CN109341951A - A kind of static measurement method and device of vehicle centroid position - Google Patents
A kind of static measurement method and device of vehicle centroid position Download PDFInfo
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- CN109341951A CN109341951A CN201811513902.XA CN201811513902A CN109341951A CN 109341951 A CN109341951 A CN 109341951A CN 201811513902 A CN201811513902 A CN 201811513902A CN 109341951 A CN109341951 A CN 109341951A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
Abstract
A kind of static measurement method and device of vehicle centroid position, belong to vehicle centroid field of measuring technique, in order to solve the problems, such as that the prior art can not accurately measure the position of vehicle stress, the static measuring devices of vehicle centroid position, symmetrical parallel quadrangular mechanism lower part is connected on pedestal, and symmetrical parallel quadrangular mechanism top is connected with measuring table with measuring table hinge；Four wheel force plates are arranged in four empty slots of measuring table；Wheel force plate is placed on the top of symmetrical parallel quadrangular mechanism, is uniformly distributed four force snesors between the two；Obliquity sensor is mounted on the bottom surface of measuring table；Electric cylinder upper end is connected with measuring table, and pedestal supports the lower end of electric cylinder；Measuring table is connected with pedestal by base hinge；Wheel stress point position in wheel measurement plate can be calculated according to the measured value of force snesor, obtained the space coordinate of wheel stress point, avoided the inaccurate bring measurement error of wheel forced position, improve measurement accuracy.
Description
Technical field
The invention belongs to vehicle centroid field of measuring technique, a kind of device for vehicle centroid position measuring and design and mention
A kind of static measurement method of vehicle centroid position out.
Background technique
Vehicle centroid position is divided into the position of horizontal direction position and vertical direction, and the position of vertical direction claims mass center height
Degree.The measurement method of mass center is divided into static measurement method and dynamic measuring method.Static measurement method is based on statical moment equilibrium principle,
Dynamic measuring method is measured with kinetic theory.Dynamic measurement method includes compound pendulum, rotary inertia method, dynamic balance method
Deng.Static measurement method, such as suspension method, zero method, platform Force Method and quality reaction method, wherein quality reaction method includes
Sling method, lifting method and tiltable platform method.For heavy multiple-axle vehicle, the beam deformation of suspension method is big, slings method and lifting
Method measurement accuracy is low, and the country generallys use platform Force Method and tiltable platform method measurement centroid position.For general
The measurement of vehicle, also generallys use static measurement method.
China Patent Publication No. is " CN102297746A ", and patent name is " center mass measuring device of multiple-axle vehicle and survey
Amount method ", this method are flat by hydraulic cylinder or the flexible adjustment measurement of electric cylinder when measuring vehicle centroid position in the horizontal direction
The reliability that platform is in a horizontal position is not high.In addition wheel load weighing plate is approximate to the reaction of bearing position of wheel on measuring table
In the center of wheel, the practical function point for the counter-force that can not accurately be supported brings measurement error for processing.This method uses
Large size and heavy measuring table, also bring along measurement error when measuring light vehicle.
Summary of the invention
The present invention measures mistake to solve the prior art due to that can not accurately measure the position bring of vehicle stress
The problem of difference proposes the static measurement method and device of a kind of vehicle centroid position, improves vehicle centroid measurement accuracy, and answer
With in extensive range.
The technical scheme of the invention to solve the technical problem is:
The static measuring devices of vehicle centroid position, characterized in that the device include: electric cylinder, pedestal, four it is symmetrical flat
Row quadrangular mechanism, wheel force plate, measuring table, obliquity sensor, force snesor, measuring table hinge and base hinge；
Symmetrical parallel quadrangular mechanism lower part is connected on pedestal, symmetrical parallel quadrangular mechanism top and measuring table measuring table
Hinge connection；Four wheel force plates are placed in four empty slots of measuring table；Wheel force plate is placed on symmetrical parallel four
The top of Bian Xing mechanism is uniformly distributed four force snesors between the two；Obliquity sensor is mounted on the bottom surface of measuring table；Electricity
Dynamic cylinder upper end is connected with measuring table, and pedestal supports the lower end of electric cylinder；Measuring table is connected with pedestal by base hinge.
Vehicle centroid position is divided into the position of horizontal direction position and vertical direction, and the position of vertical direction claims mass center height
Degree.Vehicle centroid position static measurement method are as follows: in vehicle driving to the wheel force plate being placed in measuring table empty slot, vehicle
Wheel and the contact of wheel force plate.By electric cylinder adjust measuring table be in a horizontal position, according to force snesor measure wheel by
Power can calculate vehicle centroid horizontal direction position.After electric cylinder elongation makes measuring table rotate to certain angle, according to inclining
Angle transducer measures inclination of vehicle angle, θ and calculated vehicle centroid horizontal position, can calculate height of center of mass.
