CN103076146B - 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 PDFInfo
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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
Technical field
The present invention relates to vehicle parameter identification field, particularly relate to a kind of vehicle parameter recognition methods based on drop test seven-degree auto model.
Background technology
Dynamical Characteristics for automobile needs to set up a car model accurately, therefore determines that 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 automobile Modal Parameter Identification.
In frequency domain method, need to use four-way suspension testing table encourage automobile, and the equipment of four-way suspension testing table costly, 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 is to provide a kind of vehicle parameter recognition methods based on drop test seven-degree auto model, can estimate and obtain accurate physical parameter, and test method is simple, low for equipment requirements.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of vehicle parameter recognition methods based on drop test seven-degree auto model, comprise the following steps:
1) on vehicle, at least 6 measuring points are set, first measuring point and the second measuring point are located at distance vehicle body barycenter both sides maximum distance apart respectively, 3rd measuring point is located at the point of intersection of the longitudinal centre line of vehicle body and the front axle of vehicle body, described 4th measuring point is located at the afterbody of the longitudinal centre line of vehicle body, described 5th measuring point is located at vehicle body barycenter place, and the 6th measuring point is located at any position without any measuring point on vehicle body;
2) when vehicle is unloaded, the acceleration signal of each measuring point is obtained by four tire fall-down tests, front or rear tire fall-down test and left or right tire fall-down test;
3) at vehicle body centroid position place, position symmetrical before and after the symmetrical position of barycenter and barycenter increases weight, and respectively by step 2) in three kinds of fall-down tests obtain acceleration signals;
4) utilize based on state 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 of vehicle body, pitch frequency, roll vibration frequency, vertical vibration, pitch vibration, roll vibration, the frequency of the Torsional Vibration that disappears and the damping ratio corresponding to seven model frequencies based on tire vibration;
5) identify 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 seven freedom auto model.
In a preferred embodiment of the present invention, step 2) in four tire fall-down tests be that the wooden unit of four the tire sustained heights in front and back is propped, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal of vibration can be obtained by the sensor on measuring point, 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 the acceleration responsive of the second measuring point obtains the free damping signal of vehicle body barycenter place vibration again divided by two.
In a preferred embodiment of the present invention, step 2) in front tyre or rear tyre fall-down test be that the wooden unit of two of vehicle front-wheels or two trailing wheel sustained heights is propped, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal of vibration is obtained by the sensor on measuring point, obtain the free damping signal of the angle of pitch acceleration vibrated again to the distance of the 5th measuring point divided by the 3rd measuring point after the acceleration responsive of the 3rd measuring point being deducted the acceleration responsive of the 5th measuring point, or after the acceleration responsive acceleration responsive of the 5th measuring point being deducted the 4th measuring point, obtain the free damping signal of the angle of pitch acceleration vibrated again to the distance of the 5th measuring point divided by the 4th measuring point.
In a preferred embodiment of the present invention, step 2) in left tire or right tire fall-down test be that the wooden unit of the tire sustained height on the tire in the left side of vehicle or right side is propped, vehicle is pushed from wooden unit, vehicle obtains an excitation, obtain the free damping signal of the roll angle acceleration vibrated again to the distance of the second measuring point divided by the first measuring point after the acceleration signal of the first measuring point deducts the acceleration signal of the second measuring point, 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, obtain the free damping signal of the roll angle acceleration vibrated again to the distance of the 5th measuring point or the second measuring point divided by the first measuring point or the 5th measuring point.
