CN103076188A - Drop test single-degree-of-freedom vehicle model-based vehicle parameter identification method - Google Patents

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

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CN103076188A
CN103076188A CN2013100008668A CN201310000866A CN103076188A CN 103076188 A CN103076188 A CN 103076188A CN 2013100008668 A CN2013100008668 A CN 2013100008668A CN 201310000866 A CN201310000866 A CN 201310000866A CN 103076188 A CN103076188 A CN 103076188A
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natural frequency
stiffness
vehicle
vehicle body
drop test
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CN103076188B (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 single-degree-of-freedom vehicle model-based vehicle parameter identification method, which comprises the following steps of: setting measurement points on a vehicle; identifying intrinsic frequencies of the vehicle under a no-load condition and a damping ratio and a vibration mode, which correspond to each intrinsic frequency by using a plurality of drop tests; adding mass onto a vehicle body, performing the drop tests respectively, and identifying intrinsic frequencies of the vehicle under a loading condition and a damping ratio and a vibration mode, which correspond to each intrinsic frequency; calculating the vertical stiffness of the vehicle body, the sprung weight of the vehicle body, pitching stiffness, pitching rotating inertia, side-tipping stiffness and side-tipping rotating inertia; calculating the stiffness Ksf of a front suspension and the stiffness Ksr of a rear suspension; calculating tire stiffness which is consistent with an actual stiffness result; and performing method accuracy verification. In such a way, requirements on test equipment are low, the tests are high in operability, the cost of a single test is lower, the accuracy is high, and a physical parameter calculation method is simpler.

Description

Vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model
Technical field
The present invention relates to automobile parameter identification field, particularly relate to a kind of vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model.
Background technology
Vehicle parameter comprises modal parameter and physical parameter.Modal parameter mainly refers to: natural frequency, damping ratio, the vibration shape.Physical parameter has actual physical significance, and wherein important several parameters are exactly rigidity, damping, sprung mass, unsprung mass, inclination rotary inertia, pitching rotary inertia, tire stiffness and the relevant parameters such as geometric parameter of suspension.
Why to identify modal parameter:
Three modal parameters are all very important, because modal parameter is the basis of identification physical parameter, in addition, modal parameter also can be directly used in the performances such as riding comfort of estimating automobile, if its vertical natural frequency and people's self natural frequency is very approaching, then can has a strong impact on and take comfort.
Why to identify physical parameter:
Physical parameter is not only the basis of setting up 7 degree of freedom whole vehicle models, and also very important for ride comfort, the handling stability of estimating automobile, especially very important aspect anti-inclination, anti-pitching, the size of roll stiffness is directly determining the ability of resisting side-tipping of automobile.
The method that obtains modal parameter mainly contains two kinds,
Method one: carry out drop test, according to the free damping image that collects, think that the time between two peak values is the cycle, the inverse in cycle is frequency; According to utilizing the free damping signal, obtain logarithmic decrement, thereby obtain damping ratio.This method is a kind of very coarse method, and the natural frequency of acquisition and damping ratio deviation are all very large, is difficult to satisfy actual accuracy requirement.
Method two: utilize the four-way system experimental that automobile is encouraged, according to the signal of excitation and acquisition, the parameter of identification automobile.The shortcoming of this method is exactly that four-way system experimental price is very expensive, only has seldom major company, research institute or school that this equipment is arranged, and the single experiment cost is also very expensive.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model, can be by after car model be simplified, the data of utilizing drop test to collect, utilize state variable technique to carry out Modal Parameter Identification, test workablely, the single experiment expense is lower.
