CN108489735A - Double trailer train model stability experimental rig based on the theory of similarity and method - Google Patents
Double trailer train model stability experimental rig based on the theory of similarity and method Download PDFInfo
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- CN108489735A CN108489735A CN201810262551.3A CN201810262551A CN108489735A CN 108489735 A CN108489735 A CN 108489735A CN 201810262551 A CN201810262551 A CN 201810262551A CN 108489735 A CN108489735 A CN 108489735A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
The present invention relates to a kind of double trailer train model stability experimental rig and method based on the theory of similarity.Experimental rig is made of model sport part and data acquisition with process part.Model sport part includes double trailer train auto model and free modular plate, and data acquisition and procession part includes attitude-measuring sensor, global positioning system, wireless network transceiver, smart mobile phone and portable computer.Test method is：(i) the various forms of road surface models of free modular plate structure are run for double trailer train auto model；(ii) it utilizes remote controler to manipulate driving motor, double trailer train auto model is made to run；Operation data is sent to smart mobile phone and/or portable computer by the (iii) operation data of attitude-measuring sensor and the real-time collection vehicle model of global positioning system by wireless network transceiver.(iv) model running data are handled and is analyzed, derive the operation data of corresponding real vehicle.The present invention is for testing and studying to the stability of double trailer train.
Description
Technical field
The invention belongs to technical field of test equipment, are related to a kind of double trailer train model stability based on the theory of similarity
The experimental rig and method of property.
Background technology
Truck combination transverse stability test is with reference to GB/T 25979-2010/ISO 14791：2000《Terrain vehicle vehicle
Heavy type commercial automobile train and articulated coach transverse stability test method》With GB/T 26778-2011《Truck combination performance is wanted
It asks and test method》It carries out.During defined driver behavior, Follow-up vehicle vehicle unit model sport becomes double trailer train
The ratio between the peak value of the peak value of amount and the first vehicle vehicle unit model sport variable.The vehicle automobile front-axle center line locus of points and vehicle vehicle its
Transversal displacement between his the part locus of points measures the front axle center line locus of points and most rear car vehicle in bicycle road change trial
Lateral displacement between the maximum axle center line locus of points of model of element course deviation, to the instantaneous Locus deviation of determination and maximum
Locus deviation records maximum if most rear car vehicle unit model track " does not overshoot " the first vehicle vehicle unit model track
" owe punching " is measured.The specific requirement of double trailer train straight motion stability is：Trailer rear shaft center is relative in traction axle
The full swing amplitude of the heart, draw bar truck combination are not more than 200mm, hinged truck combination（Including central axle trailer train）No
More than 100mm.Double trailer train transverse stability test is a kind of limiting condition of danger, and vehicle is longer, and occupied space is big,
It is difficult on road carry out real train test in extensive range.
Invention content
The double trailer train model stability experimental rig that the object of the present invention is to provide a kind of based on the theory of similarity and
Method provides reference for the structure improvement of double trailer train, shortens in order to study double trailer train stability
Test period improves stability and the safety of vehicle operation.
The technical scheme is that：The experimental rig of double trailer train model stability based on the theory of similarity, by
It is formed with process part according to the model sport part and data acquisition of theory of similarity construction.Model sport part includes tractor
Auto model, first segment flat bed trailer auto model, traction drag platform model, the second section flat bed trailer auto model and freedom
Modular panel is run by the various forms of road surface models of free modular plate structure for double trailer train auto model.Data
Acquisition and process part include attitude-measuring sensor, global positioning system, wireless network transceiver, smart mobile phone and portable electric
Brain.Attitude-measuring sensor and global positioning system are individually positioned in tractor auto model, first segment flat bed trailer vehicle mould
The barycenter of type, traction drag platform model and the second section flat bed trailer auto model.The attitude measurement of above-mentioned each auto model senses
Device and global positioning system are connected to wireless network transceiver, and wireless network transceiver passes through wireless network and smart mobile phone and computer
Communication connection.
Real vehicle size and the ratio of auto model size are：k L =L R/L M, in formula：
L R：Real vehicle size；
L M：Corresponding auto model size；
k L ：The ratio of real vehicle size and corresponding auto model size；k L Value range be 2~100.
Real vehicle is that tractor, first segment flat bed trailer, traction drag platform and the second section flat bed trailer, auto model are to lead
Draw vehicle auto model, first segment flat bed trailer auto model, traction drag platform model and the second section flat bed trailer auto model.
