CN108426673A - A kind of emergency management and rescue vehicle centroid position measures and method of adjustment - Google Patents
A kind of emergency management and rescue vehicle centroid position measures and method of adjustment Download PDFInfo
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- CN108426673A CN108426673A CN201810353461.5A CN201810353461A CN108426673A CN 108426673 A CN108426673 A CN 108426673A CN 201810353461 A CN201810353461 A CN 201810353461A CN 108426673 A CN108426673 A CN 108426673A
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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
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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Abstract
It is measured the invention discloses a kind of emergency management and rescue vehicle centroid position and method of adjustment, the realization of this method depends on the measuring system for including parametric measurement unit, data processing unit and actuator unit；Baroceptor is arranged at parametric measurement unit to measure wheel pressure；Data processing unit includes microcontroller, external communication interface, A/D converter and D/A converter；Sensor in parametric measurement unit is connect with data processing unit；Actuator unit includes the cross tablet being fixed on vehicle chassis, and clump weight is met tablet clump weight entirety barycenter and overlapped with the initial barycenter of car body by two Serve Motor Controls, distribution there are four arrangement thereon；Method content includes：It determines complete vehicle quality, determines horizontal car body barycenter, lengthwise position and adjustment car body centroid position.The present invention has both the measurement to vehicle centroid position in traveling and adjustment function, improves stability and the safety of emergency management and rescue vehicle cross-country run.
Description
Technical field
The invention belongs to vehicle run stability technical fields, and in particular to a kind of emergency management and rescue vehicle centroid position measurement
And method of adjustment.
Background technology
Emergency management and rescue vehicle can such as adjust vehicle centroid position because of cross-country run and a large amount of car kits in time in traveling,
Not only it can improve vehicle handling stability and ride comfort, but also safety concerns and comfort can be improved.Therefore, vehicle centroid in traveling
The measurement and adjustment of position, the mobility to improving vehicle are of great significance.
For the centroid measurement problem in vehicle cross-country road driving process, traditional stationary vehicle centroid measurement scheme is not
It is applicable in again, referring to document《Location of Mass Center of Automobiles determines the selection of method and testing equipment》.Wherein quality reaction method cannot be satisfied
The requirement that vehicle adjusts centroid position in traveling, the scope of application have larger limitation.
Emergency management and rescue vehicle loading capacity is big and driving cycle is complicated, therefore it is steadily the premise of driving safety to keep barycenter.
It is entitled for a patent of Location of Mass Center of Automobiles research at present《A kind of Location of Mass Center of Automobiles adjusting apparatus and its control method》
(Chinese Patent Application No. is：201710831431.6), although kart centroid position, the party can preferably be adjusted
Case is directed to the emergency management and rescue vehicle of heavily loaded engineering truck especially cross-country run, and there are adjustment mechanism responses not in time, barycenter position
The problems such as setting failure of adjustment or lag.
One patent is entitled《Car mass and centroid position Dynamic Identification system》(Chinese Patent Application No. is
201310544449.X), kart is detected in real time using velocity sensor and baroceptor to act in different car bodies
Each physical quantity variation in journey, and detection data is transmitted in microcontroller and is handled, and then calculate car mass and matter
The heart changes.Though this method can quickly calculate the centroid position of running automobile, lack the link adjusted to centroid position, because
This, cannot be satisfied the actual demand of emergency management and rescue vehicle cross-country run.