The static measurement method of vehicle centroid position, characterized in that method includes the following steps:
Step 1: calculating wheel stress point position: for wheel on wheel force plate, the stress point of wheel is wheel force plate
To the concentrfated load position of wheel, local coordinate system xoy, F are established at i-th of wheel force plate centerijIndicate i-th of vehicle
Take turns j-th of force sensor measuring value on force plate, (xij, yij) it is j-th of force snesor coordinate on i-th of wheel force plate,
GiIndicate the stress size of i-th of wheel,According to Principle of equilibrium of three dimensional force system calculate i-th of wheel by
Force coordinate (xi, yi) are as follows:
Step 2: making measuring table be in horizontality by adjusting electric cylinder, vehicle centroid horizontal position is calculated；It is surveying
Amount Platform center establishes measuring table horizontal coordinates OX ' Y ' Z ', and according to Principle of equilibrium of three dimensional force system, it is horizontal to calculate vehicle centroid
Position (X ', Y ') are as follows:
In formula: It is being measured for i-th of wheel force plate center
Plateau levels coordinate system OX ' Y ' Z ' coordinate value, (X 'i, Y 'i) it is i-th of wheel stress point in measuring table horizontal coordinates OX '
Y ' Z ' coordinate value；
Step 3: electric cylinder elongation makes measuring table be tilted a certain angle θ, vehicle centroid height is calculated；According to non-coplanar force
It is equilibrium principle, calculates vehicle centroid height Z ' are as follows:
In formula:l2Measuring table is hinged to for measuring table
The vertical range on surface, G are the gravity of vehicle, (X "i, Y "i, Z "i) it is wheel stress point in measuring table tilt coordinates system OX "
Coordinate value under Y " Z ", (Xi, Yi, Zi)=(0,0, l2)+(xi, yi, 0) and=(xi, yi, l2)。
The invention has the advantages that:
(1) present invention can calculate wheel stress point position in wheel measurement plate according to the measured value of force snesor, obtain
The space coordinate of wheel stress point avoids the inaccurate bring measurement error of wheel forced position, improves measurement accuracy.
(2) present invention uses symmetrical parallel quadrangular mechanism, guarantees that measuring table is always maintained at during banking motion
Horizontality when in static state, guarantees that wheel only by measuring table to its vertical direction active force, avoids friction effects
Measurement accuracy.At the same time, the additional wheel load weighing plate of researching and designing and related force snesor are not needed, the present invention only needs to measure
Normal force.To save the cost, structure is simple, and according to existing mature force snesor, performance is more reliable than additional designs, more
Easily guarantee measurement accuracy.
(3) present invention can increase the quantity of symmetrical parallel quadrangular mechanism, according to the wheelspan of wheel and wheelbase arrangement pair
Claim parallelogram, the center-of-mass coordinate of multiple-axle vehicle can be measured.Increase bracket on wheel force plate, panzer can be measured
Center-of-mass coordinate.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the static measuring devices of vehicle centroid position of the present invention.
Fig. 2 is symmetrical parallel quadrilateral structure schematic diagram of the present invention.
Fig. 3 is the wheel force analysis figure on wheel force plate, and the origin o of wheel stress coordinate system oxyz is wheel survey
The center of power plate.
Fig. 4 (a) is the 3 D stereo schematic diagram of measuring table horizontal coordinates OX ' Y ' Z ', and Fig. 4 (b) is in measuring table
Wheel force analysis figure in the X ' OZ ' plane of horizontal coordinates OX ' Y ' Z ', Fig. 4 (c) are in measuring table horizontal coordinates
Wheel force analysis figure in X ' OY ' plane.
Fig. 5 is measuring table tilt coordinates system OX " Y " Z " that the angle measuring table horizontal coordinates OX ' Y ' Z ' rotation θ obtains
Under X " OZ " plane on wheel force analysis figure.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawing.
