CN106840519B - A kind of static measurement method of two-axle car height of center of mass - Google Patents
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Abstract
The invention belongs to technical field of automobile measurement, and in particular to a kind of patent application of the static measurement method of two-axle car height of center of mass.This method technical principle are as follows: when being changed first according to vehicle axle load, tyre collapse radius and suspension deform, and spring carried mass and nonspring carried mass height of center of mass change, and calculate respective variable quantity using method of scoring；Then relationship between differing tilt angles and front and back axle load is according to vehicle, according to moment equilibrium principle and mass balance principle, determine the geometrical relationship between each variable quantity, and the contact point of the front-wheel and ground to vehicle takes square, torque equilibrium equation is established, obtains vehicle height of center of mass, spring load and nonspring carried mass height of center of mass that vehicle is horizontally arranged under state.The present invention does not need fixed suspension, it is only necessary to measure several sizes more, so that it may avoid fixed suspension bring onerous toil and safety accident, measurement method is simple, economical, accurate, is widely used in two-axle car.
Description
Technical field
The invention belongs to technical field of automobile measurement, and in particular to a kind of static measurement method of two-axle car height of center of mass
Patent application.
Background technique
Automobile height of center of mass is an important parameter in automobile power control, roll stability, manipulation to automobile
Stability has very important effect.The especially higher vehicle of the mass centers such as tank car, pump truck and SUV, the pole under limiting condition
Easily rollover, and the extent of injury of rollover event is usually very big.
The modern vehicle of configuration active roll control system generally requires accurately to measure height of center of mass, due to height of center of mass
Measurement is mostly important but one of is not easy the parameter measured the most, therefore is had to the precise measurement of automobile height of center of mass important
Application value.
Currently, the method for measurement automobile height of center of mass mainly waves the static state such as method, quality reaction method, method of scoring both at home and abroad
Mensuration and dynamic measuring method etc..Existing static measurement method generally requires fixed suspension, so that measurement process is more
It is time-consuming and laborious, and while being not fixed firmly, can generate measurement error, and this measuring method is unable to measure spring carried mass and non-spring
The centroid position of mounted mass；And expensive sensor and acquisition processing system are generally required when using dynamic method measurement, and easily
It is influenced in by signal noise, so that measurement accuracy is not high.Therefore study, develop a kind of measurement accuracy preferably, cost is relatively low and
More quick automobile height of center of mass measurement method is measured, there is important Practical significance.
Summary of the invention
The object of the present invention is to provide a kind of vehicle centroid high static accurate measurement methods, to preferably solve existing vehicle
Fixed suspension is needed in mass center static measurement, measurement spring carried mass and nonspring carried mass centroid position, time-consuming expense cannot be distinguished
The drawbacks such as power.
Details are as follows for the technical solution that the application is taken.
A kind of static measurement method of two-axle car height of center of mass, this method comprises the following steps:
(1) first, it is ensured that then test road level is well placed axle load meter according to tested vehicle wheelspan and wheelbase；Vehicle
After driving into axle load meter, stop working engine, and vehicle is hung neutral gear and park position；
Point A, O are marked with marking pen at nosewheel contact point, core wheel and fender respectively by plummet instrument or straight steel rulerfWith
Pf, and ensure this 3 points point-blank；
Point B, O are equally marked out at rear-wheel grounding point, core wheel and fenderrAnd Pr, measure or according to automobile factory parameter
Determine wheelbase L；
Record following measurement data: front-wheel flattens radius AOf, front-wheel center to preceding mark point PfDistance OfPf, rear-wheel flatten
Radius BOr, rear-wheel center to rear mark point PrDistance OrPr；
(2) firstly, according to the reading of front and back axle load meter, according to the reading of front and back axle load meter, it is recorded as N respectivelyfAnd Nr, root