Invention content
It is measured present invention aims at a kind of emergency management and rescue vehicle centroid position of offer and method of adjustment, this method approaches letter
It is single easy and effectively reliable.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of emergency management and rescue vehicle centroid position measures and method of adjustment, the realization of this method are depended on including parametric measurement
The measuring system of unit, data processing unit and actuator unit；
The parametric measurement unit is 201310544449.X's according to Chinese Patent Application No.《Car mass and barycenter
Position Dynamic Identification system》The method of record measures pressure using baroceptor is arranged at wheel；In the static matter of car body
It is provided with IMU Inertial Measurement Units at heart position, for measuring car body pose data, calculates vehicle in driving process and travels appearance
State, and it is transmitted to the data processing unit in real time；
The data processing unit includes microcontroller, external communication interface, A/D converter and D/A converter；The parameter
Sensor in determination unit is connect with the data processing unit；
Each baroceptor, is transmitted to data processing unit by pressure signal in real time in vehicle traveling at the wheel,
Air pressure and load correspondence are obtained according to wheel bearing test, and pressure signal is changed into corresponding wheel, and to bear load big
It is small, and then can obtain complete vehicle quality and the distribution of different wheel side load；
The actuator unit includes cross tablet, is mounted on vehicle chassis；In the cross tablet
There are four clump weight, distributions to meet tablet clump weight entirety barycenter and be overlapped with the initial barycenter of car body for upper arrangement；In the cross
Two servo motors are housed at the center of type tablet, is connect with the clump weight by rack and pinion mechanism, two can be driven respectively
Clump weight in a rectilinear direction moves synchronously two-by-two；The servo motor receives the control signal after microcontroller processing operation,
And execute control command；
The method particular content includes the following steps：
Step 1, complete vehicle quality is determined
The emergency break down lorry is three bridge vehicles, and when a vehicle is started, the measuring system is started to work；First at wheel
Six baroceptors are measured with regard to corresponding tire tire pressure respectively, by six baroceptor 1-1,1-2,2-1,2-2,3-1,
Tire pressure measured by 3-2 is denoted as p respectively1、p2、p3、p4、p5、p6, tested based on pressure and load relation, show that six tires carry
Lotus F1、F2、F3、F4、F5And F6, it is to calculate complete vehicle quality M：
M=(F1+F2+F3+F4+F5+F6)/g；
Step 2, car body barycenter cross, lengthwise position are determined
After vehicle traveling, microcontroller starts to handle it after receiving baroceptor signal, and vehicle is calculated
Body centroid position；
Load is born by what six baroceptors can respectively obtain car body left side wheel and right side wheels, left side is carried as
F1+F3+F5, right side is carried as F2+F4+F6, it is known that vehicle is calculated according to car body itself principle of moment balance in Wheel centre distance d
Body centroid distance left side wheel horizontal distance d1For：
d1=d (F2+F4+F6)/Mg；
In pick-up body, rear axle beam away from midpoint be rear axle calculate AnchorPoint, wheel base l；Front axle is carried as F1+F2, rear axle
It is carried as F3+F4+F5+F6；According to car body principle of moment balance, car body centroid distance front axle horizontal distance l is calculated1For：
l1=l (Mg-F1-F2)/Mg；
Step 3, car body centroid position is adjusted
After detecting that car body barycenter generates deviation, data processing unit begins to send out signal and is carried out to actuator unit
Control adjusts centroid position；Four clump weights detect that car body is deposited by corresponding to servo motor driving in IMU Inertial Measurement Units
In pitching or inclination, respectively to two servo motor input signals, control servomotor operating makes clump weight along assigned direction
Action, compensates car body mass with this and is unevenly distributed, and gradually adjusts car body barycenter and restores steady motion track；
Whether the distinguishing rule that adjustment action terminates is pitch angle and angle of heel within threshold angle；When vehicle is in highway
When driving, barycenter lateral deviation gyration is smaller；When IMU Inertial Measurement Units detect that vehicle pitch rate and angle of heel are less than threshold angle
Spend θ0When, stop centroid position adjustment.
Compared with prior art, the invention has the advantages that：
1, the method for the invention has both the measurement and adjustment to car body centroid position in traveling, ensures emergency management and rescue vehicle
In the stability of cross-country road traveling.According to principle of moment balance, car body centroid position is measured；And pass through actuator unit pair
Centroid position carries out active accommodation.For keeping safety, ride comfort and the control stability of vehicle to play an important roll.
2, actuator unit of the present invention has adjustment response rapid, and executing agency acts fast feature.Tablet two
The clump weight of end placement moves synchronously two-by-two in adjusting action process, and two clump weights are synchronized to be moved to same direction, protects
Centroid position has been demonstrate,proved quickly to adjust.
The method of the invention has both the measurement to vehicle centroid position in traveling and adjustment function, improves emergency management and rescue
The stability of vehicle cross-country run and safety.
Description of the drawings
Fig. 1 is measurement of the present invention and Adjusted Option flow chart；
Fig. 2 is centroid position measuring unit schematic diagram of the present invention；
Fig. 3 is this method centroid position adjustment unit schematic diagram；Fig. 4 is car body backsight structural representation；
Fig. 5 is car body left view structural representation.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings：
A kind of emergency management and rescue vehicle centroid position of the present invention measures and method of adjustment, the realization of this method depend on including
The measuring system of parametric measurement unit, data processing unit and actuator unit；
As shown in Figure 1, the method particular content includes the following steps：
By taking three bridge vehicles as an example, as shown in Fig. 2, implementing six baroceptors of arrangement at wheel, which answers
Pressure loading experiment is carried out in advance.Equally placement measures load transducer i.e. at wheel, is measured under different load-carryings and obtains pressure
Power load change relationship.
