CN107543727B - Non-proportional loading degree test method in a kind of normal force control frame of motorcycle room - Google Patents
Non-proportional loading degree test method in a kind of normal force control frame of motorcycle room Download PDFInfo
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Abstract
Non-proportional loading degree test method in a kind of normal force control frame of motorcycle room, it is related to frame of motorcycle endurance test method, solve the problems such as existing progress frame of motorcycle endurance test process couples there are test system architecture complexity, excitation channel and is difficult to iteration convergence, including pilot system, the system is the loading spectrum simulative iteration system of polyaxial multiple activation, can the suffered polyaxial shock loading of simulated frame real road traveling, clamping and loading method and the loaded feature of vehicle frame real road traveling it is more aligned；This method can simulate motorcycle polyaxial shock loading suffered by real road when driving vehicle frame, it being capable of the practical loaded feature of reproduction vehicle frame true to nature indoors, can more efficiently and accurately examination vehicle frame fatigue behaviour, using orthogonal force control mode, i.e. horizontal vibration exciter is all made of power excitation and control model with vertical vibration excitor, the Degree of Structure Freedom and mobile decoupling for very well satisfying system, obtain higher simulation precision.
Description
Technical field
The present invention relates to frame of motorcycle endurance test methods, and in particular to a kind of normal force control frame of motorcycle room
Interior non-proportional loading degree test method.
Background technique
Frame of motorcycle is the load bearing component of vehicle most critical, and long-term work is in uneven road surface excitation and occupant or cargo
Combination loading is formed by under polyaxial Disturbance stress, is easy to produce fatigue fracture.Therefore, for motorcycle new model vehicle frame
For light-weight design, fatigue reliability certification test is essential.Traditional actual road test and proving ground test is time-consuming to be taken
Power, repeatability is poor, and indoor bench test can travel loaded feature, period by simulation reconstruction vehicle frame real road indoors
Short, favorable repeatability, the examination of vehicle frame fatigue is with strong points, with good application prospect.However, due to experimental rig and test
The shortcoming of method, existing vehicle frame Durability Test generally use the insufficient Finished Motorcycle of motorcycle rack examination of vehicle frame examination specific aim
It tests, either the uniaxially single excitation or uniaxially multiple activation vehicle frame fatigue test single using clamping and loading method, vehicle frame
Clamping and loading method on rack effectively can not travel suffered multiaxis loading impact by simulated frame real road,
Loaded feature has larger gap to the loaded feature of vehicle frame rack when driving with real road, thus is difficult efficiently and accurately to examine vehicle frame
Fatigue reliability.
It is more in order to really reappear engine, occupant and cargo dynamic loading and the dynamic that is transmitted on vehicle frame of road excitation coupling
Axial load excitation can carry out combination loading to vehicle frame using multiple and different axial excitation devices, but this can face clamping side
Many problems such as method, energisation mode and control model.
A kind of " frame of motorcycle actual travel loading spectrum is disclosed in the patent document of China Patent No. CN102944430A
Tired reproduction test method ", related experimental rig, which takes, retains rear shock absorber and rear the chain stay simultaneously fixed method in rear end,
The nonlinear characteristic of rear shock absorber can be introduced into, so that system structure is complicated, excitation channel couples and is difficult to iteration convergence,
And the selection method of simulative iteration measuring point and expected response signal is complex in related test method；China Patent No.
" a kind of compoundforce-displacement control frame of motorcycle fatigue test method ", institute are disclosed in the patent document of CN103398859A
The experimental rig being related to, which equally takes, retains rear shock absorber and rear the chain stay simultaneously fixed method in rear end, can be by the non-of rear shock absorber
Linear character, which is introduced into, to be come and is difficult to simulate, and in related test method simulative iteration measuring point selection method it is more multiple
It is miscellaneous, and desired signal lacks iterative process, and simulation precision is not high.
Summary of the invention
The present invention is that there are test system architecture complexity, excitation for the existing progress frame of motorcycle endurance test process of solution
The problems such as channel couples and is difficult to iteration convergence provides non-proportional loading degree test side in a kind of normal force control frame of motorcycle room
Method.
