CN104462625A - Automobile suspension dynamic model calibration method - Google Patents
Automobile suspension dynamic model calibration method Download PDFInfo
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- CN104462625A CN104462625A CN201310432441.4A CN201310432441A CN104462625A CN 104462625 A CN104462625 A CN 104462625A CN 201310432441 A CN201310432441 A CN 201310432441A CN 104462625 A CN104462625 A CN 104462625A
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Abstract
The invention provides an automobile suspension dynamic model calibration method which includes the following steps that a whole-vehicle parameter of a current suspension model is determined, and the unsprung quality is adjusted; static balance loading simulation is conducted on the suspension model, spring preloading and bushing preloading are adjusted through a loop iteration mode and a suspension dynamic model is calibrated, so that the calibrated suspension dynamic model is made to meet the preset test condition. By the adoption of the automobile suspension dynamic model calibration method, the method that setting of the spring preloading and setting of the bushing preloading are combined is adopted to adjust the design state of the automobile suspension dynamic model, model calibration efficiency and accuracy can be quickly improved.
Description
Technical field
The present invention relates to the Design of digital field of automobile, particularly relate to a kind of automotive suspension kinetic model calibration steps.
Background technology
Dynamic suspension system of vehicles model is research Suspension movement and compliance (Kinematics and Compliance, K & C) characteristic, car load control stability basis, and the precision of model is the prerequisite of whole dynamic analysis work, auto project conceptual phase definition suspension system dynamics performance and design parameter most important.
The principal element affecting dynamic suspension system of vehicles model accuracy mainly contains three aspects: first, the accuracy of chassis hard spot; Next is the accuracy of chassis elastic component characteristic; The calibration accuracy of model in addition.Wherein front 2 factors are objective factor, and namely hard spot and elastic component characteristic is whether accurate, and it can be controlled preferably.And the method that the calibration of model is not fixed, a lot of company does not even calibrate, just simulation analysis work is carried out after only setting up relevant whole-car parameters, in fact steady analysis result grasped by the K & C obtained and car load and real vehicle often has larger difference, and the committed step of raising dynamic suspension system of vehicles model accuracy is exactly the calibration operation to model.
At present, calibration operation to the dynamic suspension system of vehicles model that mechanical system motion and dynamics simulation software/motor vehicle module (Adams/Car) generate in industry, preloading of spring is only set mostly, the axle load of suspension is made to reach design point, in fact this to allow model and real vehicle reach consistent state, and the K & C characteristic that analysis obtains and car load are grasped steady result and be there is certain error.
Summary of the invention
Technical matters to be solved by this invention is, a kind of dynamic suspension system of vehicles model calibration method is provided, this method can adjust Suspension Model reach more precisely, with real vehicle closer to degree, make suspension K & C, that steady analysis result precision grasped by car load is higher, result more accurately and reliably, can better design.
In order to solve the problems of the technologies described above, the one side of the embodiment of the present invention provides a kind of automotive suspension kinetic model calibration steps, for calibrating automotive suspension kinetic model, comprises the steps:
Determine the whole-car parameters of current automotive suspension kinetic model, and adjust unsprung mass, wherein, described whole-car parameters comprises: tyre free radius, tire radial rigidity, tire quality, sprung mass, barycenter are high, wheelbase, braking distribution ratio, drive distribution ratio, toe-in angle, camber angle, rack pinion ratio;
Carry out static equilibrium simulation analysis to described automotive suspension kinetic model, acquisition spring preload and lining preload;
Static equilibrium is carried out to described automotive suspension kinetic model and loads emulation, and adjust described spring preload and described lining by loop iteration mode and preload, preload according to the spring preload after described adjustment and lining and described automotive suspension kinetic model is calibrated, make the automotive suspension kinetic model after described calibration meet predetermined test condition.
Wherein, the described whole-car parameters determining current automotive suspension kinetic model, and the step adjusting unsprung mass comprises further:
All springs in described automotive suspension kinetic model and preloading of lining are set as 0 newton or 0 newton. rice;
Parallel wheel is carried out to described automotive suspension kinetic model and jumps operating mode emulation, jump in operating mode emulation described parallel wheel, make it emulate wheel and slip a line journey by design 0 position;
In simulation result, obtain described design attitude place tire ground connection wheel load, described monolateral wheel load is converted to quality as monolateral unsprung mass, judges whether described unsprung mass meets design object;
If described unsprung mass does not meet design object, then adjust the mass parameter of suspension associated components in described automotive suspension kinetic model, and repeat above-mentioned steps, until make described unsprung mass meet design object, using the unsprung mass of described final unsprung mass as current automotive suspension kinetic model.