Complete vehicle quality, calculation formula is calculated according to following formula are as follows:
M=(Nf+Nr)/g,
In formula, g is acceleration of gravity；
Secondly, determining vehicle mass center away from front axle distance according to torque equilibrium equation:
Finally, setting vehicle mass center as point O, a plumb line OC is drawn on vehicle body by plummet instrument, i.e. the plumb line passes through
Vehicle mass center O, height of center of mass hxParameter as to be measured；
(3) offset frequency experiment is carried out by rolling down method, specifically:
Automobile is reached into step, stop working engine, and parking is hung neutral gear, automobile pushed down from step, Ying Jinliang when pushing down
Guarantee that left and right wheels land simultaneously, acceleration transducer is arranged at vehicle body and at core wheel；
It can be single by uniaxial two-freedom vertical vibration model simplification in view of tire radial rigidity is much larger than suspension rate
Axis single-degree of freedom vibration model, in this way the spring carried mass m convenient for identifying axle using subsequent stepsfAnd msr；
(4) according to acceleration time domain curve at vehicle body, available system has damped oscillation cycle Td, i-th of wave crest width
Value Ai, the i-th+n wave crest amplitude Ai+n；
Damping ratio ξ is acquired according to the following formula:
Natural frequency ω is acquired according to the following formulan:
Suspension stiffness COEFFICIENT KsMeasurement obtains according to the following method: change front axle or rear axle load, measure core wheel with
Distance change obtains between vehicle body mark point；
Then the spring carried mass m of antero posterior axis is acquired according to the following formulasfAnd msr:
Vehicle spring carried mass: m is acquired agains=msf+msr；
According to mass balance principle, vehicle spring carried mass m is found outsDistance L of the mass center away from rear axlesr:
If the spring charge material heart is Os, parameter vehicle spring load height of center of mass h to be askeds；
(5) nonspring carried mass m is found outu:
mu=m-ms；
If nonspring carried mass muMass center is Ou, and the point must be in straight line OsOn O；
According to mass balance principle, calculates and obtain nonspring carried mass mass center OuDistance L away from front axleuf:
It calculates and obtains nonspring carried mass muHeight of center of mass hu:
That is, being determined by experiment two unknown quantity h in next stepxAnd hsValue；
(6) axle load meter certain altitude Δ before being held up by lifting mechanism, and tilting of automobile is calculated by the following formula of formula
Angle [alpha]:
In view of parking safety, inclination of vehicle angle is no more than 30%；
It reads front and back axle load meter and reads NfiAnd Nri；
Record following measurement data:
Front-wheel flattens radius AOfi, front-wheel center to preceding mark point PfiDistance OfiPfi, rear-wheel flattening radius BOri, in rear-wheel
The heart is to rear mark point PriDistance OriPri；
It calculates and obtains vehicle front flattening radius varitation Δ rfi=AOfi-AOf；
It calculates and obtains front axle suspension high variable quantity Δ sfi=OfiPfi-OfPf；
It calculates and obtains rear-wheel flattening radius varitation Δ rri=BOri-BOr；
It calculates and obtains rear axle suspension high variable quantity Δ sri=OriPri-OrPr；
And then nonspring carried mass height of center of mass variation delta h caused by making because of tyre collapse radius changeuiGeometric graph,
And it obtains:
Spring carried mass height of center of mass variation delta h caused by making because of Suspension DeformationsiGeometrical relationship figure, and obtain:
It makes because of nonspring carried mass height of center of mass changes delta huiWith spring carried mass height of center of mass changes delta hsiCaused vehicle
Height of center of mass changes delta hxiGeometrical relationship figure, and obtain:
That is, vehicle height of center of mass is h when front axle liftsxi=hx+Δhxi；
(7) square is taken to nosewheel contact point, obtains torque equilibrium equation when front axle lifting:
G·cosα·Lf+G·sinα·hxi=Nri·cosα·L；
This equation is solved, height of center of mass h is obtainedxi:
And finally obtain height of center of mass when vehicle is horizontally arranged:
Contain unknown quantity h in the formulas；For this purpose, an inclination of vehicle angle must be changed again, and in addition obtain a vehicle water
Height of center of mass h ' when placing flatxExpression formula, and have:
hx=h 'x,
Unknown quantity h can be found out according to the formulas, then hsSubstitute into hxOr h 'x?.
In view of measurement error can carry out many experiments to improve measurement accuracy；While in order to improve measurement accuracy and reality
Safety is tested, tilt angle is unsuitable too small and excessive when being lifted vehicle, can select 10 °, 15 °, 20 °, 25 ° respectively, finally be averaged
It is worthAs vehicle centroid height approximation true value.