Non-proportional loading degree test method in a kind of normal force control frame of motorcycle room, using a set of in the test method
Pilot system, the pilot system include installation pedestal, horizontal vibration exciter rear support, horizontal vibration exciter, guide rail, horizontal vibration exciter power
Sensor, fore-stock standpipe, fore-stock clamping plate, portal frame, vertical vibration excitor, vertical vibration excitor force snesor, jockey, in
Between axis, jackshaft hold-down support, engine assembly, guide rail sliding plate and multiple planar hinges；
The horizontal vibration exciter rear support, guide rail, portal frame, jackshaft hold-down support are separately fixed in installation pedestal；
The horizontal vibration exciter both ends be all made of planar hinge respectively with horizontal vibration exciter rear support) and guide rail sliding plate connect, horizontal exciting
Horizontal vibration exciter force snesor is arranged in the front end of device；The vertical vibration excitor both ends be all made of planar hinge respectively with portal frame and company
Vertical vibration excitor force snesor is arranged in the front end of welding fixture connection, vertical vibration excitor；The guide rail sliding plate and guide rail are using sliding
Pair connection, realizes horizontal reciprocating movement；The fore-stock standpipe and guide rail sliding plate are hinged using plane；The fore-stock standpipe
It is connect with fore-stock clamping plate using screw；The jockey is also used to connect with frame assembly；
The test method is realized by following steps:
Step 1: carrying out real road driving cycle force analysis to frame assembly, simulation obtains frame assembly in motor
The stress distribution centrostigma of vehicle real road when driving, and strain sensing is arranged in the corresponding position of the stress distribution centrostigma
Device, and actual vehicle vehicle frame load spectrum acquisition when driving is carried out respectively according to motorcycle driving difference road conditions；
Step 2: carrying out processing and reliability demonstration to the loading spectrum of step 1 acquisition, determine that vehicle frame actual road conditions travel
The measuring point that integrated stress distribution characteristics and stress are concentrated, equably chooses the wherein larger measuring point of M stress, and to not on vehicle frame
It is concentrated with the loading spectrum loop-around data for choosing measuring point under traveling road conditions, obtains simulation test survey in pilot system under the road conditions
The expected response signal of point；
Step 3: frame assembly is mounted in pilot system, the M measuring point same position arrangement chosen in step 2
Strain transducer applies single channel excitation to the M measuring point, carries out the sensitivity of measuring point strain-responsive and response linearity point
Analysis selects a pair of of measuring point as loading spectrum simulative iteration measuring point, constructs 2 × 2 square matrixes control simulation of two inputs, two output
Iteration system；
A pair of of loading spectrum simulative iteration measuring point is chosen in the step 3 method particularly includes:
Step 3 one individually applies the Horizontal sinusoidal power drive that three groups of constant amplitudes of frequency successively double to horizontal vibration exciter
Signal measures corresponding measuring point strain-responsive signal on vehicle frame, seeks vehicle frame corresponding measuring point strain-responsive according to formula one, formula two
To the response sensitivity δ of horizontal vibration exciter power drive signalHWith response linearity γH；
The vertical sinusoidal force driving signal that three groups of constant amplitudes of frequency successively double individually is applied to vertical vibration excitor, is measured
Response sensitivity δ of the corresponding measuring point strain-responsive signal to vertical vibration excitor power drive signal on vehicle frameVWith response linearity γV；
Step 3 two arranges corresponding measuring point response sensitivity value on vehicle frame and response linearity value by size respectively
Sequence, choose and response linearity high to horizontal vibration exciter power drive signal response sensitivity it is good and to vertical vibration excitor power drive letter
The low measuring point 1 of number response sensitivity is used as horizontal vibration exciter power drive simulative iteration measuring point；
It chooses again low to horizontal vibration exciter power drive signal response sensitivity and vertical vibration excitor power drive signal is responded
The high sensitivity and good measuring point 2 of response linearity is used as vertical vibration excitor power drive simulative iteration measuring point；Other measuring points are as mould
Quasi- iteration monitoring stations；
Formula one,
Formula two,
In formula: xa(t),xbIt (t) is forward and backward power drive signal twice, ya(t),yb(t) forward and backward power twice is respectively corresponded to drive
Dynamic signal motivates lower same observation station strain-responsive signal；δ1It is sensitive that gained response is calculated for the opposite first group of excitation of second group of excitation
Degree；δ2Gained response sensitivity is calculated for the opposite second group of excitation of third group excitation；
Step 4: carrying out measuring point loading spectrum simulative iteration using the control simulative iteration system of step 3 building, and record
The last time vibration excitor excitation spectrum of iteration error≤10%, as the road conditions endurance test excitation spectrum；
Measuring point loading spectrum simulative iteration is carried out in the step 4 method particularly includes:
Step 4 one generates wideband digital white noise power drive signal a1(t) and a2(t) respectively as horizontal vibration exciter and
The input signal of vertical vibration excitor, while acquiring recycling simulative iteration measuring point 1 and 2 response signal b of measuring point1(t) and b2(t), according to
The frequency response function H (f) of formula three, four solving system of formula；Then the iteration that a certain road conditions are concentrated to get in selecting step two
2 loading spectrum of measuring point 1 and iteration measuring point, by five reverse vibration excitor initial excitation signal of formula.
Formula three, A (f)=[A1(f),A2(f)]T, B (f)=[B1(f),B2(f)]T
Formula four,
Formula five, a(0)(t)=IFFT [H-1(f)B(d)(f)]
In formula: A1(f),A2(f),B1(f),B2It (f) is respectively a1(t), a2(t), b1(t), b2(t) Fourier transformation；A
It (f) is input stimulus matrix；B (f) is output response matrix；SABIt (f) is the crosspower spectrum of input and output；SAAIt (f) is input
Auto-power spectrum；H (f) is pilot system frequency response function, H-1(f) inverse matrix for being H (f).