According to the attachment coefficient of theory of similarity construction road surface model, free modular plate surface is coated and is handled,
Construct different types of road surface model.The ratio of the attachment coefficient of the attachment coefficient and road surface model on road surface is in real train test：
kμ, the ratio of the attachment coefficient on road surface and the attachment coefficient that road surface model is constructed based on the theory of similarity in real train test；
μ R, the attachment coefficient on road surface in real train test；
μ M, the attachment coefficient of road surface model.
Road surface model is that the light of low attachment is simulated using sand class material coat simulation sand-gravel surface, wax material coat
Ways face, clear resinous materials coat simulation ice-patch surface or corrugating media coat simulate rough road surface, no
Exclude other types of road surface.Attachment coefficient is the friction coefficient between tire and road surface, i.e. tire adhesion force and tire normal direction
The ratio of power,μ=Fμ/Fz, in formula：μFor attachment coefficient,FμFor tire adhesion force,FzFor tire normal force.Above-mentioned data are in public affairs
It can be found in the document opened.
The ratio of road surface length and the road surface model length of free modular plate structure in real train testks=Lr/LB, formula
In：
Lr：Road surface length in real train test, unit：m；
Lb：The road surface model length of free modular plate structure, unit：m；
ks：The ratio of road surface length and the road surface model length of free modular plate structure in real train test,k SValue model
Enclose is 2~100.
The lower part of free modular plate is equipped with feet, for adjusting angle of inclination, the inclination angle for adjusting road surface model
Degree, the road surface of different head falls and cross fall during construction is real.Experimental rig is equipped with remote controler, and tractor auto model is set
There is electric machine controller, turn to driving motor and speed adjusting driving motor, remote controler and electric machine controller communication connection, motor control
Device processed adjusts driving motor circuit with steering driving motor and speed and connect.
The present invention is based on the double trailer train model stability test method of the theory of similarity, process includes：
(i) according to test requirements document, by the various forms of road surface models of free modular plate structure, for double trailer train vehicle mould
Type is run；
(ii) it utilizes remote controler manipulation to turn to driving motor and speed adjusting driving motor, makes according to the proportional coefficient contracting of the theory of similarity
Small double trailer train auto model turns to, starts, accelerating, slowing down, at the uniform velocity and/or stops；
(iii) it is placed in the operation of double trailer train auto model attitude-measuring sensor and the real-time collection model of global positioning system
Data, and operation data is sent to by wireless network transceiver by smart mobile phone and/or portable computer；Smart mobile phone and/
Or portable computer controls attitude-measuring sensor by wireless network transceiver and global positioning system starts or stops acquisition fortune
Row data；
(iv) smart mobile phone and portable computer are handled and are analyzed to model running data, and correspondence is derived based on the theory of similarity
The operation data of real vehicle, output model operation data and real vehicle vehicle operation data result.
Operation data is the acceleration of each auto modela M, angular speedω M, angleϕ M, driving traces MAnd travel speedv M.Attitude-measuring sensor measures the acceleration, angular speed and angle of each auto model, and global positioning system records each auto model
Driving trace and travel speed.The calculating of the operation data of corresponding real vehicle is derived by model running data based on the theory of similarity
Formula is：
a R=ka*a M
ω R=kω*ω M
ϕ R=k ϕ *ϕ M
s R=ks*s M
v R=kv*v M
In formula：
a R、ω R、ϕ R、s R、v RThe respectively acceleration of real vehicle, angular speed, angle, driving trace and travel speed.ka、kω、k ϕ 、kS andkvRespectively the acceleration ratio of real vehicle and auto model, angular speed ratio, angle ratio, driving trace ratio and
Travel speed ratio.ka、kω、k ϕ 、kS andkvValue range be 1~100.
The present invention is based on the double trailer train model stability experimental rigs and method of the theory of similarity to pass through model sport
Part and data acquisition are combined with process part, realize and double trailer train cross running stability is tested and ground
Study carefully, the stability to promote double trailer train transverse direction provides reference scheme, advantageously reduces experimentation cost, shortens experiment week
Phase.Experimental rig is at low cost, is easy to purchase accessory or assembling makes, and experiment process is easy to operate, and data acquisition is accurate and reliable, has
Conducive to for double trailer train structure design and improvement reference is provided, improve stability and the safety of vehicle operation.
