CN106529058B - A kind of method and apparatus of suspension forward sight geometry motion analysis - Google Patents
A kind of method and apparatus of suspension forward sight geometry motion analysis Download PDFInfo
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Abstract
The present invention provides a kind of method and apparatus of suspension forward sight geometry motion analysis.Method includes: that the model of double the first sides of transverse arm independent suspension is established in local coordinate system, inputs the rotation angle for master arm, exports and jump for various point locations and wheel；Various point locations in local coordinate system are transformed under earth coordinates, the model of double transverse arm independent suspensions is obtained；The wheel for receiving input is jumped, and the rotation angle of master arm and the various point locations of double the first sides of transverse arm independent suspension are calculated；Calculate the forward sight geometrical performance parameter of double transverse arm independent suspension models.Double wishbone suspension is simplified to two-dimensional surface from three-dimensional space in this method to analyze, which meets the computational accuracy demand of general forward sight geometrical performance parameter, can be used for the design and parameter optimization of this type suspension early stage.By the simplification to Double-Wishbone Independent Suspension of Wheeled-Vehicle, suspension forward sight geometrical performance parameter when regulating wheel is jumped can be calculated in real time, improves the efficiency and quality of Preliminary Exploitation stage suspension geometry arrangement.
Description
Technical field
The method and dress analyzed the present invention relates to field of automobile more particularly to a kind of suspension forward sight geometry motion
It sets.
Background technique
In the initial stage development process of vehicle product, the geometry motion analysis of suspension is the most important theories of suspension system designs
Foundation.The kinematics model of suspension is established and is solved in the analysis, determines the geometry parameter and its changing rule of suspension fork mechanism, this
And it carries out suspension geometry arrangement and analyzes the basis that suspension system parameter influences automotive performance.Due to automotive suspension structure
Complexity is generally analyzed it using mathematical methods such as many-body dynamics.
In the kinematic analysis of suspension geometry, two dimensions can be decomposed, are forward sight geometry and side view respectively
Geometry.Wherein forward sight geometrical relationship power related with side acceleration and movement.In suspension forward sight geometry, the performance of care
Parameter include kingpin inclination, camber angle, forward sight void arm (FSVA) length, forward sight void arm angle, friction radius of circle, in inclination
Heart height etc., these parameters determine lateral movement characteristics, steering characteristic and abrasion characteristic of tire of suspension etc..
In the prior art, the kinematic analytic process of suspension geometry is complex, is unsuitable for practical implementation.
Summary of the invention
In order to overcome in the prior art, the kinematic analytic process of suspension geometry is complex, is unsuitable for practical implementation
The technical issues of, the present invention provides a kind of method and apparatus of suspension forward sight geometry motion analysis.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
The present invention provides a kind of suspension forward sight geometry motion analysis methods, comprising:
The model of double the first sides of transverse arm independent suspension, the mould of double the first sides of transverse arm independent suspension are established in local coordinate system
The input of type is the rotation angle of master arm, exports and jumps for the various point locations and wheel of double the first sides of transverse arm independent suspension；
The various point locations of the model of the first sides of transverse arm independent suspension double in the local coordinate system are transformed into geodetic coordinates
Under system, the model of double transverse arm independent suspensions is obtained；
The wheel for receiving input is jumped, and the rotation angle of master arm and the various point locations of double the first sides of transverse arm independent suspension are calculated；
Calculate the forward sight geometrical performance parameter of double transverse arm independent suspension models.
Furthermore, it is understood that the foundation in local coordinate system is double in the suspension forward sight geometry motion analysis method
The model step of the first side of transverse arm independent suspension includes:
Establish local coordinate system in the cross-table of vehicle, the origin of the local coordinate system be master arm model with
The hinge joint of the model of vehicle body, wherein master arm includes upper swing arm and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Model including stub.
Furthermore, it is understood that in the suspension forward sight geometry motion analysis method, double the first sides of transverse arm independent suspension it is each
It puts and includes:
The hinge joint of the model of the model and vehicle body of the upper swing arm；
The hinge joint of the model of the model and vehicle body of the lower swing arm；
The hinge joint of the model of the model of the stub and the upper swing arm；
The hinge joint of the model of the model of the stub and the lower swing arm.