Step 4 two motivates each vibration excitor with the initial signal sought, while acquiring the output of two simulative iteration measuring points
Response signal seeks time-frequency domain weighted average error e (t) by formula six, finally corresponding by seven reverse mean error e (t) of formula
Input signal correction amount ae(t)；
Formula six, e (t)=0.5 [b(d)(t)-b(0)(t)]+0.5*IFFT[B(d)(f)-B(0)(f)]
Formula seven, ae(t)=IFFT [H-1(f)E(f)]
In formula: H-1(f) inverse matrix for being pilot system frequency response function H (f), a(0)It (t) is initial driving signal；b(d)
(t), B(d)It (f) is iteration measuring point expected response signal and its Fourier transformation；b(0)(t), B(0)(f) defeated for initial driving signal
Enter lower iteration measuring point output response and its Fourier transformation；E (t), E (f) be time domain and frequency domain weighting error responses signal and its
Fourier transformation；aeIt (t) is error correction input signal；
Step 4 three, the corresponding input signal correction amount of error obtained according to step 4 two repair system input
Just, amendment input signal is obtained, is indicated with formula eight are as follows:
Formula eight, a(1)(t)=a(0)(t)+ξ*ae(t)
In formula: a(1)It (t) is amendment input signal；ξ is attenuation coefficient；
Step 4 four, the amendment input signal a obtained using step 4 three(1)(t) as input, constantly repeatedly step 4
Two carry out simulative iteration to the process between step 4 three, and calculate actual response signal and expectation after each iteration with formula nine
The average error e of response signal time domain and frequency domainn, work as enWhen≤10%, record last time iteration horizontal vibration exciter power excitation
Signal a1* (t) and vertical vibration excitor power pumping signal a2* (t), loading spectrum matrix A *, as this road conditions fatigue are established by formula ten
Degree test excitation spectrum；
Formula nine,
Formula ten, A*=[a1*(t),a2*(t)]T
In formula: b(n)(t), B(n)It (f) is nth iteration measuring point output response signal and its Fourier transformation, a1* (t) is
Last time iteration horizontal vibration exciter power excitation spectrum；a2* (t) is the vertical vibration excitor power excitation spectrum of last time iteration；
Step 5: carrying out simulative iteration respectively to vehicle frame difference road conditions measuring point loading spectrum, respective road conditions fatigue strength examination is obtained
Excitation spectrum is tested, according to road conditions composition of proportions of riding common in vehicle frame life cycle, by each road conditions fatigue strength excitation spectrum of acquisition
Splicing synthesis is carried out, the synthesis excitation spectrum eventually for vehicle frame endurance test is obtained；Distinguished using the synthesis excitation spectrum
Corresponding vibration excitor is driven, polyaxial load is carried out to frame assembly, realizes non-proportional loading degree detection in vehicle frame room.
Beneficial effects of the present invention: of the present invention to be directed to the shortcomings of the prior art, the present invention provides
Non-proportional loading degree test method in a kind of normal force control frame of motorcycle room, this method can simulate motorcycle in practical road
Road polyaxial shock loading suffered by vehicle frame when driving, being capable of reproduction vehicle frame true to nature actually loaded feature, thus energy indoors
The fatigue behaviour of the examination vehicle frame of enough more efficiently and accuratelies.It is specific that there are following advantages:
One, vehicle frame endurance test system proposed by the present invention is the loading spectrum simulative iteration system of a polyaxial multiple activation
System, it being capable of the suffered polyaxial shock loading of simulated frame real road traveling, clamping and loading method and vehicle frame reality
Road driving loaded feature in border is more aligned, it is thus possible to the more fatigue behaviour of efficiently and accurately examination vehicle frame.
Two, test method of the invention uses orthogonal force control mode in the polyaxial load of vehicle frame, i.e., horizontal to swash
Vibration device and vertical vibration excitor are all made of power excitation and control model, it can both very well satisfy the Degree of Structure Freedom of system with
Mobile decoupling, and higher simulation precision can be obtained.
Three, test method of the invention uses response sensitivity in the selection of Frame Load spectrum analog iteration measuring point
2 loading spectrum simulative iteration measuring points are selected with response linearity analysis to set up 2 × 2 square matrix control systems, so very
Solves loading spectrum simulative iteration convergence problem caused by vibration excitor excitation coupling well, simulative iteration precision is higher.
Four, when test method of the invention uses in loading spectrum simulative iteration, (weighting coefficient is equal for error of frequency domain weighting
For loading spectrum simulative iteration algorithm 0.5), there is better convergence rate and convergence essence than single time domain iterative algorithm in this way
Degree.
Five, test method of the invention proposes a kind of synthesis fatigue excitation spectrum construction side based on road conditions composition
Formula, it had not only agreed with vehicle frame real road well and has travelled loaded feature, but also substantially reduced the test period.
Detailed description of the invention
Fig. 1 be a kind of normal force of the present invention control non-proportional loading degree pilot system in frame of motorcycle room just etc.
Mapping；
Fig. 2 is the side view that a kind of normal force of the present invention controls non-proportional loading degree pilot system in frame of motorcycle room
Figure；
Fig. 3 is the partial enlarged view of Fig. 1；
Fig. 4 is that a kind of normal force of the present invention controls non-proportional loading degree pilot system control original in frame of motorcycle room
Reason figure；
Fig. 5 is that the connection of non-proportional loading degree pilot system is shown in a kind of normal force control frame of motorcycle room of the present invention
It is intended to；
Fig. 6 is the process that a kind of normal force of the present invention controls non-proportional loading degree test method in frame of motorcycle room
Figure.
In figure: 1, installation pedestal, 2, horizontal vibration exciter rear support, 3, horizontal vibration exciter, 4, guide rail, 5, horizontal vibration exciter power
Sensor, 6, planar hinge I, 7, fore-stock standpipe, 8, fore-stock clamping plate, 9, frame assembly, 10, portal frame, 11, vertical exciting
Device, 12, clump weight, 13, vertical vibration excitor force snesor, 14, planar hinge II, 15, jockey, 16, jackshaft, 17, centre
Axis hold-down support, 18, engine assembly, 19, planar hinge III, 20, guide rail sliding plate, 21, planar hinge IV, 22, planar hinge V.
