CN103786533B - Tyre load real-time monitoring system in a kind of vehicle traveling process - Google Patents

Tyre load real-time monitoring system in a kind of vehicle traveling process Download PDF

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CN103786533B
CN103786533B CN201410071985.7A CN201410071985A CN103786533B CN 103786533 B CN103786533 B CN 103786533B CN 201410071985 A CN201410071985 A CN 201410071985A CN 103786533 B CN103786533 B CN 103786533B
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automobile
data acquisition
procession
automobile tire
board
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CN103786533A (en
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张小龙
王啟永
陈彬
刘鹏飞
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Anhui Agricultural University AHAU
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Anhui Agricultural University AHAU
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Abstract

The invention discloses tyre load real-time monitoring system in a kind of vehicle traveling process, it is characterised in that: first pass through bench test and calibrate the mapping relations between automobile tire load and tire pressure, tyre temperature and rubber for tire carcass vertical deformation amount;Then pass through test car speed equipment, tire pressure monitoring device and wheel speed sensors etc. and tyre load in vehicle traveling process is carried out real-time estimation.Theoretical method proposed by the invention is ripe, and the monitoring device of design has higher measuring accuracy, is suitable for vehicle scope wide.

Description

Tyre load real-time monitoring system in a kind of vehicle traveling process
Technical field
The invention belongs to automotive test and control field, particularly relate to tyre load real-time monitoring system in a kind of vehicle traveling process.
Background technology
Along with developing rapidly of automobile industry, automotive performance is required to step up by driver, especially at the aspect of performance of tire.Tire manufacturer needs the use data analyzing its tire product after putting on market, for improving tyre performance to meet the instructions for use of driver and to improve market share.Therefore, tire manufacturer is badly in need of a kind of applied widely, and measuring accuracy is high, and lower-cost method of testing is used for collection and the analysis of tire used data, and wherein, the vertical load of tire is the important parameter in tire used data.
The stressing conditions of tire affects vehicle safety closely, the power that automobile is required in normal driving process, such as driving force, brake force etc., all result from the rubbing surface of tire and road surface interaction, the vertical load of tire affects the adhesion property of automobile, wherein, the length of the braking distance of automobile and attachment coefficient have direct relation.Less tire vertical load is easily caused the locking phenomenon of tire, and excessive tire vertical load is easily caused the generation of phenomenon of blowing out, and these phenomenons are degrading the driving safety of automobile.
Therefore, accurately obtain the tyre load in vehicle traveling process and be monitored having great significance to it.The acquisition methods of automobile tire load is had by prior art, based on the method for testing of six square phase tire sensor (WFT);Intelligent tire;And the method based on image.
Method of testing based on six square phase tire sensor (WFT) can measure ground effects power on tire in vehicle travel process in real time, obtain information of road surface accurately, this plays an important role for the durability analysis of suspension and vehicle body, it helps improve the exploitation of vehicle traveling and control stability optimization, dynamic analysis and tire.Wherein, the existing ripe product of the company such as American MTS, Switzerland Kistler emerges, but expensive, install complicated, different kinds of tyre is not general.
Intelligent tire, by the rubber tyre body at tire plus chip method, tests out the stressing conditions of automobile tire in the process of moving, but, the research of current intelligent tire is also in theory stage.
By the method for optics, utilize the method that photographic head irradiates detected tyre rubber tyre body deflection.But, this kind of method is only applicable in bench test, it is impossible to be applied in real vehicle driving process.
Summary of the invention
The present invention is for avoiding the weak point existing for above-mentioned prior art, it is provided that tyre load method of real-time and device in the vehicle traveling process that a kind of theory is ripe, applied widely, precision is higher.
The present invention solves that technical problem adopts the following technical scheme that
Tyre load real-time monitoring system in vehicle traveling process of the present invention, its construction features is in that: described monitoring system is made up of GPS test car speed equipment, ABS wheel speed sensors, tire pressure monitoring device and data acquisition and procession device;
Described GPS test car speed equipment includes GPS car antenna and GPS receiver on-board;Described GPS car antenna is arranged on car roof and is positioned at the A point place of automobile longitudinal symmetrical plane and roof plane intersection line;Described GPS receiver on-board is arranged in Automobile and is connected with GPS car antenna;Described GPS car antenna is used for receiving gps satellite signal, described GPS receiver on-board is for resolving the gps satellite signal that described GPS car antenna receives, obtain the horizontal velocity v at automobile A point place in real time, and the horizontal velocity v at described automobile A point place is sent to data acquisition and procession device;
Described ABS wheel speed sensors is for monitoring automotive wheel angular velocity omega in real time, and is sent to data acquisition and procession device with the form of square-wave signal by described automotive wheel angular velocity omega;Hyundai Motor is from the safety of running car, and anti-lock braking system, i.e. ABS generally install on automobile in automobile vendor.ABS in the braking procedure of automobile forcibly the slip-based controller of wheel near peak adhesion coefficient, thus preventing wheel to be braked locking, improve braking effect.ABS is generally made up of sensor, electronic control unit (ECU) and hydraulic actuator.Wherein, sensor is used for detecting the information such as wheel speed;Electronic control unit (ECU) is used for processing sensor signal;Hydraulic actuator becomes the change of brake pressure on wheel for the order sent by ECU.Automotive wheel angular-rate sensor in the present invention adopts automobile ABS built-in sensors.