Furthermore, it is understood that the forward sight geometrical performance parameter includes: in the suspension forward sight geometry motion analysis method
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or roll center are high
Degree.
Furthermore, it is understood that in the suspension forward sight geometry motion analysis method, it is described will be double in the local coordinate system
The various point locations of the model of the first side of transverse arm independent suspension are transformed under earth coordinates, obtain the model of double transverse arm independent suspensions
Step includes:
The various point locations of the model of double the first sides of transverse arm independent suspension pass through the first spin matrix in the local coordinate system
It is transformed into vehicle axis system；
The various point locations of the model of double the first sides of transverse arm independent suspension pass through the second spin matrix in the vehicle axis system
It is transformed into earth coordinates.
The present invention also provides a kind of suspension forward sight geometry motion analytical equipments, comprising:
Local coordinate system establishes module, for establishing the model of double the first sides of transverse arm independent suspension in local coordinate system,
The input of the model of double the first sides of transverse arm independent suspension is the rotation angle of master arm, is exported as double the first sides of transverse arm independent suspension
Various point locations and wheel jump；
Coordinate transferring, for by each point of the model of the first sides of transverse arm independent suspension double in the local coordinate system
It sets and is transformed under earth coordinates, obtain the model of double transverse arm independent suspensions；
Wheel jumps input module, and wheel for receiving input is jumped, and calculates the rotation angle and pair transverse arm independent suspension of master arm
The various point locations of first side；
Computing module, for calculating the forward sight geometrical performance parameter of double transverse arm independent suspension models.
Furthermore, it is understood that the local coordinate system establishes module tool in the suspension forward sight geometry motion analytical equipment
Body is used for:
Establish local coordinate system in the cross-table of vehicle, the origin of the local coordinate system be master arm model with
The hinge joint of the model of vehicle body, wherein master arm includes upper swing arm and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Model including stub.
Furthermore, it is understood that in the suspension forward sight geometry motion analytical equipment, double the first sides of transverse arm independent suspension it is each
It puts and includes:
The hinge joint of the model of the model and vehicle body of the upper swing arm；
The hinge joint of the model of the model and vehicle body of the lower swing arm；
The hinge joint of the model of the model of the stub and the upper swing arm；
The hinge joint of the model of the model of the stub and the lower swing arm.
Furthermore, it is understood that the forward sight geometrical performance parameter includes: in the suspension forward sight geometry motion analytical equipment
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or roll center are high
Degree.
Furthermore, it is understood that the coordinate transferring is specifically used in the suspension forward sight geometry motion analytical equipment:
The various point locations of the model of double the first sides of transverse arm independent suspension pass through the first spin matrix in the local coordinate system
It is transformed into vehicle axis system；
The various point locations of the model of double the first sides of transverse arm independent suspension pass through the second spin matrix in the vehicle axis system
It is transformed into earth coordinates.
The beneficial effects of the present invention are: in the method that suspension forward sight geometry motion of the invention is analyzed, by double wishbone suspension
It is simplified to two-dimensional surface from three-dimensional space to be analyzed, which meets the computational accuracy of general forward sight geometrical performance parameter
Demand can be used for the design and parameter optimization of this type suspension early stage.It, can by the simplification to Double-Wishbone Independent Suspension of Wheeled-Vehicle
Suspension forward sight geometrical performance parameter when regulating wheel is jumped is calculated in real time, improves the efficiency of Preliminary Exploitation stage suspension geometry arrangement
And quality.