Description of the drawings
Fig. 1 is the schematic diagram of the double trailer train model stability experimental rig motion parts based on the theory of similarity；
Fig. 2 is data acquisition and procession part connection diagram；
Fig. 3 is the remote control schematic diagram for turning to driving motor and speed adjusting driving motor；
Fig. 4 is that the present invention is based on the flow diagrams of the double trailer train model stability test method of the theory of similarity；
Wherein：1-tractor auto model, 2-first segment flat bed trailer auto models, 3-traction drag platform models, 4-the
Two section flat bed trailer auto models, 5-attitude-measuring sensors, 6-global positioning systems, 7-free modular plates；8-is distant
Control device.
Specific implementation mode
With reference to embodiment and attached drawing, the present invention is described in detail.The scope of the present invention is not limited to embodiment,
Those skilled in the art make any change in the range of claim limits and also belong to the scope of protection of the invention.
The present invention is based on the double trailer train model stability experimental rigs of the theory of similarity, by being constructed according to the theory of similarity
Model sport part and data acquisition with process part form.As shown in Figure 1, model sport part includes tractor vehicle mould
Type 1, first segment flat bed trailer auto model 2, traction drag platform model 3, second save flat bed trailer auto model 4 and free group
Combinable plate 7 constructs various forms of road surface models by free modular plate 7 and is run for double trailer train auto model.Such as Fig. 2
Shown, data acquisition and procession part includes attitude-measuring sensor 5, global positioning system 6, wireless network transceiver, intelligent hand
Machine and portable computer.Select the model of attitude-measuring sensor：The model of JY61, global positioning system 6：MK16S, wireless network
Transceiver model：G41（Wireless network transceiver available wireless network receiver, wireless network transmitter（Wireless router）Generation
It replaces, the USB that can be received but also emit wireless network WiFi signal and also have 360 carry-on WiFi in practice）.Attitude measurement senses
Device 5 and global positioning system 6 are individually positioned in tractor auto model 1, first segment flat bed trailer auto model 2, traction drag platform
Model 3 and second saves the barycenter of flat bed trailer auto model 4.Barycenter is the mass centre of auto model.Tractor vehicle mould
The posture of type 1, first segment flat bed trailer auto model 2, traction drag platform model 3 and the second section flat bed trailer auto model 4
Measurement sensor 5 and global positioning system 6 are connected to wireless network transceiver, and wireless network transceiver passes through wireless network and intelligence
Mobile phone is connected with compunlcation.As shown in figure 3, experimental rig is equipped with remote controler 8, tractor auto model 1 is controlled equipped with motor
Device, steering driving motor and speed adjust driving motor, and remote controler is communicated to connect with electric machine controller, electric machine controller and steering
Driving motor adjusts driving motor circuit with speed and connects.Remote controler 8 independently manipulates two driving motors, turns to driving electricity
Machine can control the steering of tractor auto model 1, speed to adjust driving motor and can control the starting of tractor auto model 1, add
Speed slows down, at the uniform velocity and stops, and then controlling tractor auto model 1, first segment flat bed trailer auto model 2, traction drag platform
Model 3, second saves the operating status of flat bed trailer auto model 4, meets real vehicle operating condition.
According to the attachment coefficient on road surface in real train test, the attachment coefficient and and road surface model on road surface in real train test are utilized
Attachment coefficient relational expressionkμ=μ R/μ M, calculate the attachment coefficient of road surface model.According to the attachment system of the road surface model of calculating
Number, from document（《Automobile theory》, Cui Sheng democracy volume, BJ University Press, 2016）In find the attachment of corresponding road surface model
Then the material of coefficient is coated and is handled to 7 surface of free modular plate, constructs different types of road surface model.Using
Sand class material coat simulation sand-gravel surface, wax material coat simulate the smooth road of low attachment, clear resinous materials
Coat simulates ice-patch surface or corrugating media coat simulates rough road surface.The lower part of free modular plate is equipped with pad
Foot, for adjusting angle of inclination, the road surface of different head falls and cross fall during construction is real.
Real vehicle size and the ratio of auto model size are：k L =L R/L M, in formula：
L R：Real vehicle size；
L M：Corresponding auto model size；
k L ：The ratio of real vehicle size and corresponding auto model size；
The ratio for the length that road surface length is constructed with free modular plate 1 in real train testks=Lr/LB,
In formula：
Lr：Road surface length in real train test, unit：m；
Lb：The road surface model length of free modular plate structure, unit：m；
ks：The ratio of road surface length and the road surface model length of free modular plate structure in real train test；
The present embodimentk L And selectionkThe choosing value of s is 10, i.e. model is 1/10th of real vehicle.