Described tire pressure monitoring device is arranged on valve inside of automobile tyre, is made up of pressure transducer, temperature sensor, acceleration transducer and RF sending module;Described pressure transducer is for detection automobile tire pressure P in real time, described temperature sensor is for detection automobile tire temperature T in real time, described acceleration transducer detects automobile in the process of moving for real-time, the interaction on tire and ground the acceleration a being perpendicular to ground produced;Described RF sending module is for transmission described automobile tire pressure P, described automobile tire temperature T and described acceleration a in real time to data acquisition and procession device;
Described data acquisition and procession device includes data acquisition and procession board and alarm;The square-wave signal of the automotive wheel angular velocity omega that the horizontal velocity v at automobile A point place that described data acquisition and procession board GPS receiver on-board described in real-time reception sends, described ABS wheel speed sensors send and described automobile tire pressure P, the described automobile tire temperature T of described RF sending module transmission and described acceleration a, and obtain automobile tire load FZ, described data acquisition and procession board judges automobile tire load FZWhether exceeding threshold value, if exceeding, then sending alarm signal by described alarm.
Tyre load real-time monitoring system in vehicle traveling process of the present invention, its construction features lies also in:
Described data acquisition and procession device also includes wireless receiving module;
The horizontal velocity v at described automobile A point place is sent the data acquisition and procession board to data acquisition and procession device by serial ports by described GPS receiver on-board;
Described automotive wheel angular velocity omega is sent the data acquisition and procession board to data acquisition and procession device with the form of square-wave signal by CAN by described ABS wheel speed sensors;
Described automobile tire pressure P, described automobile tire temperature T and described acceleration a are sent the wireless receiving module to data acquisition and procession device by wireless by described RF sending module;
Described automobile tire pressure P, described automobile tire temperature T and described acceleration a are sent to data acquisition and procession board by described wireless receiving module.
Preferably, described data acquisition and procession board adopts the TMS320F28335DSP chip of TI company.
Utilizing the monitoring method of the monitoring system of the present invention, it is characterized in that:
Described automobile tire load FZObtained by formula (1):
FZ=f (P, T, Δ s) (1)
In formula, f is the automobile tire load F demarcated by bench testZAnd mapping relations between the vertical deformation amount Δ s of rubber tyre body (5) when automobile tire pressure P, described automobile tire temperature T and automobile tire and ground interaction;" tire theory and the technology " of A.N.Gent and J.D.Walter chief editor elaborates tyre load FZAnd there is non-linear relation between the vertical deformation amount Δ s of rubber tyre body (5) when automobile tire pressure P, automobile tire temperature T and automobile tire and ground interaction.
Described vertical deformation amount Δ s is obtained by formula (2):
Δ s=rr-l-Δs′(2)
R in formularRolling radius for automobile tire;L is the automobile tire center distance to rim for automobile wheel (4) edge;The vertical jitter amount produced when Δ s ' is for tire in vehicle traveling process and ground effects;
The rolling radius r of described automobile tirerObtained by formula (3):
rr=v/ ω (3)
In formula, v is the horizontal velocity at automobile A point place;ω is resolved, by data acquisition and procession board, the automotive wheel angular velocity obtained by the square-wave signal of automotive wheel angular velocity omega;
Δ s ' in formula (2) is obtained by FFT-DDI filtering method according to acceleration a by data acquisition and procession board.FFT-DDI filtering method, " the Newimprovementsinthedigitaldoubleinterationfilteringmeth odtomeasuredisplacementsusingaccelerometers " of RibeiroTGT et al. and " DSP of vibration acceleration signal Direct Digital integration realizes " of Institutes Of Technology Of Taiyuan Li Dongwen are conducted in-depth research.By FFT-DDI method in " the automotive suspension displacement method for real-timely testing experimental study based on acceleration " literary composition that inventor delivers, frequency domain filtering and time-domain integration are hocketed, particularly during frequency domain filtering, the numerical value before FFT and last numerical value indirect assignment are changed, so can be effectively improved the storage effect of low frequency signal.