Specific embodiment
Specific embodiment one illustrates present embodiment in conjunction with Fig. 1 to Fig. 6.A kind of normal force control frame of motorcycle is more
Axis fatigue test method uses test battery system in the method, which includes installation pedestal 1, horizontal vibration exciter
Rear support 2, horizontal vibration exciter 3, guide rail 4, horizontal vibration exciter force snesor 5, planar hinge I 6, fore-stock standpipe 7, fore-stock clamping plate
8, portal frame 10, vertical vibration excitor 11, vertical vibration excitor force snesor 13, planar hinge II 14, jockey 15, jackshaft 16,
Jackshaft hold-down support 17, engine assembly 18, planar hinge III 19, guide rail sliding plate 20, planar hinge IV 21 and planar hinge V 22；
The horizontal vibration exciter rear support 2, guide rail 4, portal frame 10, jackshaft hold-down support 17 are separately fixed at installation base
On seat 1；3 both ends of horizontal vibration exciter are respectively adopted planar hinge V 22 and planar hinge I 6 and horizontal vibration exciter rear support 2 and lead
Rail slide plate 20 connects, and horizontal vibration exciter force snesor 5 is arranged in the front end of horizontal vibration exciter 3；11 both ends of vertical vibration excitor point
Not Cai Yong planar hinge IV 21 and planar hinge II 14 connect with portal frame 10 and jockey 15, the front end setting of vertical vibration excitor 11
Vertical vibration excitor force snesor 13；The guide rail sliding plate 20 and guide rail 4 realize horizontal reciprocating movement using the secondary connection of sliding；Institute
It states fore-stock standpipe 7 and is connect with guide rail sliding plate 20 using planar hinge III 19；The fore-stock standpipe 7 is used with fore-stock clamping plate 8
Screw connection；The jockey 15 is also used to connect with frame assembly 9.
Illustrate present embodiment in conjunction with Fig. 4 and Fig. 5, the pilot system control principle is as follows:
Hydraulic efficiency servo-valve and horizontal vibration exciter force snesor 5 be installed on the horizontal vibration exciter 3, and by separator with
Hydraulic power unit is connected；Hydraulic efficiency servo-valve and vertical vibration excitor force snesor 13 are installed on the vertical vibration excitor 11, and passed through
Separator is connected with hydraulic power unit；Experimenter is connected by computer with controller, and controller controls two vibration excitor servos
Valve events, and control hydraulic power unit simultaneously and fuel feeding and oil return are carried out to vibration excitor via separator, and then complete the drawing of vibration excitor
It stretches and compression-loaded；Horizontal vibration exciter 3 and vertical vibration excitor 11, which are combined, loads vehicle frame, and by being arranged on vehicle frame
Loaded signal, return controller are complete in real time for iteration measuring point 1 (strain transducer) and iteration measuring point 2 (strain transducer) recycling vehicle frame
At closed-loop control.
The test method includes the following steps:
A, to vehicle frame real road when driving several loaded operating conditions of typical case (maximum front bearing, maximum rear bearing, maximum occupant with
And routine is ridden) finite element analysis is carried out, vehicle frame weak link and stress concentration point are obtained, arranges strain sensing in corresponding position
Device (is assumed to be S).Real vehicle, which is carried out, according to motorcycle typical travel road conditions (assuming that road conditions type is R) travels vehicle frame road load
Spectrum acquisition (assuming that acquisition vehicle number is V, driver's number is D, and every kind of road condition acquiring recurring number is C).
B, load is intercepted by road conditions R-acquisition vehicle V-driver D-acquisition circulation C multi-layer transverse direction alignments
Spectrum circulation carries out pre-treatment, repeatability analysis and reliability demonstration.Later, intercept same road conditions, with acquisition vehicle, with driver and
Lower different acquisition measuring point load spectrum signal is recycled with acquisition and carries out root-mean-square value statistical analysis and power spectral-density analysis, with determination
Vehicle frame actual travel integrated stress distribution characteristics and the higher dangerous measuring point of stress level.Choose wherein stress level it is higher, compared with
For the measuring point several (being assumed to be M) being distributed evenly on vehicle frame, some acquisition loop-around data of interception measuring point is by most substantially
Value 5% carries out small magnitude rejecting as threshold values, by the loading spectrum that the amount of damage editor's signal for retaining 95% is concentrated, as rear
Continuous bench simulation test measuring point expected response signal.Part measuring point difference road conditions concentration loading spectrum is obtained using same procedure,
As bench simulation test measuring point expected response signal in subsequent chamber.