In a preferred embodiment of the present invention, know method for distinguishing by seven freedom auto model in step 5) and comprise the following steps:
A, by the natural frequency of step 4) identification
and damping ratio
as input;
The population number of b, setting particle cluster algorithm is n, and in given parameter area, random initializtion n group physical parameter is designated as
, and the increment of physical parameter change
,
represent initialization automotive system the
igroup physical parameter,
for physical parameter
corresponding increment;
Utilize initialized automotive system
ngroup physical parameter, system mode parameter when calculating zero load, only increase body quality, increase body quality and roll moment of inertia and increase body quality and pitch rotation inertia, undamped natural frequency of a mechanical system and the damping ratio of the system corresponding to above-mentioned four kinds of situations are designated as respectively
,
,
,
,
,
,
,
, then use formula
calculate the error of Experimental Modal Parameters and compute mode parameter;
Wherein
,
for weighting coefficient, compare
nthe error that group parameter calculates, one group of parameter wherein corresponding to least error is designated as 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
with
, upgrade the increment of physical parameter and physical parameter; Judge to upgrade rear physical parameter
whether in the region of search of its correspondence, if be less than its minimum value should be taken as minimum value, if be greater than its maximal value should be taken as maximal value;
The error amount often organized corresponding to physical parameter is calculated by the method for step b,
nthe parameter of one group organizing medial error minimum is designated as
pbest,
nthe least error of group is designated as
jpbest,relatively
jpbestwith
jgbestvalue, if
jpbestratio
jgbestlittle, Ying Jiang
pbestparameter assignment give
gbest,if
jpbestratio
jgbestgreatly, just next step is continued;
D, judge whether the error of global optimum is less than the permissible error of setting or whether searching times is greater than maximum search number of times, if the error of global optimum is less than the permissible error of setting or searching times and is greater than maximum search number of times with regard to terminator and exports the parameter of global optimum, then get back to step c on the contrary;
E, search procedure terminate, and export global optimum's physical parameter.
In a preferred embodiment of the present invention, in step c
represent the
jthe of group physical parameter increment
iindividual component,
represent the
jthe of group physical parameter
iindividual component,
with
for aceleration pulse;
represent the of local optimum parameter
iindividual component,
represent the of global optimum parameter
iindividual component;
represent the random number of 0 to 1.
In a preferred embodiment of the present invention, utilize signalling channel from the collection free decaying data signal of system based on state variable modal parameter Time domain identification method described in step 4), and build the transfer matrix of whole system, by solving eigenwert to transfer matrix, obtain the natural frequency of system, the vibration shape and damping ratio.
The invention has the beneficial effects as follows: the vehicle parameter recognition methods test method that the present invention is based on drop test seven-degree auto model is simple, less demanding to equipment, estimation obtains the physical parameter of high precision, and the response that the simulated response done by the physical parameter of estimation is obtained with test coincide.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of vehicle parameter recognition methods one preferred embodiment that the present invention is based on drop test seven-degree auto model;
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Refer to Fig. 1, the embodiment of the present invention comprises:
Based on a vehicle parameter recognition methods for drop test seven-degree auto model, comprise the following steps:
1) on vehicle, at least 6 measuring points are set, first measuring point and the second measuring point are located at distance vehicle body barycenter both sides maximum distance apart respectively, 3rd measuring point is located at the point of intersection of the longitudinal centre line of vehicle body and the front axle of vehicle body, described 4th measuring point is located at the afterbody of the longitudinal centre line of vehicle body, described 5th measuring point is located at vehicle body barycenter place, and the 6th measuring point is located at any position without any measuring point on vehicle body.
2) when vehicle is unloaded, the acceleration signal of each measuring point is obtained by four tire fall-down tests, front or rear tire fall-down test and left or right tire fall-down test.
Four tire fall-down tests are propped by the wooden unit of four the tire sustained heights in front and back, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal of vibration can be obtained by the sensor on measuring point, 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 the acceleration responsive of the second measuring point obtains the free damping signal of vehicle body barycenter place vibration again divided by two.
Front tyre or rear tyre fall-down test are propped by the wooden unit of two of vehicle front-wheels or two trailing wheel sustained heights, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal of vibration can be obtained by the sensor on measuring point, obtain the free damping signal of the angle of pitch acceleration vibrated again to the distance of the 5th measuring point divided by the 3rd measuring point after the acceleration responsive of the 3rd measuring point being deducted the acceleration responsive of the 5th measuring point, or after the acceleration responsive acceleration responsive of the 5th measuring point being deducted the 4th measuring point, obtain the free damping signal of the angle of pitch acceleration vibrated again to the distance of the 5th measuring point divided by the 4th measuring point.
