CN104713737A - Vehicle semi-active suspension hardware-in-loop experimental platform based on electromagnetic vibration table - Google Patents
Vehicle semi-active suspension hardware-in-loop experimental platform based on electromagnetic vibration table Download PDFInfo
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Abstract
The invention relates to a vehicle semi-active suspension hardware-in-loop experimental platform based on an electromagnetic vibration table. The vehicle semi-active suspension hardware-in-loop experimental platform comprises a real-time simulation platform, an electromagnetic vibration testing system, an interface circuit and a magnetorheology damper driving power supply. The real-time simulation platform comprises a host machine, a target machine and a data collecting card. The electromagnetic vibration testing system comprises a vibration table base, an electromagnetic vibration generator, a guiding rod, an upper mounting base U-shaped clamp, a lower mounting base U-shaped clamp, a displacement sensor, a force sensor, an accelerator sensor, a magnetorheology damper, a horizontal beam, a screw rod and a power amplifier. The interface circuit comprises an SCSI100 needle connecting wire, a bent angle female base wiring plate, a displacement sensor output signal processing circuit, a force sensor output signal processing circuit and an amplitude limiting circuit. The magnetorheology damper driving power supply comprises a program control power supply and an RS232 serial port transmission line. The electromagnetic vibration testing system is used for simulating road excitation, and the testing platform is small in occupied space, low in operation noise, stable in operation and convenient to maintain.
Description
Technical field
The present invention relates to vehicle suspension system, particularly relate to a kind of Vehicle Semi-active Suspension hardware in loop experiment porch based on electromagnetic vibration generator system
Background technology
MR damper has the advantages such as output damping force is large, range of adjustment is wide, power consumption is low, adopt the semi-active suspension system of MR damper can select optimized suspension damping ratio according to different driving conditions, thus take into account vehicle ride comfort and manipulation stability.
Hardware in loop experiment sets up by real-time processor the operation characteristic that controll plant simulated by realistic model, connect actual hardware system by I/O interface and realize data transmission, and then carry out comprehensive system level testing, with conventional truck electric-control system through physical platform construction, algorithm design verify and real train test repeatedly development process compared with, decrease proving ground test number of times, significantly reduce research and development time and cost.
Domestic existing minority R&D institution establishes for semi-active suspension system hardware in loop experiment porch, but mainly have the following disadvantages: one is that suspension hardware configuration is too complicated, such as adopt counterweight as spring carried mass, add volute spring or tire, even devise approximate suspension assembly structure, but still cannot simulate actual suspension system, and in fact in semi-active suspension system except the controllable damper of key, all can realize in realistic model after other building block linearization process; Two is that real-time emulation system adopts the solution that provides of dSPACE or NI company, but due to the hardware configuration diversity of system platform, analogue system needs customized module, therefore extends the construction cycle, and adds cost; Three is that most hydraulic vibration gen that adopts provides road excitation, and occupation area of equipment is large, maintaining requires high, and compared to electromagnetic vibration generator system price also costly; Four is hardware system structure due to complexity and integrated real-time emulation system, and cause the test event of system single, even if possess multiple test function, need the hardware configuration of change system, Dynamic System convenience is not strong yet.
In sum, be badly in need of a kind of being easy to of exploitation at present to build, be easy to operation, the high semi-active suspension system hardware in loop system that especially can be applicable to University Laboratory Construction of cost performance.
Summary of the invention
The object of the invention is to set up a kind of simple for structure, reliability is high, be adapted at the Vehicle Semi-active Suspension hardware in loop experiment porch based on electromagnetic vibration generator system of University Laboratory Construction.