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 drop test single-degree-of-freedom auto model is provided, may further comprise the steps:
1) at vehicle at least 6 measuring points is set;
2) obtain each measuring point signal by a plurality of drop tests, by state-based variable modal parameter Time domain identification method, identify vertical natural frequency, pitching natural frequency, inclination natural frequency and each natural frequency of automobile zero load and distinguish the when vibration shape of corresponding damping;
3) respectively before and after the centroid position of vehicle body increases quality, barycenter at vehicle body symmetrical position increase identical quality, change simultaneously pitch rotation inertia and increase identical quality in the symmetrical position of the barycenter of vehicle body, carry out respectively drop test after changing simultaneously the inclination moment of inertia, by state variable technique, the vertical natural frequency that the identification automobile loads, pitching natural frequency, roll the when vibration shape of damping corresponding to natural frequency and each natural frequency;
4) utilize step 2) and step 3) in each modal parameter of obtaining, and formula
With
Figure 2013100008668100002DEST_PATH_IMAGE004
, calculate vertical stiffness, vehicle body sprung mass, pitch stiffness, pitch rotation inertia, the roll stiffness of vehicle body and roll moment of inertia, wherein KEquivalent vertical stiffness, equivalent pitch stiffness or equivalent roll stiffness, MVehicle body sprung mass, pitch rotation inertia or inclination moment of inertia,
Figure 2013100008668100002DEST_PATH_IMAGE006
Vehicle body sprung mass, pitch rotation inertia or the inclination moment of inertia that each experiment increases in the step 3),
Figure 2013100008668100002DEST_PATH_IMAGE008
Step 2) in each experiment obtain automobile when unloaded vertical natural frequency, pitching natural frequency or roll natural frequency, Vertical natural frequency, pitching natural frequency or inclination natural frequency when being the automobile loading that each experiment obtains in the step 3);
5) by the vertical stiffness that can obtain vehicle body in the step 4), by formula
Figure 2013100008668100002DEST_PATH_IMAGE012
With
Figure 2013100008668100002DEST_PATH_IMAGE014
Calculate front suspension rigidity K Sf With rear suspension rigidity K Sr , the rigidity of tire
Figure 2013100008668100002DEST_PATH_IMAGE016
By the empirical estimating gained, again by the circulation accuracy computation, determine actual front suspension rigidity K Sf With rear suspension rigidity K Sr
6) rule of thumb determine the scope of tire stiffness, in tire stiffness, get a value as tire stiffness
Figure 2013100008668100002DEST_PATH_IMAGE018
, obtain stiffness matrix K, recycling deviation and permissible accuracy compare, and do not reselect tire stiffness calculating if do not satisfy accuracy requirement, until obtain to satisfy the tire stiffness less than assigned error;
7) utilize front suspension rigidity K Sf , rear suspension rigidity K Sr And tire stiffness
Figure 2013100008668100002DEST_PATH_IMAGE018A
, namely obtain stiffness matrix K, and mass matrix MKnown, obtain thus natural frequency
Figure 2013100008668100002DEST_PATH_IMAGE020
, the vibration shape
Figure 2013100008668100002DEST_PATH_IMAGE022
, the frequency that experimental identification is gone out
Figure 2013100008668100002DEST_PATH_IMAGE024
With
Figure DEST_PATH_IMAGE020A
Relatively, carry out the checking of method accuracy.
In a preferred embodiment of the present invention, by four-wheel drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the vertical natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape;
By front tyre or rear tyre drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the pitching natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape;
By left side tire or right side tire drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the inclination natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape.
In a preferred embodiment of the present invention, centroid position at vehicle body increases quality, obtains data by the four-wheel drop test, with state-based variable modal parameter Time domain identification method, obtain the vertical natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape;
Position symmetrical before and after the barycenter of vehicle body increases identical quality, change pitch rotation inertia, obtain data by front-wheel drop test or trailing wheel drop test, with state-based variable modal parameter Time domain identification method, obtain the pitching natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape;
Increase identical quality in the symmetrical position of the barycenter of vehicle body, change and roll moment of inertia, obtain data by revolver drop test or the right drop test of taking turns, with state-based variable modal parameter Time domain identification method, obtain the inclination natural frequency that vehicle loads, with and the corresponding damping vibration shape when.
In a preferred embodiment of the present invention, described state-based variable 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.