Left tire or right tire fall-down test are propped by the wooden unit of the tire sustained height on the tire in the left side of vehicle or right side, vehicle is pushed from wooden unit, vehicle obtains an excitation, obtain the free damping signal of the roll angle acceleration vibrated again to the distance of the second measuring point divided by the first measuring point after the acceleration signal of the first measuring point deducts the acceleration signal of the second measuring point, 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, obtain the free damping signal of the roll angle acceleration vibrated again to the distance of the 5th measuring point or the second measuring point divided by the first measuring point or the 5th measuring point.
3) increasing quality at vehicle body barycenter place is
Δ m s weight, by above-mentioned three kinds of fall-down tests record automobile free damping response acceleration signal.
Add the weight of two same quality in the symmetrical position of barycenter, the quality of vehicle body is increased
Δ m s , rolling moment of inertia increases
Δ I xx , the acceleration signal of the free damping response of automobile is recorded by above-mentioned three kinds of fall-down tests.
Before and after the centroid position of vehicle, symmetric position adds the weight of two same quality, and the quality of vehicle body is increased
Δ m s , rolling moment of inertia increases
Δ I yy , the acceleration signal of the free damping response of automobile is recorded by above-mentioned three kinds of fall-down tests.
4) utilize based on state 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 of vehicle body, pitch frequency, roll vibration frequency, vertical vibration, pitch vibration, roll vibration, the frequency of the Torsional Vibration that disappears and the damping ratio corresponding to seven model frequencies based on tire vibration.
Ultimate principle based on state variable modal parameter Time domain identification method is as follows:
Kinetics equation for General System can in order to lower the Representation Equation
(1)
Wherein
,
,
represent system respectively
n×
nmass matrix,
n×
ndamping matrix and
n×
nstiffness matrix.
,
,
represent system respectively
n× 1 displacement column vector,
n× 1 speed column vector and
n× 1 acceleration column vector.
Introduce state variable
, then equation (1) can be rewritten as
(2)
Wherein
for state matrix,
(3)
The solution of equation (2) is
(4)
for starting condition
,
for first motion vector,
for initial velocity vector.Order
(
k=0,1,2 ...),
for sampling time interval.
with
use respectively
with
represent, can be obtained by formula (4)
(5)
The difference form that equation (5) is the differential equation (3).
for transfer matrix,
(6)
(7)
(8)
Due to state matrix
comprise the information of mass of system matrix, stiffness matrix and damping matrix, from formula (6), transfer matrix
eigenwert and proper vector contain the information of all eigenwerts of system and proper vector.As long as therefore solve transfer matrix
eigenwert and proper vector just can obtain the modal parameter of system.
