CN109060209A - Measuring device and measurement method for sedan braking system dynamic brake force moment - Google Patents
Measuring device and measurement method for sedan braking system dynamic brake force moment Download PDFInfo
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- CN109060209A CN109060209A CN201810700049.6A CN201810700049A CN109060209A CN 109060209 A CN109060209 A CN 109060209A CN 201810700049 A CN201810700049 A CN 201810700049A CN 109060209 A CN109060209 A CN 109060209A
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- caravan
- caravan trailer
- trailer
- brake force
- tractor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
-
- 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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of measuring device for sedan braking system dynamic brake force moment, including gyroscope, accelerometer, foil gauge and rotating speed coder, gyroscope is set to position of the caravan close to mass center, for detecting caravan acceleration/deceleration signal；Accelerometer is set to the end of caravan, for detecting caravan acceleration/deceleration signal；Foil gauge is set between tractor and caravan trailer and links up at stress, for detecting the tension and compression force signal between tractor and caravan trailer；Speed measuring coder is set on caravan axle, for detecting the angular acceleration signal of caravan axle；Foil gauge, gyroscope, speed measuring coder and accelerometer communication connection Acquisition Instrument；Acquisition Instrument and far-end computer communication connection；The calculating of braking moment is carried out without equipment such as brake test benches；Detection device used is all detection device basic on script vehicle, torque sensor is not necessarily to, so measurement cost is lower；This patent need to only establish the balanced relationship of power to caravan, take square to caravan trailer wheel center point, establish equalising torque relational expression, can obtain the braking moment of vehicle in real time, can provide basic data for subsequent further experiment.
Description
Technical field:
The invention belongs to vehicle dynamic measuring tech field, in particular to the caravan braking moment of a kind of caravan trailer it is real-time
Measuring device and measurement method.
Background technique:
Braking moment be by brake generate torque, effect be decline the revolving speed of wheel, finally make car deceleration up to
Parking；In descent run, automobile is made to keep stabilizing speed appropriate；Further, it is also possible to make automobile be reliably parked in original place or
On ramp.When automobile brake, braking moment is the important parameter analyzed braking process and evaluate braking system.
The braking moment of vehicle is generally measured on brake test bench, at present domestic automobile comprehensive property detecting station system used
Dynamic detection device is mostly anti-force type drum braking check-out console and flat brake test bench.However, caravan trailer is by drawing
Vehicle drags caravan traveling, and caravan part itself does not have power, therefore caravan trailer can not measure on brake test bench
Braking moment and brake force.Caravan trailer can only measure braking moment on actual road test, try in some actual vehicles
In testing, the acquisition of braking moment is needed using torque sensor, costly due to torque sensor, directly measures braking moment
Cost is very high, and the present invention does not need torque sensor, only needs sensor basic on vehicle, therefore measurement cost is lower.
Article entitled " brake output torque real time monitoring algorithm in vehicle driving braking process " is to pass through tire pressure
The temperature and pressure for monitoring system monitoring tire establishes The Ideal-Gas Equation and calculates squeegee action amount, to be calculated
Tire rolling radius, tire are to the vertical load and vehicle mass on ground.In order to detect coefficient of rolling resistance, longitudinal direction of car is established
Equilibrium equation provides ground brake force, vehicle deceleration and tire to the monitoring method of the vertical load on ground.Parameter determines
Brake output torque is calculated by wheel torque equilibrium equation afterwards.The method calculate it is more accurate, but need sensor more and
Method is more complex, needs to carry out real-time monitoring to temperature and pressure in tire, and this patent only needs wheel angular acceleration.
Measurement for caravan trailer braking moment, this patent provide simple and effective measurement method and calculate caravan trailer system
Braking moment when dynamic.
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without
It should be considered as recognizing or implying in any form that the information constitutes existing skill already known to those of ordinary skill in the art
Art.
Summary of the invention:
The purpose of the present invention is to provide a kind of measuring devices for sedan braking system dynamic brake force moment, thus on overcoming
State defect in the prior art.