Compared with prior art, the present invention has the beneficial effect that:
1, the present invention calibrates the vertical load F of tire by bench testZMapping relationship f with tire parameter, then pass through GPS test car speed equipment, system for monitoring pressure in tyre and ABS wheel speed sensors etc. and obtain the running car parameter required for mapping relations, thus obtaining tyre load in vehicle traveling process, monitoring device is easy for installation, monitoring method simple, theory ripe and has higher measuring accuracy;
2, monitoring method of the present invention and monitoring device are applicable to automobile real-time monitoring in the process of moving;
3, monitoring method of the present invention is wide with the vehicle scope that device is suitable for.
Accompanying drawing explanation
Fig. 1 is that the present invention monitors device scheme of installation;
Fig. 2 is that the present invention monitors device hardware block diagram
Fig. 3 is that in vehicle traveling process of the present invention, tire angular velocity obtains schematic diagram;
Fig. 4 is system for monitoring pressure in tyre scheme of installation of the present invention;
Fig. 5 is acceleration transducer scheme of installation of the present invention;
Fig. 6 is that rubber for tire carcass vertical deformation gauge of the present invention calculates schematic diagram;
Number in the figure: 1GPS car antenna;2ABS wheel speed sensors;3 tire pressure monitoring devices;3a acceleration transducer;4 rim for automobile wheel;5 rubber tyre bodies.
Detailed description of the invention
As it is shown in figure 1, tyre load real-time monitoring system is made up of GPS test car speed equipment, ABS wheel speed sensors 2, tire pressure monitoring device 3 and data acquisition and procession device in the vehicle traveling process of the present embodiment;
Described GPS test car speed equipment includes GPS car antenna 1 and GPS receiver on-board;Described GPS car antenna 1 is arranged on car roof and is positioned at the A point place of automobile longitudinal symmetrical plane and roof plane intersection line;Described GPS receiver on-board is arranged in Automobile and is connected with GPS car antenna 1;Described GPS car antenna 1 is used for receiving gps satellite signal, described GPS receiver on-board is for resolving the gps satellite signal that described GPS car antenna 1 receives, obtain the horizontal velocity v at automobile A point place in real time, and the horizontal velocity v at described automobile A point place is sent to data acquisition and procession device;
As it is shown on figure 3, described ABS wheel speed sensors 2 is for monitoring automotive wheel angular velocity omega in real time, and described automotive wheel angular velocity omega is sent to data acquisition and procession device with the form of square-wave signal;Hyundai Motor is from the safety of running car, and anti-lock braking system, i.e. ABS generally install on automobile in automobile vendor.ABS in the braking procedure of automobile forcibly the slip-based controller of wheel near peak adhesion coefficient, thus preventing wheel to be braked locking, improve braking effect.ABS is generally made up of sensor, electronic control unit (ECU) and hydraulic actuator.Wherein, sensor is used for detecting the information such as wheel speed;Electronic control unit (ECU) is used for processing sensor signal;Hydraulic actuator becomes the change of brake pressure on wheel for the order sent by ECU.Automotive wheel angular-rate sensor 2 in the present invention adopts automobile ABS built-in sensors.In being embodied as, due to automobile in the process of moving, the angular velocity of four wheels there are differences, and this monitoring method adopts the method taking four angular speed of wheel meansigma methodss;
As shown in Figure 4, described tire pressure monitoring device 3 is arranged on valve inside of automobile tyre, is made up of pressure transducer, temperature sensor, acceleration transducer 3a and RF sending module;Described pressure transducer is for detection automobile tire pressure P in real time, described temperature sensor is for detection automobile tire temperature T in real time, described acceleration transducer 3a detects automobile in the process of moving for real-time, the interaction on tire and ground the acceleration a being perpendicular to ground produced;Described RF sending module is for transmission described automobile tire pressure P, described automobile tire temperature T and described acceleration a in real time to data acquisition and procession device;
As it is shown in figure 5, described acceleration transducer 3a is integrated in described system for monitoring pressure in tyre 3, in real time measuring automobile in the process of moving, tire and the interaction on ground and the acceleration a being perpendicular to ground that produces.The acceleration transducer 3a that the present embodiment adopts can measure x, y, the acceleration in tri-directions of z, owing to being integrated in system for monitoring pressure in tyre 3, accordingly, it would be desirable to the position of acceleration transducer 3a is judged, when acceleration transducer 3a is positioned at the underface of wheel, the accekeration of y-axis output can directly calculate, and when acceleration transducer 3a is positioned at the surface of wheel, y-axis takes the accekeration of its opposite direction output.