After vehicle launch, baroceptor and IMU Inertial Measurement Units are started to work.As shown in Fig. 2, baroceptor 1-
1,1-2,2-1,2-2,3-1,3-2 measurement obtain, for pressure data at wheel, being converted to and bearing load, by data processing unit
It carries out data operation and obtains car body centroid position, concrete operation process is as follows：
First, complete vehicle quality is determined.The measurement scheme is proposed for emergency management and rescue vehicle, is three bridge vehicles.First
Six baroceptors are measured with regard to corresponding tire tire pressure respectively at wheel, baroceptor 1-1,1-2,2-1,2-2,3-1,
Tire pressure measured by 3-2 is denoted as p respectively1、p2、p3、p4、p5、p6, tested based on pressure and load relation, can show that six tires carry
Lotus F1、F2、F3、F4、F5、F6, it is to calculate complete vehicle quality M：
M=(F1+F2+F3+F4+F5+F6)/g
Further, it is determined that car body barycenter is horizontal, lengthwise position.In vehicle traveling, microcontroller receives baroceptor letter
Car body centroid position is calculated in start to process after number.
As shown in figure 4, can respectively obtain car body left side wheel by six baroceptors bears load with right side wheels.It is left
Side is carried as F1+F3+F5, right side is carried as F2+F4+F6, it is known that Wheel centre distance d, according to car body itself principle of moment balance, meter
Calculation obtains car body centroid distance left side wheel horizontal distance d1For：
d1=d (F2+F4+F6)/Mg
As shown in figure 5, in pick-up body, rear axle beam away from midpoint be rear axle calculate AnchorPoint, wheel base l.Front axle carries
For F1+F2, rear axle is carried as F3+F4+F5+F6.According to car body principle of moment balance, it is horizontal that car body centroid distance front axle is calculated
Distance l1For：
l1=l (Mg-F1-F2)/Mg
Further, car body centroid position is adjusted.After detecting that car body barycenter generates deviation, data processing unit starts to send out
Go out signal to control actuator unit, adjustment barycenter to the static centroid position of car body.As shown in figure 3, four clump weights
It is driven by corresponding motor, car body is detected there are pitching or when rolling, respectively to two servo motors in IMU Inertial Measurement Units
Input signal, control servomotor operating make clump weight along specifying transverse and longitudinal direction to act, change car body centroid position, gradually adjust
The vehicle constitution heart restores steady motion track.
Specifically, vehicle centroid position adjustment is as follows:When vehicle is in road running, barycenter lateral deviation gyration compared with
It is small.When IMU Inertial Measurement Units detect that vehicle pitch rate and angle of heel are less than threshold angle θ0When, stop centroid position tune
It is whole.By taking vehicle has and inclines to the left and bow incline posture forward as an example, when IMU detect car body exist bow incline it is big simultaneously with "Left"-deviationist angle
In θ0When, data processing unit is sent out at action command to servo motor.Motor 1 controls the first clump weight 1 and the second counterweight
The synchronization of block 2 acts to the right, and the control third of motor 2 clump weight 3 is synchronous with the 4th clump weight 4 rearward to be acted.Adjustment action hair
When raw, the barycenter real time position of detection is transferred to data processing unit by parametric measurement unit：Baroceptor is by load parameter
Variation passes to data processing unit, calculates again centroid position；IMU Inertial Measurement Units are by pitch angle and angle of heel
Parameter is transferred to data processing unit, differentiates whether pitch angle and angle of heel are more than threshold angle.If detecting, left-leaning angle is less than
Threshold angle, then microcontroller, which is sent out, instructs control motor 1 to shut down, and the first clump weight 1 and the second clump weight 2 keep present bit
It sets constant；If detecting inclination angle of bowing still greater than threshold angle, the still continuous running of motor 2 controls third clump weight 3 and the 4th and matches
Pouring weight 4 continues to move.It is less than threshold angle until measuring the inclination angle that obtains bowing, centroid position adjustment process finishes.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, under the premise of not departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain of claims of the present invention determination.