To achieve the above object, the present invention provides a kind of measurements for sedan braking system dynamic brake force moment to set
It is standby, including gyroscope, accelerometer, foil gauge and rotating speed coder, gyroscope be set to position of the caravan close to mass center, uses
In detection caravan acceleration signal；
Accelerometer is set to the end of caravan, for detecting caravan acceleration signal；
Foil gauge is set between tractor and caravan trailer and links up at stress, for detect tractor and caravan trailer it
Between force signal；
Speed measuring coder is set on caravan axle, for detecting the angular acceleration signal of caravan axle；
Foil gauge, gyroscope, speed measuring coder and accelerometer communication connection Acquisition Instrument；Acquisition Instrument and far-end computer communication connect
It connects.
Preferably, there are the acceleration transducer, magnetometer and angle sensor of MEMS in above-mentioned technical proposal, inside gyroscope
Device collectively constitutes.
Preferably, in above-mentioned technical proposal, foil gauge is resistance strain gage.
A kind of measurement method for sedan braking system dynamic brake force moment, sets the quality of caravan trailerm, drag
The radius of wheel of hanging caravanr, caravan trailer vehicle wheel rotation inertiaJ；
When tractor starts braking, the brake of caravan can receive tractor brake signal and hold, and caravan trailer begins to brake；
The equilibrium relation that power is established to caravan trailer horizontal direction calculates between caravan trailer (2) and ground according to formula 1
Brake forceFr:
,
Wherein m is the quality of caravan trailer 2, and a is the longitudinal deceleration of caravan trailer 2, and F is tractor 1 and pulling type room
Longitudinal force between vehicle 2, Fr are brake force of the ground to caravan trailer 2；
According to moment equilibrium principle, square is taken to caravan trailer wheel center point, establishes equalising torque model, counted according to formula 2
Calculate the real-time braking moment of caravan trailerT:
, whereinJFor the rotary inertia of 2 wheel of caravan trailer,rFor the radius of 2 wheel of caravan trailer,α
For 2 axle angular acceleration of caravan trailer,FrIt is ground to the brake force of caravan trailer 2,TFor 2 brake force of caravan trailer
Square；
Show that the dynamic computational formula of caravan trailer (2) braking moment is as follows according to formula (1) and (2):
。
Preferably, in above-mentioned technical proposal, when caravan trailer 2 is braked, pass through the accelerometer and gyroscope essence
The really deceleration of measurement caravan horizontal directiona；
The longitudinal force between tractor and caravan trailer is measured by foil gaugeF；
Caravan trailer axle angular acceleration is measured by speed measuring coderα；
The acceleration signal that gyroscope and accelerometer will test is input to Acquisition Instrument；The traction that above-mentioned foil gauge will test
Force signal between vehicle and caravan trailer is input to Acquisition Instrument；The angular acceleration signal that above-mentioned speed measuring coder will test is defeated
Enter to Acquisition Instrument；The Acquisition Instrument can acquire, downloading data and be output in computer；Computer can carry out numerical value meter
It calculates, and logic calculation can be carried out, it can be according to program high speed processing mass data.
It preferably,, can be the signal of various mechanical quantities using resistance strain gage as sensing element in above-mentioned technical proposal
Be converted to the signal of electricity.Speed measuring coder pulsed quantity be it is fixed, axis rotation when, speed measuring coder will export arteries and veins
Punching, counter receive pulse, and when according to the angular speed difference of axis turn, the pulse total amount received within the unit time is different
, true angular speed and angular acceleration can be calculated according to the length of pulsed quantity and actual rotation.
Compared with prior art, the invention has the following beneficial effects:
The calculating of braking moment is carried out without equipment such as brake test benches；Detection device used is all basic on script vehicle
Detection device is not necessarily to torque sensor, so measurement cost is lower；This patent need to only establish the balanced relationship of power to caravan,
Square is taken to caravan trailer wheel center point, equalising torque relational expression is established, the braking moment of vehicle can be obtained in real time, it can be with
Basic data is provided for later some experiments.
Detailed description of the invention:
Fig. 1 is the layout of equipment of this patent real train test；
Fig. 2 is this patent caravan part stress balance schematic diagram；
Fig. 3 is this patent caravan wheel torque balance model schematic diagram；
Fig. 4 is the flow chart of this patent measurement dynamic brake force moment；
In Fig. 1,1, tractor；2, caravan trailer；3, foil gauge；4, gyroscope；5, speed measuring coder；6, accelerometer；7,
Acquisition Instrument；8, computer.
Specific embodiment:
Specific embodiments of the present invention will be described in detail below, it is to be understood that protection scope of the present invention not by
The limitation of specific embodiment.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " includes " or its change
Changing such as "comprising" or " including " etc. will be understood to comprise stated element or component, and not exclude other
Element or other component parts.