Double trailer train model stability test method based on the theory of similarity, as shown in figure 4, process is：
(i) according to test requirements document, various forms of road surface models are constructed by free modular plate 7, for double trailer train vehicle mould
Type is run；
(ii) it utilizes the manipulation of remote controler 8 to turn to driving motor and speed adjusting driving motor, makes according to the proportional coefficient of the theory of similarity
The double trailer train auto model of diminution turns to, starts, accelerating, slowing down, at the uniform velocity or stops；
(iii) the double extension automobiles of double trailer train auto model attitude-measuring sensor 5 and global positioning system 6 acquisition in real time are placed in
The operation data of rail vehicle model, operation data include acceleration, angular speed, angle, driving trace and travel speed.Posture
Acceleration, angular speed and the angle of 5 measurement model of measurement sensor, the driving trace and traveling of 6 record cast of global positioning system
Speed.Operation data is sent to smart mobile phone and/or portable computer by wireless network transceiver, smart mobile phone and/or
Portable computer controls attitude-measuring sensor by wireless network transceiver and global positioning system starts or stops acquisition operation
Data；
(iv) smart mobile phone and portable computer is handled and is analyzed to model running data, is derived pair based on the theory of similarity
Answer the operation data of real vehicle, output model operation data and real vehicle vehicle operation data result.Derivation formula is：
a R=ka*a M
ω R=kω*ω M
ϕ R=k ϕ *ϕ M
s R=ks*s M
v R=kv*v M
In formula：；
a R、ω R、ϕ R、s R、v RThe respectively acceleration of real vehicle, angular speed, angle, driving trace and travel speed；a M、ω M、ϕ M、s MWithv MFor the acceleration of each auto model, angular speed, angle, driving trace and travel speed；ka、kω、k ϕ 、ks、kv
Respectively the acceleration ratio of real vehicle and auto model, angular speed ratio, angle ratio, driving trace ratio and travel speed ratio
Value.
In specific real train test, the speed of real vehicle and displacement are artificially to set in advance, are set according to test objective
The speed and route that real vehicle needs are that approximate can obtain the speed and route of real vehicle, after real train test, are surveyed by instrument
Each item data was obtained, including but not limited to various vehicle parameters, such as speed and displacement.The speed of auto model can pass through speed
Driving motor is adjusted to be controlled.
Scale model correlation formula is derived as：
(1) in real train test, real vehicle speed, displacement and required time are denoted as respectivelyv R 、s RWitht R；
(2) in auto model experiment, displacement is denoted ass M, the time is denoted ast M, displacement is denoted as νM.The displacement ratio system of test run auto model
Number isk S, time scale coefficient iskT, speed proportional coefficient arekV, acceleration proportionality coefficient arekα, angular speed proportionality coefficient arek
ω。
(3) the related proportionality coefficient between real vehicle and auto model is sought
1. the proportionality coefficient of displacement
k S=s R/s M, this is known（Set in advance in advance）
2. real vehicle run-time estimation：
t R=s R/v R, displacement therein and speed are all set in advance in advance
3. real vehicle and the proportionality coefficient of auto model run time can be estimated：
kt=t R/t M, whereint RIt is estimation,t MIt is accurately measured in auto model experiment.It can so obtain：
4. the proportionality coefficient of speed is：
So, it is approximately considered the relationship of acceleration and displacement
5. the proportionality coefficient of acceleration is：
Real vehicle is compared with auto model, according to geometrical relationship, triangle correspondence theorem it is found that tractor front-wheel steer angle with lead
Draw vehicle auto model front-wheel steer angle to be consistent, i.e.,θ R=θ M
So the proportionality coefficient of angle iskθ=1
6. the proportionality coefficient of angular speed is：
So far, extrapolated all proportionality coefficients, the proportionality coefficient of other physical quantitys and so on out.
Claims (10)
1. a kind of double trailer train model stability experimental rig based on the theory of similarity, it is characterized in that：The experimental rig
It is made of with process part the model sport part constructed according to the theory of similarity and data acquisition；The model sport part includes
Tractor auto model（1）, first segment flat bed trailer auto model（2）, traction drag platform model（3）, second section tablet semi-mounted
Vehicle auto model（4）With free modular plate（7）, by free modular plate（7）Various forms of road surface models are constructed to hang for double
Truck combination auto model is run；The data acquisition and procession part includes attitude-measuring sensor（5）, global positioning system
（6）, wireless network transceiver, smart mobile phone and portable computer；The attitude-measuring sensor（5）And global positioning system（6）
It is individually positioned in tractor auto model（1）, first segment flat bed trailer auto model（2）, traction drag platform model（3）With second
Save flat bed trailer auto model（4）Barycenter；The attitude-measuring sensor of above-mentioned each auto model is connected with global positioning system
To wireless network transceiver, wireless network transceiver is connect by wireless network with smart mobile phone and compunlcation.
