATH_IMAGE048
The of expression local optimum parameter iIndividual component,
Figure 2013100008032100002DEST_PATH_IMAGE050
The of expression global optimum parameter iIndividual component;
Figure 2013100008032100002DEST_PATH_IMAGE052
Represent one 0 to 1 random number.
In a preferred embodiment of the present invention, the variable of state-based described in step 4) modal parameter Time domain identification method is to utilize signalling channel from the collection free decaying data signal of system, and the transfer matrix of structure whole system, by transfer matrix is found the solution eigenwert, obtain natural frequency, the vibration shape and the damping ratio of system.
The invention has the beneficial effects as follows: the vehicle parameter recognition methods test method that the present invention is based on fall-down test seven freedom auto model is simple, less demanding to equipment, estimation obtains the physical parameter of high precision, coincide by the physical parameter of the estimation simulated response of doing and the response that test obtains.
Description of drawings
Fig. 1 is the process flow diagram that the present invention is based on vehicle parameter recognition methods one preferred embodiment of fall-down test seven freedom auto model;
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that protection scope of the present invention is made more explicit defining.
See also Fig. 1, the embodiment of the invention comprises:
A kind of vehicle parameter recognition methods based on fall-down test seven freedom auto model may further comprise the steps:
1) sets at least 6 measuring points at vehicle, the first measuring point and the second measuring point are located at respectively apart from vehicle body barycenter both sides maximum distance apart, the 3rd measuring point is located at the intersection point place of the front axle of the longitudinal centre line of vehicle body and vehicle body, described the 4th measuring point is located at the afterbody of the longitudinal centre line of vehicle body, described the 5th measuring point is located at vehicle body barycenter place, and the 6th measuring point is located on the vehicle body the arbitrary position without any measuring point.
2) be in the situation of zero load at vehicle, obtain the acceleration signal of each measuring point by four tire fall-down tests, front or rear tire fall-down test and a left side or right tire fall-down test.
Four tire fall-down tests are that four tires in front and back are propped with the wooden unit of sustained height, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal that can obtain to vibrate by the sensor on the measuring point, the 5th measuring point can obtain the free damping signal of vehicle body barycenter place vibration, or the acceleration responsive of the first measuring point is added that the acceleration responsive of the second measuring point obtains the free damping signal that vehicle body barycenter place vibrates divided by two again.
Front tyre or rear tyre fall-down test are that two front-wheels or two trailing wheels of vehicle are propped with the wooden unit of sustained height, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal that can obtain to vibrate by the sensor on the measuring point, the acceleration responsive of the 3rd measuring point is deducted behind the acceleration responsive of the 5th measuring point again the free damping signal of the angle of pitch acceleration that the distance divided by the 3rd measuring point to the five measuring points obtains vibrating, or the acceleration responsive of the 5th measuring point is deducted behind the acceleration responsive of the 4th measuring point again the free damping signal of the angle of pitch acceleration that the distance divided by the 4th measuring point to the five measuring points obtains vibrating.
Left tire or right tire fall-down test are that the tire in the left side of vehicle or the tire on right side are propped with the wooden unit of sustained height, vehicle is pushed from wooden unit, vehicle obtains an excitation, the acceleration signal of the first measuring point deducts behind the acceleration signal of the second measuring point the free damping signal of the roll angle acceleration that obtains vibrating to the distance of the second measuring point divided by the first measuring point again, after the acceleration signal of the first measuring point or the 5th measuring point deducts the acceleration signal of the 5th measuring point or the second measuring point, the free damping signal of the roll angle acceleration that obtains vibrating divided by the distance of the first measuring point or the 5th measuring point to the five measuring points or the second measuring point again.
3) increasing quality at vehicle body barycenter place is Δ m s Weight, record the acceleration signal of the free damping response of automobile by above-mentioned three kinds of fall-down tests.
The weight that adds two same quality in the symmetrical position of barycenter makes the mass penalty of vehicle body Δ m s , rolling moment of inertia increases Δ I Xx , record the acceleration signal of the free damping response of automobile by above-mentioned three kinds of fall-down tests.