C, frame assembly 9 is installed on test-bed, vehicle frame front by fore-stock standpipe 7 and fore-stock clamping plate 8 into
Row installation is fixed, and vehicle frame is fixed on original vehicle frame using central fixed shaft 16 and jackshaft hold-down support 17 in the middle part of frame assembly
It is connect at axis with rear chain stay.On horizontal axis, 7 bottom of fore-stock standpipe by the planar hinge III 19 of double arrangement with can be past
It moves horizontally guide rail sliding plate 20 again to be connected, guide rail sliding plate 20 is connected by planar hinge I 6 with horizontal vibration exciter 3.Horizontal vibration exciter 3
It moves and loads come real-time control by the horizontal vibration exciter force snesor 5 that front end is installed.The part-structure can be with simulation road
Face-tire-damper-vehicle frame space topological connection and load transmission relationship, to simulate actual travel vehicle frame front end institute
By horizontal axis and vertical axial load impacting.On vertical axial, vertical 11 upper end of vibration excitor is installed by planar hinge IV 21
It is fixed on height-adjustable portal frame 10, lower end is carried out hingedly using planar hinge II 14 and jockey 15, jockey
15 are attached fixation using bolt and connecting board structure and vehicle frame tail portion.Vertical vibration excitor 11 is arranged vertical sharp by front end
Vibration device force snesor 13 comes real-time control movement and load, in conjunction with the clump weight 12 for being arranged in vehicle frame tail portion and being loaded to inertia,
Carry out the vertical axial load impacting brought by road surface, occupant or the cargo suffered by simulated frame actual travel.
D, the higher load spectrum acquisition measuring point same position arrangement strain of the M stress level chosen in stepb
Sensor.The orthogonal Force control system of square matrix for considering one two input of building, two output (2 × 2), is used for measuring point load spectrum analog
Iteration, specific choice method are as follows: first only to individually applying what three groups of constant amplitudes of frequency successively doubled to horizontal vibration exciter
Horizontal sinusoidal power drive signal measures corresponding measuring point strain-responsive signal on vehicle frame, seeks vehicle frame phase according to formula one, formula two
Answer measuring point strain-responsive to the response sensitivity δ of horizontal vibration exciter power drive signalHWith response linearity γH；Similarly, then it is only right
The vertical sinusoidal force driving signal that three groups of constant amplitudes of frequency successively double individually is applied to vertical vibration excitor, measures phase on vehicle frame
Answer measuring point strain-responsive signal to the response sensitivity δ of vertical vibration excitor power drive signalVWith response linearity γV；Then, will
Corresponding measuring point response sensitivity value and response linearity value are ranked up by size respectively on vehicle frame, are chosen to horizontal vibration exciter power
Driving signal response sensitivity height (δHBigger, sensitivity is higher) and the good (γ of response linearityHCloser to 1, the linearity is better),
And to the low (δ of vertical vibration excitor power drive signal response sensitivityVSmaller, sensitivity is lower) measuring point 1 (being denoted as measuring point 1) work
For horizontal vibration exciter power drive simulative iteration measuring point；Similarly, it then chooses low to horizontal vibration exciter power drive signal response sensitivity
(δHSmaller, sensitivity is lower), and to vertical vibration excitor power drive signal response sensitivity height (δVBigger, sensitivity is higher) and
Good (the γ of response linearityVCloser to 1, the linearity is better) 1 measuring point (being denoted as measuring point 2), as vertical vibration excitor power drive
Simulative iteration measuring point；Remaining measuring point can be used as simulative iteration monitoring stations；
In formula: xa(t),xb(t)-front and back power drive signal twice, ya(t),yb(t)-respectively corresponding front and back, power is driven twice
Dynamic signal motivates lower same observation station strain-responsive signal；δ1It is sensitive that with respect to first group excitation of-the second group of excitation calculates gained response
Degree；δ2The opposite second group of excitation of-third group excitation calculates gained response sensitivity.
E, wideband digital white noise power drive signal a is generated1(t) and a2(t) respectively as horizontal vibration exciter and vertical exciting
The input of device, while acquiring recycling simulative iteration measuring point 1 and 2 response signal b of measuring point1(t) and b2(t), it is asked according to formula (3), (4)
The frequency response function H (f) of solution system.Then a certain road conditions are concentrated to get in selecting step 2 iteration measuring point 1 and iteration measuring point 2
Loading spectrum, by formula (5) reverse vibration excitor initial excitation signal.
A (f)=[A1(f),A2(f)]T, B (f)=[B1(f),B2(f)]T (3)
a(0)(t)=IFFT [H-1(f)B(d)(f)] (5)
In formula: A1(f),A2(f),B1(f),B2(f)-it is respectively a1(t), a2(t), b1(t), b2(t) Fourier transformation；
A (f)-input stimulus matrix is 2 × 1 matrixes；B (f)-output response matrix is 2 × 1 matrixes；SAB(f)-input and output
Crosspower spectrum, be 2 × 2 matrixes；SAA(f)-input auto-power spectrum；For 2 × 2 matrixes；H (f)-pilot system frequency response
Function is 2 × 2 matrixes；
F, each vibration excitor is motivated with the initial signal sought, while acquires the output response letter of two simulative iteration measuring points
Number, when seeking by formula (6)-frequency domain weighting mean error e (t), the corresponding input signal of most back-pushed-type (7) reverse error is repaired
Positive quantity ae(t)。
E (t)=0.5 [b(d)(t)-b(0)(t)]+0.5*IFFT[B(d)(f)-B(0)(f)] (6)
ae(t)=IFFT [H-1(f)E(f)] (7)
In formula: H-1(f)-pilot system frequency response function H (f) inverse matrix is 2 × 2 matrixes；a(0)(t)-initial
Driving signal is 2 × 1 matrixes；b(d)(t), B(d)(f)-iteration measuring point expected response signal and its Fourier transformation are 2 × 1
Matrix；b(0)(t), B(0)(f)-initial driving signal inputs lower iteration measuring point output response and its Fourier transformation, is 2 × 1 squares
Battle array；E (t), E (f)-time domain and frequency domain weighting error responses signal and its Fourier transformation are 2 × 1 matrixes；ae(t)-error
Input signal is corrected, is 2 × 1 matrixes；
G, system input is modified according to obtained error correction input signal, obtained amendment input signal are as follows:
a(1)(t)=a(0)(t)+ξ*ae(t) (8)
In formula: a(1)(t)-amendment input signal, is 2 × 1 matrixes；ξ-attenuation coefficient.