The present invention is described in more detail with reference to the accompanying drawing:
The equipment of the real train test of the measurement method of the real-time braking moment of this patent is arranged as shown in Figure 1, caravan trailer 2 is room
One under vehicle, different from self-propelled caravan, caravan trailer 2 itself does not have power, and additional tractor 1 is needed to carry out it
Pull traveling.In the process of moving, testing agency used includes gyroscope 4, accelerometer 6, foil gauge 3 and revolving speed coding
Device 5.Gyroscope 4 is set to position of the vehicle close to mass center, have inside gyroscope 4 acceleration transducer of MEMS, magnetometer and
Angular transducer collectively constitutes, and has a variety of measurement functions such as angle of acceleration speed, angle；Accelerometer 6 is set to the end of caravan
End, accelerometer 6 be measure carrier linear acceleration instrument, it can the output signal of angular-rate sensor, through amplifying,
Quantization, and show, it can be analog or digital.General accelerometer 6 is correctly, shorter in long period measured value
There is error due to the presence of noise in time.Gyroscope 4 is then relatively accurate within a short period of time and there will be drifts the long period
It moves and existing error.It is mutually adjusted therefore, it is necessary to the two to measure longitudinal acceleration of the vehicle.Foil gauge 3 is set to tractor 1
It is linked up at stress between caravan trailer 2, sensing element is used as using resistance strain gage 3, it can be the signal of various mechanical quantities
Be converted to the signal of electricity.Speed measuring coder 5 is set on caravan axle, and speed measuring coder 5 is generally connected with axis, and test the speed coding
5 pulsed quantity of device be it is fixed, axis rotation when, speed measuring coder 5 will export pulse, and counter receives pulse, according to
Axis turn angular speed difference when, the pulse total amount received within the unit time be it is different, according to pulsed quantity and actual rotation
Length can calculate true angular speed and angular acceleration.When caravan trailer 2 is braked, above-mentioned gyroscope 4 and plus
The acceleration signal that speedometer 6 will test is input to Acquisition Instrument 7；The tractor 1 and pulling type that above-mentioned foil gauge 3 will test
Force signal between caravan 2 is input to Acquisition Instrument 7；The angular acceleration signal that above-mentioned speed measuring coder 5 will test, which is input to, to be adopted
Collect instrument 7.The Acquisition Instrument 7 can acquire, downloading data and be output in computer 8.The computer 8 can carry out numerical value
It calculates, and logic calculation can be carried out, it can be according to program high speed processing mass data.Measurement method is as follows:
The quality of known caravan trailer 2m, caravan trailer 2 radius of wheelr, caravan trailer 2 vehicle wheel rotation inertiaJ。
So that tested caravan trailer 2 at the uniform velocity or is given it the gun on flat road by the dragging of tractor 1, gives suddenly
1 brake pedal of tractor is stepped on, tractor 1 starts to brake.Meanwhile the brake monitor of caravan trailer 2 receives tractor
Braking deceleration signal, impose corresponding current signal to the brake of caravan trailer 2, make caravan trailer 2 and traction
Vehicle keeps synchronous braking.Pass through the deceleration of 4 precise measurement caravan horizontal direction of the accelerometer 6 and the gyroscopea；By
May be different from the deceleration of caravan trailer 2 in tractor 1, active force can be generated between tractor 1 and caravan trailer 2,
The longitudinal force between tractor 1 and caravan trailer 2 is measured by the foil gauge 3F；Pass through the speed measuring coder 5
Measure 2 axle angular acceleration of caravan trailerα。
2, as shown in Fig. 2, test does not consider air drag, only consider the stress of horizontal direction, according to Newton's second law,
The size of 2 acceleration of caravan trailer is directly proportional to active force, is inversely proportional with the quality of caravan trailer 2, therefore to pulling type
2 horizontal direction of caravan establishes the balanced relationship of power.Calculate the brake force between caravan and groundF r :
,
WhereinmFor the quality of caravan trailer 2,aFor the longitudinal deceleration of caravan trailer 2,FFor tractor 1 and pulling type room
Longitudinal force between vehicle 2,FrIt is ground to the brake force of caravan trailer 2.
