CN108426673B - Emergency rescue vehicle mass center position measuring and adjusting method - Google Patents
Emergency rescue vehicle mass center position measuring and adjusting method Download PDFInfo
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- CN108426673B CN108426673B CN201810353461.5A CN201810353461A CN108426673B CN 108426673 B CN108426673 B CN 108426673B CN 201810353461 A CN201810353461 A CN 201810353461A CN 108426673 B CN108426673 B CN 108426673B
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Abstract
The invention discloses a method for measuring and adjusting the mass center position of an emergency rescue vehicle, which is realized by a measuring system comprising a parameter measuring unit, a data processing unit and an actuating mechanism unit; an air pressure sensor is arranged at the parameter determination unit to measure the wheel pressure; the data processing unit comprises a singlechip, an external communication interface, an A/D converter and a D/A converter; the sensor in the parameter measuring unit is connected with the data processing unit; the actuating mechanism unit comprises a cross flat plate fixed on a vehicle chassis, four balancing weights are arranged on the cross flat plate and controlled by two servo motors, and the distribution of the four balancing weights meets the condition that the integral mass center of the flat balancing weights is coincident with the initial mass center of the vehicle body; the method comprises the following steps: determining the mass of the whole vehicle, determining the transverse and longitudinal positions of the mass center of the vehicle body and adjusting the mass center of the vehicle body. The invention has the functions of measuring and adjusting the mass center position of the vehicle in running, and improves the stability and the safety of the emergency rescue vehicle in running off the road.
Description
Technical Field
The invention belongs to the technical field of vehicle running stability, and particularly relates to a method for measuring and adjusting the mass center position of an emergency rescue vehicle.
Background
The emergency rescue vehicle can adjust the mass center position of the vehicle in time during running due to off-road running and a large amount of vehicle-mounted equipment, so that the operation stability and smoothness of the vehicle can be improved, and the riding safety and comfort can be improved. Therefore, the measurement and adjustment of the position of the mass center of the vehicle in running have great significance for improving the maneuverability of the vehicle.
For the mass center measurement problem in the process of vehicle off-road running, the traditional static vehicle mass center measurement scheme is not applicable any more, see the literature 'selection of an automobile mass center position determination method and test equipment'. The mass reaction method cannot meet the requirement of the running vehicle on the adjustment of the position of the mass center, and the application range has larger limitation.
The emergency rescue vehicle has large load capacity and complex running condition, so that the condition of keeping the mass center stable is the premise of running safety. At present, a patent name aiming at the automobile mass center position research is 'an automobile mass center position adjusting device and a control method thereof' (the Chinese patent application number is: 201710831431.6). although the mass center position of a small automobile can be well adjusted, the scheme aims at the problems that an adjusting mechanism is not timely in response, the mass center position is failed to adjust or lags and the like in heavy-duty engineering vehicles, particularly emergency rescue vehicles running in cross country.
One patent is named as an automobile mass and mass center position dynamic identification system (Chinese patent application number is 201310544449.X), and the system adopts a speed sensor and an air pressure sensor to detect the change of each physical quantity of a small automobile in the action process of different automobile bodies in real time, and transmits the detected data to a single chip microcomputer to be processed, so as to calculate the change of the automobile mass and the mass center. Although the method can quickly calculate the centroid position of the running automobile, the method lacks a link for adjusting the centroid position, and therefore, the actual requirement of cross-country running of the emergency rescue vehicle cannot be met.