Detailed description of the invention
Fig. 1 shows the process schematic illustrations of suspension forward sight geometry motion analysis method in the embodiment of the present invention；
Fig. 2 indicates that suspension forward sight geometry motion analysis method establishes double transverse arms in local coordinate system in the embodiment of the present invention
One of the model schematic of the first side of independent suspension；
Fig. 3 indicates that suspension forward sight geometry motion analysis method establishes double transverse arms in local coordinate system in the embodiment of the present invention
The two of the model schematic of the first side of independent suspension；
Fig. 4 indicates that suspension forward sight geometry motion analysis method utilizes input in local coordinate system in the embodiment of the present invention
Rotate one of the schematic diagram of angle calculation motion result；
Fig. 5 indicates that suspension forward sight geometry motion analysis method utilizes input in local coordinate system in the embodiment of the present invention
Rotate the two of the schematic diagram of angle calculation motion result；
Fig. 6 indicates that the earth of double transverse arm independent suspensions in suspension forward sight geometry motion analysis method in the embodiment of the present invention is sat
Mark the schematic diagram of system.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, right below in conjunction with the accompanying drawings and the specific embodiments
The present invention is described in detail.
Referring to Fig.1 and shown in Fig. 6, the present invention provides a kind of suspension forward sight geometry motion analysis methods, comprising:
Step 100, the model of double the first sides of transverse arm independent suspension is established in local coordinate system, double transverse arm independent suspensions the
The input of the model of side is the rotation angle of master arm, is exported as the various point locations and wheel of double the first sides of transverse arm independent suspension
It jumps.Double transverse arm independent suspensions are left and right sides symmetrical structure, can be with by simulating wherein model of the side in local coordinate system
Obtain the corresponding relationship of the rotation angle of master arm and the rotation angle of master arm.
Step 200, the various point locations of the model of the first sides of transverse arm independent suspension double in the local coordinate system are transformed into
Under earth coordinates, the model of double transverse arm independent suspensions is obtained.
Step 300, the wheel for receiving input is jumped, calculate master arm rotation angle and pair the first sides of transverse arm independent suspension it is each
Point position.
Step 400, the forward sight geometrical performance parameter of double transverse arm independent suspension models is calculated.
Specifically, in suspension forward sight geometry motion analysis method of the invention, in step 100, double transverse arm independent suspensions
For left and right sides symmetrical structure, by simulating wherein model of the side in local coordinate system, the rotation of available master arm
The corresponding relationship of angle and the rotation angle of master arm.In step 200, by each point of the model of double the first sides of transverse arm independent suspension
Position in local coordinate system by being changed into earth coordinates.The mould of double transverse arm independent suspensions is simulated in earth coordinates
Type.In step 300, wheel is jumped into the input of the model as double transverse arm independent suspensions, can obtain the rotation angle of master arm with
The various point locations of double the first sides of transverse arm independent suspension.In step 400, pass through the rotation angle of known various point locations and master arm
Degree, the forward sight geometrical performance parameter of available each double transverse arm independent suspension models.In this analysis method, by double wishbone suspension
It is simplified to two-dimensional surface from three-dimensional space to be analyzed, which meets the computational accuracy of general forward sight geometrical performance parameter
Demand can be used for the design and parameter optimization of this type suspension early stage.It, can by the simplification to Double-Wishbone Independent Suspension of Wheeled-Vehicle
Suspension forward sight geometrical performance parameter when regulating wheel is jumped is calculated in real time, improves the efficiency of Preliminary Exploitation stage suspension geometry arrangement
And quality.
Furthermore, it is understood that the model step for establishing double the first sides of transverse arm independent suspension in local coordinate system includes:
Establish local coordinate system in the cross-table of vehicle, the origin of the local coordinate system be master arm model with
The hinge joint of the model of vehicle body, wherein master arm includes upper swing arm and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Model including stub.Wherein, the left part and right part of the double cross arm independent suspension of vehicle are symmetrical arranged.
The each point for being related to double the first sides of transverse arm independent suspension of motion analysis includes: the model of upper swing arm and the model of vehicle body
Hinge joint；The hinge joint of the model of the model and vehicle body of lower swing arm；The model of stub is hinged with the model of the upper swing arm
Point；The hinge joint of the model of the model of stub and the lower swing arm.
Furthermore, it is understood that the forward sight geometrical performance parameter include: kingpin inclination, camber angle, forward sight void brachium,
Forward sight void arm angle, friction radius of circle or height of roll center.