H, to correct input signal a(1)(t) as input, the process for constantly repeating front carries out simulative iteration, and with formula
(9) the average error e of actual response signal and expected response signal time domain and frequency domain after each iteration is calculatedn, work as en≤ 10%
When, record last time iteration horizontal vibration exciter power pumping signal a1* (t) and vertical vibration excitor power pumping signal a2* (t), by formula
(10) driving signal file A* is established, this document is 2 × 1 load spectrum matrixs, as this operating condition fatigue test excitation spectrum.
A*=[a1*(t),a2*(t)]T (10)
In formula: b(n)(t), B(n)(f)-nth iteration measuring point output response signal and its Fourier transformation are 2 × 1 squares
Battle array；a1* (t)-last time iteration horizontal vibration exciter power excitation spectrum；a2* the vertical vibration excitor power excitation of (t)-last time iteration
Spectrum；
I, using identical loading spectrum simulative iteration method, the target load spectrum that different road conditions are concentrated to get is chosen, in vehicle
By a large amount of simulative iterations in frame multiaxle fatigue experimental system, the road analogy excitation spectrum of respective road conditions is obtained respectively.Finally, pressing
According to the road surface composition of proportions that motorcycle is usually ridden, the segmentation fatigue that each road conditions distinguish simulative iteration acquisition is swashed according to formula (11)
It encourages spectrum and carries out splicing synthesis in the time domain by same ratio, obtain one section of excitation spectrum eventually for fatigue endurance test.With this
Excitation spectrum carries out fatigue durability test as corresponding vibration excitor driving signal, to frame of motorcycle.
In formula: R-road conditions type sum；ki- the i-th kind of road conditions accounts for usual road conditions proportionality coefficient, wherein
Ai*-i-th kind of road conditions fatigue excitation spectrum.
Claims (4)
1. non-proportional loading degree test method in a kind of normal force control frame of motorcycle room, characterized in that in the test method
Using test battery system, the pilot system include installation pedestal (1), horizontal vibration exciter rear support (2), horizontal vibration exciter (3),
Guide rail (4), horizontal vibration exciter force snesor (5), fore-stock standpipe (7), fore-stock clamping plate (8), portal frame (10), vertical exciting
Device (11), jockey (15), jackshaft (16), jackshaft hold-down support (17), starts vertical vibration excitor force snesor (13)
Machine assembly (18), guide rail sliding plate (20) and multiple planar hinges；
The horizontal vibration exciter rear support (2), guide rail (4), portal frame (10), jackshaft hold-down support (17) are separately fixed at peace
It fills on pedestal (1)；Horizontal vibration exciter (3) both ends be all made of planar hinge respectively with horizontal vibration exciter rear support (2) and guide rail
Horizontal vibration exciter force snesor (5) are arranged in the front end of slide plate (20) connection, horizontal vibration exciter (3)；The vertical vibration excitor (11)
Both ends are all made of planar hinge and connect respectively with portal frame (10) and jockey (15), and the front end setting of vertical vibration excitor (11) is hung down
Straight vibration excitor force snesor (13)；The guide rail sliding plate (20) and guide rail (4) realize fortune back and forth horizontally using the secondary connection of sliding
It is dynamic；The fore-stock standpipe (7) is hinged with guide rail sliding plate (20) using plane；The fore-stock standpipe (7) and fore-stock press from both sides
Plate (8) is connected using screw；The jockey (15) is also used to connect with frame assembly (9)；
The test method is realized by following steps:
Step 1: carrying out real road driving cycle force analysis to frame assembly (9), simulation obtains frame assembly in motorcycle
Stress distribution centrostigma under real road driving cycle arranges strain sensing in the corresponding position of the stress distribution centrostigma
Device, and actual vehicle vehicle frame load spectrum acquisition when driving is carried out respectively according to motorcycle driving difference road conditions；
Step 2: carrying out processing and reliability demonstration to the loading spectrum of step 1 acquisition, determine that vehicle frame actual road conditions traveling is whole
The measuring point that stress distribution feature and stress are concentrated, equably chooses the wherein larger measuring point of M stress on vehicle frame, and to not going together
The loading spectrum loop-around data for sailing the M measuring point under road conditions is concentrated, and simulation test survey in pilot system under the road conditions is obtained
The expected response signal of point；
Step 3: frame assembly is mounted in pilot system, the M measuring point same position arrangement strain chosen in step 2
Sensor applies single channel excitation to the M measuring point, carries out the sensitivity of measuring point strain-responsive and response linearity analysis, choosing
A pair of of measuring point constructs 2 × 2 square matrixes control simulative iteration system of two inputs, two output as loading spectrum simulative iteration measuring point out
System；
A pair of of loading spectrum simulative iteration measuring point is chosen in the step 3 method particularly includes:
Step 3 one individually applies the Horizontal sinusoidal power drive letter that three groups of constant amplitudes of frequency successively double to horizontal vibration exciter
Number, corresponding measuring point strain-responsive signal on vehicle frame is measured, seeks vehicle frame corresponding measuring point strain-responsive pair according to formula one, formula two
The response sensitivity δ of horizontal vibration exciter power drive signalHWith response linearity γH；
