CN106855465B - Car body self-leveling test bench - Google Patents
Car body self-leveling test bench Download PDFInfo
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- CN106855465B CN106855465B CN201710144891.1A CN201710144891A CN106855465B CN 106855465 B CN106855465 B CN 106855465B CN 201710144891 A CN201710144891 A CN 201710144891A CN 106855465 B CN106855465 B CN 106855465B
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention provides a vehicle body self-leveling test bed, which comprises a pavement spectrum excitation device, a pavement spectrum excitation hydraulic system, a pavement spectrum excitation control system, a vehicle body self-leveling device, a vehicle body self-leveling hydraulic system and a vehicle body self-leveling control system, wherein the vehicle body self-leveling hydraulic system is connected with the vehicle body self-leveling control system; the road surface spectrum excitation hydraulic system controls the extension speed and displacement of the excitation servo hydraulic cylinder piston rod of the road surface spectrum excitation device based on the received excitation signal of the road surface spectrum excitation control system, and simulates the actual complex road surface working condition; the vehicle body self-leveling device generates corresponding vehicle body self-leveling control signals based on the acquired vehicle body posture information of the vehicle body self-leveling device and sends the corresponding vehicle body self-leveling control signals to the vehicle body self-leveling hydraulic system under the excitation of the road spectrum excitation independent module below the vehicle body self-leveling device, so that the extension speed and displacement of a piston rod of a leveling servo hydraulic cylinder corresponding to the vehicle body self-leveling device are controlled, and the vehicle body self-leveling is realized. The invention can simulate the working condition of a real complex road surface and realize the detection of the self-leveling function.
Description
Technical Field
The invention belongs to the technical field of test tables, is suitable for detecting the self-leveling performance of wheeled vehicles, and particularly relates to a vehicle body self-leveling test table.
Background
The running environment of the off-road vehicle is generally bad, so that the requirements on the off-road performance, the running comfort and the reliability of the whole vehicle are high; the heavy vehicle is an optimal tool for transporting ultra-high, ultra-wide and overweight objects, and in order to ensure the safety of transportation and prevent the objects from tipping or sliding off, serious accidents of vehicle destruction and death occur, and a carrying platform of the heavy vehicle must keep a certain levelness in the driving process; along with the continuous improvement of the requirements of the maneuvering emission performance of the tactical vehicles, the adaptability of the tactical vehicles to changeable roads becomes one of important development directions, and the capability of the vehicles passing through rugged and pothole roads is required to be enhanced, so that the emission conditions can be rapidly met; the mountain tractor is required to overcome the restriction of factors such as irregular shape of land and large gradient of mountain land on the application of the mountain tractor in the working process so as to greatly reduce the working strength of mountain farmers. In view of the complex operation environment of the vehicle, the running working condition continuously changes in real time, and the leveling is difficult to judge manually in real time, a set of vehicle body self-leveling system is needed, and the vehicle body pose is effectively and timely adjusted, so that the levelness of the vehicle body is continuously ensured to be within the allowable range.
In order to predict and evaluate the dynamic performance of a vehicle with a self-leveling system in running on a complex road surface, improve the stability and adaptability of the self-leveling vehicle in working on the complex road surface, it is necessary to simulate and realize the test of the self-leveling vehicle on the complex road surface in a test bed environment so as to ensure that the performance of the self-leveling vehicle meets the requirement of the working environment. In addition, the test bed is carried out under controllable conditions, can work around the clock, shortens test and research period, accelerates research progress, and improves test progress.
At present, a test bed capable of providing a certain inclination angle and a variable angle is available, but the functions of the test bed are very simple, the complex road surface working condition cannot be reproduced, and test conditions cannot be provided for the research and development of self-leveling vehicles; the automatic leveling function of the self-leveling system is not perfect, and the lifting, descending and tilting of the vehicle body are generally realized simply, so that the self-leveling system is mainly applied to the leveling of the tracked vehicle and has a narrow application range.
Patent CNIO3264629A discloses a mountain agricultural robot automobile body levelling device, and this automobile body levelling device can realize mountain agricultural robot's automobile body automatic levelling, has improved mountain agricultural robot's adaptability and stability under the complex environmental condition.
The patent CN104097479B discloses a universal leveling device for a vehicle body, which comprises the vehicle body, a universal joint, a leveling cylinder and a bottom frame, wherein the universal joint is used for connecting the vehicle body and the bottom frame, and the leveling cylinder is used for supporting the vehicle body in an auxiliary manner and realizing the leveling of the vehicle body, so that the automatic leveling of the vehicle body under various uneven road conditions can be realized, the reaction is sensitive and rapid, no leveling dead angle exists, and the stability of the vehicle body is increased.
Patent CN1O4913939A discloses a mountain land micro tractor test bed, provides a tractor test bed mechanism that can simulate and realize mountain land field road conditions, and the mechanism can provide the required arbitrary slope of experiment, has accelerated the progress of research and test.
