CN108801643A - Vehicle Frequency Response acquisition methods based on the experiment of continuous sine sweep - Google Patents
Vehicle Frequency Response acquisition methods based on the experiment of continuous sine sweep Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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Abstract
The present invention is a kind of vehicle Frequency Response acquisition methods tested based on continuous sine sweep for motor vehicles detection.It includes setting experimental condition and test index, frequency sweep test, signal acquisition and data processing, and the experimental condition and test index of setting are related to that data sampling, instrument and equipment requirement, detection levelling of the land degree, environmental condition, vehicle testing techniques specification, power spectral density, steering sensitivity, yaw velocity responds lateral acceleration gain rotational response, angle of heel, side drift angle responds lateral acceleration gain etc..Frequency sweep test is related to steering wheel angle, side acceleration, yaw velocity, side drift angle, angle of heel.Signal acquisition is related to the coherence factor of data filtering, auto-power spectrum and crosspower spectrum and its transmission function, system amplitude and phase characteristic and input and output with data processing.The present invention has the advantages that method is simple, data are reliable, test repeatability is good and is widely used.
Description
Technical field
The present invention is a kind of vehicle Frequency Response acquisition tested based on continuous sine sweep for motor vehicles detection
Method.
Background technology
Handling and stability experiment is important component in vehicle performance experiment, and national standard GT6323 specified in more detail is more
Kind test method, wherein turning to transient response test, i.e., steering wheel angle pulse input signal is that a kind of acquisition vehicle frequency response is special
The main method of property.Its method is：Automobile is set to test speed straight-line travelling, its yaw velocity is allowed to be 0 ± 5o/s, this
When, label is made, it is straight-line travelling position to write down steering wheel centre position, then gives steering wheel one triangular pulse corner input
Signal.When experiment, the steering wheel of examined automobile is rotated to the left or to the right, and goes back to original place rapidly and remains stationary as, and is allowed therebetween
It corrects and turns in time, whole process record steering procedure, until being restored to straight travel state by inspection automobile.Steering wheel angle inputs arteries and veins
Width is 0.3-0.5 s, and the defect of this method is that analysis precision is not high.
Chinese Highway journal the 2nd phase of volume 11 in April, 1998 discloses one kind《Measure lateral direction of car transient response feature
New method of measuring》, the document analyzes the influence factor of vehicle Frequency Response and test result error, it is indicated that influences frequency
Ring three kinds of factors of characteristic：Pulse duration effects, zero curve error influence, back to zero input waveform does not influence.But from test result
On see, however it remains two aspect problems, first, whether the acquisition of test result, avatars correctly have query；Second is that defeated
Entering can not know with the correlation of output.
In conclusion common defects in the prior art are：Data input is indefinite, and interpretation of result precision is not high, experiment
The correlation of correctness difficulty interpretation, input and output can not know.
Invention content
It is described the object of the present invention is to provide a kind of vehicle Frequency Response acquisition methods based on the experiment of continuous sine sweep
Method is by inputting steering wheel sine sweep, record yaw rate, side acceleration, angle of heel, lateral deviation angle signal
Curve calculates power spectral density, Frequency Response and coherence factor, provides the system scheme for obtaining Frequency Response.It is described
Method is effectively improved analysis of experiments precision, has reliably grasped the correlation of input and output.
The technical solution adopted in the present invention is：
Design a kind of vehicle Frequency Response acquisition methods tested based on continuous sine sweep, including setting experimental condition and experiment
Three steps such as index, frequency sweep test, signal acquisition and data processing, in setting experimental condition and test index stage, experiment
Condition includes：The filtering of sample frequency >=100Hz, frequency bandwidth ≮ 4Hz of measuring system, sampled signal should ensure that each channel
Between there is no phase difference, in experiment preferred steering support device when turning to disk rotating speed ≯ 1200deg/sec, steering force can be provided
40~60Nm of square, environment temperature are 0~40 DEG C, the detection place gradient ≯ 2% of wind speed ≯ 3m/s, dried flat, examined vehicle
And its tire meet regulation technical conditions, test load is designing quality state；Test index includes：Power spectral density turns
Rotational response, angle of heel respond lateral acceleration gain to sensitivity, yaw velocity, side drift angle increases side acceleration
Benefit response and its corresponding coherent function figure；In the frequency sweep test stage, frequency sweep test project includes：The measurement model of steering wheel angle α
It is ± 180 ° to enclose, and the measurement range of side acceleration ay is ± 9.8, the measurement range of yaw velocity ω is ± 50deg/
The measurement range of sec, side drift angle β are ± 15 °, and the measurement range of angle of heel θ is ± 15 °；In signal acquisition and data processing rank
Section, the signal include with data：Data collecting instrument acquires signal, discrete numerical sequences Butterworth lowpass wave, steering wheel
With output signal and its autopower spectral density, auto-power spectrum and crosspower spectrum and its transmission function, system amplitude and phase characteristic,
The coherence factor of auto-power spectrum, crosspower spectrum or mscohere functions and input and output.