The present invention is by the following technical solutions:
Based on the Vehicle Semi-active Suspension hardware in loop experiment porch of electromagnetic vibration generator system, comprise real-time simulation platform, electromagnetic vibration test system, interface circuit and MR damper driving power, wherein: described real-time simulation platform, comprise host, target machine and multifunctional data acquisition card, host is connected with target machine by Ethernet, and target machine installs multifunctional data acquisition card by pci interface; The model having integrated 1/4th Vehicle Semi-active Suspension analogue systems and hardware in loop system is simultaneously set up, the service data of these two systems of real-time simulation platform real time record and the performance index of observation and comparison two systems in described real-time simulation platform;
Described electromagnetic vibration test system, involving vibrations sewing platform base, electromagnetic vibration generator, guide pole, the U-shaped fixture of upper mount pad, the U-shaped fixture of lower mount pad, displacement transducer, force snesor, acceleration transducer, MR damper, crossbeam, screw rod and power amplifier, described shaking table pedestal is placed in level ground, being connected with the stage body of electromagnetic vibration generator by air spring is an entirety, the table top both sides vertical direction of electromagnetic vibration generator installs a pair guide pole, on the guide bar portion's erection horizontal gird; Between described crossbeam and table top, symmetry installs a pair screw rod for regulating beam height; The U-shaped fixture of described lower mount pad is fixed on table top, and be connected with the lower parts casing pipe of MR damper, the upper sleeve of MR damper connects the upper U-shaped fixture of mount pad, the U-shaped fixture of upper mount pad is fixedly connected with force snesor, and force snesor is fixedly mounted on crossbeam along the direction vertical with MR damper; Institute's displacement sensors to be arranged between the U-shaped fixture of upper and lower mount pad and to be parallel to MR damper, and described acceleration transducer is fixed on table top, and described power amplifier is connected with the stage body of electromagnetic vibration generator by cable;
Described interface circuit, comprise SCSI100 pin connecting line, right angle female connector terminal block, displacement transducer output signal conditioning circuit, force snesor output signal conditioning circuit and amplitude limiter circuit, described right angle female connector terminal block is connected with data collecting card by SCSI100 pin connecting line, institute's displacement sensors output signal conditioning circuit is connected with the output terminal of displacement transducer and force snesor by shielding line respectively with the input end of force snesor output signal conditioning circuit, institute's displacement sensors output signal conditioning circuit is all connected with the interface of right angle female connector terminal block through described amplitude limiter circuit with the output terminal of force snesor output signal conditioning circuit,
Described MR damper driving power, comprises a programmable power supply and RS232 Serial Port Transmission line, and described programmable power supply is connected with target machine by RS232 Serial Port Transmission line.
The controller of the model set up in described real-time simulation platform can control figure parameters, and supports not shut down on-line tuning change control coefficient.
Further, described real-time simulation platform comprises road excitation module, 1/4th Vehicle Semi-active Suspension emulation modules, 1/4th Vehicle Semi-active Suspension hardware in loop module and oscilloscope module; Described road excitation module is 1/4th Vehicle Semi-active Suspension emulation modules simultaneously, 1/4th Vehicle Semi-active Suspension hardware in loop modules and oscilloscope module provide road surface input signal; Described oscilloscope module is used for observation experiment service data in real-time simulation platform;
Described 1/4th Vehicle Semi-active Suspension emulation modules comprise the 1/1st vehicle suspension kinetic model, the MR damper Boucwen phenomenon model revised and the first semi-active control module, wherein, the MR damper Boucwen phenomenon model revised is for simulating actual magnetic rheological damper, / 1st vehicle suspension kinetic model output status signal to a first semi-active control module, first semi-active control module outputs control signals to Boucwen phenomenon model, finally export damping force to the 1/1st vehicle suspension kinetic model by Boucwen phenomenon model,
Described 1/4th Vehicle Semi-active Suspension hardware in loop modules comprise the 1/2nd vehicle suspension kinetic model, second semi-active control module, data collecting card driver module and programmable power supply driver module, / 2nd vehicle suspension kinetic model exports suspension and moves stroke signal to data collecting card driver module, power amplifier is exported to by data collecting card driver module, / 2nd vehicle suspension kinetic model output status signal to a second semi-active control module, second semi-active control module outputs control signals to programmable power supply driver module, drive programmable power supply to export and control electric current to actual magnetic rheological damper, actual magnetic rheological damper exports damping force and exports the 1/2nd vehicle suspension kinetic model to by data collecting card driver module.