Although the prior art can realize the self-leveling function of the vehicle body or provide any gradient required by experiments, the self-leveling device is simpler in realization function, cannot be applied to self-leveling of wheeled vehicles, cannot reproduce sloping road surfaces with pitching and rolling simultaneously, does not have the capability of simulating complex road conditions and carrying out real-time leveling of the wheeled vehicles according to the reproduced road surfaces, and does not have a technical scheme capable of solving the problems in the prior art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a vehicle body self-leveling test bed, which can simulate and realize complex road surface working conditions and self-leveling functions and output the posture information of a self-leveling vehicle. The technical scheme of the invention is as follows:
the test bed comprises a pavement spectrum excitation system and a car body self-leveling system; the road surface spectrum excitation system consists of a road surface spectrum excitation device, a road surface spectrum excitation hydraulic system and a road surface spectrum excitation control system; the vehicle body self-leveling system consists of a vehicle body self-leveling device, a vehicle body self-leveling hydraulic system and a vehicle body self-leveling control system;
the road surface spectrum excitation device consists of four groups of road surface spectrum excitation independent modules corresponding to the vehicle body self-leveling device, the road surface spectrum excitation control system is in control connection with the road surface spectrum excitation hydraulic system, and the road surface spectrum excitation hydraulic system controls the extension speed and displacement of a piston rod of an excitation servo hydraulic cylinder corresponding to the road surface spectrum excitation independent modules based on the received excitation signal of the road surface spectrum excitation control system to simulate real complex road surface working conditions;
the vehicle body self-leveling device and the vehicle body self-leveling hydraulic system are respectively connected with the vehicle body self-leveling control system through signals, and the vehicle body self-leveling control system generates corresponding vehicle body self-leveling control signals based on acquired vehicle body posture information of the vehicle body self-leveling device and sends the corresponding vehicle body self-leveling control signals to the vehicle body self-leveling hydraulic system under the excitation of the road spectrum excitation independent module below the vehicle body self-leveling device, so that the extension speed and displacement of a leveling servo hydraulic cylinder piston rod corresponding to the vehicle body self-leveling device are controlled, and the vehicle body self-leveling is achieved.
The vehicle body self-leveling test bed is characterized in that the road spectrum excitation independent module consists of a base 1, a guide mechanism, an excitation servo hydraulic cylinder 7, a lifting plate 8, a sliding table 9 and a wheel limiting mechanism; the guide mechanism and the excitation servo hydraulic cylinder 7 are led to be installed, the lifting plate 8 is installed on the base 1 through the guide mechanism and the excitation servo hydraulic cylinder 7, the sliding table 9 is connected to the lifting plate 8 in a sliding manner, left-right sliding is realized, and the wheel limiting mechanism is installed on the sliding table 9;
the sliding table 9 stably runs up and down along the guide mechanism under the drive of the excitation servo hydraulic cylinder 7.
Further, the guiding mechanism comprises a guiding column seat 2, a channel steel support 3, a fixing plate 4, a guiding column clamp 5, guiding columns 6 and a linear bearing 13, wherein the bottoms of the two guiding columns 6 are fixed on the base 1 through the guiding column seat 2, the channel steel support 3 is connected between the two guiding columns 6 through the fixing plate 4, and four guiding columns 6 of the two guiding mechanisms are respectively connected with the lifting plate 8 through the linear bearing 13.
Further, the wheel limiting mechanism is composed of wedge blocks 12 with front and rear wedge surfaces arranged in opposite directions, and the wedge blocks 12 are fixedly arranged on the sliding table 9 through bolts.
Furthermore, the road surface spectrum excitation independent module is fixed on the ground level iron, the installation position of the road surface spectrum excitation independent module on the ground level iron is matched with the four wheel positions of the vehicle in the vehicle body self-leveling device above the road surface spectrum excitation independent module, and the fixed position is adjusted according to the requirement.
The road spectrum excitation hydraulic system consists of an oil tank 22, an oil filter 23, a motor 24, a one-way valve 25, a fine filter 26, an electro-hydraulic servo valve 28 corresponding to the road spectrum excitation independent module, an oil filter 23 connected to an oil return pipeline and an electromagnetic overflow valve 27 connected between the oil supply pipeline and the oil return pipeline, wherein the oil filter 23, the motor 24, the one-way valve 25, the fine filter 26, the electro-hydraulic servo valve 28 and the excitation servo hydraulic cylinder 7 are connected correspondingly.
The vehicle body self-leveling test bed comprises a vehicle body pose and shaft head acceleration acquisition module, a road spectrum excitation control module, a data acquisition card, a road spectrum excitation industrial personal computer and an A/D converter.
The data acquisition card transmits road spectrum signals of different working conditions acquired by the vehicle body pose and axle head acceleration acquisition module to the road spectrum excitation industrial personal computer, the road spectrum excitation industrial personal computer analyzes and processes the road spectrum signals to form a plurality of corresponding complex road reproduction algorithm control programs and transmits the complex road reproduction algorithm control programs to the road spectrum excitation control module, and the road spectrum excitation control module converts instructions transmitted by the industrial personal computer through the A/D converter and transmits the instructions to the servo amplifier so as to control the road spectrum excitation hydraulic system and finally control the excitation servo hydraulic cylinder 7 corresponding to the road spectrum excitation hydraulic system.