For one
nthe vibrational system of degree of freedom includes
nindividual mode, if
ntime larger, we can not once with a lot of sensor pickup vibration signals.If only use
m(
m<
n) individual sensor picks up vibration signal, for
mthe vibration signal that individual sensor records contains in fact
nthe information of individual mode.We can describe the vibration equation of original system in order to lower equation
(6)
Wherein
,
,
...,
for
m×
msystem matrix,
represent
mindividual sensor pickup vibration signal,
for
mthe column vector of × 1 dimension.If order
(7)
Then can set up the contact of equation (1) and equation (6).Equation (6) can describe in order to lower difference equation in discrete system
(8)
Wherein
,
...,
for
m×
mmaintain matrix number.Equation (8) can by following state difference the Representation Equation
(9)
Wherein
(10)
(11)
(12)
Containing noise in the general signal obtained by sensor measurement, in order to reduce the impact of noise, introducing noisy modt and Modal Parameter Identification is carried out to the signal measured.During containing noisy modt,
y(
k) expression formula be
(13)
Wherein
, when signal to noise ratio (S/N ratio) is higher,
get 4 ~ 6.The transfer matrix that formula (10) provides
aexpression formula becomes
(14)
If can transfer matrix be obtained
a, the just modal parameter of energy computing system.Below by way of the vibration signal estimation transfer matrix of measuring point
a.Define following signal matrix
(15)
(16)
Following relation is met containing signal matrix under noise situations
(17)
Wherein
for the error matrix that noise causes, adopt principle of least square estimation transfer matrix
aobtain,
(18)
With
with
represent transfer matrix
and state matrix
eigenwert, its
with
expression formula be
(19)
(20)
From formula (6)
(21)
Then
(22)
(23)
(24)
(25)
Wherein
for sample frequency,
for maximum frequency to be identified.The undamped natural frequency of a mechanical system of system and damping ratio are
(26)
(27)
Utilize step 2) test the frequency that obtains and damping is,
，
。
Utilize step 3) to test obtain frequency and damping is respectively:
，
。
，
。
，
。
Feature based on state variable modal parameter Time domain identification method is: only need the acceleration signal of a small amount of sensor measurement measuring point just can obtain the whole modal parameter of system, row discretize.Then utilize the free decaying data signal (measuring-signal port number can be less than degree of freedom in system) collected, according to specific form constructing system transfer matrix A, by A Matrix Calculating eigenvalue problem, obtain the natural frequency of system, the vibration shape and damping ratio.
5) identify physical parameter, physical parameter comprises mass parameter, stiffness parameters, damping parameter and dimensional parameters.
Described mass parameter comprises the sprung mass of vehicle body
m s , vehicle body 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 comprises front axle to the distance a at barycenter place, rear axle to the spring of the distance b at barycenter place, front suspension to the distance of longitudinal plane of symmetry at barycenter place
t f , the spring of rear suspension is to the distance of longitudinal 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 seven freedom auto model, and identifying comprises:
A, by the natural frequency of step 4) identification
and damping ratio
as input;
The population number of b, setting particle cluster algorithm is n, and in given parameter area, random initializtion n group physical parameter is designated as
, and the increment of physical parameter change
,
represent initialization automotive system the
igroup physical parameter,
for physical parameter
corresponding increment;
Utilize initialized automotive system
ngroup physical parameter, system mode parameter when calculating zero load, only increase body quality, increase body quality and roll moment of inertia and increase body quality and pitch rotation inertia, undamped natural frequency of a mechanical system and the damping ratio of the system corresponding to above-mentioned four kinds of situations are designated as respectively
,
,
,
,
,
,
,
, then use formula
calculate the error of Experimental Modal Parameters and compute mode parameter;
Wherein
,
for weighting coefficient, compare
nthe error that group parameter calculates, one group of parameter wherein corresponding to least error is designated as 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
with
, upgrade the increment of physical parameter and physical parameter; Judge to upgrade rear physical parameter
whether in the region of search of its correspondence, if be less than its minimum value should be taken as minimum value, if be greater than its maximal value should be taken as maximal value;
represent the
jthe of group physical parameter increment
iindividual component,
represent the
jthe of group physical parameter
iindividual component,
with
for aceleration pulse;
represent the of local optimum parameter
iindividual component,
represent the of global optimum parameter
iindividual component;
represent the random number of 0 to 1.
The error amount often organized corresponding to physical parameter is calculated by the method for step b,
nthe parameter of one group organizing medial error minimum is designated as
pbest,
nthe least error of group is designated as
jpbest,relatively
jpbestwith
jgbestvalue, if
jpbestratio
jgbestlittle, Ying Jiang
pbestparameter assignment give
gbest,if
jpbestratio
jgbestgreatly, just next step is continued;
D, judge whether the error of global optimum is less than the permissible error of setting or whether searching times is greater than maximum search number of times, if the error of global optimum is less than the permissible error of setting or searching times and is greater than maximum search number of times with regard to terminator and exports the parameter of global optimum, then get back to step c on the contrary;
E, search procedure terminate, and export global optimum's physical parameter.