Wherein, carry out static equilibrium simulation analysis to described automotive suspension kinetic model, the step that acquisition spring preload and lining preload comprises further:
Carry out static equilibrium to described automotive suspension kinetic model and load emulation, wherein, tire earth point place, left and right in described automotive suspension kinetic model, vertically upwards applies design load;
Check spring stress in simulation result, the spring preload current in automotive suspension kinetic model using spring stress in described simulation result;
Repeat abovementioned steps, until the convergence of described spring stress, then the spring stress that last static equilibrium loads in simulation result is set as spring preload.
Wherein, carry out static equilibrium simulation analysis to described automotive suspension kinetic model, acquisition spring preload and lining preload step and comprise further:
The lining that described last static equilibrium is loaded each lining in simulation result is stressed, and the corresponding lining as each lining of described automotive suspension kinetic model preloads.
Wherein, described to described automotive suspension kinetic model carry out static equilibrium load emulation, and adjust described spring preload and described lining by loop iteration mode and preload, preload according to the spring preload after described adjustment and lining and calibrate described automotive suspension kinetic model, the step making the automotive suspension kinetic model after described calibration meet predetermined test condition comprises further:
Emulation is loaded to described automotive suspension kinetic model static equilibrium, for described Suspension Model applies design load, checks whether described simulation result meets predetermined test condition;
If described simulation result does not meet predetermined test condition, then using the spring stress obtained in described simulation result as spring preload, and carry out static equilibrium simulation analysis for described automotive suspension kinetic model described in repeating, the step that setting spring preloads and lining preloads, described automotive suspension kinetic model is calibrated, until described simulation result meets predetermined test condition.
Wherein, whether described simulation result meets predetermined test condition and is:
When applying design load to the dynamic suspension system of vehicles model after described calibration, its simulation result meets the following conditions simultaneously, then judge that described model calibration completes:
Differ within 3 newton between spring stress in the simulation result that described automotive suspension kinetic model is emulated and set spring preload;
Wheel disk jerk value in the simulation result emulate described automotive suspension kinetic model is in ± 0.1 millimeter;
Differ within 0.01 degree between the toe-in angle of the toe-in angle in the simulation result that described automotive suspension kinetic model is emulated and camber angle and setting and camber angle.
Wherein, at the described whole-car parameters determining current automotive suspension kinetic model, and adjust taking a step forward of the step of unsprung mass and comprise:
Determine the design point of the design load of described automotive suspension, described automotive suspension kinetic model, and spring rate and lining characteristic.
Wherein, described method realizes in Adams/Car software.
Implement the embodiment of the present invention, there is following beneficial effect:
Adopt process of iteration, can preload automotive suspension kinetic model setting spring rapidly and accurately, improve the efficiency of fine setting model.
Adopt setting spring to preload and set lining and preload the design point that the method combined adjusts automotive suspension kinetic model, model calibration efficiency and precision can be improved fast.
Use the automotive suspension kinetic model of the method calibration of the embodiment of the present invention closer to real vehicle state, make K & C and car load simulation analysis result more reliable, model accuracy is high.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the main flow schematic diagram of an embodiment of a kind of automotive suspension kinetic model calibration steps provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, be the main flow schematic diagram of an embodiment of a kind of automotive suspension kinetic model calibration steps provided by the invention.In this embodiment, the method comprises the steps:
The characteristics such as step S10, clear and definite design load, spring, lining;
Before the calibration of automotive suspension kinetic model, first to determine the design point of design load, model.Secondly spring rate and lining characteristic is set according to offset frequency; Wherein, offset frequency is the particular content of suspension design, and spring rate and lining properties influence offset frequency, so offset frequency can be set, to determine spring and lining characteristic according to vehicle definition early stage in design.Be understandable that, the automotive suspension of different automobile types has the features such as different design loads and offset frequency, therefore this step is the basis of automotive suspension kinetic model calibration, only determine these characteristics, could calibrate selected automotive suspension kinetic model in Adams/Car software, obtain the automotive suspension kinetic model meeting this vehicle feature;
Step S11, be current automotive suspension kinetic model setting whole-car parameters, and adjust unsprung mass;
Based on Adams/Car software, following whole-car parameters in automotive suspension kinetic model is set: tyre free radius, tire radial rigidity, tire quality, sprung mass, barycenter are high, wheelbase, braking distribution ratio, drive analyze ratio, toe-in angle, camber angle, rack pinion compare etc., these parameters are all the reliable prerequisites of Dynamics Simulation Analysis real result, to these whole-car parameterses arrange more accurate, the simulation result drawn by Adams/Car software is more close to actual value;
In addition, need to set unsprung mass, the setting of this unsprung mass determines the preloading stressing conditions of spring and other elastic component, is the whether accurate prerequisite of Suspension Model.Concrete establishing method is as follows:
Be 0 newton or 0 newton by the preload settings of all springs and lining in described automotive suspension kinetic model. rice;
Parallel wheel is carried out to described automotive suspension kinetic model and jumps operating mode emulation, jump in operating mode emulation described parallel wheel, make it emulate wheel and slip a line journey by design 0 position;
In simulation result, obtain design attitude place tire ground connection wheel load, described monolateral wheel load is converted to quality as monolateral unsprung mass, judge whether described unsprung mass meets design object.Wherein, this design object is generally at automotive development in earlier stage, for ease of the desired value of design definition in early stage;
If described unsprung mass does not meet design object, then adjust the mass parameter of suspension associated components in described automotive suspension kinetic model, and repeat above-mentioned simulation process, until make described unsprung mass meet design object, using the unsprung mass of described final unsprung mass as current automotive suspension kinetic model.