The utility model provides a automobile body self-leveling test bench, wherein, automobile body self-leveling device comprises inclination sensor 14, scalable side link 15, wheel 16, axle 18, leveling servo hydraulic cylinder 19, holder 20 and automobile body 21, inclination sensor 14 is located the middle part below of automobile body self-leveling device, just the both ends structure is symmetrical around the automobile body self-leveling device, and wherein one end structure is: the two leveling servo hydraulic cylinders 19 are arranged symmetrically in an inward inclined mode, two ends of the leveling servo hydraulic cylinders 19 are hinged between the ends of the axle 18 and the vehicle body 21 through revolute pairs, two groups of telescopic side links 15 are arranged symmetrically left and right, two ends of the telescopic side links 15 are hinged with the middle parts of the axle 18 and the vehicle body 21 through ball pairs respectively, two wheels 16 are arranged on two sides of the axle 18 respectively, and two ends of the retainer 20 are connected with the ends of the axle 18 and the vehicle body 21 through revolute pairs respectively.
The road surface spectrum excitation hydraulic system consists of an oil tank 22, an oil filter 23, a motor 24, a one-way valve 25, a fine filter 26, an electro-hydraulic proportional valve 29 corresponding to wheels of a vehicle body self-leveling device, an oil filter 23 connected to an oil return pipeline and an electromagnetic overflow valve 27 connected between the oil supply pipeline and the oil return pipeline, wherein the oil filter 23, the motor 24, the one-way valve 25, the fine filter 26, the electro-hydraulic proportional valve 29 and the leveling servo hydraulic cylinder 19 are connected correspondingly.
The vehicle body self-leveling test bed comprises a vehicle body position and posture acquisition module, a vehicle body position and posture control module, a data acquisition card, a vehicle body self-leveling industrial personal computer and an A/D converter;
the vehicle body position and posture acquisition module acquires the posture information of the vehicle body self-leveling device detected by a sensor on the vehicle body self-leveling device and uploads the posture information to the data acquisition card, the data acquisition card transmits the posture information of the vehicle body self-leveling device uploaded by the vehicle body position and posture acquisition module to the vehicle body self-leveling industrial personal computer, the vehicle body self-leveling industrial personal computer receives the vehicle body position and posture signals, processes the vehicle body position and posture signals to obtain corresponding control signals and transmits the corresponding control signals to the vehicle body position and posture control module, and the vehicle body position and posture control module converts a command transmitted by the vehicle body self-leveling industrial personal computer to the proportional amplifier through the A/D converter and then controls the vehicle body self-leveling hydraulic system to finally control the leveling servo hydraulic cylinder 19 corresponding to the vehicle body self-leveling hydraulic system.
Compared with the prior art, the invention has the beneficial effects that:
1. the vehicle body self-leveling test bed provided by the invention can simulate and realize complex road surface working conditions, has a vehicle body self-leveling function, and can output vehicle body pose information in real time.
2. The 4 independent modules of the vehicle body self-leveling test bed can be freely installed on the ground flat iron, the size of the bed frame is convenient to adjust, the vehicle body self-leveling test bed can adapt to tests of various vehicle types under different working conditions, the test period is shortened, and the test cost is reduced.
Drawings
FIG. 1 is a schematic perspective view of a self-leveling test stand for a vehicle body according to the present invention;
FIG. 2a is a front view of a body self-leveling test stand in accordance with the present invention;
FIG. 2b is a side view of a body self-leveling test stand in accordance with the present invention;
FIG. 3 is a schematic view of the construction of a road spectrum excitation independent module in a vehicle body self-leveling test stand according to the present invention;
FIG. 4a is a front view of a self-leveling device in a body self-leveling test stand in accordance with the present invention;
FIG. 4b is a side view of a self-leveling device in a body self-leveling test stand in accordance with the present invention;
FIG. 5 is a schematic illustration of an excitation hydraulic system in a body self-leveling test stand according to the present invention;
FIG. 6 is a block diagram of the excitation signal processing and playback process in a body self-leveling test stand according to the present invention;
FIG. 7 is a block flow diagram of an excitation control system in a body self-leveling test stand according to the present invention;
FIG. 8 is a schematic diagram of a leveling hydraulic system in a body self-leveling test stand according to the present invention;
FIG. 9 is a block flow diagram of a leveling control system in a vehicle body self-leveling test stand according to the present invention.
In the figure:
1-base, 2-guide post seat, 3-channel steel support, 4-fixing plate,
5-guide post clamp, 6-guide post, 7-excitation servo hydraulic cylinder, 8-lifting plate,
9-sliding table, 10-hydraulic cylinder flange, 11-linear guide rail, 12-wedge block,
13-linear bearings, 14-inclination angle sensors, 15-telescopic side links, 16-wheels,
17-horizon iron, 18-axle, 19-leveling servo hydraulic cylinder, 20-retainer,
21-car body, 22-oil tank, 23-oil filter, 24-motor,
25-one-way valve, 26-fine filter, 27-electromagnetic overflow valve, 28-electrohydraulic servo valve,
29-electrohydraulic proportional valve.