In the seven freedom model of automobile, the kinetic model of automobile can describe in order to lower equation
Wherein, mass matrix:
Damping matrix:
Stiffness matrix:
motion vector:
The state matrix A utilizing complex mode method to calculate is
State matrix A characteristic of correspondence equation is
The eigenwert of system is
, then system frequency and damping ratio are respectively
The vehicle parameter recognition methods test method that the present invention is based on drop test seven-degree auto model is simple, less demanding to equipment, estimation obtains the physical parameter of high precision, and the response that the simulated response done by the physical parameter of estimation is obtained with test coincide.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1., based on a vehicle parameter recognition methods for drop test seven-degree auto model, it is characterized in that, comprise the following steps:
1) on vehicle, at least 6 measuring points are set, first measuring point and the second measuring point are located at distance vehicle body barycenter both sides maximum distance apart respectively, 3rd measuring point is located at the point of intersection of the longitudinal centre line of vehicle body and the front axle of vehicle body, 4th measuring point is located at the afterbody of the longitudinal centre line of vehicle body, 5th measuring point is located at vehicle body barycenter place, and the 6th measuring point is located at any position without any measuring point on vehicle body;
2) when vehicle is unloaded, the acceleration signal of each measuring point is obtained by four tire fall-down tests, front or rear tire fall-down test and left or right tire fall-down test;
3) at vehicle body centroid position place, position symmetrical before and after the symmetrical position of barycenter and barycenter increases weight, and respectively by step 2) in three kinds of fall-down tests obtain acceleration signals;
4) utilize based on state 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 of vehicle body, pitch frequency, roll vibration frequency, vertical vibration, pitch vibration, roll vibration, the frequency of twisting vibration and the damping ratio corresponding to seven model frequencies based on tire vibration;
5) identify 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 seven freedom auto model; Seven freedom auto model is known method for distinguishing and is comprised the following steps:
A, by the natural frequency of step 4) identification
and damping ratio
as input;
The population number of b, setting particle cluster algorithm is n, and in given parameter area, random initializtion n group physical parameter is designated as
, and the increment of physical parameter change
,
represent initialization automotive system the
igroup physical parameter,
for physical parameter
corresponding increment;
Utilize initialized automotive system
ngroup physical parameter, system mode parameter when calculating zero load, only increase body quality, increase body quality and roll moment of inertia and increase body quality and pitch rotation inertia, undamped natural frequency of a mechanical system and the damping ratio of the system corresponding to above-mentioned four kinds of situations are designated as respectively
,
,
,
,
,
,
,
, then use formula
calculate the error of Experimental Modal Parameters and compute mode parameter;
Wherein
,
for weighting coefficient, compare
nthe error that group parameter calculates, one group of parameter wherein corresponding to least error is designated as 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
with
, upgrade the increment of physical parameter and physical parameter; Judge to upgrade rear physical parameter
whether in the region of search of its correspondence, if be less than its minimum value should be taken as minimum value, if be greater than its maximal value should be taken as maximal value;
The error amount often organized corresponding to physical parameter is calculated by the method for step b,
nthe parameter of one group organizing medial error minimum is designated as
pbest,
nthe least error of group is designated as
jpbest,relatively
jpbestwith
jgbestvalue, if
jpbestratio
jgbestlittle, Ying Jiang
pbestparameter assignment give
gbest,if
jpbestratio
jgbestgreatly, just next step is continued;
D, judge whether the error of global optimum is less than the permissible error of setting or whether searching times is greater than maximum search number of times, if the error of global optimum is less than the permissible error of setting or searching times and is greater than maximum search number of times with regard to terminator and exports the parameter of global optimum, then get back to step c on the contrary;
E, search procedure terminate, and export global optimum's physical parameter;
In step c
represent the
jthe of group physical parameter increment
iindividual component,
represent the
jthe of group physical parameter
iindividual component,
with
for aceleration pulse;
represent the of local optimum parameter
iindividual component,
represent the of global optimum parameter
iindividual component;
represent the random number of 0 to 1.