When using the application, when being changed first according to vehicle axle load, tyre collapse radius and suspension deform, spring
Mounted mass and nonspring carried mass height of center of mass change, and calculate respective variable quantity using method of scoring；Then according to vehicle at
The relationship between differing tilt angles and front and back axle load determines each variable quantity according to moment equilibrium principle and mass balance principle
Between geometrical relationship, and the contact point of the front-wheel and ground to vehicle takes square, establishes torque equilibrium equation, obtains vehicle level
Vehicle height of center of mass, spring under placement status carry and nonspring carried mass height of center of mass.
The present invention is different from existing stationary vehicle height of center of mass measurement method, and the present invention does not need fixed suspension, it is only necessary to
Measure several sizes, so that it may avoid fixed suspension bring onerous toil and safety accident, also can reduce due to solid more
The fixed loosely measurement error of generation, while can also obtain spring carried mass and nonspring carried mass centroid position.Measurement method letter
It is single, economical, accurate, it is widely used in two-axle car.
Detailed description of the invention
Fig. 1 vehicle level tests schematic diagram when placing；
Fig. 2 two-freedom model；
Fig. 3 one degree of freedom modeling；
Fig. 4 vehicle body response curve；
Fig. 5 tilting of automobile tests schematic diagram when placing；
Nonspring carried mass height of center of mass caused by Fig. 6 is deformed because of tyre collapse changes geometrical relationship；
Fig. 7 is because of spring carried mass height of center of mass variation delta hsi geometric graph caused by Suspension Deformation；
Vehicle height of center of mass caused by Fig. 8 changes because of nonspring carried mass and spring carried mass height of center of mass changes geometrical relationship
Figure.
Specific embodiment
Explanation is further explained to the application below with reference to embodiment.
Embodiment 1
The static measurement method of two-axle car height of center of mass provided herein, this method comprises the following steps:
(1) first, it is ensured that then test road level is well placed axle load meter according to tested vehicle wheelspan and wheelbase；Vehicle
After driving into axle load meter, stop working engine, and vehicle is hung neutral gear and park position；
Point A, O are marked with marking pen at nosewheel contact point, core wheel and fender respectively by plummet instrument or straight steel rulerfWith
Pf, and ensure this 3 points point-blank；
Point B, O are equally marked out at rear-wheel grounding point, core wheel and fenderrAnd Pr, measure or according to automobile factory parameter
Determine wheelbase L；
As shown in Figure 1, recording following measurement data: front-wheel flattens radius AOf, front-wheel center to preceding mark point PfDistance
OfPf, rear-wheel flatten radius BOr, rear-wheel center to rear mark point PrDistance OrPr。
(2) firstly, being recorded as N respectively according to the reading of front and back axle load meterfAnd Nr, vehicle is calculated according to following formula
Quality, calculation formula are as follows:
M=(Nf+Nr)/g,
In formula, g is acceleration of gravity；
Secondly, determining vehicle mass center away from front axle distance according to torque equilibrium equation:
Finally, setting vehicle mass center as point O, a plumb line OC is drawn on vehicle body by plummet instrument, i.e. the plumb line passes through
Vehicle mass center O, height of center of mass hxParameter as to be measured.
(3) offset frequency experiment is carried out by rolling down method, specifically:
Automobile is reached into step, stop working engine, and parking is hung neutral gear, automobile pushed down from step, Ying Jinliang when pushing down
Guarantee that left and right wheels land simultaneously, acceleration transducer is arranged at vehicle body and at core wheel；
It, can be by uniaxial two-freedom vertical vibration model (such as Fig. 2 institute in view of tire radial rigidity is much larger than suspension rate
Show) it is reduced to uniaxial single-degree of freedom vibration model (as shown in Figure 3).
(4) according to acceleration time domain curve (as shown in Figure 4) at vehicle body, available system has damped oscillation cycle Td,
I-th of wave crest amplitude Ai, the i-th+n wave crest amplitude Ai+n；
Damping ratio ξ is acquired according to the following formula:
Natural frequency ω is acquired according to the following formulan:
Suspension stiffness COEFFICIENT KsMeasurement obtains according to the following method: change front axle or rear axle load, measure core wheel with
Distance change obtains between vehicle body mark point；
Then the spring carried mass m of antero posterior axis is acquired according to the following formulasfAnd msr:
Vehicle spring carried mass: m is acquired agains=msf+msr；
According to mass balance principle, vehicle spring carried mass m is found outsDistance L of the mass center away from rear axlesr:
If the spring charge material heart is Os, parameter vehicle spring load height of center of mass h to be askeds。
(5) nonspring carried mass m is found outu:
mu=m-ms；
If nonspring carried mass muMass center is Ou, and the point must be in straight line OsOn O；
According to mass balance principle, calculates and obtain nonspring carried mass mass center OuDistance L away from front axleuf:
It calculates and obtains nonspring carried mass muHeight of center of mass hu:
That is, being determined by experiment two unknown quantity h in next stepxAnd hsValue.