Compared to existing technologies, the present invention has following beneficial effect:
(1) the present invention adopts electromagnetic vibration test system as input stimulus source, road surface, compared with conventional hydraulic vibration gen or roller screw equal excitation source, the occupation of land space of experiment porch is little, running noises is low, operate steadily, maintaining convenient, and can greatly reducing the construction costs;
(2) based on the employing host of Matlab/Simulink xPC target foundation and the real-time emulation system of target machine structure, user can set up suitable system model as required, and flexible structure also greatly reduces experimental cost;
(3) realistic model set up is integrated with Vehicle Semi-active Suspension System and hardware in loop system model, can be run by structure optimization simultaneously, avoid the tedious steps that conventional hardware just can carry out Performance comparision after ring simulation and experiment tests log data respectively;
(4) controller control coefrficient parametrization is also supported not shut down on-line debugging, avoids conventional hardware control coefrficient when ring is tested and changes the tedious steps needing to recompilate download model, improve design efficiency, shorten the construction cycle;
(5) high-precision program control Energy control MR damper is adopted, integrated programmable power supply driver module in host realistic model, control programmable power supply in real time by RS232 serial communication and export semi-active control voltage and current signal, improve semi-active control precision, eliminate the labile factor that tradition makes driving power by oneself;
(6) only need between realistic model with actual magnetic rheological damper hardware by displacement signal, export damping force signals and be connected, MR damper performance test experiment, the passive suspension system hardware in loop experiment of 1/4th vehicles, 1/4th Vehicle Semi-active Suspension System hardware in loop experiments can be realized easily respectively, and do not need to change system hardware structure, just can carry out damper performance test, passive suspension or the experiment of semi-active suspension system hardware in loop respectively, reduce operation complexity and improve experiment porch utilization factor;
(7) the hardware in loop system model of the present invention's foundation, vehicle suspension system is except damper is actual hardware, miscellaneous part comprise vehicle body spring carried mass, bearing spring, nonspring carried mass, tire and road excitation all under host simulated environment with model realization, avoid complicated physical construction, can rapid adjustment vehicle parameter, eliminate the mechanical friction and Nonlinear perturbations that exist in homogeneous system, improve system cloud gray model security and serviceable life.
Accompanying drawing explanation
Fig. 1 is the structural schematic block diagram of experiment porch of the present invention;
Fig. 2 is real-time simulation platform structural schematic block diagram in the present invention;
Fig. 3 is electromagnetic vibration test system composition schematic block diagram in the present invention;
Fig. 4 is the realistic model structural schematic block diagram that in the present invention, host is set up, wherein Ms represents spring carried mass, Mu represents nonspring carried mass, ks represents spring rigidity, Fd represents that MR damper exports damping force, id represents MR damper input current, xs represents spring carried mass displacement, xu represents nonspring carried mass displacement, vs represents spring carried mass velocity of displacement, vu represents nonspring carried mass velocity of displacement, as represents spring carried mass displacement acceleration, xr represents that suspension moves travel displacement, vr represents that suspension moves travel displacement speed, ar represents that suspension moves travel displacement acceleration,
Fig. 5 is displacement transducer output signal conditioning circuit schematic diagram in the present invention;
Fig. 6 is force snesor output signal conditioning circuit schematic diagram in the present invention.