2. the double trailer train model stability experimental rig according to claim 1 based on the theory of similarity, feature
It is：Real vehicle size and the ratio of auto model size are：k L =L R/L M, in formula：
L R：Real vehicle size；
L M：Corresponding auto model size；
k L ：The ratio of real vehicle size and corresponding auto model size.
3. the double trailer train model stability experimental rig according to claim 1 based on the theory of similarity, feature
It is：According to the attachment coefficient of theory of similarity construction road surface model, to free modular plate（7）Surface is coated and is handled, structure
Make different types of road surface model.
4. the experimental rig of the double trailer train model stability according to claim 3 based on the theory of similarity, special
Sign is：The road surface model is to simulate low attachment using sand class material coat simulation sand-gravel surface, wax material coat
Smooth road, clear resinous materials coat simulation ice-patch surface or corrugating media coat simulate rough road surface.
5. the experimental rig of the double trailer train model stability according to claim 3 based on the theory of similarity, special
Sign is：Road surface length and the free modular plate in real train test（1）The ratio of the road surface model length of construction is：ks=Lr/LB, in formula：
Lr：Road surface length in real train test, unit：m；
Lb：The road surface model length of free modular plate structure, unit：m；
ks：The ratio of road surface length and the road surface model length of free modular plate structure in real train test.
6. the double trailer train model stability experimental rig according to claim 3 based on the theory of similarity, feature
It is：The free modular plate（7）Lower part be equipped with feet, the angle of inclination for adjusting road surface model, construction reality in not
With the road surface of head fall and cross fall.
7. the double trailer train model stability experimental rig according to claim 1 based on the theory of similarity, feature
It is：The experimental rig is equipped with remote controler（8）, the tractor auto model（1）Equipped with electric machine controller, turn to driving motor
Driving motor is adjusted with speed, the remote controler is communicated to connect with electric machine controller, the electric machine controller and steering driving electricity
Machine adjusts driving motor circuit with speed and connects.
8. a kind of examination of the double trailer train model stability experimental rig according to claim 1 based on the theory of similarity
Proved recipe method, process include：
(i) according to test requirements document, by free modular plate（7）Various forms of road surface models are constructed, for double trailer train vehicle
Model running；
(ii) remote controler is utilized（8）Manipulation turns to driving motor and speed adjusts driving motor, makes according to the proportional system of the theory of similarity
Number reduce double trailer train auto model turn to, start, accelerate, slow down, at the uniform velocity and/or stop；
(iii) the attitude-measuring sensor being placed on double trailer train auto model（5）And global positioning system（6）Acquisition in real time
The operation data of double trailer train auto model, and operation data is sent to by wireless network transceiver by smart mobile phone
And/or portable computer；The smart mobile phone and/or portable computer control attitude measurement by wireless network transceiver and sense
Device and global positioning system start or stop acquisition operation data；
(iv) the smart mobile phone and/or portable computer are handled and are analyzed to model running data, are based on the theory of similarity
Derive the operation data of corresponding real vehicle, output model operation data and real vehicle vehicle operation data result.
9. the double trailer train model stability test method according to claim 8 based on the theory of similarity, feature
It is：The operation data is the acceleration of each auto model（a M）, angular speed（ω M）, angle（ϕ M）, driving trace（s M）And row
Sail speed（v M）；The attitude-measuring sensor（5）Measure the acceleration, angular speed and angle of each auto model, the satellite
Position indicator（6）Record the driving trace and travel speed of each auto model.
10. the double trailer train model stability test method according to claim 8 based on the theory of similarity, feature
It is：Derive that the calculation formula of the operation data of corresponding real vehicle is by model running data based on the theory of similarity：
a R=ka*a M
ω R=kω*ω M
ϕ R=k ϕ *ϕ M
s R=ks*s M
v R=kv*v M
In formula：
a R、ω R、ϕ R、s RWithv RThe respectively acceleration of real vehicle, angular speed, angle, driving trace and travel speed；a M、
ω M、ϕ M、s MWithv MFor the acceleration of each auto model, angular speed, angle, driving trace and travel speed；ka、kω、k ϕ 、kS andkvRespectively the acceleration ratio of real vehicle and auto model, angular speed ratio, angle ratio, driving trace ratio and
Travel speed ratio.
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