Suspension forward sight geometry motion analysis method of the invention is discussed in detail below with reference to specific implementation process.
Local coordinate system is established in the cross-table of vehicle, double the first side forms of transverse arm independent suspension are intended in local coordinate
In system, the side of double cross arm independent suspension is reduced to a double leval jib plane mechanism.Wherein, rack UL is fixed on vehicle body；
Upper swing arm is UK, lower swing arm LA, stub KA；Stub KA and wheel rate are connected to wheel center point W, wheel longitudinal axis
It is tire grounding point P with the intersection point on ground, the intersection point on stub extended line and ground is S, and distance SP is the friction radius of circle of tire.
During the motion, the position of A, K, S, P, W point changes, and note initial position is respectively A0、K0、S0、P0、W0。
Consider the solution of four-bar mechanism, it is assumed that upper swing arm UK is master arm, and knowing that it rotates angle around U point is θ1, then various point locations meter
Steps are as follows for calculation:
1. half Suspension Model basic exercise of double leval jib resolves
Referring to shown in Fig. 2 and 3, in vehicle cross-table, using upper swing arm UK and the virtual hinge joint U of vehicle body as origin, y-axis
Along the direction UL, z-axis is determined according to right-handed system, establishes local coordinate system 100.
The then A point coordinate under the local coordinate system 100 are as follows:
locA=[l4+l3·cosθ3,l3·sinθ3]′ (1)；
K point coordinate are as follows:
locK=[l1·cosθ1,l1·sinθ1]′；
Note stub AK length is l2, it obtains:
Above formula can be denoted as θ3Function, shaped like:
c+b·cosθ3+a·sinθ3=0 (2)；
WhereinB=2 (l4l3-l1l3cosθ1), a=-2l1l3sinθ1。
Solve θ3Universal formula can be used, by
Remember t=tan (θ3/ 2), then formula (1) can be converted are as follows:
It is final to solve θ3Nonlinear equation (1) t=tan (θ can be converted to3/ 2) quadratic equation:
(c-b)t2+ 2at+ (b+c)=0 (3)；
T=tan (θ is easily solved by radical formula3/ 2), to solve θ with antitrigonometric function3。
Since root finding method can obtain two solutions, it is therefore desirable to remove a pseudo- solution, retain a true solution, limited using geometry
Determine method.For obtained solution1θ3With2θ3, Bu Fangji1θ3For true solution,2θ3It is solved for puppet, then the schematic diagram of corresponding state such as attached drawing
Shown in 3 and 4.
Therefore, it rejects pseudo- solution and mainly needs to determine whether UK intersects with LA.Determination method are as follows:
If meetingAnd
Then line segment UK intersects with LA, accordingly2θ3It is solved for puppet, therefore acquires θ3Unique true solution be1θ3。
It substitutes into equation (1), acquires the A point coordinate under local coordinate system.
2. coordinate system is converted
Referring to Fig.1, shown in Fig. 4 and Fig. 5, by the model of the first sides of transverse arm independent suspension double in the local coordinate system 100
Various point locations be transformed under earth coordinates 300, the model step for obtaining double transverse arm independent suspensions includes:
The various point locations of the model of double the first sides of transverse arm independent suspension are turned by the first spin matrix in local coordinate system 100
It changes in vehicle axis system 200；
The various point locations of the model of double the first sides of transverse arm independent suspension are turned by the second spin matrix in vehicle axis system 200
It changes in earth coordinates 300.
Since suspension forward sight geometry performance parameter of concern should carry out under earth coordinates 300, therefore in local coordinate
It is 100 to solve obtained various point locations down and should be first switch to vehicle axis system 200, then switches to earth coordinates 300.
2.1 are transformed into vehicle axis system from local coordinate system
vehQ=Rl,v·locQ+tl,v(4)；
Wherein Rl,vFor the spin matrix for being transformed into vehicle axis system from local coordinate system, tl,vTo be converted from local coordinate system
To the translation vector of vehicle axis system, Q represents each points coordinate such as A, K, S, P, W, pre-supervehVehicle axis system is represented,locIt represents
Local coordinate system.