Detailed Description
For further explanation of the technical scheme of the invention, the specific embodiments of the invention are as follows in combination with the accompanying drawings in the specification:
as shown in fig. 1, 2a and 2b, the present invention provides a vehicle body self-leveling test stand, which comprises a road spectrum excitation system and a vehicle body self-leveling system; the road surface spectrum excitation system consists of a road surface spectrum excitation device, a road surface spectrum excitation hydraulic system and a road surface spectrum excitation control system; the vehicle body self-leveling system consists of a vehicle body self-leveling device, a vehicle body self-leveling hydraulic system and a vehicle body self-leveling control system. According to the test bed, the road spectrum excitation system simulates real complex road conditions, the vehicle body self-leveling system performs vehicle body self-leveling under the action of the road spectrum excitation system, and finally whether the leveling capability of the vehicle body self-leveling system meets the design requirement is checked.
As shown in fig. 1, the road surface spectrum excitation device is composed of four groups of road surface spectrum excitation independent modules corresponding to four wheels of a vehicle, the four groups of road surface spectrum excitation independent modules are all fixed on a piece of ground level iron, the installation positions of the four groups of road surface spectrum excitation independent modules on the ground level iron are matched with the four wheel positions of the vehicle in the vehicle body self-leveling device above the road surface spectrum excitation independent modules, and the fixed positions can be adjusted according to requirements, so that the road surface spectrum excitation device can adapt to tests of various vehicle types under different working conditions, the test period is shortened, and the test cost is reduced.
As shown in fig. 3, the road spectrum excitation independent module consists of a base 1, a guiding mechanism, an excitation servo hydraulic cylinder 7, a lifting plate 8, a sliding table 9 and a wheel limiting mechanism. The guide mechanism consists of a guide post seat 2, a channel steel support 3, a fixing plate 4, a guide post clamp 5, guide posts 6 and a linear bearing 13, wherein a base 1 at the bottom is fixedly arranged on a ground level iron after being adjusted, two groups of guide mechanisms are vertically arranged on the base 1 in parallel front and back, and one group of guide mechanisms is taken as an example, and in the guide mechanisms, the bottoms of the two guide posts 6 are fixed on the base 1 through the guide post seat 2; the channel steel supports 3 are arranged between the two guide posts 6 along the direction of the guide posts 6, the channel steel supports 3 are fixedly connected with the two guide posts 6 through the fixing plate 4, and the connection rigidity of the guide posts 6 and the base 1 is improved due to the design of the channel steel supports 3. Through holes are formed in positions, corresponding to the guide posts 6 of the guide mechanisms, on the lifting plate 8, four guide posts 6 of the two groups of guide mechanisms respectively penetrate through the lifting plate 8, linear bearings 13 are arranged between the lifting plate 8 and the guide posts 6, and the lifting plate 8 moves up and down stably along the axial directions of the four guide posts 6; the upper part of the lifting plate 8 is slidably connected with sliding tables 9 through linear guide rails 11, two linear guide rails 11 are arranged, the rails are fixedly installed at the front and rear sides of the lifting plate 8 in parallel, the sliding blocks are fixedly connected to the bottoms of the sliding tables 9, the sliding blocks are matched and connected with the rails to form sliding pairs, and the sliding tables 9 slide along the linear guide rails 11 in a left-right stable manner. The telescopic rod end of the excitation servo hydraulic cylinder 7 is fixedly connected with the bottom surface of the lifting plate 8 through a fixed hydraulic cylinder flange 10, and a cylinder body at the lower end of the excitation servo hydraulic cylinder 7 is fixedly connected to the base 1 through a screw, so that the excitation servo hydraulic cylinder 7 is positioned. Since the upper part of the sliding table 9 directly bears the weight of the wheels 15 of the vehicle, the wheels are positioned by installing a wheel limiting mechanism on the sliding table 9 in order to prevent the wheels 15 from rolling forwards and backwards. In this embodiment, the wheel limiting mechanism is composed of wedge blocks 12 with front and rear wedge surfaces arranged in opposite directions, and the wedge blocks 12 are fixedly mounted on the sliding table 9 through bolts. By controlling the expansion and contraction of the telescopic rod of the excitation servo hydraulic cylinder 7 and matching with the guiding function of the guiding mechanism, the sliding table 9 stably moves up and down under the driving of the excitation servo hydraulic cylinder 7, and when the vehicle body 21 inclines, the sliding table 9 is in sliding connection on the lifting plate 8, so that the swing displacement generated by the axle 18 is absorbed, and the test bed is ensured not to be influenced by horizontal pulling force as a whole.