Disclosure of Invention
The invention aims to provide a method for measuring and adjusting the mass center position of an emergency rescue vehicle, which is simple and feasible to approach and is effective and reliable.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for measuring and adjusting the mass center position of an emergency rescue vehicle depends on a measuring system comprising a parameter measuring unit, a data processing unit and an actuating mechanism unit;
the parameter determination unit measures pressure by arranging an air pressure sensor at a wheel according to a method recorded in an automobile mass and mass center position dynamic identification system with a Chinese patent application number of 201310544449. X; an IMU inertia measurement unit is arranged at the position of the static mass center of the vehicle body and is used for measuring the pose data of the vehicle body, calculating the driving posture of the vehicle in the driving process and transmitting the driving posture to the data processing unit in real time;
the data processing unit comprises a singlechip, an external communication interface, an A/D converter and a D/A converter; the sensor in the parameter measuring unit is connected with the data processing unit;
each air pressure sensor at the wheel transmits a pressure signal to the data processing unit in real time during the running of the vehicle, obtains the corresponding relation between the air pressure and the load of the wheel according to a wheel bearing test, converts the pressure signal into the load of the corresponding wheel, and further can obtain the mass of the whole vehicle and the load distribution of different wheels;
the actuating mechanism unit comprises a cross-shaped flat plate and is fixedly arranged on a vehicle chassis; four balancing weights are arranged on the cross-shaped flat plate, and the distribution of the four balancing weights meets the condition that the integral mass center of the flat balancing weights is coincident with the initial mass center of the vehicle body; two servo motors are arranged at the center of the cross flat plate and are connected with the balancing weights through a gear rack mechanism, and the two balancing weights in the two linear directions can be driven to move synchronously in pairs respectively; the servo motor receives the control signal processed and operated by the singlechip and executes a control command;
the method comprises the following specific steps:
step 1, determining the mass of the whole vehicle
The emergency rescue vehicle is a three-axle vehicle, and when the vehicle is started, the measuring system starts to work; firstly, six air pressure sensors at a wheel respectively measure corresponding tire pressures, and the tire pressures measured by the six air pressure sensors 1-1, 1-2, 2-1, 2-2, 3-1 and 3-2 are respectively marked as p1、p2、p3、p4、p5、p6Obtaining six tire loads F based on a pressure and load relation test1、F2、F3、F4、F5And F6And therefore, the mass M of the whole vehicle is calculated as:
M＝(F1+F2+F3+F4+F5+F6)/g；
step 2, determining the transverse and longitudinal positions of the mass center of the vehicle body
After the vehicle runs, the single chip microcomputer starts to process the air pressure sensor after receiving the signal of the air pressure sensor, and calculates to obtain the position of the mass center of the vehicle body;
the bearing loads of the left wheel and the right wheel of the vehicle body can be respectively obtained by six air pressure sensors, and the left bearing is F1+F3+F5Right side bearing is F2+F4+F6Knowing the wheel track as d, calculating the horizontal distance d between the center of mass of the vehicle body and the left wheel according to the moment balance principle of the vehicle body1Comprises the following steps:
d1＝d(F2+F4+F6)/Mg；
taking the middle axle distance and the middle axle distance of the rear axle of the vehicle body as rear axles to calculate axle center points, wherein the front-rear axle distance is l; front axle bearing F1+F2Rear axle bearing F3+F4+F5+F6(ii) a Calculated according to the moment balance principle of the vehicle bodyHorizontal distance l from the center of mass of the vehicle body to the front axle1Comprises the following steps:
l1＝l(Mg-F1-F2)/Mg；
step 3, adjusting the position of the mass center of the vehicle body
When the deviation of the mass center of the vehicle body is detected, the data processing unit starts to send a signal to control the actuating mechanism unit and adjust the position of the mass center; the four balancing weights are driven by corresponding servo motors, when the IMU inertia measurement unit detects that the vehicle body has pitching or heeling, signals are respectively input to the two servo motors to control the servo motors to operate, so that the balancing weights act along the appointed direction, the uneven distribution of the mass of the vehicle body is compensated, and the mass center of the vehicle body is gradually adjusted to recover to a stable moving track;
judging whether the pitch angle and the roll angle are within the threshold angle or not according to the judgment basis of the adjustment action completion; when the vehicle runs on a road, the center-of-mass side deflection angle is small; when the IMU inertia measurement unit detects that the pitch angle and the roll angle of the vehicle are smaller than the threshold angle theta0And stopping the adjustment of the position of the mass center.