The regulation technical conditions of the examined vehicle and its tire include the measurement of wheel alignment parameter, steering
With the inspection, adjustment and fastening of suspension system；If using new tire, tire is at least through 200km normally travel break-ins, such as
Fruit uses old tire, residual tyre tread height that should be not less than 1.6mm；The tire pressure of examined vehicle should adjust to
The cold conditions tire pressure status that technical conditions are recommended；The test load of the examined vehicle includes with designing quality, if multiplied
Member plus test equipment exceed designing quality, then are tested by actual load quality, and are indicated in test report；Occupant and dress
The distribution of loading should meet the regulation of standard GB/T/T 12534, and axle load has to comply with relevant art condition；Detection
With sensor, tote should firm position in a secured manner, to avoid moving during the test.
When frequency sweep test, when the steering wheel angle α is ± 50 °, the worst error of measuring instrument and system record is
± 0.1 °, when the steering wheel angle α is ± 180 °, the worst error of measuring instrument and system record is ± 2 °；The side
The worst error recorded to the measuring instrument and system of acceleration ay is ± 0.15；The absolute value of the yaw velocity ω
For ± 10deg/sec when, measuring instrument and system record worst error be：± 0.1deg/sec, the yaw velocity
When ω is ± 50deg/sec, the worst error of measuring instrument and system record is ± 0.5deg/sec；The side drift angle β's
Measuring instrument and the worst error of system record are ± 0.5 °；The maximum of measuring instrument and system record of the angle of heel θ misses
Difference is ± 0.5 °.
The beneficial effects of the invention are as follows：Since test index is provided with power spectral density, steering sensitivity, yaw velocity
Rotational response, angle of heel respond lateral acceleration gain, side drift angle responds lateral acceleration gain and its corresponding relevant
Functional arrangement etc., thus test data is reliable, the relationship of input and output is apparent.Simultaneously because frequency sweep test setting steering wheel angle α,
The projects such as side acceleration ay, yaw velocity ω, side drift angle β and angle of heel θ, thus detection data is effective, analysis confidence level
It is high.Relevant characteristic signal, transmission function and coherence factor are used additionally, due in signal acquisition and data processing stage, because
And the correlation that character of frequency response effectively can be obtained by data processing, correctly state input and output.The present invention also has
The advantages of method is simple, data are reliable, test repeatability is good and is widely used.
Specific implementation mode
With reference to embodiment, the present invention is further described.
Step 1 sets experimental condition and test index.
Experimental condition includes：Sample frequency >=100Hz, frequency bandwidth ≮ 4Hz of measuring system, the filtering of sampled signal are answered
Ensure there is no phase difference between each channel, in experiment preferred steering support device when turning to disk rotating speed ≯ 1200deg/sec,
Can provide steering moment 40~60Nm, environment temperature be 0~40 DEG C, wind speed ≯ 3m/s, dried flat the detection place gradient ≯
2%, examined vehicle and its tire meet regulation technical conditions, and test load is designing quality state；
Test index includes：Power spectral density, steering sensitivity, yaw velocity are to corner gain response, angle of heel to lateral
Acceleration gain response, side drift angle are responded to lateral acceleration gain and its corresponding coherent function figure.
The regulation technical conditions of the examined vehicle and its tire include the measurement of wheel alignment parameter, steering
With the inspection, adjustment and fastening of suspension system；If using new tire, tire is at least through 200km normally travel break-ins, such as
Fruit uses old tire, residual tyre tread height that should be not less than 1.6mm；The tire pressure of examined vehicle should adjust to
Cold conditions tire pressure status under manufactory's technical conditions recommendation；The test load of the examined vehicle and designing quality packet
It includes, if occupant adds test equipment to exceed designing quality, is tested by actual load quality, and noted in test report
It is bright；The distribution of occupant and tote should meet the regulation of standard GB/T/T 12534, and axle load has to comply with corresponding skill
Art condition；Detecting sensor, tote should firm position in a secured manner, to avoid moving during the test
It is dynamic.
The power spectral density includes that frequency is within the scope of 0~4Hz, steering wheel angle, yaw velocity, lateral acceleration
The power spectral density of degree, angle of heel, side drift angle.