The vertical sinusoidal force driving signal that three groups of constant amplitudes of frequency successively double individually is applied to vertical vibration excitor, measures vehicle frame
Response sensitivity δ of the upper corresponding measuring point strain-responsive signal to vertical vibration excitor power drive signalVWith response linearity γV；
Corresponding measuring point response sensitivity value on vehicle frame and response linearity value are ranked up by step 3 two by size respectively, choosing
It takes that high to horizontal vibration exciter power drive signal response sensitivity and response linearity is good, and vertical vibration excitor power drive signal is rung
The measuring point 1 for answering sensitivity low is used as horizontal vibration exciter power drive simulative iteration measuring point；
Choose again it is low to horizontal vibration exciter power drive signal response sensitivity, and to vertical vibration excitor power drive signal respond it is sensitive
The measuring point 2 that degree is high and response linearity is good is used as vertical vibration excitor power drive simulative iteration measuring point；Other measuring points change as simulation
For monitoring stations；
Formula one,
Formula two,
In formula: xa(t),xbIt (t) is forward and backward power drive signal twice, ya(t),yb(t) the forward and backward letter of power drive twice is respectively corresponded
Number motivate lower same observation station strain-responsive signal；δ1Gained response sensitivity is calculated for the opposite first group of excitation of second group of excitation；δ2
Gained response sensitivity is calculated for the opposite second group of excitation of third group excitation；
Step 4: carrying out measuring point loading spectrum simulative iteration using the control simulative iteration system of step 3 building, and record iteration
The last time vibration excitor excitation spectrum of error≤10%, as the road conditions endurance test excitation spectrum；
Measuring point loading spectrum simulative iteration is carried out in the step 4 method particularly includes:
Step 4 one generates wideband digital white noise power drive signal a1(t) and a2(t) respectively as horizontal vibration exciter and vertically
The input signal of vibration excitor, while acquiring recycling simulative iteration measuring point 1 and 2 response signal b of measuring point1(t) and b2(t), according to formula
Three, the frequency response function H (f) of four solving system of formula；Then the iteration measuring point 1 that a certain road conditions are concentrated to get in selecting step two
With 2 loading spectrum of iteration measuring point, by five reverse vibration excitor initial excitation signal of formula；
Formula three, A (f)=[A1(f),A2(f)]T, B (f)=[B1(f),B2(f)]T
Formula four,
Formula five, a(0)(t)=IFFT [H-1(f)B(d)(f)]
In formula: A1(f),A2(f),B1(f),B2It (f) is respectively a1(t), a2(t), b1(t), b2(t) Fourier transformation；A (f) is
Input stimulus matrix；B (f) is output response matrix；SABIt (f) is the crosspower spectrum of input and output；SAAIt (f) is oneself inputted
Power spectrum；H-1(f) inverse matrix for being H (f)；
Step 4 two motivates each vibration excitor with the initial signal sought, while acquiring the output response of two simulative iteration measuring points
Signal seeks time-frequency domain weighted average error e (t) by formula six, finally corresponding defeated by seven reverse mean error e (t) of formula
Enter signal correction amount ae(t)；
Formula six, e (t)=0.5 [b(d)(t)-b(0)(t)]+0.5*IFFT[B(d)(f)-B(0)(f)]
Formula seven, ae(t)=IFFT [H-1(f)E(f)]
In formula: H-1(f) inverse matrix for being pilot system frequency response function H (f), a(0)It (t) is initial driving signal；b(d)(t),
B(d)It (f) is iteration measuring point expected response signal and its Fourier transformation；b(0)(t), B(0)(f) under initial driving signal input
Iteration measuring point output response and its Fourier transformation；E (t), E (f) are in time domain and frequency domain weighting error responses signal and its Fu
Leaf transformation；aeIt (t) is error correction input signal；
Step 4 three, the corresponding input signal correction amount of error obtained according to step 4 two are modified system input, obtain
Input signal must be corrected, is indicated with formula eight are as follows:
Formula eight, a(1)(t)=a(0)(t)+ξ*ae(t)
In formula: a(1)It (t) is amendment input signal；ξ is attenuation coefficient；
Step 4 four, the amendment input signal a obtained using step 4 three(1)(t) as input, constantly repeat step 4 two to
Process between step 4 three carries out simulative iteration, and calculates actual response signal and expected response after each iteration with formula nine
The average error e of signal time domain and frequency domainn, work as enWhen≤10%, last time iteration horizontal vibration exciter power pumping signal is recorded
a1* (t) and vertical vibration excitor power pumping signal a2* (t), loading spectrum matrix A * is established by formula ten, as this road conditions fatigue strength is tried
Test excitation spectrum；
Formula nine,
Formula ten, A*=[a1*(t),a2*(t)]T
In formula: b(n)(t), B(n)It (f) is nth iteration measuring point output response signal and its Fourier transformation, a1* (t) is last
Secondary iteration horizontal vibration exciter power excitation spectrum；a2* (t) is the vertical vibration excitor power excitation spectrum of last time iteration；
Step 5: carrying out simulative iteration respectively to vehicle frame difference road conditions measuring point loading spectrum, obtains respective road conditions endurance test and swash
Spectrum is encouraged, according to road conditions composition of proportions of riding common in vehicle frame life cycle, each road conditions fatigue strength excitation spectrum of acquisition is carried out
Splicing synthesis, obtains the synthesis excitation spectrum eventually for vehicle frame endurance test；It is respectively driven using the synthesis excitation spectrum
Corresponding vibration excitor carries out polyaxial load to frame assembly, realizes non-proportional loading degree detection in vehicle frame room.