Symmetric position adds the weight of two same quality before and after the centroid position of vehicle, makes the mass penalty of vehicle body Δ m s , rolling moment of inertia increases Δ I Yy , record the acceleration signal of the free damping response of automobile by above-mentioned three kinds of fall-down tests.
4) utilize state-based variable modal parameter Time domain identification method and step 2) with each acceleration signal of step 3) identification gained, obtain the modal parameter of automobile, modal parameter comprises the vertical vibration frequency, pitch frequency, roll vibration frequency of vehicle body, take tire vibration frequency and seven corresponding damping ratios of model frequency as main vertical vibration, pitch vibration, roll vibration, the Torsional Vibration that disappears.
The ultimate principle of state-based variable modal parameter Time domain identification method is as follows:
Kinetics equation for General System can be in order to lower the Representation Equation
Figure DEST_PATH_IMAGE054
(1)
Wherein
Figure DEST_PATH_IMAGE056
,
Figure DEST_PATH_IMAGE058
, Represent respectively system n* nMass matrix, n* nDamping matrix and n* nStiffness matrix.
Figure DEST_PATH_IMAGE062
,
Figure DEST_PATH_IMAGE064
,
Figure DEST_PATH_IMAGE066
Represent respectively system n* 1 displacement column vector, n* 1 speed column vector and n* 1 acceleration column vector.
Introduce state variable
Figure DEST_PATH_IMAGE068
, then equation (1) can be rewritten as
Figure DEST_PATH_IMAGE070
Figure DEST_PATH_IMAGE072
(2)
Wherein Be state matrix,
Figure DEST_PATH_IMAGE076
(3)
The solution of equation (2) is
Figure DEST_PATH_IMAGE078
(4)
Figure DEST_PATH_IMAGE080
Be starting condition
Figure DEST_PATH_IMAGE082
,
Figure DEST_PATH_IMAGE084
Be first motion vector,
Figure DEST_PATH_IMAGE086
Be the initial velocity vector.Order
Figure DEST_PATH_IMAGE088
( k=0,1,2 ...),
Figure DEST_PATH_IMAGE090
Be sampling time interval.
Figure DEST_PATH_IMAGE092
With
Figure DEST_PATH_IMAGE094
Use respectively
Figure DEST_PATH_IMAGE096
With
Figure DEST_PATH_IMAGE098
Expression can be got by formula (4)
Figure DEST_PATH_IMAGE100
(5)
Equation (5) is the difference form of the differential equation (3).
Figure DEST_PATH_IMAGE102
Be transfer matrix,
Figure DEST_PATH_IMAGE104
(6)
Figure DEST_PATH_IMAGE106
(7)
Figure DEST_PATH_IMAGE108
(8)
Because state matrix
Figure DEST_PATH_IMAGE074A
The information that comprises mass of system matrix, stiffness matrix and damping matrix, from formula (6) as can be known, transfer matrix
Figure DEST_PATH_IMAGE102A
Eigenwert and the proper vector information that comprised all eigenwerts of system and proper vector.As long as therefore find the solution transfer matrix
Figure DEST_PATH_IMAGE102AA
Eigenwert and the proper vector modal parameter that just can obtain system.