2. the vehicle parameter recognition methods based on drop test seven-degree auto model according to claim 1, it is characterized in that, step 2) in four tire fall-down tests be that the wooden unit of four the tire sustained heights in front and back is propped, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal of vibration can be obtained by the sensor on measuring point, 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 the acceleration responsive of the second measuring point obtains the free damping signal of vehicle body barycenter place vibration again divided by two.
3. the vehicle parameter recognition methods based on drop test seven-degree auto model according to claim 1, it is characterized in that, step 2) in front tyre or rear tyre fall-down test be that the wooden unit of two of vehicle front-wheels or two trailing wheel sustained heights is propped, vehicle is pushed from wooden unit, vehicle obtains an excitation, the free damping signal of vibration can be obtained by the sensor on measuring point, obtain the free damping signal of the angle of pitch acceleration vibrated again to the distance of the 5th measuring point divided by the 3rd measuring point after the acceleration responsive of the 3rd measuring point being deducted the acceleration responsive of the 5th measuring point, or after the acceleration responsive acceleration responsive of the 5th measuring point being deducted the 4th measuring point, obtain the free damping signal of the angle of pitch acceleration vibrated again to the distance of the 5th measuring point divided by the 4th measuring point.
4. the vehicle parameter recognition methods based on drop test seven-degree auto model according to claim 1, it is characterized in that, step 2) in left tire or right tire fall-down test be that the wooden unit of the tire sustained height on the tire in the left side of vehicle or right side is propped, vehicle is pushed from wooden unit, vehicle obtains an excitation, obtain the free damping signal of the roll angle acceleration vibrated again to the distance of the second measuring point divided by the first measuring point after the acceleration signal of the first measuring point deducts the acceleration signal of the second measuring point, 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, obtain the free damping signal of the roll angle acceleration vibrated again to the distance of the 5th measuring point or the second measuring point divided by the first measuring point or the 5th measuring point.
5. the vehicle parameter recognition methods based on drop test seven-degree auto model according to claim 1, it is characterized in that, utilize signalling channel from the collection free decaying data signal of system based on state variable modal parameter Time domain identification method described in step 4), and build the transfer matrix of whole system, by solving eigenwert to transfer matrix, obtain the natural frequency of system, the vibration shape and damping ratio.
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| CN110044625B (en) * | 2019-04-30 | 2021-07-20 | 东华大学 | Flywheel bearing dynamic stiffness measuring method |
| CN110231181B (en) * | 2019-05-13 | 2020-12-29 | 中冀施玛特科技河北有限公司 | Vehicle physical parameter estimation method based on vibration test information |
| CN113203580B (en) * | 2021-05-10 | 2024-03-29 | 江苏徐工国重实验室科技有限公司 | Engineering vehicle stability evaluation method, device and system and engineering vehicle |
| CN114088414B (en) * | 2021-11-17 | 2022-08-26 | 北京理工大学 | Electric automobile mass, spring and damping model three-parameter extraction method |
| CN114577489B (en) * | 2022-01-13 | 2024-03-22 | 中汽研汽车检验中心（天津）有限公司 | Method for determining falling inclination angle and falling height in vehicle falling equivalent test |
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| DE102006005387A1 (en) * | 2006-02-03 | 2007-08-09 | Daimlerchrysler Ag | Vehicle roof-drop testing device, has assembly platform, which has several fastening parts for detachable connection at automotive welding and assembly lines of motor vehicle |
| CN101907523B (en) * | 2010-01-08 | 2012-02-08 | 浙江吉利汽车研究院有限公司 | Rigid body mode testing method for powertrain suspension system under loading condition |
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