Embodiment
The specific embodiment of the present invention is further illustrated below in conjunction with accompanying drawing:
As shown in Figure 1, the Vehicle Semi-active Suspension hardware in loop experiment porch based on electromagnetic vibration generator system of the present invention comprises: the real-time simulation platform 1 that host and target machine are formed, electromagnetic vibration test system 2, interface circuit 3, MR damper driving power 4.As shown in Figure 2, ordinary PC 5 selected by the host of real-time simulation platform 1, Matlab/Simulink emulation module and Visual Studio 2010 collector are installed, the realistic model needed for experiment is set up in Matlab/Simulink, compiled by above-mentioned collector, be downloaded to target machine, ordinary PC mainframe box 6 selected by target machine, target machine Starting mode is that USB flash disk starts, boot disk 7 loads xPC Target 2.832 real-time kernels, for running the model that host is downloaded, IntelI82559 Ethernet card 8 installed by target machine, be connected with host by RJ45 crossover network cables 9, target machine PCI slot installs NI company PCI6025E type multifunctional data acquisition card 10, realize the Signal transmissions of real-time simulation platform and hardware platform, multifunctional data acquisition card is connected with right angle female connector terminal block 12 via 100 pin SCSI connecting lines 11, be connected with the output line of hardware platform by right angle female connector terminal block 12 again.
As shown in Figure 3, electromagnetic vibration test system comprises vibration isolation air bag 13, pedestal 14, left wallboard 15, right wallboard 16, ET6-230 electromagnetic vibration generator 17, air spring 18, table top base plate 19, guide rod seat 20, guide pole 21, the U-shaped fixture 22 of lower mount pad, gib screw 23, locking device 24, screw rod 25, crossbeam 26, Nanjing Landtek robotization LK-10 force snesor 27, the U-shaped fixture 28 of upper mount pad, card ball joint 29, mounting screw 30, LORD company RD8040-1 MR damper 31, displacement transducer 32, small rack 33, power amplifier 34, programmable power supply 35.Be placed on pedestal 14 by vibration isolation air bag 13 bottom electromagnetic vibration generator 17, left wallboard 15, right wallboard 16 are installed on base both sides and are connected by the stage body of air spring 18 with electromagnetic vibration generator 17, avoid shaking table scissoring vibration by air spring 18.Table top base plate 19 central aperture, aperture slightly larger than vibration machine vibrator diameter, and are installed on left wallboard 15, right wallboard 16, and guide rod seat 20 is arranged on table top base plate 19 both sides by gib screw symmetry.Guide pole 21 is fixedly mounted in guide rod seat 20, the U-shaped fixture 22 of lower mount pad is fixed on vibration machine oscillator upper center position, ensure that lower mount pad overlaps with oscillator geometric center, be connected and fixed by gib screw 23 and MR damper 31 bottom sleeve.
It is other that small rack 33 is fixed on the U-shaped fixture 22 of lower mount pad, is connected with bottom displacement transducer 32 by gib screw.Crossbeam 26 level frame, in guide pole 21 top, is connected with guide pole 21 by locking device 24.Screw rod 25 symmetry is arranged on crossbeam 26 both sides, 200mm place, distance center position, for regulating crossbeam 26 height and adjustment crossbeam 26 level.Force snesor 27 is arranged on below crossbeam 26 center by mounting screw.The U-shaped fixture 28 of upper mount pad is arranged on below force snesor 27 by mounting screw, and is connected and fixed by mounting screw 30 and MR damper 31 top sleeve pipe.Before the sleeve pipe of fixing MR damper 31 top, need the height regulating crossbeam 26, be adjusted to and ensure MR damper piston rod precompressed stroke 25.1mm position.
Displacement transducer 32 top is fixed by the mounting screw 29 of upper mount pad; need during assembling to guarantee that the geometric center of vibration machine oscillator, lower mount pad, upper mount pad, crossbeam 26 is on same pedal line; need to guarantee that guide pole 21 is perpendicular to table top base plate 19, guarantee that pedestal 14 level is to ensure MR damper 31, the relative motion parallel with between sleeve pipe of displacement transducer 32 piston simultaneously.