As shown in fig. 5, the road spectrum excitation hydraulic system comprises an oil tank 22, an oil filter 23, a motor 24, a one-way valve 25 and a fine filter 26 which are sequentially connected in series on an oil supply pipeline, four groups of electrohydraulic servo valves 28 which are connected in parallel and correspond to four wheels of a vehicle, four groups of excitation servo hydraulic cylinders 7 which are connected in parallel and correspond to the four groups of electrohydraulic servo valves 28, and further comprises the oil filter 23 connected on an oil return pipeline and an electromagnetic overflow valve 27 connected between the oil supply pipeline and the oil return pipeline. When the hydraulic pump station is started, the motor 24 rotates, oil in the oil tank 22 flows to the electromagnetic relief valve 27 sequentially through the oil filter 23, the one-way valve 25 and the fine filter 26, and when the electromagnetic relief valve 27 does not receive a control electric signal, i.e. the electromagnetic relief valve 27 is in a communicated state, the oil returns to the oil tank 22 through the oil filter 23 on the oil return pipeline; if the electromagnetic relief valve 27 receives the control electric signal, that is, the electromagnetic relief valve 27 is in a disconnected state, oil flows to the electro-hydraulic servo valves 28, the opening degree of the corresponding electro-hydraulic servo valve is adjusted by controlling the electric signal of each of the four groups of electro-hydraulic servo valves 28, and the oil flows into and acts on the excitation servo hydraulic cylinder 7 corresponding to the electro-hydraulic servo valves 28, so that the extension speed and the displacement of the piston rod of the excitation servo hydraulic cylinder 7 are controlled.
As shown in fig. 6 and 7, the road spectrum excitation control system comprises a vehicle body pose and spindle head acceleration acquisition module, a road spectrum excitation control module, a data acquisition card, a road spectrum excitation industrial personal computer and an a/D converter.
Before the test, the ordinary vehicle provided with the vehicle body pose and axle head acceleration acquisition module is used for acquiring road spectrums under different working conditions, the vehicle body pose and axle head acceleration acquisition module adopts an IMX.6 model ARM controller produced by Feishaeel corporation, and the acquired signals comprise: angular acceleration in the X/Y/Z axis, angular velocity in the X/Y/Z axis, and acceleration in the spindle head position of the four wheels. After the system returns to the laboratory environment, the collected road spectrum signals with different working conditions are sent to a data acquisition card, and then the data acquisition card sends the road spectrum signals with different working conditions, which are uploaded by the vehicle body pose and axle head acceleration acquisition module, to a road spectrum excitation industrial personal computer which is an IPC-610 industrial personal computer designed by EIP company and is used as a human-computer interaction tool, so that a display interface and data storage are realized;
in the test, the road spectrum excitation industrial personal computer analyzes and processes the road spectrum signal through a fast Fourier transform method and a wavelet analysis method to form road spectrum data, wherein the road spectrum data comprises the following components: the inclination angle of the X/Y axis of the vehicle body, the acceleration of the X/Y axis of the vehicle body and the road surface excitation data of corresponding tires; the road spectrum data are formed into a plurality of corresponding complex road spectrum reproduction algorithm control programs through a reproduction algorithm in the industrial personal computer, the complex road spectrum reproduction algorithm control programs are sent to a road spectrum excitation control module by the road spectrum excitation industrial personal computer in a test, the road spectrum excitation control module is an ARM controller of IMX.6 model produced by Feishak corporation, the function of the road spectrum excitation control module is to receive a control instruction of the road spectrum excitation industrial personal computer, corresponding control signals are sent according to the road spectrum excitation industrial personal computer instruction, the road spectrum excitation control module sends the instruction sent by the industrial personal computer to four groups of servo amplifiers after being converted by the A/D converter, meanwhile, a hydraulic relay and a sensor relay are opened, then four groups of electrohydraulic servo valves 28 of the road spectrum excitation hydraulic system are controlled, finally, four groups of excitation servo hydraulic cylinders 7 corresponding to the road spectrum excitation hydraulic cylinders are controlled, the four groups of excitation servo hydraulic cylinders 7 rapidly react to move according to the instruction, meanwhile, a BP neural network is used for carrying out closed loop control on the road spectrum excitation system to provide external excitation for a self-leveling system, and the corresponding road surface conditions are repeated on a self-leveling test platform.
As shown in fig. 4a and 4b, the self-leveling device for the vehicle body is composed of an inclination sensor 14, a telescopic side link 15, wheels 16, an axle 18, a leveling servo hydraulic cylinder 19, a retainer 20 and a vehicle body 21. The inclination sensor 14 is located below the middle part of the vehicle body self-leveling device, and the front and rear ends of the vehicle body self-leveling device are symmetrically structured, wherein one end structure is as follows: the two leveling servo hydraulic cylinders 19 are arranged in an inward inclined symmetrical manner, the two ends of the leveling servo hydraulic cylinders 19 are hinged between the axle 18 and the end part of the vehicle body 21 through revolute pairs, the two groups of telescopic side links 15 are arranged in a bilateral symmetrical manner, the two ends of the telescopic side links 15 are respectively hinged with the middle parts of the axle 18 and the vehicle body 21 through ball pairs, the two wheels 16 are respectively arranged on the two sides of the axle 18, and the two ends of the retainer 20 are respectively connected with the end parts of the axle 18 and the vehicle body 21 through revolute pairs; the other end structure of the vehicle body self-leveling device is the same as the structure. When the leveling servo hydraulic cylinder 19 stretches out and draws back, relative displacement occurs between the axle 18 and the vehicle body 21, and the axle 18 can only swing in a fixed plane due to the limiting effect of the retainer 20, so that the external longitudinal load applied to the vehicle body 21 is ensured not to damage the leveling mechanism, and the telescopic side link 15 with damping is additionally arranged to resist the external longitudinal load, so that the normal operation of the leveling mechanism is ensured.