The steering sensitivity includes that frequency is within the scope of 0~4Hz, and side acceleration is to steering wheel angle gain response
On curve, steering sensitivity, steering sensitivity frequency bandwidth at 0.2Hz, side acceleration response time.
The yaw velocity includes that frequency is within the scope of 0~4Hz, and yaw velocity is to turning to corner gain response
On disk corner gain response curve, yaw velocity gain, yaw velocity gain-bandwidth degree, yaw angle speed at 0.2Hz
Spend the response time, the gain of peak value yaw velocity, peak value yaw velocity gain respective frequencies, the gain of peak value yaw velocity with
Steady state yaw velocity gain ratio.
The angle of heel includes that frequency is within the scope of 0~4Hz, and angle of heel is to laterally adding to the response of lateral acceleration gain
On speed gain response curve, angle of heel gain, the gain of peak value angle of heel at 0.2Hz, the corresponding frequency of peak value angle of heel gain
Rate, the gain of peak value angle of heel and the stable state angle of heel ratio of gains, the gain of peak value angle of heel are corresponding with peak value yaw velocity gain
Frequency ratio.
The side drift angle includes that frequency is within the scope of 0~4Hz, and side drift angle is to laterally adding to the response of lateral acceleration gain
On speed gain response curve, side drift angle gain, the gain of peak value side drift angle at 0.2Hz, the corresponding frequency of peak value side drift angle gain
Rate, the gain of peak value side drift angle and the stable state side drift angle ratio of gains.
Described its corresponds to coherent function figure, and for frequency within the scope of 0~4Hz, side acceleration increases steering wheel angle
Beneficial response amplitude characteristic, phase characteristic and coherence factor figure；Further include that frequency is within the scope of 0~4Hz, and yaw velocity is to turning
To disk corner gain response amplitude characteristic, phase characteristic and coherence factor figure；Further include that frequency rolls within the scope of 0~4Hz
Angle is to lateral acceleration gain response amplitude characteristic, phase characteristic and coherence factor figure；Further include that frequency is in 0~4Hz ranges
Interior, side drift angle is to lateral acceleration gain response amplitude characteristic, phase characteristic and coherence factor figure.
Step 2, frequency sweep test.
In the frequency sweep test stage, frequency sweep test project includes：The measurement range of steering wheel angle α is ± 180 °, lateral to add
The measurement range of speed ay is ± 9.8, the measurement range of yaw velocity ω is ± 50deg/sec, the measurement of side drift angle β
Ranging from ± 15 °, the measurement range of angle of heel θ is ± 15 °.
When frequency sweep test, when the steering wheel angle α is ± 50 °, the worst error of measuring instrument and system record is
± 0.1 °, when the steering wheel angle α is ± 180 °, the worst error of measuring instrument and system record is ± 2 °；The side
The worst error recorded to the measuring instrument and system of acceleration ay is ± 0.15；The absolute value of the yaw velocity ω
For ± 10deg/sec when, measuring instrument and system record worst error be：± 0.1deg/sec, the yaw velocity
When ω is ± 50deg/sec, the worst error of measuring instrument and system record is ± 0.5deg/sec；The side drift angle β's
Measuring instrument and the worst error of system record are ± 0.5 °；The maximum of measuring instrument and system record of the angle of heel θ misses
Difference is ± 0.5 °.
Under examined sample car experimental condition and technical conditions as defined in step 1, initializing sensor is simultaneously reset, with examination
Speed of validating the car traveling 10km or more, makes tire heat up, after the completion, using experiment 100 ± 2km/h of recommended vehicle speed, or using alternative
Speed 60km/h, 80km/h, 120km/h, 140km/h are turned to after keeping straight-line travelling 3s in a manner of constant amplitude sinusoid, are turned
From low to high to disk input frequency, the sections 0.2~3Hz should at least be covered, the input range of steering wheel angle should be able to make left and right
The peak value side acceleration average value of both direction reaches 0.4 ± 0.02g.Record time planted agent keeps speed constant as far as possible.
Step 3, signal acquisition and data processing.
In signal acquisition and data processing stage, the signal includes with data：Data collecting instrument acquires signal, dispersion number
Word sequence Butterworth lowpass wave, steering wheel and output signal and its autopower spectral density, auto-power spectrum and crosspower spectrum and
Its transmission function, system amplitude and phase characteristic, the phase of auto-power spectrum, crosspower spectrum or mscohere functions and input and output
Responsibility number.
The data collecting instrument acquires signal：Steering wheel angle α, vehicle body and ground inclination angle theta, Vehicle Side Slip Angle
β, vehicle body side acceleration ay, vehicle body yaw velocity ω.