In a preferred embodiment of the present invention, in the step 5), the method for circulation accuracy computation obtains one group of stiffness matrix for whenever getting a r, utilizes modal theory calculative determination undamped natural frequency of a mechanical system
Figure 2013100008668100002DEST_PATH_IMAGE026
, this natural frequency to the deviation of the natural frequency that obtains of actual experiment, by formula
Figure 2013100008668100002DEST_PATH_IMAGE028
Determine, wherein,
Figure 2013100008668100002DEST_PATH_IMAGE030
, ,
Figure 2013100008668100002DEST_PATH_IMAGE034
Be weighted value, the frequency that its corresponding experimental identification goes out is
Figure 2013100008668100002DEST_PATH_IMAGE036
,
Figure 2013100008668100002DEST_PATH_IMAGE038
, , the calculative determination undamped natural frequency of a mechanical system is
Figure 2013100008668100002DEST_PATH_IMAGE042
,
Figure 2013100008668100002DEST_PATH_IMAGE044
,
Figure 2013100008668100002DEST_PATH_IMAGE046
According to the deviation that obtains, judge whether to satisfy accuracy requirement, do not satisfy and continue to utilize the program exploitation that circulates, until with actual experiment result coupling, determine actual front suspension rigidity K Sf With rear suspension rigidity K Sr
In a preferred embodiment of the present invention, utilize deviation and permissible accuracy to compare method with cycle calculations for can be got by the modal theory analysis, at the known quality matrix in the step 6) MAnd stiffness matrix KSituation under, obtain natural frequency
Figure DEST_PATH_IMAGE020AA
, the natural frequency that obtains
Figure 2013100008668100002DEST_PATH_IMAGE048
With the natural frequency that identifies by experiment According to formula
Figure 2013100008668100002DEST_PATH_IMAGE052
Carry out deviation and judge, wherein Be weighted value, deviation and permissible accuracy compare, and do not reselect tire stiffness calculating if do not satisfy accuracy requirement, until obtain to satisfy the tire stiffness less than assigned error.
In a preferred embodiment of the present invention, the layout scheme of each measuring point of step 1) is that 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.
The invention has the beneficial effects as follows: the present invention is based on the vehicle parameter recognition methods of drop test single-degree-of-freedom auto model by after car model is simplified, the data of utilizing drop test to collect, utilize state-based variable modal parameter Time domain identification method to carry out Modal Parameter Identification, the requirement of experimental facilities is lower, test workablely, the single experiment expense is lower; The natural frequency that the precision that identifies by this method and four-way system experimental identify and the precision of the vibration shape are consistent, and the method for computational physics parameter is fairly simple, needs to remove damper in the experimentation, and damping is estimated separately.
Description of drawings
Fig. 1 is the schematic flow sheet that the present invention is based on vehicle parameter recognition methods one preferred embodiment of drop test single-degree-of-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 drop test single-degree-of-freedom auto model may further comprise the steps:
1) at vehicle at least 6 measuring points is set, 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) by four-wheel drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the vertical natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape;
By front tyre or rear tyre drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the pitching natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape;
By left side tire or right side tire drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the inclination natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape.
3) increase quality at the centroid position of vehicle body, obtain data by the four-wheel drop test, with state-based variable modal parameter Time domain identification method, obtain the vertical natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape;
Position symmetrical before and after the barycenter of vehicle body increases identical quality, in the situation that does not change centroid position, change pitch rotation inertia, obtain data by front-wheel drop test or trailing wheel drop test, with state-based variable modal parameter Time domain identification method, obtain the pitching natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape;
Increase identical quality in the symmetrical position of the barycenter of vehicle body, in the situation that does not change centroid position, change and roll moment of inertia, obtain data by revolver drop test or the right drop test of taking turns, use state variable technique, obtain the inclination natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape.
4) utilize step 2) and step 3) in each modal parameter of obtaining, and formula
Figure DEST_PATH_IMAGE056
With , calculate vertical stiffness, vehicle body sprung mass, pitch stiffness, pitch rotation inertia, the roll stiffness of vehicle body and roll moment of inertia, wherein KEquivalent vertical stiffness, equivalent pitch stiffness or equivalent roll stiffness, MVehicle body sprung mass, pitch rotation inertia or inclination moment of inertia,
Figure DEST_PATH_IMAGE058
Vehicle body sprung mass, pitch rotation inertia or the inclination moment of inertia that each experiment increases in the step 3),
Figure DEST_PATH_IMAGE008A
Step 2) in each experiment obtain automobile when unloaded vertical natural frequency, pitching natural frequency or roll natural frequency,
Figure DEST_PATH_IMAGE060
Vertical natural frequency when being the automobile loading that each experiment obtains in the step 3), pitching natural frequency or inclination natural frequency;
5) by the vertical stiffness that can obtain vehicle body in the step 4), and formula
Figure DEST_PATH_IMAGE062
With
Figure DEST_PATH_IMAGE064
Can calculate front suspension rigidity K Sf With rear suspension rigidity K Sr , the rigidity of tire can be estimated by experimental formula; Wherein whenever get a r and all can obtain one group of stiffness matrix, utilize state variable technique can determine undamped natural frequency of a mechanical system
Figure DEST_PATH_IMAGE026A
, this natural frequency to the deviation of the natural frequency that obtains of actual experiment, by formula
Figure DEST_PATH_IMAGE066
Determine, wherein,
Figure DEST_PATH_IMAGE030A
,
Figure DEST_PATH_IMAGE068
,
Figure DEST_PATH_IMAGE034A
Be weighted value, according to the deviation that obtains, judge whether to satisfy accuracy requirement, do not satisfy and continue to utilize the program exploitation that circulates, until with actual experiment result coupling, determine actual front suspension rigidity K Sf With rear suspension rigidity K Sr
6) rule of thumb determine the scope of tire stiffness, in tire stiffness, get a value as tire stiffness
Figure 2013100008668100002DEST_PATH_IMAGE016A
, obtain stiffness matrix K, can be got by state variable technique, at the known quality matrix MAnd stiffness matrix KSituation under, obtain natural frequency
Figure DEST_PATH_IMAGE020AAA
, the natural frequency that obtains and the natural frequency that identifies by experiment according to formula
Figure DEST_PATH_IMAGE070
Carry out deviation and judge that deviation and permissible accuracy compare, do not reselect tire stiffness calculating if do not satisfy accuracy requirement, until obtain to satisfy the tire stiffness less than assigned error.