As shown in fig. 8, the vehicle body self-leveling hydraulic system includes a tank 22, an oil filter 23, a motor 24, a check valve 25, a fine filter 26, an electromagnetic spill valve 27, an electro-hydraulic proportional valve 29, and a leveling servo hydraulic cylinder 19; the working principle is the same as that of the excitation hydraulic system. The road spectrum excitation hydraulic system comprises an oil tank 22, an oil filter 23, a motor 24, a one-way valve 25 and a fine filter 26 which are sequentially connected in series on an oil supply pipeline, four groups of parallel electro-hydraulic proportional valves 29 corresponding to four wheels of a vehicle, four groups of leveling servo hydraulic cylinders 19 corresponding to the four groups of parallel electro-hydraulic proportional valves 29, an oil filter 23 connected on an oil return pipeline, and an electromagnetic overflow valve 27 connected between the oil supply pipeline and the oil return pipeline. When the hydraulic pump station is started, the motor 24 rotates, oil in the oil tank 22 flows to the electromagnetic relief valve 27 sequentially through the oil filter 23, the one-way valve 25 and the fine filter 26, and when the electromagnetic relief valve 27 does not receive a control electric signal, i.e. the electromagnetic relief valve 27 is in a communicated state, the oil returns to the oil tank 22 through the oil filter 23 on the oil return pipeline; if the electromagnetic relief valve 27 receives the control electric signal, that is, the electromagnetic relief valve 27 is in the off state, the oil flows to the electro-hydraulic proportional valves 29, the opening of the corresponding electro-hydraulic proportional valves 29 is adjusted by controlling the electric signal of each of the four groups of electro-hydraulic proportional valves 29, and the oil flows into and acts on the leveling servo hydraulic cylinder 19 corresponding to the electro-hydraulic proportional valves 29, so that the extending speed and the displacement of the piston rod of the leveling servo hydraulic cylinder 19 are controlled.
As shown in fig. 9, the vehicle body self-leveling control system comprises a vehicle body pose acquisition module, a vehicle body pose control module, a data acquisition card, a vehicle body self-leveling industrial personal computer and an a/D converter.
The vehicle body inclination angle signal detected by the inclination angle sensor 14, the leveling cylinder displacement signal and the leveling cylinder pressure signal converted by the A/D converter are all sent to a vehicle body position and posture acquisition module, and are uploaded to a data acquisition card by the vehicle body position and posture acquisition module, the vehicle body position and posture acquisition module adopts an ARM controller of an IMX.6 model produced by Feishukar corporation, the vehicle body position and posture acquisition module has the functions of detecting the movement speed and displacement of a leveling servo hydraulic cylinder and acquiring and uploading vehicle body position and posture data information, and then the data acquisition card sends the vehicle body self-leveling device posture information uploaded by the vehicle body position and posture acquisition module to a vehicle body self-leveling industrial personal computer which is designed by EIP corporation and takes an IPC-610 industrial personal computer as a man-machine interaction tool, so that a display interface and stored data are realized; the vehicle body self-leveling industrial personal computer receives a vehicle body position and posture signal, then carries out calculation processing on the vehicle body position and posture signal to obtain a corresponding control signal, then sends the control signal obtained by processing to a vehicle body position and posture control module, the vehicle body position and posture control module is also an ARM controller of IMX.6 model produced by Feishukar corporation, the function of the vehicle body position and posture control module is to receive an industrial personal computer control instruction, and sends the corresponding control signal according to the industrial personal computer instruction, the vehicle body position and posture control module converts the instruction sent by the industrial personal computer to a 4-group proportional amplifier through an A/D converter, simultaneously opens a hydraulic relay and a sensing relay, further controls 4-group electro-hydraulic proportional valves 29 of a vehicle body self-leveling hydraulic system, finally controls 4-group leveling servo hydraulic cylinders 19,4 corresponding to the vehicle body position and posture control module to carry out vehicle body self-leveling according to the instruction, the posture information of the vehicle body after leveling is quickly output and displayed on a display interface of the industrial personal computer, and the vehicle body self-leveling of the leveling system must be completed in a short time, so that the stability and the driving comfort of the vehicle body can be ensured.
Finally, in the actual working process of the vehicle body self-leveling test bed, namely, the four excitation servo hydraulic cylinders 7 of the road spectrum excitation system are jointly controlled through the road spectrum excitation industrial personal computer, so that the four wheels 16 realize different motion rules, simulate and realize complex road surface working conditions, and provide external excitation for the vehicle body self-leveling system; and then the signal of the sensor module 14 is received and processed through the vehicle body self-leveling industrial personal computer, the electro-hydraulic proportional valve of the self-leveling system is controlled by a control signal to control the corresponding leveling servo hydraulic cylinder to perform vehicle body self-leveling, and whether the leveling capability of the self-leveling system meets the design requirement is checked. Several motion patterns in the test are discussed in detail below:
when the self-leveling machine encounters a repeated left inclined slope, namely, when the industrial personal computer controls the two sliding tables 9 on the right side of the pavement spectrum excitation device to move upwards with the same motion rule, the data acquisition card of the vehicle body self-leveling control system acquires the posture information of the inclined vehicle body 21 at the moment and sends the posture information to the vehicle body self-leveling industrial personal computer for calculation processing, and then the vehicle body self-leveling industrial personal computer sends instructions to the two groups of leveling electro-hydraulic proportional valves on the left side of the vehicle body self-leveling device, so that the two leveling servo hydraulic cylinders 19 on the left side of the vehicle body self-leveling device stretch out with the same displacement at the same speed for leveling motion, and the real-time posture information of the vehicle body 21 after leveling is displayed.
