CN105675311B - A kind of motor bus active anti-rollover Control experiment device - Google Patents
A kind of motor bus active anti-rollover Control experiment device Download PDFInfo
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- CN105675311B CN105675311B CN201610245111.8A CN201610245111A CN105675311B CN 105675311 B CN105675311 B CN 105675311B CN 201610245111 A CN201610245111 A CN 201610245111A CN 105675311 B CN105675311 B CN 105675311B
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- converting units
- suspension displacement
- variables
- rollover
- motor bus
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The present invention proposes a kind of motor bus active anti-rollover Control experiment device, belong to motor bus active safety system experiment field, the device simulates real sensor physics signal by the digital signal of the variables such as the speed of the computer generation with virtual motor bus system, acceleration, suspension displacement through D/A conversion circuits, and active anti-rollover algorithm decision-making is participated in after being gathered by active anti-rollover control system；Active anti-rollover control system predicts whether subsequent time has rollover danger according to current bus's vehicle travelling state, if there is the dangerous control signal that will export suspension displacement regulating device of rollover, through A/D converting units digital data transmission is converted into the computer with virtual motor bus system, virtual execution mechanism is adjusted with this；The emulation platform can effectively study active anti-rollover technology, avoid the risk that active anti-rollover control system is directly used for actual road test, while reduce experimentation cost.
Description
Technical field
The present invention relates to motor bus active safety field, more particularly to a kind of motor bus active anti-rollover Control experiment to fill
Put.
Background technology
In recent years, China Transportation Industry is grown rapidly, since application development of the active safety technologies on motor bus delays
Slowly, cause the rollover event that motor bus occurs to increase year by year, serious property loss and personnel's wound are caused to the country and people
Die.In the active anti-rollover technical process of research motor bus, if directly the active anti-rollover control system of research and development is used for
Actual road test, not only resulting in experiment has certain danger, and improves experimentation cost.At present, both at home and abroad to motor bus
The research of active anti-rollover control algolithm has obtained certain progress, and the verification to active anti-rollover control algolithm only rests on software
Simulation stage, verifies active anti-rollover control system there has been no certain experimental rig.
The content of the invention
The present invention is directed to study in the presence of motor bus active anti-rollover technology the problem of, it is proposed that a kind of bus car owner
Dynamic anti-rollover Control experiment device.
A kind of motor bus active anti-rollover Control experiment device, including rack, the first suspension displacement variables D/A conversions are single
Member, the first suspension displacement regulating device and control signal A/D converting units, the second suspension displacement regulating device and control signal A/
D conversion unit, steering wheel angle variables D/A converting units, the second suspension displacement variables D/A converting units, with virtual motor bus
The computer of system, the 3rd suspension displacement variables D/A converting units, the 3rd suspension displacement regulating device and control signal A/D turn
Change unit, speed variables D/A converting units, the 4th suspension displacement regulating device and control signal A/D converting units, the 4th suspension
Offset variable D/A converting units, 3-axis acceleration variables D/A converting units, active anti-rollover control system, gyroscope variables D/
A converting units；Be installed with rack the first suspension displacement variables D/A converting units, the first suspension displacement regulating device and
Control signal A/D converting units, the second suspension displacement regulating device and control signal A/D converting units, steering wheel angle variable
D/A converting units, the second suspension displacement variables D/A converting units, the 3rd suspension displacement variables D/A converting units, the 3rd suspension
Displacement adjustment device and control signal A/D converting units, speed variables D/A converting units, the 4th suspension displacement regulating device and
Control signal A/D converting units, the 4th suspension displacement variables D/A converting units, 3-axis acceleration variables D/A converting units, top
Spiral shell instrument variables D/A converting units；Computer with virtual motor bus system is loaded with motor bus mathematical model, can export speed,
The digital signal of the variables such as steering wheel angle, suspension displacement and reception are by the output of suspension displacement control signal A/D converting units
Digital signal；Active anti-rollover control system is responsible for collection and changes list by the variables D such as speed, steering wheel angle, suspension displacement/A
The sensor signal of member output and the analog signal of output control suspension displacement regulating device.