3, as shown in figure 3, this test 2 radius of wheel of caravan trailer refers to free radius, do not consider rolling radius,
Deformation when vehicle wheel rotation is not considered yet.According to moment equilibrium principle, square is taken to 2 wheel center point of caravan trailer, establishes power
Square balance model.Calculate the real-time braking moment of caravan trailer 2T:
。
WhereinJFor the rotary inertia of 2 wheel of caravan trailer,rFor the radius of 2 wheel of caravan trailer,αFor pulling type room
2 axle angular acceleration of vehicle,FrIt is ground to the brake force of caravan trailer 2,TFor 2 braking moment of caravan trailer.
4, according to upper two formulas opening relationships formula, the dynamic computational formula of 2 braking moment of caravan trailer is as follows:
,
It substitutes the above to。
5, specific dynamic brake force moment measurement flow chart is as shown in Figure 4.It is installed first by 7 synchronous acquisition of data collecting instrument
5 signal of speed encoder on wheel, 3 signal of foil gauge for being affixed on hook bindiny mechanism place's measuring force and it is loaded on caravan
6 signal data of accelerometer of end handles 5 pulse signal of speed measuring coder by time domain average method, obtains wheel dynamic and turns
Speed carries out numerical differentiation to it and obtains wheel angular accelerationα；3 voltage signal of foil gauge is handled by low pass filtering method, is moved
State voltage value, the interpolation that carries out tabling look-up to it obtain connection contact forceF；Caravan linear accelerating is obtained by high-pass filtering facture
Degreea, comprehensively utilize above formulaObtain the dynamic brake force moment of caravan trailer.
The aforementioned description to specific exemplary embodiment of the invention is in order to illustrate and illustration purpose.These are retouched
It states and is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can carry out very much
Change and changes.The purpose of selecting and describing the exemplary embodiment is that explaining specific principle of the invention and in fact
Border application, so that those skilled in the art can be realized and utilize a variety of different exemplary embodiment party of the invention
Case and various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (6)
1. a kind of measuring device for sedan braking system dynamic brake force moment, including gyroscope (4), accelerometer (6), answer
Become piece (3) and rotating speed coder (5), it is characterised in that:
Gyroscope (4) is set to position of the caravan close to mass center, for detecting caravan acceleration signal；
Accelerometer (6) is set to the end of caravan, for detecting caravan acceleration signal；
Foil gauge (3) be set between tractor (1) and caravan trailer (2) link up with stress at, for detect tractor (1) with
Force signal between caravan trailer (2)；
Speed measuring coder (5) is set on caravan axle, for detecting the angular acceleration signal of caravan axle；
It is acquired described in the foil gauge (3) gyroscope (4) speed measuring coder (5) and accelerometer (6) communication connection
Instrument (7)；The Acquisition Instrument (7) and far-end computer (8) communication connection.
2. the measuring device according to claim 1 for sedan braking system dynamic brake force moment, which is characterized in that top
There are the acceleration transducer, magnetometer and angular transducer of MEMS to collectively constitute inside spiral shell instrument (4).
3. the measuring device according to claim 1 for sedan braking system dynamic brake force moment, which is characterized in that answer
Become piece (3) as resistance strain gage.
4. a kind of measurement method for sedan braking system dynamic brake force moment, which is characterized in that
Set the quality of caravan trailer (2)m, caravan trailer (2) radius of wheelr, caravan trailer (2) vehicle wheel rotation
InertiaJ；
When tractor (1) starts braking, the brake of caravan can receive tractor (1) brake signal and hold, caravan trailer
(2) begin to brake；
The equilibrium relation that power is established to caravan trailer (2) horizontal direction calculates caravan trailer (2) and ground according to formula 1
Brake force between faceFr:
,
Wherein m is the quality of caravan trailer 2, and a is the longitudinal deceleration of caravan trailer 2, and F is tractor 1 and pulling type room
Longitudinal force between vehicle 2, Fr are brake force of the ground to caravan trailer 2；
According to moment equilibrium principle, square is taken to caravan trailer (2) wheel center point, equalising torque model is established, according to formula 2
Calculate the real-time braking moment of caravan trailer (2)T:
, whereinJFor the rotary inertia of 2 wheel of caravan trailer,rFor the radius of 2 wheel of caravan trailer,α
For 2 axle angular acceleration of caravan trailer,FrIt is ground to the brake force of caravan trailer 2,TFor 2 brake force of caravan trailer
Square；
Show that the dynamic computational formula of caravan trailer (2) braking moment is as follows according to formula (1) and (2):
。
5. the measurement method according to claim 4 for sedan braking system dynamic brake force moment, which is characterized in that when
When caravan trailer 2 is braked, pass through subtracting for the accelerometer (6) and the gyroscope (4) precise measurement caravan horizontal direction
Speeda；
Pass through the longitudinal force between the foil gauge (3) measurement tractor (1) and caravan trailer (2)F；
Caravan trailer (2) axle angular acceleration is measured by the speed measuring coder (5)α；
The acceleration signal that gyroscope (4) and accelerometer (6) will test is input to Acquisition Instrument (7)；Above-mentioned foil gauge (3) will
Force signal between the tractor (1) detected and caravan trailer (2) is input to Acquisition Instrument (7)；Above-mentioned speed measuring coder 5 will
The angular acceleration signal detected is input to Acquisition Instrument (7)；The Acquisition Instrument (7) can acquire, downloading data and be output to
Computer (8) is inner；The computer (8) can carry out numerical value calculating, and can carry out logic calculation, can be according to program high speed
Handle mass data.