Power amplifier 34 adopts three-phase four-wire power supply and is directly connected with electromagnetic vibration generator system.Power amplifier 34 operation steps is start, starts, regulates gain 60%, and for driving electromagnetic vibration generator 17, vibrational excitation signal is inputted by outside.Programmable power supply 35 output mode is Program Mode, and control signal is inputted by RS232 interface, and output mode is that direct current exports, and is connected with MR damper 31 input end by crocodile clip.
As shown in Figure 4, the system model set up under host Matlab/Simulink environment comprises road excitation module 36, Boucwen model module 37,1/4th Vehicle Semi-active Suspension emulation module 38,1/4th Vehicle Semi-active Suspension hardware in loop module 39, semi-active control module 1, semi-active control module 2 41, data collecting card driver module 42, programmable power supply driver module 43, oscilloscope module 44.Road excitation module 36 comprises three kinds of typical road excitation, is respectively single-frequency harmonic excitation, level and smooth pulse excitation, the excitation of actual measurement spectrum of road surface roughness./ 4th Vehicle Semi-active Suspension emulation modules 38 are made up of the MR damper Boucwen phenomenon model of 1/4th vehicle suspension kinetic models, correction, semi-active control module 1./ 4th Vehicle Semi-active Suspension hardware in loop modules 39 are made up of 1/4th vehicle suspension kinetic models, semi-active control module 2 41, data collecting card driver module 42, programmable power supply driver module 43, wherein input damping force F in particular vehicle dynamic suspension system of vehicles model
dfor actual magnetic rheological damper exports damping force, inputted by data collecting card driver module, dynamic suspension system of vehicles model exports suspension and moves stroke signal x
rthe motion-activated signal as actual magnetic rheological damper is exported by data collecting card driver module.The half active drive current signal that semi-active control module 2 41 exports controls actual programmable power supply by programmable power supply driver module 43 and exports actual magnetic rheological damper input end to, and programmable power supply driver module 43 adopts ieee standard SCPI agreement.Oscilloscope module 44, for display system parameter, comprises emulation module and hardware in loop module, and system model has been set up and has been downloaded in target machine by Visual Studio 2010 compiling.
As shown in Figure 5, displacement transducer output signal processing circuit comprises preposition biasing circuit, differential amplifier circuit, active filter circuit, preposition biasing circuit is by amplifier U1A, U1B and resistance R1, R2, R3, R4, R5 forms, the flip-flop in displacement transducer output signal is removed by subtraction circuit, differential amplifier circuit is by amplifier U2A, U2B, U3A and resistance R6, R7, R8, R9, R10, R11 forms, active filter circuit is by amplifier U3B, resistance R12, R13, R14 and electric capacity C4 forms, for low-pass first order filter, cutoff frequency is 25Hz, C1, C2, C3 is power supply coupling capacitor, wherein all amplifiers adopt TL072, resistance capacitance adopts conventional model.
As shown in Figure 6, force snesor output signal processing circuit comprises preposition biasing circuit, instrumentation amplifier circuit, second-order active power filter circuit, preposition biasing circuit is by amplifier U4A, U4B and resistance R15, R16, R17, R18, R19 forms, the flip-flop in force snesor output signal is removed by subtraction circuit, instrument amplifying circuit is by amplifier U5, resistance R20 forms, active filter circuit is by amplifier U6A, resistance R21, R22, R23, R24 and electric capacity C9, C10 forms, for second-order low-pass filter, cutoff frequency is 20Hz, C5, C6, C7, C8 is power supply coupling capacitor, wherein preposition biasing circuit and active filter circuit amplifier chip selection TL072, instrumentation amplifier selects INA118P, resistance capacitance adopts conventional model.