Beneficial effects of the present invention：The experimental rig being capable of real-time matching active anti-rollover control system and with virtual bus
Signal between the computer of car system, can effectively study active anti-rollover control algolithm, avoid directly that active is anti-
Control system of turning on one's side is used for the risk of actual road test, while reduces the cost of experiment.
Brief description of the drawings
Fig. 1 is the structure diagram of experimental rig of the present invention.
1- racks, the first suspension displacements of 2- variables D/A converting units, 3- the first suspension displacement regulating devices and control in figure
Signal A/D converting unit, 4- the second suspension displacement regulating devices and control signal A/D converting units, 5- steering wheel angle variables
D/A converting units, the second suspension displacements of 6- variables D/computer of A converting units, 7- with virtual motor bus system, 8- the 3rd are outstanding
Frame offset variable D/A converting units, the 3rd suspension displacement regulating devices of 9- and control signal A/D converting units, 10- speed variables
D/A converting units, the 4th suspension displacement regulating devices of 11- and control signal A/D converting units, the 4th suspension displacement variables of 12-
D/A converting units, 13- 3-axis accelerations variables D/A converting units, 14- active anti-rollovers control system, 15- gyroscope variables
D/A converting units.
Embodiment
As shown in Figure 1, a kind of motor bus active anti-rollover Control experiment device, including rack 1, the first suspension displacement variable
D/A converting units 2, the first suspension displacement regulating device and control signal A/D converting units 3, the second suspension displacement regulating device
And control signal A/D converting units 4, steering wheel angle variables D/A converting units 5, the second suspension displacement variables D/A converting units
6th, computer 7, the 3rd suspension displacement variables D/A converting units 8 with virtual motor bus system, the 3rd suspension displacement regulating device
And control signal A/D converting units 9, speed variables D/A converting units 10, the 4th suspension displacement regulating device and control signal A/
D conversion unit 11, the 4th suspension displacement variables D/A converting units 12,3-axis acceleration variables D/A converting units 13, active are anti-
Rollover control system 14, gyroscope variables D/A converting units 15；The first suspension displacement variables D/A is installed with rack 1 to turn
Change unit 2, the first suspension displacement regulating device and control signal A/D converting units 3, the second suspension displacement regulating device and control
Signal A/D converting unit 4, steering wheel angle variables D/A converting units 5, the second suspension displacement variables D/A converting units the 6, the 3rd
Suspension displacement variables D/A converting units 8, the 3rd suspension displacement regulating device and control signal A/D converting units 9, speed variable
D/A converting units 10, the 4th suspension displacement regulating device and control signal A/D converting units 11, the 4th suspension displacement variables D/A
Converting unit 12,3-axis acceleration variables D/A converting units 13, gyroscope variables D/A converting units 15；With virtual motor bus system
The computer 7 of system is loaded with motor bus mathematical model, can export speed, steering wheel angle, the digital signal of suspension displacement variable
The digital signal exported with reception by suspension displacement control signal A/D converting units；Active anti-rollover control system 14 is responsible for adopting
The sensor signal and output control suspension displacement that collection is exported by speed, steering wheel angle, suspension displacement variables D/A converting units
The analog signal of regulating device.
In the experimental rig course of work, speed that computer 7 with virtual motor bus system produces, 3-axis acceleration,
Gyroscope, suspension displacement, the digital signal of steering wheel angle variable simulate real sensor physics through D/A conversion circuits and believe
Number, active anti-rollover algorithm decision-making is participated in after being gathered by active anti-rollover control system 14；Active anti-rollover control system 14
Predict whether motor bus subsequent time has rollover danger according to current bus's vehicle travelling state, it is dangerous by output if there is rollover
The control signal of suspension displacement regulating device, control signal are converted into digital data transmission to virtual big through A/D converting units
The computer 7 of passenger car system, the virtual execution mechanism in the computer 7 with virtual motor bus system is adjusted with this, is avoided big
Car is turned on one's side.