For one nThe vibrational system of degree of freedom includes nIndividual mode, if nWhen larger, we can not once pick up vibration signal with a lot of sensors.If only use m( m＜ n) individual sensor picks up vibration signal, for mThe vibration signal that individual sensor records has comprised in fact nThe information of individual mode.We can describe in order to lower equation the vibration equation of original system
Figure DEST_PATH_IMAGE110
(6)
Wherein
Figure DEST_PATH_IMAGE112
,
Figure DEST_PATH_IMAGE114
,
Figure DEST_PATH_IMAGE116
...,
Figure DEST_PATH_IMAGE118
For m* mSystem matrix,
Figure DEST_PATH_IMAGE120
Expression mIndividual sensor picks up vibration signal,
Figure DEST_PATH_IMAGE120A
For mThe column vector of * 1 dimension.If order
Figure DEST_PATH_IMAGE122
(7)
Then can set up the contact of equation (1) and equation (6).Equation (6) can be described in order to lower difference equation in discrete system
Figure DEST_PATH_IMAGE124
(8)
Wherein
Figure DEST_PATH_IMAGE126
,
Figure DEST_PATH_IMAGE128
...,
Figure DEST_PATH_IMAGE130
For m* mMaintain matrix number.Equation (8) can be with following state difference the Representation Equation
Figure DEST_PATH_IMAGE132
(9)
Wherein
Figure DEST_PATH_IMAGE134
(10)
Figure DEST_PATH_IMAGE136
(11)
Figure DEST_PATH_IMAGE138
(12)
Contain noise in the signal that is generally obtained by sensor measurement, for the impact of noise reduction, introduce noisy modt the signal of measuring is carried out Modal Parameter Identification.When containing noisy modt, Y( k) expression formula be
(13)
Wherein
Figure DEST_PATH_IMAGE142
, in the higher situation of signal to noise ratio (S/N ratio),
Figure DEST_PATH_IMAGE144
Get 4 ~ 6.The transfer matrix that formula (10) provides AExpression formula becomes
Figure DEST_PATH_IMAGE146
(14)
If can access transfer matrix A, with regard to the modal parameter of energy computing system.Below estimate transfer matrix by the vibration signal of measuring point ADefine following signal matrix
Figure DEST_PATH_IMAGE148
(15)
Figure DEST_PATH_IMAGE150
(16)
Contain the satisfied following relation of signal matrix under the noise situations
(17)
Wherein
Figure DEST_PATH_IMAGE154
Be the error matrix that noise causes, adopt principle of least square estimation transfer matrix AObtain,
Figure DEST_PATH_IMAGE156
(18)
With
Figure DEST_PATH_IMAGE158
With The expression transfer matrix
Figure DEST_PATH_IMAGE102AAA
And state matrix
Figure DEST_PATH_IMAGE074AA
Eigenwert, its With
Figure DEST_PATH_IMAGE160A
Expression formula be
Figure DEST_PATH_IMAGE162
(19)
Figure DEST_PATH_IMAGE164
(20)
By formula (6) as can be known
Figure DEST_PATH_IMAGE166
(21)
Then
Figure DEST_PATH_IMAGE168
(22)
Figure DEST_PATH_IMAGE170
(23)
(24)
Figure DEST_PATH_IMAGE174
(25)
Wherein
Figure DEST_PATH_IMAGE176
Be sample frequency,
Figure DEST_PATH_IMAGE178
Be maximum frequency to be identified.The undamped natural frequency of a mechanical system of system and damping ratio are
(26)
(27)
Utilizing step 2) the test frequency and the damping that obtain be,
Figure DEST_PATH_IMAGE184
， 。
Utilize step 3) test obtain frequency and damping is respectively:
Figure DEST_PATH_IMAGE188
， 。
Figure DEST_PATH_IMAGE192
，
Figure DEST_PATH_IMAGE194
。
Figure DEST_PATH_IMAGE196
， 。
The characteristics of state-based variable modal parameter Time domain identification method are: only need the acceleration signal of a small amount of sensor measurement measuring point just can obtain the whole modal parameters of system, the row discretize.Then utilize the free decaying data signal collect (measuring-signal port number can less than degree of freedom in system), according to specific form constructing system transfer matrix A, by to A Matrix Calculating eigenvalue problem, obtain natural frequency, the vibration shape and the damping ratio of system.
5) identification physical parameter, physical parameter comprises mass parameter, stiffness parameters, damping parameter and dimensional parameters.
The sprung mass that comprises vehicle body in the described mass parameter M s , vehicle body the inclination moment of inertia I Xx , vehicle body pitch rotation inertia I Yy , front-wheel quality M Uf And the quality of trailing wheel M Ur , stiffness parameters comprises the vertical stiffness of front suspension K Sf , rear suspension vertical stiffness K Sr , front tyre vertical stiffness K Tf And the vertical stiffness of rear tyre K Tr , damping parameter comprises the ratio of damping of front suspension C Sf , rear suspension ratio of damping C Sr ,Dimensional parameters comprise front axle to the barycenter place apart from a, the rear axle distance to the spring of the distance b at barycenter place, front suspension to vertical plane of symmetry at barycenter place t f , the spring of rear suspension is to the distance of vertical plane of symmetry at barycenter place t r ,Mass parameter is M, and stiffness parameters is K, and damping parameter is C.