The discrete numerical sequences Butterworth lowpass wave includes that the fertile hereby molecule denominator exponent number of Bart is set separately, cuts
Only frequency calculates butterworth filter coefficient by molecule, denominator exponent number, cutoff frequency and sample frequency, and use is without phase
Potential difference filter filtfilt carries out data filtering；
The steering wheel and output signal and its autopower spectral density include acquisition gained α, θ, β, ay, ω signal in step 2,
Through the filtered discrete numerical sequences of filtfilt low-pass filters；It further include the discrete digital after α, θ, β, ay, ω are filtered
Sequence power spectrum density；
The auto-power spectrum includes the discrete numerical sequences auto-power spectrum after α, ay are filtered and ω and α, ay with crosspower spectrum
With α, θ and ay, the discrete numerical sequences crosspower spectrum after β and ay is filtered.
Its described transmission function, system amplitude and phase include, yaw velocity to the transmission function of steering wheel angle and
The amplitude and phase characteristic of transmission function, side acceleration is to the transmission function of steering wheel angle and the amplitude of transmission function and phase
Position characteristic, angle of heel is to the amplitude and phase characteristic of side acceleration transmission function and transmission function, and side drift angle is to laterally accelerating
Spend the amplitude and phase characteristic of transmission function and transmission function.
The coherence factor of the input and output includes that within the scope of 0~4Hz, side acceleration turns frequency with steering wheel
Angle coherence factor；Further include that frequency is within the scope of 0~4Hz, yaw velocity and steering wheel angle coherence factor；It further include frequency
Rate is within the scope of 0~4Hz, and angle of heel is to side acceleration coherence factor；Further include that frequency is within the scope of 0~4Hz, side drift angle
To side acceleration coherence factor.
Step 2 acquisition gained α, θ, β, ay, ω signal, through filtfilt low-pass filters filtering after obtain α, θ, β, ay,
ω discrete numerical sequences；The spectral line number of auto-correlation and its Fourier transformation is set, after calling the calculating of xcorr functions low-pass filtered
α, θ, β, ay, ω discrete numerical sequences auto-correlation function, the Fourier transformation of auto-correlation function, institute are asked with bartlett methods
The power spectral density that the amplitude of Fourier transformation as accordingly exports is obtained, and makes frequency in 0~4Hz power spectral density plots.
Selection Hanning window asks input and output auto-power spectrum and crosspower spectrum, setting Hanning window length, overlapping number and sampling
Frequency calls pwelch functions to seek α, ay auto-power spectrum, and cpsd functions is called to ask ω and α, ay and α, θ and ay, β and ay cross-power
Spectrum；
The quotient of the crosspower spectrum of ω and α and the auto-power spectrum of α is transmission function of the yaw velocity to steering wheel angle, width
Value and phase are amplitude-frequency and phase-frequency characteristic of the yaw velocity to steering wheel angle gain response；The crosspower spectrum and α of ay and α
The quotient of auto-power spectrum be transmission function of the side acceleration to steering wheel angle, amplitude and phase are side acceleration
To the amplitude-frequency and phase-frequency characteristic of steering wheel angle gain response；The quotient of the crosspower spectrum of θ and ay and the auto-power spectrum of ay is side
Inclination angle is to side acceleration transmission function, amplitude-frequency and phase that amplitude and phase, which are angle of heel, responds lateral acceleration gain
Frequency characteristic；The quotient of the crosspower spectrum of β and ay and the auto-power spectrum of ay is side drift angle to side acceleration transmission function, amplitude
With the phase amplitude-frequency that be side drift angle respond lateral acceleration gain and phase-frequency characteristic.
Mscohere functions are called, using the identical window length of above-mentioned Hanning window, the spectral line number of overlapping number, Fourier transformation
Setting calculates side acceleration and steering wheel angle coherence factor, yaw velocity and steering wheel angle coherence factor, angle of heel
To side acceleration coherence factor, side drift angle to side acceleration coherence factor；
Frequency is made within the scope of 0~4Hz, side acceleration and steering wheel angle gain response amplitude-frequency, phase-frequency characteristic and relevant
Coefficient figure, yaw velocity and steering wheel angle gain response amplitude-frequency, phase-frequency characteristic and coherence factor figure, angle of heel is to laterally adding
Speed gain responds amplitude-frequency, phase-frequency characteristic and coherence factor figure, and side drift angle is to lateral acceleration gain response amplitude-frequency, phase-frequency characteristic
And coherence factor figure.