Experimental procedure is:
When carrying out MR damper 31 performance test, regulate crossbeam 26 height to make MR damper equilibrium position be in precompression 25.1mm place, electromagnetic vibration generator 17, power amplifier 34, programmable power supply 35, displacement transducer exports modulate circuit, force snesor output modulate circuit powers on to start shooting and runs, encouraged by signal generator inputted vibration, observe excitation displacement signal by digital oscilloscope and export damping force signals, observe MR damper performance, and according to the Boucwen phenomenon model of test data and correction, adopt nonlinear least square method to carry out parameter identification and obtain Boucwen MR damper computation model,
When carrying out the experiment of 1/4th vehicles passive suspension system hardware in loop, regulate crossbeam 26 height to make MR damper equilibrium position be in precompression 25.1mm place, electromagnetic vibration generator 17, power amplifier 34, programmable power supply 35, displacement transducer exports modulate circuit, force snesor exports modulate circuit, host, target machine powers on to start shooting and runs, by system model semi-active control module 1 in host, the output current of semi-active control module 2 41 is set as fixed value, target machine is downloaded to after being compiled by system model, run-time target model, by Scope module in host machine system model, target machine Scope module or digital oscilloscope observing system operational factor,
When carrying out 1/4th Vehicle Semi-active Suspension System hardware in loop experiments, regulate crossbeam 26 height to make MR damper equilibrium position be in precompression 25.1mm place, electromagnetic vibration generator 17, power amplifier 34, programmable power supply 35, displacement transducer exports modulate circuit, force snesor exports modulate circuit, host, target machine powers on to start shooting and runs, cancel system model semi-active control module 1 in host, the output current fixed value of semi-active control module 2 41, change semi-active control algorithm output current into, target machine is downloaded to after being compiled by system model, run-time target model, by Scope module in host machine system model, target machine Scope module or digital oscilloscope observing system operational factor.
Claims (4)
1. based on the Vehicle Semi-active Suspension hardware in loop experiment porch of electromagnetic vibration generator system, it is characterized in that, comprise real-time simulation platform, electromagnetic vibration test system, interface circuit and MR damper driving power, wherein:
Described real-time simulation platform, comprise host, target machine and multifunctional data acquisition card, host is connected with target machine by Ethernet, and target machine installs multifunctional data acquisition card by pci interface; The model having integrated 1/4th Vehicle Semi-active Suspension analogue systems and hardware in loop system is simultaneously set up, the service data of these two systems of real-time simulation platform real time record and the performance index of observation and comparison two systems in described real-time simulation platform;
Described electromagnetic vibration test system, involving vibrations sewing platform base, electromagnetic vibration generator, guide pole, the U-shaped fixture of upper mount pad, the U-shaped fixture of lower mount pad, displacement transducer, force snesor, acceleration transducer, MR damper, crossbeam, screw rod and power amplifier, described shaking table pedestal is placed in level ground, being connected with the stage body of electromagnetic vibration generator by air spring is an entirety, the table top both sides vertical direction of electromagnetic vibration generator installs a pair guide pole, on the guide bar portion's erection horizontal gird; Between described crossbeam and table top, symmetry installs a pair screw rod for regulating beam height; The U-shaped fixture of described lower mount pad is fixed on table top, and be connected with the lower parts casing pipe of MR damper, the upper sleeve of MR damper connects the upper U-shaped fixture of mount pad, the U-shaped fixture of upper mount pad is fixedly connected with force snesor, and force snesor is fixedly mounted on crossbeam along the direction vertical with MR damper; Institute's displacement sensors to be arranged between the U-shaped fixture of upper and lower mount pad and to be parallel to MR damper, and described acceleration transducer is fixed on table top, and described power amplifier is connected with the stage body of electromagnetic vibration generator by cable;
Described interface circuit, comprise SCSI100 pin connecting line, right angle female connector terminal block, displacement transducer output signal conditioning circuit, force snesor output signal conditioning circuit and amplitude limiter circuit, described right angle female connector terminal block is connected with data collecting card by SCSI100 pin connecting line, institute's displacement sensors output signal conditioning circuit is connected with the output terminal of displacement transducer and force snesor by shielding line respectively with the input end of force snesor output signal conditioning circuit, institute's displacement sensors output signal conditioning circuit is all connected with the interface of right angle female connector terminal block through described amplitude limiter circuit with the output terminal of force snesor output signal conditioning circuit,
Described MR damper driving power, comprises a programmable power supply and RS232 Serial Port Transmission line, and described programmable power supply is connected with target machine by RS232 Serial Port Transmission line.