Described dimensional parameters obtains by measuring, and described mass parameter, stiffness parameters and damping parameter are identified by the seven freedom auto model, and identifying comprises:
A, with the natural frequency of step 4) identification And damping ratio
Figure DEST_PATH_IMAGE004A
As input;
The population number of b, setting particle cluster algorithm is n, and random initializtion n group physical parameter is designated as in given parameter area
Figure DEST_PATH_IMAGE006A
, and the increment of physical parameter variation ,
Figure DEST_PATH_IMAGE010AAA
Expression initialization automotive system the iThe group physical parameter,
Figure DEST_PATH_IMAGE012A
Be physical parameter
Figure DEST_PATH_IMAGE010AAAA
Corresponding increment;
Utilize initialized automotive system nThe group physical parameter, calculate unloaded, only increase body quality, increase body quality and roll moment of inertia and increase system mode parameter in the situation of body quality and pitch rotation inertia, undamped natural frequency of a mechanical system and the damping ratio of above-mentioned four kinds of corresponding systems of situation are designated as respectively
Figure DEST_PATH_IMAGE014A
,
Figure DEST_PATH_IMAGE016A
, ,
Figure DEST_PATH_IMAGE020A
,
Figure DEST_PATH_IMAGE022A
,
Figure DEST_PATH_IMAGE024A
,
Figure DEST_PATH_IMAGE026A
,
Figure DEST_PATH_IMAGE028A
, use again formula
Figure DEST_PATH_IMAGE030A
Calculate the error of Experimental Modal Parameters and compute mode parameter;
Wherein
Figure DEST_PATH_IMAGE032A
,
Figure DEST_PATH_IMAGE034A
Be weighting coefficient, relatively nThe error that the group calculation of parameter obtains, wherein the corresponding one group of parameter of least error is designated as the local optimum parameter PbestWith global optimum's parameter Gbest, least error is designated as the error of local optimum Jpbest, the error of global optimum Jgbest
C, utilize formula
Figure DEST_PATH_IMAGE036A
With
Figure DEST_PATH_IMAGE038A
, the increment of renewal physical parameter and physical parameter; Judge and upgrade rear physical parameter
Figure DEST_PATH_IMAGE010AAAAA
Whether in its corresponding region of search, if should be taken as minimum value less than its minimum value, if should be taken as maximal value greater than its maximal value;
Figure DEST_PATH_IMAGE040A
Expression the jThe of group physical parameter increment iIndividual component,
Figure DEST_PATH_IMAGE042A
Expression the jThe of group physical parameter iIndividual component,
Figure DEST_PATH_IMAGE044A
With
Figure DEST_PATH_IMAGE046A
Be aceleration pulse;
Figure DEST_PATH_IMAGE048A
The of expression local optimum parameter iIndividual component,
Figure DEST_PATH_IMAGE050A
The of expression global optimum parameter iIndividual component;
Figure DEST_PATH_IMAGE052A
Represent one 0 to 1 random number.
Calculate every group of corresponding error amount of physical parameter by the method for step b, nOne of the error minimum group parameter is designated as in the group Pbest, nThe least error of group is designated as Jpbest,Relatively JpbestWith JgbestValue, if JpbestRatio JgbestLittle, should with PbestThe parameter assignment give Gbest,If JpbestRatio JgbestGreatly, just continue next step;
D, judge global optimum error whether less than the permissible error of setting or searching times whether greater than the maximum search number of times, if the error of global optimum less than the permissible error of setting or searching times greater than the maximum search number of times with regard to terminator and export the parameter of global optimum, then get back on the contrary step c;
E, search procedure finish, output global optimum physical parameter.