Step S12, static equilibrium simulation analysis is carried out to described automotive suspension kinetic model, obtain spring preload and lining preloads;
After unsprung mass setting, need to start to carry out static equilibrium simulation analysis to Suspension Model, preload with setting spring, guarantee correct car load attitude.
Spring preload is the spring pre compressed magnitude after car load assembling under design load, can by the stressed sign of compression deformation after the drift sign of spring or spring assembling, in the present embodiment, characterize spring preload with spring stress, this step S12 specifically comprises the steps:
Static equilibrium is carried out to described automotive suspension kinetic model and loads emulation, to tire earth point place, left and right in described suspension kinetic model, vertically upwards apply design load;
Check spring stress in simulation result, using spring stress in described simulation result as the current spring preload in automotive suspension kinetic model;
Repeat abovementioned steps, namely emulated by several times iteration, spring stress in simulation result finally can be stabilized in a fixing value, also i.e. constant the and current spring preload equaled in automotive suspension kinetic model of spring stress, is now referred to as spring stress convergence.Then the spring stress last static equilibrium loaded in the simulation result of emulation is finally set as spring preload.
The lining that aforementioned last static equilibrium is loaded each lining in simulation result is stressed, and the corresponding lining as each lining of described automotive suspension kinetic model preloads.
Step S13, described automotive suspension kinetic model carried out to static equilibrium and load emulation, obtain simulation result.Particularly, load emulation to described automotive suspension kinetic model static equilibrium, for described Suspension Model applies design load, obtain simulation result, this simulation result comprises the information such as such as spring stress, wheel hop amount, toeing-in angle and camber angle.
Step S14, judges whether this simulation result meets predetermined test condition, specifically the spring stress in simulation result and set spring preload is compared, and sees difference between the two whether within 3 newton; Judge wheel disk jerk value in simulation result whether in ± 0.1 millimeter simultaneously; And the toe-in angle in simulation result and camber angle are compared with the toe-in angle of setting and camber angle respectively, see and differ between the two whether within 0.01 degree.
If above-mentioned three kinds of conditions are all satisfied, then think that the calibration operation of this automotive suspension kinetic model completes, otherwise still need further to calibrate current automotive suspension kinetic model, flow process goes to step S15;
In step S15, the spring stress this static equilibrium loaded in the simulation result of emulation is set as spring preload, and flow process is gone to step S12, according to the method for step S12, redefines spring preload and lining and preloads.
Repeat step S13 and step S14, until simulation result meets above-mentioned three predetermined test conditions simultaneously, thus the calibration of automotive suspension kinetic model is completed.
Above-mentioned calibration process we be referred to as loop iteration mode (also referred to as iteration convergence method), namely in an embodiment of the present invention, adjust described spring preload and described lining by loop iteration mode to preload, and preload according to the spring preload after adjustment and lining to calibrate described automotive suspension kinetic model, make the automotive suspension kinetic model after described calibration meet predetermined test condition.In the application of reality, general circulation can satisfy condition for 2 times.
Implement the embodiment of the present invention, there is following beneficial effect:
Adopt process of iteration, can preload automotive suspension kinetic model setting spring rapidly and accurately, improve the efficiency of fine setting model.
Adopt setting spring to preload and set lining and preload the design point that the method combined adjusts automotive suspension kinetic model, model calibration efficiency and precision can be improved fast.
Use the automotive suspension kinetic model of the method calibration of the embodiment of the present invention closer to real vehicle state, make K & C and car load simulation analysis result more reliable, model accuracy is higher.
Be understandable that, one of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, this program can be stored in computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, this storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
Above disclosedly be only a kind of preferred embodiment of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.
Claims (8)
1. an automotive suspension kinetic model calibration steps, for calibrating automotive suspension kinetic model, is characterized in that, comprising the steps:
Determine the whole-car parameters of current automotive suspension kinetic model, and adjust unsprung mass, wherein, described whole-car parameters comprises: tyre free radius, tire radial rigidity, tire quality, sprung mass, barycenter are high, wheelbase, braking distribution ratio, drive distribution ratio, toe-in angle, camber angle, rack pinion ratio;
Carry out static equilibrium simulation analysis to described automotive suspension kinetic model, acquisition spring preload and lining preload;
Static equilibrium is carried out to described automotive suspension kinetic model and loads emulation, and adjust described spring preload and described lining by loop iteration mode and preload, preload according to the spring preload after described adjustment and lining and described automotive suspension kinetic model is calibrated, make the automotive suspension kinetic model after described calibration meet predetermined test condition.