6. the measurement method according to claim 4 for sedan braking system dynamic brake force moment, which is characterized in that electricity
Resistance foil gauge (3) is converted to the signal of various mechanical quantities the signal of electricity, speed measuring coder (5) pulsed quantity be it is fixed,
When axis rotates, speed measuring coder (5) will export pulse, and counter receives pulse, when according to the angular speed difference of axis turn,
The pulse total amount received within the unit time be it is different, can be calculated really according to the length of pulsed quantity and actual rotation
Angular speed and angular acceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810700049.6A CN109060209A (en) | 2018-06-29 | 2018-06-29 | Measuring device and measurement method for sedan braking system dynamic brake force moment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810700049.6A CN109060209A (en) | 2018-06-29 | 2018-06-29 | Measuring device and measurement method for sedan braking system dynamic brake force moment |
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| Publication Number | Publication Date |
|---|---|
| CN109060209A true CN109060209A (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810700049.6A Pending CN109060209A (en) | 2018-06-29 | 2018-06-29 | Measuring device and measurement method for sedan braking system dynamic brake force moment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733132A (en) * | 2019-01-25 | 2019-05-10 | 江苏大学 | A kind of adjustable caravan trailer ball head connecting device of rigidity dynamic |
| CN110864842A (en) * | 2019-11-25 | 2020-03-06 | 一汽解放汽车有限公司 | Traction force measuring device of pure electric light truck |
| CN115877850A (en) * | 2023-02-20 | 2023-03-31 | 北京理工大学 | Autonomous driving traction-traction system and motion control method and scheduling method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103792096A (en) * | 2014-02-27 | 2014-05-14 | 上海西派埃自动化仪表工程有限责任公司 | Portable brake performance tester with embedded electronic gyroscope and test method |
| CN104931186A (en) * | 2015-06-17 | 2015-09-23 | 上海工程技术大学 | Vehicle dynamic braking force measuring device |
| CN107953872A (en) * | 2017-11-20 | 2018-04-24 | 江苏大学 | A kind of caravan trailer for considering electormagnetic braking sytem lag characteristic synchronously follows brake control method |
-
2018
- 2018-06-29 CN CN201810700049.6A patent/CN109060209A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103792096A (en) * | 2014-02-27 | 2014-05-14 | 上海西派埃自动化仪表工程有限责任公司 | Portable brake performance tester with embedded electronic gyroscope and test method |
| CN104931186A (en) * | 2015-06-17 | 2015-09-23 | 上海工程技术大学 | Vehicle dynamic braking force measuring device |
| CN107953872A (en) * | 2017-11-20 | 2018-04-24 | 江苏大学 | A kind of caravan trailer for considering electormagnetic braking sytem lag characteristic synchronously follows brake control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733132A (en) * | 2019-01-25 | 2019-05-10 | 江苏大学 | A kind of adjustable caravan trailer ball head connecting device of rigidity dynamic |
| CN110864842A (en) * | 2019-11-25 | 2020-03-06 | 一汽解放汽车有限公司 | Traction force measuring device of pure electric light truck |
| CN115877850A (en) * | 2023-02-20 | 2023-03-31 | 北京理工大学 | Autonomous driving traction-traction system and motion control method and scheduling method thereof |
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