The transformational relation for being transformed into vehicle axis system from local coordinate system be it is fixed, determined by structural parameters.That is vehicle
U, L point coordinate under coordinate system is known and fixed, then
tl,v=[yU zU]′；
Wherein ε is UL and vehicle axis system y-axis angle, is positive counterclockwise, and have
It connect and does not consider squeegee action with wheel rate due to stub, i.e. A point and core wheel W point, tire grounding point P point
Relative positional relationship does not change, and easily determines W and P point coordinate after determining A point coordinate.2.2 are transformed into greatly from vehicle axis system
Ground coordinate system
geoQ=Rv,g·vehQ (5)；
Wherein Rv,gFor the spin matrix for being transformed into earth coordinates from vehicle axis system, pre-supergeoRepresent geodetic coordinates
System.Since the origin of vehicle axis system and earth coordinates takes at vehicle centroid, therefore its translation vector is zero.
Spin matrix R from vehicle axis system to earth coordinatesv,gIt is determined by body roll.By step 1 and the 2.1st step
The coordinate that left and right tire grounding point under vehicle axis system is calculated is respectively PleftAnd P, then vehicle roll angle are as follows:
Then there is spin matrix:
Therefore each point coordinate can be transformed under earth coordinates according to formula (5).
3. jumping reverse derivation various point locations from wheel
The step is to receive the wheel of input to jump, calculate master arm rotation angle and pair the first sides of transverse arm independent suspension it is each
Point position.
Referring to shown in Fig. 6, as previously mentioned, wheel jumps the lengthwise position variation for being defined as core wheel relative to original state, upwards
It is positive.Need to know upper swing arm UK around the rotation angle, θ of U point in the calculating of step 11It just can be carried out subsequent calculating, and this is
The adjustable input parameter of system should be wheel and jump, therefore need inversely to be derived.
According to definition, wheel is jumped are as follows:
；
Wherein zWFor z coordinate of the W point under earth coordinates,For W point initial position W0Z under earth coordinates
Coordinate.It is jumped in range in wheel of concern, θ1It is the one-to-one relationship of monotonic increase with δ.
The method described according to the 1st, 2 article, establishes the look-up table of δ
Wherein θ1,i=Δ θ i, Δ θ are resolution ratio set by look-up table, and such as 0.01 degree, n is look-up table length.
δ is jumped for known wheel, if it falls in [δj,δj+1] in section, then it can be in [θ1,j,θ1,j+1] linear interpolation is used in section
Method acquires θ1。
It repeats steps 1 and 2 and calculates each point coordinate value.
4. calculating the forward sight geometrical performance parameter of double transverse arm independent suspension models.
Referring to shown in Fig. 6, forward sight geometrical performance parameter largely can independently be calculated with left and right side, therefore be stated under
It is only defined by taking the suspension parameter of right side as an example in bright.Height of roll center needs the point of suspension two sides to be involved in calculating, only exists
It is embodied in defining.
4.1 kingpin inclination θin
Angle is positive when defining Kingpin inclination, is determined, i.e., is determined by the coordinate value of K, A point by the slope of main pin axis,
4.2 camber angle θcam
Define camber when angle and be positive, determined by the slope of wheel longitudinal axis, i.e., the coordinate value by W, P point is true
It is fixed,
The high h of 4.3 roll centersRC
The determination method of roll center is as shown in Fig. 4.Vehicle body upper left, lower cross arm extended line intersect at virtual hinge joint
D2, upper right, lower cross arm extended line intersect at virtual hinge joint D1, connect D1With right wheel grounding point P, D is connected2It is grounded with revolver
Point Pleft, the intersection point RC of two lines is roll center, and roll center is a height of,
hRC=zRC (12)。
4.4 forward sight void brachium lFVSA
Forward sight void brachium is virtual hinge joint D1With the horizontal distance between core wheel W,
4.5 forward sight void arm angle thetaFVSA
Forward sight void arm angle is virtual hinge joint and core wheel line D1Angle between W and horizontal line,
4.6 friction radius of circle rS
Stub extended line and the distance between ground point of intersection S and tire grounding point P are friction radius of circle,
rS=| yP-yS| (15)。
The corresponding above method, the present invention also provides a kind of suspension forward sight geometry motion analytical equipments, comprising:
Local coordinate system establishes module, for establishing the model of double the first sides of transverse arm independent suspension in local coordinate system,
The input of the model of double the first sides of transverse arm independent suspension is the rotation angle of master arm, is exported as double the first sides of transverse arm independent suspension
Various point locations and wheel jump；
Coordinate transferring, for by each point of the model of the first sides of transverse arm independent suspension double in the local coordinate system
It sets and is transformed under earth coordinates, obtain the model of double transverse arm independent suspensions；
Wheel jumps input module, and wheel for receiving input is jumped, and calculates the rotation angle and pair transverse arm independent suspension of master arm
The various point locations of first side；
Computing module, for calculating the forward sight geometrical performance parameter of double transverse arm independent suspension models.