In the seven freedom model of automobile, the kinetic model of automobile can be described in order to lower equation
Figure DEST_PATH_IMAGE200
Wherein, mass matrix:
Figure DEST_PATH_IMAGE202
Damping matrix:
Figure DEST_PATH_IMAGE204
Stiffness matrix:
Figure DEST_PATH_IMAGE206
Motion vector:
Figure DEST_PATH_IMAGE208
The state matrix A that utilizes the complex mode method to calculate is
Figure DEST_PATH_IMAGE210
State matrix A characteristic of correspondence equation is
Figure DEST_PATH_IMAGE212
The eigenwert of system is , then system frequency and damping ratio are respectively
Figure DEST_PATH_IMAGE216
Figure DEST_PATH_IMAGE218
The vehicle parameter recognition methods test method that the present invention is based on fall-down test seven freedom auto model is simple, less demanding to equipment, estimation obtains the physical parameter of high precision, coincide by the physical parameter of the estimation simulated response of doing and the response that test obtains.
The above only is embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.

Claims (7)

1. the vehicle parameter recognition methods based on fall-down test seven freedom auto model is characterized in that, may further comprise the steps:
1) sets at least 6 measuring points at vehicle, the first measuring point and the second measuring point are located at respectively apart from vehicle body barycenter both sides maximum distance apart, the 3rd measuring point is located at the intersection point place of the front axle of the longitudinal centre line of vehicle body and vehicle body, described the 4th measuring point is located at the afterbody of the longitudinal centre line of vehicle body, described the 5th measuring point is located at vehicle body barycenter place, and the 6th measuring point is located on the vehicle body the arbitrary position without any measuring point;
2) be in the situation of zero load at vehicle, obtain the acceleration signal of each measuring point by four tire fall-down tests, front or rear tire fall-down test and a left side or right tire fall-down test;
3) at vehicle body centroid position place, symmetrical position increases weight in the symmetrical position of barycenter and before and after the barycenter, and respectively by step 2) in three kinds of fall-down tests obtain acceleration signals;
4) utilize state-based variable modal parameter Time domain identification method and step 2) with each acceleration signal of step 3) identification gained, obtain the modal parameter of automobile, modal parameter comprises the vertical vibration frequency, pitch frequency, roll vibration frequency of vehicle body, take tire vibration frequency and seven corresponding damping ratios of model frequency as main vertical vibration, pitch vibration, roll vibration, twisting vibration;
5) identification physical parameter, physical parameter comprises mass parameter, stiffness parameters, damping parameter and dimensional parameters, and described dimensional parameters obtains by measuring, and described mass parameter, stiffness parameters and damping parameter are identified by the seven freedom auto model.
2. the vehicle parameter recognition methods based on fall-down test seven freedom auto model according to claim 1, it is characterized in that, step 2) four tire fall-down tests are that four tires in front and back are propped with the wooden unit of sustained height in, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal that can obtain to vibrate by the sensor on the measuring point, the 5th measuring point obtains the free damping signal of vehicle body barycenter place vibration, or the acceleration responsive of the first measuring point is added that the acceleration responsive of the second measuring point obtains the free damping signal that vehicle body barycenter place vibrates divided by two again.
3. the vehicle parameter recognition methods based on fall-down test seven freedom auto model according to claim 1, it is characterized in that, step 2) front tyre or rear tyre fall-down test are that two front-wheels or two trailing wheels of vehicle are propped with the wooden unit of sustained height in, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal that can obtain to vibrate by the sensor on the measuring point, the acceleration responsive of the 3rd measuring point is deducted behind the acceleration responsive of the 5th measuring point again the free damping signal of the angle of pitch acceleration that the distance divided by the 3rd measuring point to the five measuring points obtains vibrating, or the acceleration responsive of the 5th measuring point is deducted behind the acceleration responsive of the 4th measuring point again the free damping signal of the angle of pitch acceleration that the distance divided by the 4th measuring point to the five measuring points obtains vibrating.
4. the vehicle parameter recognition methods based on fall-down test seven freedom auto model according to claim 1, it is characterized in that, step 2) left tire or right tire fall-down test are that the tire in the left side of vehicle or the tire on right side are propped with the wooden unit of sustained height in, vehicle is pushed from wooden unit, vehicle obtains an excitation, the acceleration signal of the first measuring point deducts behind the acceleration signal of the second measuring point the free damping signal of the roll angle acceleration that obtains vibrating to the distance of the second measuring point divided by the first measuring point again, after the acceleration signal of the first measuring point or the 5th measuring point deducts the acceleration signal of the 5th measuring point or the second measuring point, the free damping signal of the roll angle acceleration that obtains vibrating divided by the distance of the first measuring point or the 5th measuring point to the five measuring points or the second measuring point again.