2. non-proportional loading degree test method in a kind of normal force control frame of motorcycle room according to claim 1, special
Sign is, in step 2, to collected loading spectrum, and the process verified are as follows:
It is carried out using road conditions type R, acquisition vehicle V, driver D and acquisition circulation C multi-layer transverse direction alignments, then, is cut
Identical road conditions type, identical acquisition vehicle, identical driver and identical acquisition is taken to recycle lower different acquisition measuring point loading spectrum letter
Number root-mean-square value statistical analysis and power spectral-density analysis are carried out, determines vehicle frame actual travel integrated stress distribution characteristics and stress
Measuring point is concentrated, the larger measuring point of M stress being wherein evenly distributed on vehicle frame is chosen, some acquisition loop-around data of interception measuring point is pressed
Maximum amplitude 5% carries out amplitude rejecting as threshold values, by the amount of damage editor's signal for retaining 95%, obtains the loading spectrum of concentration,
And the expected response signal as simulation test measuring point in pilot system；
Loading spectrum acquisition loop-around data under the part measuring point difference road conditions is intercepted using same procedure to be concentrated, and respective road is obtained
Loading spectrum is concentrated in condition, as bench simulation test measuring point expected response signal in subsequent chamber.
3. non-proportional loading degree test method in a kind of normal force control frame of motorcycle room according to claim 1, special
Sign is, in step 3, frame assembly (9) is mounted in pilot system, specific location relationship are as follows:
Frame assembly front end carries out installation fixation by fore-stock standpipe (7) and fore-stock clamping plate (8), uses in the middle part of frame assembly
Vehicle frame is fixed on vehicle frame and connect at axis with rear chain stay by jackshaft (16) and jackshaft hold-down support (17)；In horizontal axis
On, fore-stock standpipe (7) bottom is connect by the planar hinge III (19) of double arrangement with reciprocal horizontal moving guide rail slide plate (20),
Guide rail sliding plate (20) is connect by planar hinge I (6) with horizontal vibration exciter (3), the level that horizontal vibration exciter (3) is installed by front end
The movement of vibration excitor force snesor (5) real-time measurement and load；When for simulating actual travel horizontal axis suffered by vehicle frame front end and
Vertical axial load impacting；
On vertical axial, vertical vibration excitor (11) upper end is fixed on portal frame (10) by planar hinge IV (21), is hung down
Straight vibration excitor (11) lower end uses planar hinge II (14) and jockey (15) hingedly, and jockey (15) is connect with vehicle frame tail portion
Fixed, vertical vibration excitor (11) is moved by vertical vibration excitor force snesor (13) real-time measurement that front end is arranged and load, and
According to clump weight (12) of the vehicle frame tail portion for inertia load is arranged in, suffered by simulated frame actual travel from road surface,
Vertical axial load impacting brought by occupant or cargo.
4. non-proportional loading degree test method in a kind of normal force control frame of motorcycle room according to claim 1, special
Sign is, the specific implementation process of step 5 are as follows:
Using identical loading spectrum simulative iteration method, the target load spectrum that different road conditions are concentrated to get is chosen, in vehicle frame multiaxis
Simulative iteration is carried out in endurance test system, obtains the road analogy excitation spectrum of respective road conditions respectively；
The road surface composition of proportions usually ridden according to motorcycle, point for obtaining each road conditions difference simulative iteration according to formula 11
The tired excitation spectrum of section carries out splicing synthesis by same ratio in the time domain, obtains the final excitation spectrum for being used for fatigue endurance test,
Using the final excitation spectrum as the driving signal of corresponding vibration excitor, fatigue durability test is carried out to frame of motorcycle；
Formula 11,
In formula: R is road conditions type；kiUsual road conditions proportionality coefficient is accounted for for i-th kind of road conditions, whereinAiIt * is i-th kind of road conditions
Fatigue strength excitation spectrum.
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| CN109655281B (en) * | 2018-12-24 | 2023-09-22 | 重庆新摩创科技有限公司 | Auxiliary tool for strength endurance test of motorcycle frame |
| CN113155486B (en) * | 2021-05-31 | 2024-09-10 | 奇瑞汽车股份有限公司 | Durability simulation test method and system for power assembly suspension system |
| CN113607392B (en) * | 2021-07-05 | 2023-10-13 | 岚图汽车科技有限公司 | Spring arm endurance test method and device |
| CN114624037B (en) * | 2022-05-16 | 2022-09-16 | 徐州徐工汽车制造有限公司 | Cab load extraction method and device |
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