When the self-leveling machine encounters a repeated forward inclined road, namely, when the industrial personal computer controls the two sliding tables 9 at the rear side of the pavement spectrum excitation device to move upwards with the same motion rule, the data acquisition card of the vehicle body self-leveling control system acquires the posture information of the inclined vehicle body 21 at the moment and sends the posture information to the vehicle body self-leveling industrial personal computer for calculation processing, and then the vehicle body self-leveling industrial personal computer sends instructions to two groups of leveling electro-hydraulic proportional valves at the left side of the vehicle body self-leveling device, so that the two leveling servo hydraulic cylinders 19 at the front side of the vehicle body self-leveling device stretch out with the same displacement at the same speed for leveling motion, and the real-time posture information of the vehicle body 21 after leveling is displayed.
When the self-leveling machine encounters a repeated complex slope, namely, the industrial personal computer controls the four sliding tables 9 of the pavement spectrum excitation device to move upwards respectively with different motion laws, the data acquisition card of the vehicle body self-leveling control system acquires the posture information of the inclined vehicle body 21 at the moment and sends the posture information to the vehicle body self-leveling industrial personal computer for calculation processing, and then the vehicle body self-leveling industrial personal computer sends instructions to four groups of leveling electro-hydraulic proportional valves of the vehicle body self-leveling device, so that the four leveling servo hydraulic cylinders 19 of the vehicle body self-leveling device stretch out with different displacements at corresponding speeds for leveling motion, and real-time posture information of the vehicle body 21 after leveling is displayed.
Claims (7)
1. The utility model provides a automobile body self-leveling test bench which characterized in that:
the test bed comprises a pavement spectrum excitation system and a vehicle body self-leveling system; the road surface spectrum excitation system consists of a road surface spectrum excitation device, a road surface spectrum excitation hydraulic system and a road surface spectrum excitation control system; the vehicle body self-leveling system consists of a vehicle body self-leveling device, a vehicle body self-leveling hydraulic system and a vehicle body self-leveling control system;
the road surface spectrum excitation device consists of four groups of road surface spectrum excitation independent modules corresponding to the vehicle body self-leveling device, the road surface spectrum excitation control system is in control connection with the road surface spectrum excitation hydraulic system, and the road surface spectrum excitation hydraulic system controls the extension speed and displacement of a piston rod of an excitation servo hydraulic cylinder corresponding to the road surface spectrum excitation independent modules based on the received excitation signal of the road surface spectrum excitation control system to simulate real complex road surface working conditions;
the vehicle body self-leveling device and the vehicle body self-leveling hydraulic system are respectively connected with a vehicle body self-leveling control system in a signal way, and the vehicle body self-leveling control system generates corresponding vehicle body self-leveling control signals based on the acquired vehicle body posture information of the vehicle body self-leveling device and sends the corresponding vehicle body self-leveling control signals to the vehicle body self-leveling hydraulic system under the excitation of the road spectrum excitation independent module below the vehicle body self-leveling device, so that the extension speed and displacement of a leveling servo hydraulic cylinder piston rod corresponding to the vehicle body self-leveling device are controlled, and the vehicle body self-leveling is realized;
the road surface spectrum excitation independent module consists of a base (1), a guide mechanism, an excitation servo hydraulic cylinder (7), a lifting plate (8), a sliding table (9) and a wheel limiting mechanism; the guide mechanism and the excitation servo hydraulic cylinder (7) are installed in the same direction, the lifting plate (8) is installed on the base (1) through the guide mechanism and the excitation servo hydraulic cylinder (7), the sliding table (9) is connected to the lifting plate (8) in a sliding mode, left-right sliding is achieved, and the wheel limiting mechanism is installed on the sliding table (9);
the sliding table (9) is driven by the excitation servo hydraulic cylinder (7) to stably run up and down along the guide mechanism;
the guide mechanism consists of guide post bases (2), channel steel supports (3), fixing plates (4), guide post clamps (5), guide posts (6) and linear bearings (13), wherein the bottoms of the two guide posts (6) are fixed on the base (1) through the guide post bases (2), the channel steel supports (3) are connected between the two guide posts (6) through the fixing plates (4), and four guide posts (6) of the two groups of guide mechanisms are respectively connected with the lifting plate (8) through the linear bearings (13);
the wheel limiting mechanism consists of wedge blocks (12) with front and rear wedge surfaces arranged in opposite directions, and the wedge blocks (12) are fixedly arranged on the sliding table (9) through bolts.
2. A vehicle body self-leveling test stand in accordance with claim 1 wherein:
the road surface spectrum excitation independent module is fixed on the ground level iron, the installation position of the road surface spectrum excitation independent module on the ground level iron is matched with the four wheel positions of the vehicle in the vehicle body self-leveling device above the road surface spectrum excitation independent module, and the fixed position is adjusted according to the requirement.