Compared with the prior art, the invention has the following advantages:
1. the method provided by the invention has the advantages that the measurement and adjustment of the mass center position of the vehicle body during running are realized, and the running stability of the emergency rescue vehicle on the off-road surface is ensured. Measuring the position of the mass center of the vehicle body according to the moment balance principle; and the position of the center of mass is actively adjusted through the execution mechanism unit. The method plays an important role in keeping the safety, smoothness and operation stability of the vehicle.
2. The actuating mechanism unit has the characteristics of quick adjustment response and quick action of the actuating mechanism. The balancing weights arranged at the two ends of the flat plate move synchronously in pairs in the adjusting action process, and the two balancing weights move synchronously in the same direction, so that the quick adjustment of the position of the mass center is ensured.
The method has the functions of measuring and adjusting the mass center position of the vehicle in running, and improves the stability and the safety of the emergency rescue vehicle in running off the road.
Drawings
FIG. 1 is a flow chart of a measurement and adjustment scheme according to the present invention;
FIG. 2 is a schematic view of a centroid position measurement unit of the present invention;
FIG. 3 is a schematic diagram of a center of mass position adjusting unit according to the present method; FIG. 4 is a rear view of the vehicle body;
fig. 5 is a left side view of the vehicle body.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the invention relates to a method for measuring and adjusting the mass center position of an emergency rescue vehicle, which is realized by a measuring system comprising a parameter measuring unit, a data processing unit and an actuating mechanism unit;
as shown in fig. 1, the method specifically includes the following steps:
taking a three-axle vehicle as an example, as shown in fig. 2, six air pressure sensors are arranged at the wheels, and the air pressure sensors should be subjected to a pressure load test in advance. Namely, load measuring sensors are also arranged at the wheels, and the pressure load change relation is obtained by measuring under different loads.
After the vehicle is started, the air pressure sensor and the IMU inertia measurement unit start to work. As shown in fig. 2, the air pressure sensors 1-1, 1-2, 2-1, 2-2, 3-1 and 3-2 measure pressure data at the wheel position, convert the pressure data into a load, and perform data operation by the data processing unit to obtain the position of the center of mass of the vehicle body, wherein the specific operation process is as follows:
first, the mass of the whole vehicle is determined. The measuring scheme is provided for emergency rescue vehicles and is a three-axle vehicle. Firstly, six air pressure sensors at the wheel respectively measure the corresponding tire pressures, and the tire pressures measured by the air pressure sensors 1-1, 1-2, 2-1, 2-2, 3-1 and 3-2 are respectively marked as p1、p2、p3、p4、p5、p6Based on the pressure and load relation test, six tire loads F can be obtained1、F2、F3、F4、F5、F6And therefore, the mass M of the whole vehicle is calculated as:
M＝(F1+F2+F3+F4+F5+F6)/g
further, the transverse and longitudinal positions of the mass center of the vehicle body are determined. And when the vehicle runs, the single chip microcomputer starts processing after receiving the signal of the air pressure sensor, and the position of the mass center of the vehicle body is calculated.
As shown in fig. 4, the load borne by the left wheel and the right wheel of the vehicle body can be obtained by six air pressure sensors respectively. Left side bearing is F1+F3+F5Right side bearing is F2+F4+F6Knowing the wheel track as d, calculating the horizontal distance d between the center of mass of the vehicle body and the left wheel according to the moment balance principle of the vehicle body1Comprises the following steps:
d1＝d(F2+F4+F6)/Mg
as shown in FIG. 5, the axle center point is calculated by taking the midpoint of the axle distance between the middle axle and the rear axle of the vehicle body as the rear axle, and the axle distance between the front axle and the rear axle is l. Front axle bearing F1+F2Rear axle bearing F3+F4+F5+F6. According to the moment balance principle of the vehicle body, calculating to obtain the horizontal distance l between the mass center of the vehicle body and the front axle1Comprises the following steps:
l1＝l(Mg-F1-F2)/Mg
further, the position of the center of mass of the vehicle body is adjusted. And after detecting that the center of mass of the vehicle body deviates, the data processing unit starts to send a signal to control the actuating mechanism unit and adjust the center of mass to the position of the static center of mass of the vehicle body. As shown in fig. 3, the four balancing weights are driven by corresponding motors, and when the IMU inertia measurement unit detects that the vehicle body has pitching or heeling, signals are respectively input to the two servo motors to control the servo motors to operate, so that the balancing weights move along the designated transverse and longitudinal directions, the position of the center of mass of the vehicle body is changed, and the center of mass of the vehicle body is gradually adjusted to restore to a stable moving track.