It is specifically used for furthermore, it is understood that the local coordinate system establishes module:
Establish local coordinate system in the cross-table of vehicle, the origin of the local coordinate system be master arm model with
The hinge joint of the model of vehicle body, wherein master arm includes upper swing arm and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Model including stub.
Furthermore, it is understood that each point of double the first sides of transverse arm independent suspension includes:
The hinge joint of the model of the model and vehicle body of the upper swing arm；
The hinge joint of the model of the model and vehicle body of the lower swing arm；
The hinge joint of the model of the model of the stub and the upper swing arm；
The hinge joint of the model of the model of the stub and the lower swing arm.
Furthermore, it is understood that the forward sight geometrical performance parameter includes:
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or roll center are high
Degree.
Furthermore, it is understood that the coordinate transferring is specifically used for:
The various point locations of the model of double the first sides of transverse arm independent suspension pass through the first spin matrix in the local coordinate system
It is transformed into vehicle axis system；
The various point locations of the model of double the first sides of transverse arm independent suspension pass through the second spin matrix in the vehicle axis system
It is transformed into earth coordinates.
Specifically, the modules of the suspension forward sight geometry motion analytical equipment in the embodiment of the present invention, can pass through
Simplify suspension forward sight geometry motion analysis software (entitled " suspension forward sight geometry calculator ") to realize.It is opened based on Matlab
Hair relies on Matlab GUI (Graphical User Interface) progress user interface of software and writes.The main part of software
Divide pseudocode as follows:
Adjustable input can be left and right wheel and jump, and be also possible to vehicle body relative altitude, and selection passes through drop-down menu reality
It is existing.When regulating wheel is jumped, specified numerical value can be both inputted in corresponding edit box, can also be seen by dragging slider bar
Examine calculated result variation when wheel jumps consecutive variations.When adjusting vehicle body is high, edit box can also be passed through and input and drag slider bar
Two methods carry out.
Forward sight geometry calculate as a result, expressing the calculation method of roll center in main view.In the lower section of main interface
List performance parameter of concern.The result can save as text file by key.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (6)
1. a kind of suspension forward sight geometry motion analysis method characterized by comprising
The model of double the first sides of transverse arm independent suspension is established in local coordinate system, the model of double the first sides of transverse arm independent suspension
Input is the rotation angle of master arm, exports and jumps for the various point locations and wheel of double the first sides of transverse arm independent suspension；Wheel is jumped and is defined as
Core wheel changes relative to the lengthwise position of original state, is positive upwards；
The various point locations of the model of the first sides of transverse arm independent suspension double in the local coordinate system are transformed under earth coordinates,
Obtain the model of double transverse arm independent suspensions；
The look-up table taken turns and jumped is established, the rotation angle and the wheel jump are the one-to-one relationships of monotonic increase；
The wheel for receiving input is jumped, and the rotation angle of master arm and the various point locations of double the first sides of transverse arm independent suspension are calculated；
Calculate the forward sight geometrical performance parameter of double transverse arm independent suspension models；
The model step that double the first sides of transverse arm independent suspension are established in local coordinate system includes:
Local coordinate system is established in the cross-table of vehicle, the origin of the local coordinate system is the model and vehicle body of master arm
Model hinge joint, wherein master arm includes upper swing arm and lower swing arm；The model of double the first sides of transverse arm independent suspension further includes
The model of stub；Wherein, the left part and right part of the double cross arm independent suspension of vehicle are symmetrical arranged；
The various point locations of the model by the first sides of transverse arm independent suspension double in the local coordinate system are transformed into geodetic coordinates
Under system, the model step for obtaining double transverse arm independent suspensions includes:
The various point locations of the model of double the first sides of transverse arm independent suspension are converted by the first spin matrix in the local coordinate system
Into vehicle axis system；
The various point locations of the model of double the first sides of transverse arm independent suspension are converted by the second spin matrix in the vehicle axis system
Into earth coordinates.