(6) axle load meter certain altitude Δ before being held up by lifting mechanism, and tilting of automobile is calculated by the following formula of formula
Angle [alpha] (as shown in Figure 5):
In view of parking safety, inclination of vehicle angle is no more than 30%；
It reads front and back axle load meter and reads NfiAnd Nri；
Record following measurement data:
Front-wheel flattens radius AOfi, front-wheel center to preceding mark point PfiDistance OfiPfi, rear-wheel flattening radius BOri, in rear-wheel
The heart is to rear mark point PriDistance OriPri；
It calculates and obtains vehicle front flattening radius varitation Δ rfi=AOfi-AOf；
It calculates and obtains front axle suspension high variable quantity Δ sfi=OfiPfi-OfPf；
It calculates and obtains rear-wheel flattening radius varitation Δ rri=BOri-BOr；
It calculates and obtains rear axle suspension high variable quantity Δ sri=OriPri-OrPr；
And then nonspring carried mass height of center of mass variation delta caused by making because of tyre collapse radius change (as shown in Figure 6)
huiGeometric graph, and obtain:
Spring carried mass height of center of mass variation delta h caused by making because of Suspension Deformation (as shown in Figure 7)siGeometrical relationship
Figure, and obtain:
It makes because nonspring carried mass height of center of mass changes (as shown in Figure 8) Δ huiWith spring carried mass height of center of mass changes delta
hsiCaused vehicle height of center of mass changes delta hxiGeometrical relationship figure, and obtain:
That is, vehicle height of center of mass is h when front axle liftsxi=hx+Δhxi；
(7) square is taken to nosewheel contact point (as shown in Figure 5), obtains torque equilibrium equation when front axle lifting:
G·cosα·Lf+G·sinα·hxi=Nri·cosα·L；
This equation is solved, height of center of mass h is obtainedxi:
And finally obtain height of center of mass when vehicle is horizontally arranged:
Contain unknown quantity hs in the formula；For this purpose, an inclination of vehicle angle must be changed again, and in addition obtain a vehicle water
Height of center of mass h ' when placing flatxExpression formula, and have:
hx=h 'x,
Unknown quantity h can be found out according to the formulas, then hsSubstitute into hxOr h 'x?.
To improve measurement accuracy, many experiments can be carried out；Simultaneously in order to improve measurement accuracy and experiment safety, it is lifted vehicle
When tilt angle it is unsuitable too small and excessive, 10 °, 15 °, 20 °, 25 ° can be selected respectively, be finally averaged and obtain
Claims (3)
1. a kind of static measurement method of two-axle car height of center of mass, which is characterized in that this method comprises the following steps:
(1) on horizontal checkout road surface, axle load meter is well placed according to tested vehicle wheelspan and wheelbase；After vehicle drives into axle load meter,
Flame-out engine, and vehicle is hung into neutral gear and park position；
Point A, O are marked at nosewheel contact point, core wheel and fenderfAnd Pf, and ensure this 3 points point-blank；
Point B, O are marked out at rear-wheel grounding point, core wheel and fenderrAnd Pr, while obtaining wheelbase L value；
Record following measurement data: front-wheel flattens radius AOf, front-wheel center to preceding mark point PfDistance OfPf, rear-wheel flatten radius
BOr, rear-wheel center to rear mark point PrDistance OrPr；
(2) firstly, being recorded as N respectively according to the reading of front and back axle load meterfAnd Nr, vehicle matter is calculated according to following formula
Amount, calculation formula are as follows:
M=(Nf+Nr)/g,
In formula, g is acceleration of gravity；
Secondly, determining vehicle mass center away from front axle distance according to torque equilibrium equation:
Finally, setting vehicle mass center as point O, a plumb line OC is drawn on vehicle body by plummet instrument, i.e. the plumb line passes through vehicle
Mass center O, height of center of mass hxParameter as to be measured；
(3) offset frequency experiment is carried out by rolling down method, specifically:
Automobile is reached into step, stop working engine, and parking is hung neutral gear, automobile pushed down from step, at vehicle body and at core wheel
Arrange acceleration transducer；
(4) according to acceleration time domain curve at vehicle body, the system of obtaining has damped oscillation cycle Td, i-th of wave crest amplitude Ai, the i-th+n