5. the vehicle parameter recognition methods based on fall-down test seven freedom auto model according to claim 1 is characterized in that, the method by the identification of seven freedom auto model in the step 5) may further comprise the steps:
A, with the natural frequency of step 4) identification
Figure 2013100008032100001DEST_PATH_IMAGE002
And damping ratio
Figure 2013100008032100001DEST_PATH_IMAGE004
As input;
The population number of b, setting particle cluster algorithm is n, and random initializtion n group physical parameter is designated as in given parameter area
Figure 2013100008032100001DEST_PATH_IMAGE006
, and the increment of physical parameter variation ,
Figure DEST_PATH_IMAGE010
Expression initialization automotive system the iThe group physical parameter, Be physical parameter
Figure DEST_PATH_IMAGE010A
Corresponding increment;
Utilize initialized automotive system nThe group physical parameter, calculate unloaded, only increase body quality, increase body quality and roll moment of inertia and increase system mode parameter in the situation of body quality and pitch rotation inertia, undamped natural frequency of a mechanical system and the damping ratio of above-mentioned four kinds of corresponding systems of situation are designated as respectively ,
Figure DEST_PATH_IMAGE016
,
Figure DEST_PATH_IMAGE018
,
Figure DEST_PATH_IMAGE020
,
Figure DEST_PATH_IMAGE022
,
Figure DEST_PATH_IMAGE024
,
Figure DEST_PATH_IMAGE026
,
Figure DEST_PATH_IMAGE028
, use again formula
Figure DEST_PATH_IMAGE030
Calculate the error of Experimental Modal Parameters and compute mode parameter;
Wherein
Figure DEST_PATH_IMAGE032
,
Figure DEST_PATH_IMAGE034
Be weighting coefficient, relatively nThe error that the group calculation of parameter obtains, wherein the corresponding one group of parameter of least error is designated as the local optimum parameter PbestWith global optimum's parameter Gbest, least error is designated as the error of local optimum Jpbest, the error of global optimum Jgbest
C, utilize formula
Figure DEST_PATH_IMAGE036
With
Figure DEST_PATH_IMAGE038
, the increment of renewal physical parameter and physical parameter; Judge and upgrade rear physical parameter
Figure DEST_PATH_IMAGE010AA
Whether in its corresponding region of search, if should be taken as minimum value less than its minimum value, if should be taken as maximal value greater than its maximal value;
Calculate every group of corresponding error amount of physical parameter by the method for step b, nOne of the error minimum group parameter is designated as in the group Pbest, nThe least error of group is designated as Jpbest,Relatively JpbestWith JgbestValue, if JpbestRatio JgbestLittle, should with PbestThe parameter assignment give Gbest,If JpbestRatio JgbestGreatly, just continue next step;
D, judge global optimum error whether less than the permissible error of setting or searching times whether greater than the maximum search number of times, if the error of global optimum less than the permissible error of setting or searching times greater than the maximum search number of times with regard to terminator and export the parameter of global optimum, then get back on the contrary step c;
E, search procedure finish, output global optimum physical parameter.
6. the vehicle parameter recognition methods based on fall-down test seven freedom auto model according to claim 5 is characterized in that, among the step c
Figure DEST_PATH_IMAGE040
Expression the jThe of group physical parameter increment iIndividual component, Expression the jThe of group physical parameter iIndividual component,
Figure DEST_PATH_IMAGE044
With
Figure DEST_PATH_IMAGE046
Be aceleration pulse;
Figure DEST_PATH_IMAGE048
The of expression local optimum parameter iIndividual component,
Figure DEST_PATH_IMAGE050
The of expression global optimum parameter iIndividual component; Represent one 0 to 1 random number.
7. the vehicle parameter recognition methods based on fall-down test seven freedom auto model according to claim 1, it is characterized in that, the variable of state-based described in step 4) modal parameter Time domain identification method is to utilize signalling channel from the collection free decaying data signal of system, and the transfer matrix of structure whole system, by transfer matrix is found the solution eigenwert, obtain natural frequency, the vibration shape and the damping ratio of system.
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