2. suspension forward sight geometry motion analysis method according to claim 1, which is characterized in that double transverse arm independent suspensions
The each point of side includes:
The hinge joint of the model of the model and vehicle body of the upper swing arm；
The hinge joint of the model of the model and vehicle body of the lower swing arm；
The hinge joint of the model of the model of the stub and the upper swing arm；
The hinge joint of the model of the model of the stub and the lower swing arm.
3. suspension forward sight geometry motion analysis method according to claim 1, which is characterized in that the forward sight geometrical performance
Parameter includes:
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or height of roll center.
4. a kind of suspension forward sight geometry motion analytical equipment characterized by comprising
Local coordinate system establishes module, for establishing the model of double the first sides of transverse arm independent suspension, double cross in local coordinate system
The input of the model of the first side of arm independent suspension is the rotation angle of master arm, is exported as each of double the first sides of transverse arm independent suspension
Point position and wheel are jumped；Wheel jumps the lengthwise position variation for being defined as core wheel relative to original state, is positive upwards；
Coordinate transferring, for turning the various point locations of the model of the first sides of transverse arm independent suspension double in the local coordinate system
It changes under earth coordinates, obtains the model of double transverse arm independent suspensions；It establishes wheel and jumps look-up table, the rotation angle and the wheel
Jump is the one-to-one relationship of monotonic increase；
Wheel jumps input module, and wheel for receiving input is jumped, and calculates the rotation angle and pair transverse arm independent suspension first of master arm
The various point locations of side；
Computing module, for calculating the forward sight geometrical performance parameter of double transverse arm independent suspension models；
The local coordinate system is established module and is specifically used for:
Local coordinate system is established in the cross-table of vehicle, the origin of the local coordinate system is the model and vehicle body of master arm
Model hinge joint, wherein master arm includes upper swing arm and lower swing arm；The model of double the first sides of transverse arm independent suspension further includes
The model of stub；Wherein, the left part and right part of the double cross arm independent suspension of vehicle are symmetrical arranged；
The coordinate transferring is specifically used for:
The various point locations of the model of double the first sides of transverse arm independent suspension are converted by the first spin matrix in the local coordinate system
Into vehicle axis system；
The various point locations of the model of double the first sides of transverse arm independent suspension are converted by the second spin matrix in the vehicle axis system
Into earth coordinates.
5. suspension forward sight geometry motion analytical equipment according to claim 4, which is characterized in that double transverse arm independent suspensions
The each point of side includes:
The hinge joint of the model of the model and vehicle body of the upper swing arm；
The hinge joint of the model of the model and vehicle body of the lower swing arm；
The hinge joint of the model of the model of the stub and the upper swing arm；
The hinge joint of the model of the model of the stub and the lower swing arm.
6. suspension forward sight geometry motion analytical equipment according to claim 4, which is characterized in that the forward sight geometrical performance
Parameter includes:
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or height of roll center.
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| CN201611025552.3A CN106529058B (en) | 2016-11-17 | 2016-11-17 | A kind of method and apparatus of suspension forward sight geometry motion analysis |
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| CN201611025552.3A CN106529058B (en) | 2016-11-17 | 2016-11-17 | A kind of method and apparatus of suspension forward sight geometry motion analysis |
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