7) utilize front suspension rigidity K Sf , rear suspension rigidity K Sr And tire stiffness
Figure 2013100008668100002DEST_PATH_IMAGE016AA
, namely obtain stiffness matrix K, and mass matrix MKnown, obtain thus natural frequency
Figure DEST_PATH_IMAGE020AAAA
, the vibration shape , the frequency that experimental identification is gone out With
Figure DEST_PATH_IMAGE020AAAAA
Relatively, carry out the checking of method accuracy.
Described state-based variable modal parameter Time domain identification method is by introducing variable
Figure DEST_PATH_IMAGE074
Method, with the kinetics equation of system
Figure DEST_PATH_IMAGE076
Become state equation , the dynamics first kind inverse problem of the free vibration attenuation response by the solving state equation obtains natural frequency, the vibration shape and the damping ratio of system.
Detailed process is as follows:
For the kinetics equation of General System by being:
Figure DEST_PATH_IMAGE076A
(1)
Wherein [ M], [ C], and [ K] represent respectively the quality of system, rigidity and damping matrix, XThe expression system motion vector.
Equation (1) is rewritten as following system of equations
Figure DEST_PATH_IMAGE080
(2)
Introduce state variable
Figure DEST_PATH_IMAGE074A
, then the available following formula of system of equations (2) represents
Figure DEST_PATH_IMAGE082
(3)
Wherein:
Figure DEST_PATH_IMAGE084
The solution of formula (3) is:
Figure DEST_PATH_IMAGE086
(4)
Wherein Y 0 Be starting condition ,
Figure DEST_PATH_IMAGE090
Be first motion vector,
Figure DEST_PATH_IMAGE092
Be initial velocity vector, order t k = K Δ t, ( k=0,1,2 ...), wherein Δ tBe sampling time interval.
Figure DEST_PATH_IMAGE094
(5)
Figure DEST_PATH_IMAGE096
(6)
Figure DEST_PATH_IMAGE098
(7)
Equation (7) is the difference form of the differential equation (3).
Wherein:
(8)
Figure DEST_PATH_IMAGE102
(9)
Figure DEST_PATH_IMAGE104
(10)
Utilize the time domain parameter identification method, the system vibration equation can be expressed as following difference equation:
Figure DEST_PATH_IMAGE098A
(11)
Wherein k is the discrete time point, and Y is state parameter, and A is transfer matrix.If can obtain transfer matrix A, just can obtain the eigenwert of system.Below utilize the vibration signal that measures to estimate transfer matrix A.Define following signal matrix:
(12)
Figure DEST_PATH_IMAGE108
(13)
Adopt the principle of least square, the estimation matrix A
Figure DEST_PATH_IMAGE110
(14)
Its eigenwert and proper vector are:
(15)
Figure DEST_PATH_IMAGE114
,
Figure DEST_PATH_IMAGE116
(16)
According to ZThe territory with SRelation between the territory
Figure DEST_PATH_IMAGE118
(17)
(18)
(19)
Figure DEST_PATH_IMAGE124
(20)
Wherein F s Be sample frequency, F Max Be the maximum frequency between cog region.