2. automotive suspension kinetic model calibration steps as claimed in claim 1, it is characterized in that, the described whole-car parameters determining current automotive suspension kinetic model, and the step adjusting unsprung mass comprises further:
All springs in described automotive suspension kinetic model and preloading of lining are set as 0 newton or 0 newton. rice;
Parallel wheel is carried out to described automotive suspension kinetic model and jumps operating mode emulation, jump in operating mode emulation described parallel wheel, make it emulate wheel and slip a line journey by design 0 position;
In simulation result, obtain described design attitude place tire ground connection wheel load, described monolateral wheel load is converted to quality as monolateral unsprung mass, judges whether described unsprung mass meets design object;
If described unsprung mass does not meet design object, then adjust the mass parameter of suspension associated components in described automotive suspension kinetic model, and repeat above-mentioned steps, until make described unsprung mass meet design object, using the unsprung mass of described final unsprung mass as current automotive suspension kinetic model.
3. automotive suspension kinetic model calibration steps as claimed in claim 1, is characterized in that, carry out static equilibrium simulation analysis to described automotive suspension kinetic model, and the step that acquisition spring preload and lining preload comprises further:
Carry out static equilibrium to described automotive suspension kinetic model and load emulation, wherein, tire earth point place, left and right in described automotive suspension kinetic model, vertically upwards applies design load;
Check spring stress in simulation result, the spring preload current in automotive suspension kinetic model using spring stress in described simulation result;
Repeat abovementioned steps, until the convergence of described spring stress, then the spring stress that last static equilibrium loads in simulation result is set as spring preload.
4. automotive suspension kinetic model calibration steps as claimed in claim 3, is characterized in that, carry out static equilibrium simulation analysis to described automotive suspension kinetic model, and acquisition spring preload and lining preload step and comprise further:
The lining that described last static equilibrium is loaded each lining in simulation result is stressed, and the corresponding lining as each lining of described automotive suspension kinetic model preloads.
5. automotive suspension kinetic model calibration steps as claimed in claim 4, it is characterized in that, described to described automotive suspension kinetic model carry out static equilibrium load emulation, and adjust described spring preload and described lining by loop iteration mode and preload, preload according to the spring preload after described adjustment and lining and calibrate described automotive suspension kinetic model, the step making the automotive suspension kinetic model after described calibration meet predetermined test condition comprises further:
Emulation is loaded to described automotive suspension kinetic model static equilibrium, for described Suspension Model applies design load, checks whether described simulation result meets predetermined test condition;
If described simulation result does not meet predetermined test condition, then using the spring stress obtained in described simulation result as spring preload, and carry out static equilibrium simulation analysis for described automotive suspension kinetic model described in repeating, the step that setting spring preloads and lining preloads, described automotive suspension kinetic model is calibrated, until described simulation result meets predetermined test condition.
6. automotive suspension kinetic model calibration steps as claimed in claim 5, it is characterized in that, whether described simulation result meets predetermined test condition is:
When applying design load to the dynamic suspension system of vehicles model after described calibration, its simulation result meets the following conditions simultaneously, then judge that described model calibration completes:
Differ within 3 newton between spring stress in the simulation result that described automotive suspension kinetic model is emulated and set spring preload;
Wheel disk jerk value in the simulation result emulate described automotive suspension kinetic model is in ± 0.1 millimeter;
Differ within 0.01 degree between the toe-in angle of the toe-in angle in the simulation result that described automotive suspension kinetic model is emulated and camber angle and setting and camber angle.
7. as the automotive suspension kinetic model calibration steps of claim 1-6 as described in any one, it is characterized in that, at the described whole-car parameters determining current automotive suspension kinetic model, and adjust taking a step forward of the step of unsprung mass and comprise:
Determine the design point of the design load of described automotive suspension, described automotive suspension kinetic model, and spring rate and lining characteristic.
8. automotive suspension kinetic model calibration steps as claimed in claim 7, it is characterized in that, described method realizes in Adams/Car software.
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| CN113434953A (en) * | 2021-06-07 | 2021-09-24 | 江铃汽车股份有限公司 | Method for correcting whole vehicle attitude of multi-body dynamic model of vehicle |
| CN113434953B (en) * | 2021-06-07 | 2022-10-28 | 江铃汽车股份有限公司 | Method for correcting whole vehicle attitude of multi-body dynamic model of vehicle |
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