0.2Hz is found out in making four groups of gain response curves corresponds to numerical value, yield value at as 0.2Hz；It turns to sensitive
Degree, yaw velocity gain-bandwidth degree are corresponding gain response curve between maximum value decays the corresponding upper lower frequencies of 3dB
Frequency bandwidth；Response time is the quotient of 1 divided by pi and the product of frequency band bandwidth；Peak gain is Frequency Response amplitude
Maximum value in figure, crest frequency is the frequency corresponding to amplitude maximum in amplitude versus frequency characte figure, when there is no apparent maximum values
When, by 70% output response passband divided byCalculate crest frequency；Peak gain and steady-state gain ratio be peak gain or
Yield value or frequency ratio are corresponded at frequency and 0.2Hz.
Vehicle Frequency Response acquisition methods provided by the invention, by obtaining steering wheel and output in the case where providing experimental condition
Signal Digital Discrete sequence realizes the acquisition of vehicle Frequency Response, experiment point by data processing, index extraction, results expression
Analyse with a high credibility, the advantages that test data quality is very clear, and input and outlet chamber relationship is apparent.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and description.
Claims (3)
1. a kind of vehicle Frequency Response acquisition methods based on the experiment of continuous sine sweep, including setting experimental condition and experiment refer to
3 steps such as mark, frequency sweep test, signal acquisition and data processing, it is characterised in that：
Include in setting experimental condition and test index stage, experimental condition：Sample frequency >=100Hz, the frequency band of measuring system
The filtering of width ≮ 4Hz, sampled signal should ensure that between each channel do not have phase difference, and preferred steering support device exists in experiment
When turning to disk rotating speed ≯ 1200deg/sec, it can provide steering moment 40~60Nm, environment temperature is 0~40 DEG C, wind speed ≯ 3m/
S, the detection place gradient ≯ 2% of dried flat, examined vehicle and its tire meet regulation technical conditions, and test load is to set
Count quality state；
Test index includes：Power spectral density, steering sensitivity, yaw velocity are to rotational response, angle of heel to laterally accelerating
Degree gain response, side drift angle are responded to lateral acceleration gain and its corresponding coherent function figure；
In the frequency sweep test stage, frequency sweep test project includes：The measurement range of steering wheel angle α is ± 180 °, side acceleration
The measurement range of ay is ± 9.8, the measurement range of yaw velocity ω is ± 50deg/sec, the measurement range of side drift angle β
It it is ± 15 °, the measurement range of angle of heel θ is ± 15 °；
In signal acquisition and data processing stage, the signal includes with data：Data collecting instrument acquires signal, discrete digital sequence
Row Butterworth lowpass wave, steering wheel and output signal and its autopower spectral density, auto-power spectrum and crosspower spectrum and its biography
Delivery function, system amplitude and phase characteristic, the phase responsibility of auto-power spectrum, crosspower spectrum or mscohere functions and input and output
Number.
2. the vehicle Frequency Response acquisition methods according to claim 1 based on the experiment of continuous sine sweep, it is characterized in that：
The regulation technical conditions of the examined vehicle and its tire include the measurement of wheel alignment parameter, steering and suspension system
Inspection, adjustment and the fastening of system；If using new tire, tire is at least through 200km normally travel break-ins, if using old
Tire, residual tyre tread height should be not less than 1.6mm；The tire pressure of examined vehicle should be adjusted to technical conditions
The cold conditions tire pressure status of recommendation；The test load of the examined vehicle includes with designing quality, if occupant adds test
Instrument exceeds designing quality, then is tested by actual load quality, and is indicated in test report；Point of occupant and tote
Cloth should meet the regulation of standard GB/T/T 12534, and axle load has to comply with relevant art condition；Detecting sensor,
Tote should firm position in a secured manner, to avoid moving during the test.
3. the vehicle Frequency Response acquisition methods according to claim 1 based on the experiment of continuous sine sweep, it is characterized in that：
When frequency sweep test, when the steering wheel angle α is ± 50 °, the worst error of measuring instrument and system record is ± 0.1 °, institute
State steering wheel angle α be ± 180 ° when, measuring instrument and system record worst error be ± 2 °；The side acceleration ay
Measuring instrument and system record worst error be ± 0.15；The absolute value of the yaw velocity ω be ±
When 10deg/sec, the worst error of measuring instrument and system record is：± 0.1deg/sec, the yaw velocity ω are
When ± 50deg/sec, the worst error of measuring instrument and system record is ± 0.5deg/sec；The measurement of the side drift angle β
The worst error of instrument and system record is ± 0.5 °；The angle of heel θ measuring instrument and system record worst error be
±0.5°。
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| CN108801643B (en) | 2020-01-31 |
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