3. A vehicle body self-leveling test stand in accordance with claim 1 wherein:
the road spectrum excitation hydraulic system consists of an oil tank (22), an oil filter (23), a motor (24), a one-way valve (25), a fine filter (26), an electrohydraulic servo valve (28) corresponding to the road spectrum excitation independent module, an oil filter (23) connected to an oil return pipeline and an electromagnetic overflow valve (27) connected between the oil supply pipeline and the oil return pipeline, wherein the oil filter, the motor (24), the one-way valve (25), the fine filter (26) are sequentially connected in series, and the electrohydraulic servo valve (28) is correspondingly connected with the excitation servo hydraulic cylinder (7).
4. A vehicle body self-leveling test stand in accordance with claim 1 wherein:
the road spectrum excitation control system comprises a vehicle body pose and shaft head acceleration acquisition module, a road spectrum excitation control module, a data acquisition card, a road spectrum excitation industrial personal computer and an A/D converter;
the data acquisition card transmits road spectrum signals of different working conditions acquired by the vehicle body pose and axle head acceleration acquisition module to the road spectrum excitation industrial personal computer, the road spectrum excitation industrial personal computer analyzes and processes the road spectrum signals to form a plurality of corresponding complex road reproduction algorithm control programs and transmits the complex road reproduction algorithm control programs to the road spectrum excitation control module, and the road spectrum excitation control module converts instructions transmitted by the industrial personal computer through the A/D converter and transmits the instructions to the servo amplifier so as to control the road spectrum excitation hydraulic system and finally control the excitation servo hydraulic cylinder (7) corresponding to the road spectrum excitation hydraulic system.
5. A vehicle body self-leveling test stand in accordance with claim 1 wherein:
the automobile body self-leveling device comprises inclination sensor (14), scalable side link (15), wheel (16), axle (18), leveling servo hydraulic cylinder (19), holder (20) and automobile body (21), inclination sensor (14) are located automobile body self-leveling device's middle part below, just automobile body self-leveling device front and back both ends structural symmetry, and wherein one end structure is: two leveling servo hydraulic cylinders (19) are arranged in an inward inclined symmetrical mode, two ends of each leveling servo hydraulic cylinder (19) are hinged between an axle (18) and the end portion of a vehicle body (21) through a revolute pair, two groups of telescopic side link rods (15) are arranged in a bilateral symmetry mode, two ends of each telescopic side link rod (15) are hinged to the middle portions of the axle (18) and the vehicle body (21) through ball pairs respectively, two wheels (16) are mounted on two sides of the axle (18) respectively, and two ends of a retainer (20) are connected with the end portions of the axle (18) and the vehicle body (21) through revolute pairs respectively.
6. A vehicle body self-leveling test stand in accordance with claim 1 wherein:
the road surface spectrum excitation hydraulic system consists of an oil tank (22), an oil filter (23), a motor (24), a one-way valve (25), a fine filter (26), an electro-hydraulic proportional valve (29) corresponding to wheels of the vehicle body self-leveling device, an oil filter (23) connected to an oil return pipeline and an electromagnetic overflow valve (27) connected between the oil supply pipeline and the oil return pipeline, wherein the oil filter, the motor (24), the one-way valve (25), the fine filter (26) are sequentially connected in series, and the electro-hydraulic proportional valve (29) is correspondingly connected with the leveling servo hydraulic cylinder (19).
7. A vehicle body self-leveling test stand in accordance with claim 1 wherein:
the vehicle body self-leveling control system comprises a vehicle body pose acquisition module, a vehicle body pose control module, a data acquisition card, a vehicle body self-leveling industrial personal computer and an A/D converter;
the vehicle body position and posture acquisition module acquires the posture information of the vehicle body self-leveling device detected by a sensor on the vehicle body self-leveling device and uploads the posture information to the data acquisition card, the data acquisition card transmits the posture information of the vehicle body self-leveling device uploaded by the vehicle body position and posture acquisition module to the vehicle body self-leveling industrial personal computer, the vehicle body self-leveling industrial personal computer receives a vehicle body position and posture signal, processes the vehicle body position and posture signal to obtain a corresponding control signal and transmits the corresponding control signal to the vehicle body position and posture control module, and the vehicle body position and posture control module converts a command transmitted by the vehicle body self-leveling industrial personal computer to the proportional amplifier through the A/D converter and then controls the vehicle body self-leveling hydraulic system to finally control a leveling servo hydraulic cylinder (19) corresponding to the vehicle body self-leveling hydraulic system.
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| CN112362355B (en) * | 2020-11-02 | 2022-08-26 | 云南雄鑫汽车有限公司 | Road simulation device, system and method for passenger car test |
| CN112881030B (en) * | 2021-01-15 | 2022-04-08 | 中国农业大学 | Hydraulic simulation test bed for hilly and mountain tractor |
| CN116587990A (en) * | 2023-05-15 | 2023-08-15 | 德州锦城电装股份有限公司 | Electric automobile terrain auxiliary driving control device and method |
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