During experimental rig collecting sensor signal, the speed that the computer 7 with virtual motor bus system produces is believed
Breath simulates real vehicle speed sensor signal through speed variables D/A converting units 10, is adopted by active anti-rollover control system 14
Active anti-rollover algorithm decision-making is participated in after collection；The 3-axis acceleration information that computer 7 with virtual motor bus system produces is through three
Axle acceleration variables D/A converting units 13 simulate real 3-axis acceleration sensor signal, and system is controlled by active anti-rollover
Active anti-rollover algorithm decision-making is participated in after the collection of system 14；The gyroscope information warp that computer 7 with virtual motor bus system produces
Gyroscope variables D/A converting units 15 simulate real gyro sensor signal, are adopted by active anti-rollover control system 14
Active anti-rollover algorithm decision-making is participated in after collection；The steering wheel angle information classical prescription that computer 7 with virtual motor bus system produces
Real steering wheel angle sensor signal is simulated to disk corner variables D/A converting units 5, by active anti-rollover control system
Active anti-rollover algorithm decision-making is participated in after 14 collections；The first suspension displacement letter that computer 7 with virtual motor bus system produces
Breath simulates real first suspension displacement sensor signal through the first suspension displacement variables D/A converting units 2, by actively anti-side
Turn over after control system 14 gathers and participate in active anti-rollover algorithm decision-making；Second of the generation of computer 7 with virtual motor bus system
Suspension displacement information simulates real second suspension displacement sensor signal through the second suspension displacement variables D/A converting units 6,
Active anti-rollover algorithm decision-making is participated in after being gathered by active anti-rollover control system 14；Computer 7 with virtual motor bus system
The 3rd suspension displacement information produced simulates real 3rd suspension displacement through the 3rd suspension displacement variables D/A converting units 8
Sensor signal, participates in active anti-rollover algorithm decision-making after being gathered by active anti-rollover control system 14；With virtual motor bus system
The 4th suspension displacement information that the computer 7 of system produces simulates really through the 4th suspension displacement variables D/A converting units 10
4th suspension displacement sensor signal, participates in active anti-rollover algorithm decision-making after being gathered by active anti-rollover control system 14.
In experimental rig control signal output procedure, active anti-rollover control system 14 travels shape according to current motor bus
State predicts whether motor bus subsequent time has rollover danger, dangerous if there is rollover, is adjusted and filled by the first suspension displacement
Put and control signal A/D converting units 3 export the control signal of suspension displacement regulating device and control signal is converted into numeral
Signal transmission adjusts the void in the computer 7 with virtual motor bus system to the computer 7 with virtual motor bus system, with this
Intend executing agency；Suspension displacement regulating device is exported by the second suspension displacement regulating device and control signal A/D converting units 4
Control signal and control signal is converted into digital data transmission to the computer 7 with virtual motor bus system, adjusted with this
Save the virtual execution mechanism in the computer 7 with virtual motor bus system；Pass through the 3rd suspension displacement regulating device and control letter
Number A/D converting units 9 export the control signal of suspension displacement regulating device and control signal are converted into digital data transmission extremely
Computer 7 with virtual motor bus system, the virtual execution machine in the computer 7 with virtual motor bus system is adjusted with this
Structure；The control of suspension displacement regulating device is exported by the 4th suspension displacement regulating device and control signal A/D converting units 11
Control signal is simultaneously converted into digital data transmission to the computer 7 with virtual motor bus system by signal, by controlling band virtual
Virtual execution mechanism in the computer 7 of motor bus system, avoids motor bus from turning on one's side.