Specifically, the vehicle center of mass position adjustment process is such that the center of mass-side yaw angle is small when the vehicle is traveling on a road. When the IMU inertia measurement unit detects that the pitch angle and the roll angle of the vehicle are smaller than the threshold angle theta0And stopping the adjustment of the position of the mass center. Taking the vehicle with left-leaning and forward-leaning postures as an example,when the IMU detects that the vehicle body has a pitch angle and a left roll angle which are simultaneously larger than theta0When the servo motor is started, the data processing unit sends an action command to the servo motor. The motor 1 controls the first balancing weight 1 and the second balancing weight 2 to synchronously move towards the right side, and the motor 2 controls the third balancing weight 3 and the fourth balancing weight 4 to synchronously move towards the rear side. When the adjustment action occurs, the parameter determination unit transmits the detected centroid real-time position to the data processing unit: the air pressure sensor transmits the load parameter change to the data processing unit, and the center of mass position is calculated again; and the IMU inertial measurement unit transmits the pitch angle and the roll angle parameters to the data processing unit, and judges whether the pitch angle and the roll angle are larger than a threshold angle or not. If the left inclination angle is smaller than the threshold angle, the single chip microcomputer sends an instruction to control the motor 1 to stop running, and the first balancing weight 1 and the second balancing weight 2 keep the current positions unchanged; if the depression angle is detected to be still larger than the threshold angle, the motor 2 still continuously operates, and the third balancing weight 3 and the fourth balancing weight 4 are controlled to continuously move. And finishing the adjustment process of the position of the mass center until the depression angle smaller than the threshold angle is obtained through measurement.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (1)
1. A method for measuring and adjusting the mass center position of an emergency rescue vehicle is characterized by comprising the following steps: the method is realized by a measuring system comprising a parameter determination unit, a data processing unit and an execution mechanism unit;
the parameter determination unit adopts corresponding air springs arranged on each wheel, and an air pressure sensor for measuring pressure is arranged in an air bag of the air spring to measure the pressure; an IMU inertia measurement unit is arranged at the position of the static mass center of the vehicle body and is used for measuring the pose data of the vehicle body, calculating the driving posture of the vehicle in the driving process and transmitting the driving posture to the data processing unit in real time;
the data processing unit comprises a singlechip, an external communication interface, an A/D converter and a D/A converter; the sensor in the parameter measuring unit is connected with the data processing unit;
each air pressure sensor at the wheel transmits a pressure signal to the data processing unit in real time during the running of the vehicle, obtains the corresponding relation between the air pressure and the load of the wheel according to a wheel bearing test, converts the pressure signal into the load of the corresponding wheel, and further can obtain the mass of the whole vehicle and the load distribution of different wheels;
the actuating mechanism unit comprises a cross-shaped flat plate and is fixedly arranged on a vehicle chassis; four balancing weights are arranged on the cross-shaped flat plate, and the distribution of the four balancing weights meets the condition that the integral mass center of the flat balancing weights is coincident with the initial mass center of the vehicle body; two servo motors are arranged at the center of the cross flat plate and are connected with the balancing weights through a gear rack mechanism, and the two balancing weights in the two linear directions can be driven to move synchronously in pairs respectively; the servo motor receives the control signal processed and operated by the singlechip and executes a control command;
the method comprises the following specific steps:
step 1, determining the mass of the whole vehicle