As in figure 2 it is shown, described data acquisition and procession device includes data acquisition and procession board and alarm;The square-wave signal of the automotive wheel angular velocity omega that the horizontal velocity v at automobile A point place that described data acquisition and procession board GPS receiver on-board described in real-time reception sends, described ABS wheel speed sensors 2 send and described automobile tire pressure P, the described automobile tire temperature T of described RF sending module transmission and described acceleration a, and obtain automobile tire load FZ, described data acquisition and procession board judges automobile tire load FZWhether exceeding threshold value, if exceeding, then sending alarm signal by described alarm.The data acquisition and procession board of the present embodiment adopts the TMS320F28335DSP chip of TI company.
In being embodied as, described data acquisition and procession device also includes wireless receiving module;
The horizontal velocity v at described automobile A point place is sent the data acquisition and procession board (DSP) to data acquisition and procession device by serial ports by described GPS receiver on-board;
Described automotive wheel angular velocity omega is sent the data acquisition and procession board (DSP) to data acquisition and procession device with the form of square-wave signal by CAN by described ABS wheel speed sensors 2;
Described automobile tire pressure P, described automobile tire temperature T and described acceleration a are sent the wireless receiving module to data acquisition and procession device by wireless by described RF sending module;
Described automobile tire pressure P, described automobile tire temperature T and described acceleration a are sent to data acquisition and procession board (DSP) by described wireless receiving module.
Described automobile tire vertical load FZObtain by (1) formula:
FZ=f (P, T, Δ s) (1)
In formula, f is the automobile tire load F demarcated by bench testZAnd mapping relations between the vertical deformation amount Δ s of rubber tyre body 5 when automobile tire pressure P, described automobile tire temperature T and automobile tire and ground interaction;" tire theory and technology " book of A.N.Gent and J.D.Walter chief editor elaborate along with tyre deflection strengthens, tire should change seriously, raw heat is more, so operating temperature also improves, when tyre load and automobile tire pressure P, automobile tire temperature T and automobile tire and ground interaction, between the vertical deformation amount Δ s of rubber tyre body 5, there is non-linear relation.
As shown in Figure 6, in formula (1), Δ s obtains by (2) formula:
Δ s=rr-l-Δs′(2)
R in formularRolling radius for automobile tire;L is the automobile tire center distance to rim for automobile wheel 4 edge;The vertical jitter amount produced when Δ s ' is for tire in vehicle traveling process and ground effects;
The rolling radius r of automobile tirer(3) formula of pressing obtains:
rr=v/ ω (3)
In formula, v is the horizontal velocity at automobile A point place;ω is resolved, by data acquisition and procession board, the automotive wheel angular velocity obtained by the square-wave signal of automotive wheel angular velocity omega;
Δ s ' in formula (2) is obtained by FFT-DDI filtering method according to acceleration a by data acquisition and procession board.FFT-DDI filtering method, " the Newimprovementsinthedigitaldoubleinterationfilteringmeth odtomeasuredisplacementsusingaccelerometers " of RibeiroTGT et al. and " DSP of vibration acceleration signal Direct Digital integration realizes " of Institutes Of Technology Of Taiyuan Li Dongwen are conducted in-depth research.By FFT-DDI method in " the automotive suspension displacement method for real-timely testing experimental study based on acceleration " literary composition that inventor delivers, frequency domain filtering and time-domain integration are hocketed, particularly during frequency domain filtering, the numerical value before FFT and last numerical value indirect assignment are changed, so can be effectively improved the storage effect of low frequency signal.
Finally, the P, T, Δ s that obtain are substituted into formula (1), it is thus achieved that the vertical load of tire.