Figure DEST_PATH_IMAGE126
(21)
Figure DEST_PATH_IMAGE128
(22)
Figure DEST_PATH_IMAGE130
(23)
Obtain natural frequency and the damping ratio of system by above formula.Consider more general situation
Signal matrix is:
Figure DEST_PATH_IMAGE132
(24)
Figure DEST_PATH_IMAGE134
(25)
Figure DEST_PATH_IMAGE136
(26)
Wherein u 0, u 1, u 2..., u p-1 , k 1, k 2..., k N Be integer.At this moment the pass between two signal matrix is:
Figure DEST_PATH_IMAGE138
(27)
The process of calculating natural frequency and damping ratio is identical with the front, be exactly Δ tWith u 0 Δ tReplace.Suitable when choosing u i , k i Obtain ITD and STD method.
The calculating of the vibration shape:
Equation (3) is the equation of a coupling with the differential equation of state-variable description, can be with equation (3) decoupling zero by the modal coordinate conversion.The differential equation after its decoupling zero is:
Figure DEST_PATH_IMAGE140
(28)
Figure DEST_PATH_IMAGE142
(29)
Figure DEST_PATH_IMAGE144
(30)
Wherein QIt is modal matrix PInverse matrix.Corresponding starting condition is
Figure DEST_PATH_IMAGE146
(31)
The solution of equation (28) is:
Figure DEST_PATH_IMAGE148
(32)
Then the solution of equation (3) is:
Figure DEST_PATH_IMAGE150
(33)
Be expressed as with the component form:
Figure DEST_PATH_IMAGE152
(34)
The solution of being given by equation (34) obtains jThe individual vibration shape is
Figure DEST_PATH_IMAGE154
Figure DEST_PATH_IMAGE156
(35)
Wherein P m =max{ P 1 j , P 2 j ..., P n j .
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 free decaying data signal that utilization collects (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, obtains natural frequency, the vibration shape and the damping ratio of system.
The present invention is based on the vehicle parameter recognition methods of drop test single-degree-of-freedom auto model by after car model is simplified, the data of utilizing drop test to collect, utilize state-based variable modal parameter Time domain identification method to carry out Modal Parameter Identification, experimental facilities lower, test workablely, the single experiment expense is lower; The natural frequency that the precision that identifies by this method and four-way system experimental identify and the precision of the vibration shape are consistent, and the method for computational physics parameter is fairly simple, needs to remove damper in the experimentation, and damping is estimated separately.
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 drop test single-degree-of-freedom auto model is characterized in that, may further comprise the steps:
1) at vehicle at least 6 measuring points is set;
2) obtain each measuring point signal by a plurality of drop tests, by state-based variable modal parameter Time domain identification method, identify vertical natural frequency, pitching natural frequency, inclination natural frequency and each natural frequency of automobile zero load and distinguish the when vibration shape of corresponding damping;
3) respectively before and after the centroid position of vehicle body increases quality, barycenter at vehicle body symmetrical position increase identical quality, change simultaneously pitch rotation inertia and increase identical quality in the symmetrical position of the barycenter of vehicle body, carry out respectively drop test after changing simultaneously the inclination moment of inertia, by state-based variable modal parameter Time domain identification method, the vertical natural frequency that the identification automobile loads, pitching natural frequency, roll the when vibration shape of damping corresponding to natural frequency and each natural frequency;
4) utilize step 2) and step 3) in each modal parameter of obtaining, and formula
Figure 2013100008668100001DEST_PATH_IMAGE002
With , calculate vertical stiffness, vehicle body sprung mass, pitch stiffness, pitch rotation inertia, the roll stiffness of vehicle body and roll moment of inertia, wherein KEquivalent vertical stiffness, equivalent pitch stiffness or equivalent roll stiffness, MVehicle body sprung mass, pitch rotation inertia or inclination moment of inertia, Vehicle body sprung mass, pitch rotation inertia or the inclination moment of inertia that each experiment increases in the step 3),
Figure DEST_PATH_IMAGE008
Step 2) in each experiment obtain automobile when unloaded vertical natural frequency, pitching natural frequency or roll natural frequency, Vertical natural frequency, pitching natural frequency or inclination natural frequency when being the automobile loading that each experiment obtains in the step 3);
5) by the vertical stiffness that can obtain vehicle body in the step 4), by formula
Figure DEST_PATH_IMAGE012
With
Figure DEST_PATH_IMAGE014
Calculate front suspension rigidity K Sf With rear suspension rigidity K Sr , the rigidity of tire By the empirical estimating gained, again by cycle calculations, determine actual front suspension rigidity K Sf With rear suspension rigidity K Sr
6) rule of thumb determine the scope of tire stiffness, in given tire stiffness scope, get a value as tire stiffness , obtain stiffness matrix K, recycling deviation and permissible accuracy compare, and do not reselect tire stiffness calculating if do not satisfy accuracy requirement, until obtain to satisfy the tire stiffness less than assigned error;
7) utilize front suspension rigidity K Sf , rear suspension rigidity K Sr And tire stiffness
Figure DEST_PATH_IMAGE016AA
, namely obtain stiffness matrix K, and mass matrix MKnown, obtain thus natural frequency
Figure DEST_PATH_IMAGE018
, the vibration shape
Figure DEST_PATH_IMAGE020
, the frequency that experimental identification is gone out
Figure DEST_PATH_IMAGE022
With Relatively, carry out the checking of method accuracy.