The emergency rescue vehicle is a three-axle vehicle, and when the vehicle is started, the measuring system starts to work; firstly, six air pressure sensors at a wheel respectively measure corresponding tire pressures, and the tire pressures measured by the six air pressure sensors 1-1, 1-2, 2-1, 2-2, 3-1 and 3-2 are respectively marked as p1、p2、p3、p4、p5、p6Obtaining six tire loads F based on a pressure and load relation test1、F2、F3、F4、F5And F6And therefore, the mass M of the whole vehicle is calculated as:
M＝(F1+F2+F3+F4+F5+F6)/g；
step 2, determining the transverse and longitudinal positions of the mass center of the vehicle body
After the vehicle runs, the single chip microcomputer starts to process the air pressure sensor after receiving the signal of the air pressure sensor, and calculates to obtain the position of the mass center of the vehicle body;
the bearing loads of the left wheel and the right wheel of the vehicle body can be respectively obtained by six air pressure sensors, and the left bearing is F1+F3+F5Right side bearing is F2+F4+F6Knowing the wheel track as d, calculating the horizontal distance d between the center of mass of the vehicle body and the left wheel according to the moment balance principle of the vehicle body1Comprises the following steps:
d1＝d(F2+F4+F6)/Mg；
taking the middle axle distance and the middle axle distance of the rear axle of the vehicle body as rear axles to calculate axle center points, wherein the front-rear axle distance is l; front axle bearing F1+F2Rear axle bearing F3+F4+F5+F6(ii) a According to the moment balance principle of the vehicle body, calculating to obtain the horizontal distance l between the mass center of the vehicle body and the front axle1Comprises the following steps:
l1＝l(Mg-F1-F2)/Mg；
step 3, adjusting the position of the mass center of the vehicle body
When the deviation of the mass center of the vehicle body is detected, the data processing unit starts to send a signal to control the actuating mechanism unit and adjust the position of the mass center; the four balancing weights are driven by corresponding servo motors, when the IMU inertia measurement unit detects that the vehicle body has pitching or heeling, signals are respectively input to the two servo motors to control the servo motors to operate, so that the balancing weights act along the appointed direction, the uneven distribution of the mass of the vehicle body is compensated, and the mass center of the vehicle body is gradually adjusted to recover to a stable moving track;
judging whether the pitch angle and the roll angle are within the threshold angle or not according to the judgment basis of the adjustment action completion; when the vehicle runs on a road, the center-of-mass side deflection angle is small; when the IMU inertia measurement unit detects that the pitch angle and the roll angle of the vehicle are smaller than the threshold angle theta0And stopping the adjustment of the position of the mass center.
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| 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 |
| 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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| JPH07211233A (en) * | 1994-01-13 | 1995-08-11 | Sony Corp | Weight balancing-type positioning method and apparatus therefor |
| CN101206410A (en) * | 2007-12-17 | 2008-06-25 | 上海微电子装备有限公司 | Balance mass orientation system for workpiece platform |
| US7974806B1 (en) * | 2008-09-09 | 2011-07-05 | Hunter Engineering Company | Method for rolling compensation with wheel-mounted sensors |
| CZ2012125A3 (en) * | 2012-02-21 | 2013-08-28 | VÚKV a.s. | Test bench for stationary testing rail vehicles and measuring method on such a test bench |
| CN104251779A (en) * | 2013-06-28 | 2014-12-31 | 上海汽车集团股份有限公司 | Automobile centroid adjustment device, using method thereof and automobile |
| CN103630298B (en) * | 2013-11-07 | 2016-06-22 | 同济大学 | Car mass and centroid position Dynamic Identification system |
| CN106370349B (en) * | 2016-08-29 | 2019-01-01 | 大连理工大学 | A kind of gyrorotor centroid position precision adjustment unit and method based on ultrasonic antifriction effect |
| CN107416064B (en) * | 2017-05-12 | 2019-07-02 | 山东大学 | A kind of quadruped robot slope surface movement mass center method of adjustment |
| CN107458482B (en) * | 2017-09-15 | 2023-12-15 | 吉林大学 | Automobile mass center position adjusting device and control method thereof |
| CN207157324U (en) * | 2017-09-15 | 2018-03-30 | 吉林大学 | A kind of Location of Mass Center of Automobiles adjusting apparatus |
| CN107639986B (en) * | 2017-09-19 | 2019-07-16 | 合肥工业大学 | A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism |
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