Claims (3)

1. tyre load real-time monitoring system in a vehicle traveling process, it is characterised in that: described monitoring system is made up of GPS test car speed equipment, ABS wheel speed sensors (2), tire pressure monitoring device (3) and data acquisition and procession device;
Described GPS test car speed equipment includes GPS car antenna (1) and GPS receiver on-board;Described GPS car antenna (1) is arranged on car roof and is positioned at the A point place of automobile longitudinal symmetrical plane and roof plane intersection line;Described GPS receiver on-board is arranged in Automobile and is connected with GPS car antenna (1);Described GPS car antenna (1) is used for receiving gps satellite signal, described GPS receiver on-board is used for resolving the gps satellite signal that described GPS car antenna (1) receives, obtain the horizontal velocity v at automobile A point place in real time, and the horizontal velocity v at described automobile A point place is sent to data acquisition and procession device;
Described ABS wheel speed sensors (2) is for monitoring automotive wheel angular velocity omega in real time, and is sent to data acquisition and procession device with the form of square-wave signal by described automotive wheel angular velocity omega;
Described tire pressure monitoring device (3) is arranged on valve inside of automobile tyre, is made up of pressure transducer, temperature sensor, acceleration transducer (3a) and RF sending module;Described pressure transducer is for detection automobile tire pressure P in real time, described temperature sensor is for detection automobile tire temperature T in real time, described acceleration transducer (3a) detects automobile in the process of moving for real-time, the interaction on tire and ground the acceleration a being perpendicular to ground produced;Described RF sending module is for transmission described automobile tire pressure P, described automobile tire temperature T and described acceleration a in real time to data acquisition and procession device;
Described data acquisition and procession device includes data acquisition and procession board and alarm;The square-wave signal of the automotive wheel angular velocity omega that described data acquisition and procession board the horizontal velocity v at automobile A point place of GPS receiver on-board transmission, described ABS wheel speed sensors (2) described in real-time reception send and described automobile tire pressure P, the described automobile tire temperature T of described RF sending module transmission and described acceleration a, and obtain automobile tire load FZ, described data acquisition and procession board judges automobile tire load FZWhether exceeding threshold value, if exceeding, then sending alarm signal by described alarm;
Described automobile tire load FZObtained by formula (1):
FZ=f (P, T, Δ s) (1)
In formula, f is the automobile tire load F demarcated by bench testZAnd mapping relations between the vertical deformation amount Δ s of rubber tyre body (5) when automobile tire pressure P, described automobile tire temperature T and automobile tire and ground interaction;
Described vertical deformation amount Δ s is obtained by formula (2):
Δ s=rr-l-Δs′(2)
R in formularRolling radius for automobile tire;L is the automobile tire center distance to rim for automobile wheel (4) edge;The vertical jitter amount produced when Δ s ' is for tire in vehicle traveling process and ground effects;
The rolling radius r of described automobile tirerObtained by formula (3):
rr=v/ ω (3)
In formula, v is the horizontal velocity at automobile A point place;ω is resolved, by data acquisition and procession board, the automotive wheel angular velocity obtained by the square-wave signal of automotive wheel angular velocity omega;
Δ s ' in formula (2) is obtained by FFT-DDI filtering method according to acceleration a by data acquisition and procession board.
2. tyre load real-time monitoring system in vehicle traveling process according to claim 1, it is characterised in that:
Described data acquisition and procession device also includes wireless receiving module;
The horizontal velocity v at described automobile A point place is sent the data acquisition and procession board to data acquisition and procession device by serial ports by described GPS receiver on-board;
Described automotive wheel angular velocity omega is sent the data acquisition and procession board to data acquisition and procession device with the form of square-wave signal by CAN by described ABS wheel speed sensors (2);
Described automobile tire pressure P, described automobile tire temperature T and described acceleration a are sent the wireless receiving module to data acquisition and procession device by wireless by described RF sending module;
Described automobile tire pressure P, described automobile tire temperature T and described acceleration a are sent to data acquisition and procession board by described wireless receiving module.
3. tyre load real-time monitoring system in vehicle traveling process according to claim 1 and 2, it is characterised in that:
Described data acquisition and procession board adopts the TMS320F28335DSP chip of TI company.
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CN106198058B (en) * 2016-08-03 2017-04-19 东南大学 Real-time vertical wheel impact force measurement method based on tire pressure monitoring
CN108099916A (en) * 2016-11-25 2018-06-01 比亚迪股份有限公司 A kind of method, system and vehicle for monitoring vehicle running state
CN106626994B (en) * 2016-12-24 2018-06-29 安徽佳通乘用子午线轮胎有限公司 The method and system of detection wheel movement of the foetus state vertical load during a kind of vehicle traveling
CN106768577B (en) * 2016-12-26 2019-06-25 北京理工大学 A kind of vehicle tyre vertical load monitoring device and method
CN106840471B (en) * 2017-01-03 2020-03-27 北京信息科技大学 Integrated measurement system and method for vehicle stability and acting force in tire surface
CN107826122A (en) * 2017-10-16 2018-03-23 潍柴动力股份有限公司 A kind of method for calculating complete vehicle quality
CN108426556B (en) * 2018-03-09 2019-05-24 安徽农业大学 A kind of dynamometry vehicle wheel rotation angle measurement method based on acceleration
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