A wave crest amplitude Ai+n；
Damping ratio ξ is acquired according to the following formula:
Natural frequency ω is acquired according to the following formulan:
Suspension stiffness COEFFICIENT KsMeasurement obtains according to the following method: changing front axle or rear axle load, measures core wheel and vehicle body mark
Distance change obtains between note point；
Then the spring carried mass m of antero posterior axis is acquired according to the following formulasfAnd msr:
Vehicle spring carried mass: m is acquired agains=msf+msr；
According to mass balance principle, vehicle spring carried mass m is found outsDistance L of the mass center away from rear axlesr:
If the spring charge material heart is Os, parameter vehicle spring load height of center of mass h to be askeds；
(5) nonspring carried mass m is found outu:
mu=m-ms；
If nonspring carried mass muMass center is Ou, and the point must be in straight line OsOn O；
According to mass balance principle, calculates and obtain nonspring carried mass mass center OuDistance L away from front axleuf:
It calculates and obtains nonspring carried mass muHeight of center of mass hu:
(6) axle load meter certain altitude Δ before being held up by lifting mechanism, and tilting of automobile angle is calculated by the following formula of formula
α:
It reads front and back axle load meter and reads NfiAnd Nri, record following measurement data:
Front-wheel flattens radius AOfi, front-wheel center to preceding mark point PfiDistance OfiPfi, rear-wheel flattening radius BOri, rear-wheel center arrives
Mark point P afterwardsriDistance OriPri；
It calculates and obtains vehicle front flattening radius varitation Δ rfi=AOfi-AOf；
It calculates and obtains front axle suspension high variable quantity Δ sfi=OfiPfi-OfPf；
It calculates and obtains rear-wheel flattening radius varitation Δ rri=BOri-BOr；
It calculates and obtains rear axle suspension high variable quantity Δ sri=OriPri-OrPr；
And then nonspring carried mass height of center of mass variation delta h caused by making because of tyre collapse radius changeuiGeometric graph, and
Out:
Spring carried mass height of center of mass variation delta h caused by making because of Suspension DeformationsiGeometrical relationship figure, and obtain:
It makes because of nonspring carried mass height of center of mass changes delta huiWith spring carried mass height of center of mass changes delta hsiCaused vehicle mass center
Height change hxiGeometrical relationship figure, and obtain:
That is, vehicle height of center of mass is h when front axle liftsxi=hx+Δhxi；
(7) square is taken to nosewheel contact point, obtains torque equilibrium equation when front axle lifting:
G·cosα·Lf+G·sinα·hxi=Nri·cosα·L；
This equation is solved, height of center of mass h is obtainedxi:
And finally obtain height of center of mass when vehicle is horizontally arranged:
Contain unknown quantity h in the formulas；For this purpose, an inclination of vehicle angle must be changed again, and in addition obtains a vehicle level and put
Height of center of mass h ' when settingxExpression formula, and have:
hx=h 'x,
Unknown quantity h can be found out according to the formulas, then hsSubstitute into hxOr h 'x。
2. the static measurement method of two-axle car height of center of mass as described in claim 1, which is characterized in that in step (6), lifting
Tilt angle is 10 °, 15 °, 20 ° or 25 ° when vehicle.
3. the static measurement method of two-axle car height of center of mass as claimed in claim 2, which is characterized in that vehicle centroid height is
The average value of gained height of center of mass result when vehicle difference is lifted angle.
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| CN109341951B (en) * | 2018-12-12 | 2020-08-14 | 长春理工大学 | Static measurement method and device for vehicle mass center position |
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| CN114235279A (en) * | 2021-11-30 | 2022-03-25 | 北京航天新立科技有限公司 | Method for measuring three-dimensional mass center of super-long large vehicle |
| CN114509210B (en) * | 2022-02-21 | 2024-03-15 | 江铃汽车股份有限公司 | Vehicle-mounted mass and mass center position measuring method |
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| CN103162905B (en) * | 2013-02-04 | 2016-02-10 | 河南科技大学 | A kind of vehicle centroid height measurement method |
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