Claims (1)
1. a kind of emergency management and rescue vehicle centroid position measures and method of adjustment, it is characterised in that：The realization of this method depends on packet
Include the measuring system of parametric measurement unit, data processing unit and actuator unit；
The parametric measurement unit is 201310544449.X's according to Chinese Patent Application No.《Car mass and centroid position
Dynamic Identification system》The method of record measures pressure using baroceptor is arranged at wheel；In the static barycenter position of car body
The place of setting is provided with IMU Inertial Measurement Units, for measuring car body pose data, calculates vehicle driving posture in driving process,
And it is transmitted to the data processing unit in real time；
The data processing unit includes microcontroller, external communication interface, A/D converter and D/A converter；The parametric measurement
Sensor in unit is connect with the data processing unit；
Each baroceptor, is transmitted to data processing unit by pressure signal in real time in vehicle traveling at the wheel, according to
Wheel bearing test obtains air pressure and load correspondence, and pressure signal, which is changed into corresponding wheel, bears magnitude of load,
And then it can obtain complete vehicle quality and the distribution of different wheel side load；
The actuator unit includes cross tablet, is mounted on vehicle chassis；The cloth on the cross tablet
It sets there are four clump weight, distribution meets tablet clump weight entirety barycenter and overlapped with the initial barycenter of car body；Described cross flat
At the center of plate be equipped with two servo motors, connect with the clump weight by rack and pinion mechanism, can drive respectively two directly
Clump weight on line direction moves synchronously two-by-two；The servo motor receives the control signal after microcontroller processing operation, and holds
Row control command；
The method particular content includes the following steps：
Step 1, complete vehicle quality is determined
The emergency break down lorry is three bridge vehicles, and when a vehicle is started, the measuring system is started to work；Six first at wheel
Baroceptor is measured with regard to corresponding tire tire pressure respectively, by six baroceptors 1-1,1-2,2-1,2-2,3-1,3-2
Measured tire pressure is denoted as p respectively1、p2、p3、p4、p5、p6, tested based on pressure and load relation, obtain six tyre loads
F1、F2、F3、F4、F5And F6, it is to calculate complete vehicle quality M：
M=(F1+F2+F3+F4+F5+F6)/g；
Step 2, car body barycenter cross, lengthwise position are determined
After vehicle traveling, microcontroller starts to handle it after receiving baroceptor signal, and car body matter is calculated
Heart position；
Load is born by what six baroceptors can respectively obtain car body left side wheel and right side wheels, left side is carried as F1+F3
+F5, right side is carried as F2+F4+F6, it is known that car body matter is calculated according to car body itself principle of moment balance in Wheel centre distance d
The heart is apart from left side wheel horizontal distance d1For：
d1=d (F2+F4+F6)/Mg；
In pick-up body, rear axle beam away from midpoint be rear axle calculate AnchorPoint, wheel base l；Front axle is carried as F1+F2, rear axle carrying
For F3+F4+F5+F6；According to car body principle of moment balance, car body centroid distance front axle horizontal distance l is calculated1For：
l1=l (Mg-F1-F2)/Mg；
Step 3, car body centroid position is adjusted
After detecting that car body barycenter generates deviation, data processing unit begins to send out signal and is controlled to actuator unit
System adjusts centroid position；Four clump weights detect that car body exists by corresponding to servo motor driving, in IMU Inertial Measurement Units
When pitching or inclination, respectively to two servo motor input signals, control servomotor operating keeps clump weight dynamic along assigned direction
Make, car body mass is compensated with this and is unevenly distributed, gradually adjusts car body barycenter and restore steady motion track；
Whether the distinguishing rule that adjustment action terminates is pitch angle and angle of heel within threshold angle；When vehicle is in road running
When, barycenter lateral deviation gyration is smaller；When IMU Inertial Measurement Units detect that vehicle pitch rate and angle of heel are less than threshold angle θ0
When, stop centroid position adjustment.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022416A (en) * | 2019-12-24 | 2021-06-25 | 长沙智能驾驶研究院有限公司 | Refrigerator car safe transportation monitoring method and system |
| CN114636569A (en) * | 2022-03-29 | 2022-06-17 | 福州大学 | Multi-axis vehicle experiment bench capable of realizing dynamic load simulation and working method thereof |
| CN114954710A (en) * | 2022-07-13 | 2022-08-30 | 河南焦煤能源有限公司 | Overturn prevention control method suitable for crawler-type drainage pump truck |
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| CN114636569A (en) * | 2022-03-29 | 2022-06-17 | 福州大学 | Multi-axis vehicle experiment bench capable of realizing dynamic load simulation and working method thereof |
| CN114636569B (en) * | 2022-03-29 | 2023-12-22 | 福州大学 | Multi-axle vehicle experiment bench capable of realizing dynamic load simulation and working method thereof |
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| CN114954710B (en) * | 2022-07-13 | 2023-08-04 | 河南焦煤能源有限公司 | Anti-overturning control method suitable for crawler-type drainage pump truck |
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