2. the vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model according to claim 1, it is characterized in that, by four-wheel drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the vertical natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape;
By front tyre or rear tyre drop test picked up signal, by state-based variable modal parameter Time domain identification method, identify the pitching natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape;
By left side tire or right side tire drop test picked up signal, by state-based variable modal parameter time domain identification method, identify the inclination natural frequency of vehicle zero load, with and corresponding damping ratio and the vibration shape.
3. the vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model according to claim 1, it is characterized in that, centroid position at vehicle body increases quality, obtain data by the four-wheel drop test, with state-based variable modal parameter Time domain identification method, obtain the vertical natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape;
Position symmetrical before and after the barycenter of vehicle body increases identical quality, change pitch rotation inertia, obtain data by front-wheel drop test or trailing wheel drop test, with state-based variable modal parameter Time domain identification method, obtain the pitching natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape;
Increase identical quality in the symmetrical position of the barycenter of vehicle body, change and roll moment of inertia, obtain data by revolver drop test or the right drop test of taking turns, with state-based variable modal parameter Time domain identification method, obtain the inclination natural frequency that vehicle loads, with and corresponding damping ratio and the vibration shape.
4. the vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model according to claim 1, it is characterized in that, described state-based variable 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.
5. the vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model according to claim 1, it is characterized in that, in the step 5), the method for circulation accuracy computation obtains one group of stiffness matrix for whenever getting a r, utilizes modal theory calculative determination undamped natural frequency of a mechanical system
Figure DEST_PATH_IMAGE024
, this natural frequency to the deviation of the natural frequency that obtains of actual experiment, by formula
Figure DEST_PATH_IMAGE026
Determine, wherein,
Figure DEST_PATH_IMAGE028
, , Be weighted value, the frequency that its corresponding experimental identification goes out is
Figure DEST_PATH_IMAGE034
,
Figure DEST_PATH_IMAGE036
,
Figure DEST_PATH_IMAGE038
, the calculative determination undamped natural frequency of a mechanical system is
Figure DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE042
, According to the deviation that obtains, judge whether to satisfy accuracy requirement, do not satisfy and continue to utilize the program exploitation that circulates, until with actual experiment result coupling, determine actual front suspension rigidity K Sf With rear suspension rigidity K Sr
6. the vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model according to claim 1, it is characterized in that, utilize deviation and permissible accuracy to compare method with cycle calculations for can be got by the modal theory analysis, at the known quality matrix in the step 6) MAnd stiffness matrix KSituation under, obtain natural frequency
Figure DEST_PATH_IMAGE018AA
, the natural frequency that obtains
Figure DEST_PATH_IMAGE046
With the natural frequency that identifies by experiment
Figure DEST_PATH_IMAGE048
According to formula
Figure DEST_PATH_IMAGE050
Carry out deviation and judge, wherein Be weighted value, deviation and permissible accuracy compare, and do not reselect tire stiffness calculating if do not satisfy accuracy requirement, until obtain to satisfy the tire stiffness less than assigned error.
7. the vehicle parameter recognition methods based on drop test single-degree-of-freedom auto model according to claim 1, it is characterized in that, the layout scheme of each measuring point of step 1) is that 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.
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CN114088414A (en) * 2021-11-17 2022-02-25 北京理工大学 Electric automobile mass, spring and damping model three-parameter extraction method
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CN110231181A (en) * 2019-05-13 2019-09-13 中冀施玛特科技河北有限公司 A kind of vehicle physical method for parameter estimation based on vibration-testing information
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