Claims (2)
1. a kind of motor bus active anti-rollover Control experiment device, it is characterised in that including rack（1）, the first suspension displacement become
Measure D/A converting units（2）, the first suspension displacement regulating device and control signal A/D converting units（3）, the second suspension displacement tune
Regulating device and control signal A/D converting units（4）, steering wheel angle variables D/A converting units（5）, the second suspension displacement variable
D/A converting units（6）, computer with virtual motor bus system（7）, the 3rd suspension displacement variables D/A converting units（8）,
Three suspension displacement regulating devices and control signal A/D converting units（9）, speed variables D/A converting units（10）, the 4th suspension position
Displacement regulating device and control signal A/D converting units（11）, the 4th suspension displacement variables D/A converting units（12）, three axis accelerate
Spend variables D/A converting units（13）, active anti-rollover control system（14）, gyroscope variables D/A converting units（15）；Rack 1
On be installed with the first suspension displacement variables D/A converting units（2）, the first suspension displacement regulating device and control signal A/D
Converting unit（3）, the second suspension displacement regulating device and control signal A/D converting units（4）, steering wheel angle variables D/A turn
Change unit（5）, the second suspension displacement variables D/A converting units（6）, the 3rd suspension displacement variables D/A converting units（8）, the 3rd
Suspension displacement regulating device and control signal A/D converting units（9）, speed variables D/A converting units（10）, the 4th suspension displacement
Regulating device and control signal A/D converting units（11）, the 4th suspension displacement variables D/A converting units（12）, 3-axis acceleration
Variables D/A converting units（13）, gyroscope variables D/A converting units（15）；Computer with virtual motor bus system（7）It is loaded with
Motor bus mathematical model, can export speed, steering wheel angle, the digital signal of suspension displacement variable and reception by suspension displacement
The digital signal of control signal A/D converting units output；Active anti-rollover control system（14）Collection is turned by speed, steering wheel
The simulation letter at angle, the sensor signal of suspension displacement variables D/A converting units output and output control suspension displacement regulating device
Number.
A kind of 2. motor bus active anti-rollover Control experiment device according to claim 1, it is characterised in that：Exist in hardware
In the ring emulation platform course of work, the computer with virtual motor bus system（7）The speed of generation, 3-axis acceleration, gyroscope,
Suspension displacement, the digital signal of steering wheel angle variable simulate real sensor physics signal through D/A conversion circuits, by leading
Dynamic anti-rollover control system（14）Active anti-rollover algorithm decision-making is participated in after collection；Active anti-rollover control system（14）According to work as
Preceding bus's vehicle travelling state predicts whether motor bus subsequent time has rollover danger, and suspension will be exported if there is rollover danger
The control signal of displacement adjustment device, control signal are converted into digital data transmission to virtual motor bus through A/D converting units
The computer of system（7）, by adjusting the computer with virtual motor bus system（7）In virtual execution mechanism, control bus
The posture of car, avoids it from turning on one's side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245111.8A CN105675311B (en) | 2016-04-20 | 2016-04-20 | A kind of motor bus active anti-rollover Control experiment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245111.8A CN105675311B (en) | 2016-04-20 | 2016-04-20 | A kind of motor bus active anti-rollover Control experiment device |
Publications (2)
| Publication Number | Publication Date |
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| CN105675311A CN105675311A (en) | 2016-06-15 |
| CN105675311B true CN105675311B (en) | 2018-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610245111.8A Active CN105675311B (en) | 2016-04-20 | 2016-04-20 | A kind of motor bus active anti-rollover Control experiment device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109030020B (en) * | 2018-07-09 | 2024-02-20 | 山东交通学院 | Bus rollover early warning test device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5652704A (en) * | 1995-09-12 | 1997-07-29 | Lord Corporation | Controllable seat damper system and control method therefor |
| US7107136B2 (en) * | 2001-08-29 | 2006-09-12 | Delphi Technologies, Inc. | Vehicle rollover detection and mitigation using rollover index |
| CN104476999B (en) * | 2014-12-09 | 2016-06-15 | 山东交通学院 | A kind of haulage vehicle regulated based on air suspension actively anti-rollover controls system |
| CN104442265B (en) * | 2014-12-09 | 2016-08-24 | 山东交通学院 | A kind of haulage vehicle based on hydraulic actuator regulation actively anti-rollover control system |
| CN104386065B (en) * | 2014-12-12 | 2016-09-28 | 山东交通学院 | A kind of automobile roll center position measurement device and computational methods thereof |
| CN104573322B (en) * | 2014-12-12 | 2017-06-23 | 山东交通学院 | A kind of automobile roll cental axial position dynamic measurement device and its determination method |
| CN104865079B (en) * | 2015-06-14 | 2018-04-13 | 山东交通学院 | A kind of automobile roll comprehensive evaluation index measuring device and its computational methods |
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