2. the Vehicle Semi-active Suspension hardware in loop experiment porch based on electromagnetic vibration generator system according to claim 1, it is characterized in that, described real-time simulation platform comprises road excitation module, 1/4th Vehicle Semi-active Suspension emulation modules, 1/4th Vehicle Semi-active Suspension hardware in loop module and oscilloscope module;
Described road excitation module is 1/4th Vehicle Semi-active Suspension emulation modules simultaneously, 1/4th Vehicle Semi-active Suspension hardware in loop modules and oscilloscope module provide road surface input signal;
Described oscilloscope module is used for observation experiment service data in real-time simulation platform;
Described 1/4th Vehicle Semi-active Suspension emulation modules comprise the 1/1st vehicle suspension kinetic model, the MR damper Boucwen phenomenon model revised and the first semi-active control module, wherein, the MR damper Boucwen phenomenon model revised is for simulating actual magnetic rheological damper, / 1st vehicle suspension kinetic model output status signal to a first semi-active control module, first semi-active control module outputs control signals to Boucwen phenomenon model, finally export damping force to the 1/1st vehicle suspension kinetic model by Boucwen phenomenon model,
Described 1/4th Vehicle Semi-active Suspension hardware in loop modules comprise the 1/2nd vehicle suspension kinetic model, second semi-active control module, data collecting card driver module and programmable power supply driver module, / 2nd vehicle suspension kinetic model exports suspension and moves stroke signal to data collecting card driver module, power amplifier is exported to by data collecting card driver module, / 2nd vehicle suspension kinetic model output status signal to a second semi-active control module, second semi-active control module outputs control signals to programmable power supply driver module, drive programmable power supply to export and control electric current to actual magnetic rheological damper, actual magnetic rheological damper exports damping force and exports the 1/2nd vehicle suspension kinetic model to by data collecting card driver module.
3. the Vehicle Semi-active Suspension hardware in loop experiment porch based on electromagnetic vibration generator system according to claim 2, it is characterized in that, described road excitation module comprises three kinds of typical road excitation, is respectively single-frequency harmonic excitation, level and smooth pulse excitation, the excitation of actual measurement spectrum of road surface roughness.
4. the Vehicle Semi-active Suspension hardware in loop experiment porch based on electromagnetic vibration generator system according to claim 1; it is characterized in that; the controller of the model set up in described real-time simulation platform can control figure parameters, and supports not shut down on-line tuning change control coefficient.
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| CN106875808A (en) * | 2017-02-13 | 2017-06-20 | 石家庄铁道大学 | Magneto-rheological vibration damper hardware in loop experimental system |
| CN106990163A (en) * | 2016-01-20 | 2017-07-28 | 宝山钢铁股份有限公司 | Detection circuit and system for Inner Defect Testing |
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| CN109084945A (en) * | 2018-09-19 | 2018-12-25 | 石家庄铁道大学 | Bus or train route Coupled Dynamic environment test device |
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| CN111674220A (en) * | 2020-05-08 | 2020-09-18 | 江苏大学 | Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof |
| CN111693235A (en) * | 2019-03-11 | 2020-09-22 | 中国水利水电科学研究院 | Low-frequency amplifying device of electromagnetic vibration table |
| CN112556957A (en) * | 2020-12-04 | 2021-03-26 | 中国直升机设计研究所 | Transmission characteristic test device for liquid elastic vibration isolation system |
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| CN115014812A (en) * | 2022-06-14 | 2022-09-06 | 吉林大学 | Automatic test platform for hardware-in-the-loop of automobile electric air suspension |
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