As shown in Figs. 1-2, a kind of static measuring devices of vehicle centroid position include: electric cylinder 1, it is pedestal 2, symmetrical parallel
Quadrangular mechanism 3, wheel force plate 4, measuring table 5, obliquity sensor 7, force snesor 8, measuring table hinge 9 and pedestal hinge
Chain 10.Symmetrical parallel 3 lower part of quadrangular mechanism is connected on pedestal 2, symmetrical parallel 3 top of quadrangular mechanism and measuring table 5
It is connected with measuring table hinge 9；Four wheel force plates 4 are arranged in four empty slots of measuring table 5；Wheel force plate 4 is put
It sets on the top of symmetrical parallel quadrangular mechanism 3, is uniformly distributed four force snesors 8 between the two.Obliquity sensor 7 is mounted on
The bottom surface of measuring table 5, the inclination angle for measuring table.1 upper end of electric cylinder and measuring table 5 connect, and pedestal 2 supports electric cylinder
1 lower end；Measuring table 5 and pedestal 2 are connected by base hinge 10.
As shown in Fig. 2, symmetrical parallel quadrangular mechanism 3 includes both lower supporting plate 3-1, upper backup pad 3-2 and connection
Between two total sides parallelogram mechanism.
Four symmetrical parallel quadrangular mechanisms 3 according to the wheelbase and wheelspan of vehicle be arranged in pedestal 2 and measuring table 5 it
Between.The lower supporting plate 3-1 of symmetrical parallel quadrangular mechanism 3 is bolted on pedestal 2, upper backup pad 3-2 and measuring table 5
It is connected with measuring table hinge 9.Wheel force plate 4 is placed on upper backup pad 3-2, in the empty slot of measuring table 5.Power passes
Sensor 8 is mounted between upper backup pad 3-2 and wheel force plate 4, four corners of upper backup pad 3-2 is distributed in, for measuring
Wheel stress.
Being extended by electric cylinder 1 drives measuring table 5 to do System of Rotating about Fixed Axis movement around base hinge 10.The rotation of measuring table 5
Movement drives the upper backup pad 3-2 of symmetrical parallel quadrangular mechanism 3 to do translational motion by measuring table hinge 9, wherein vehicle
Upper backup pad 3-2 below front-wheel is translated up, and the upper backup pad 3-2 below vehicle rear wheel is translated downwards.It is last symmetrical parallel
The translational motion of quadrangular mechanism 3 makes vehicle run-off the straight.
Electric cylinder 1 can be replaced by hydraulic cylinder.
Increase the quantity of symmetrical parallel quadrangular mechanism 3, can measure the centroid position of multiple-axle vehicle.
Mounting bracket on wheel force plate 4 can measure the centroid position of panzer.
A kind of static measurement method of vehicle centroid position the following steps are included:
(1) measuring table horizontal coordinates OX ' Y ' Z ' and its X ' OY ' plane established according to Fig. 4 (b), (c), Fig. 4 (a)
For the 3 D stereo schematic diagram of measuring table horizontal coordinates OX ' Y ' Z ', the foundation of measuring table horizontal coordinates origin is being measured
On at the center of platform 5.As shown in figure 3, establishing local coordinate system oxyz on each wheel force plate 4, local coordinate system is former
Point o is established at the center of wheel force plate 4.On local coordinate system oxyz, wheel stressUtilize non-coplanar force
It is the position coordinates (x that equilibrium principle finds out wheel stress pointi, yi) are as follows:
On measuring table horizontal coordinates OX ' Y ' Z ', according to resulting wheel stress point position coordinates (xi, yi), then benefit
Vehicle centroid horizontal position coordinate (X ', Y ') is found out with Principle of equilibrium of three dimensional force system are as follows:
In formula: For i-th of wheel force plate center in measuring table water
The coordinate value of flat coordinate system OX ' Y ' Z ', l1It is wheel force plate center in X ' axis direction
Distance, l2The vertical range on measuring table surface, l are hinged to for measuring table3It is wheel force plate center in Y ' axis direction
Distance.
(2) so that measuring table 5 is rotated by a certain angle after θ in electric cylinder 1, measure vehicle centroid height at this time.The survey of foundation
Platform inclination coordinate system OX " Y " Z " is measured, as shown in figure 5, force balance equation are as follows:
Find out: height of center of mass coordinate is
In formula:G is the gravity of vehicle, (X "i, Y "i, Z "i)
For coordinate value of the wheel stress point at measuring table tilt coordinates system OX " Y " Z ", (Xi, Yi, Zi)=(0,0, l2)+(xi, yi,
0)=(xi, yi, l2)。
Claims (5)
1. the static measuring devices of vehicle centroid position, characterized in that the device include: electric cylinder (1), pedestal (2), four it is right
Claim parallelogram mechanism (3), wheel force plate (4), measuring table (5), obliquity sensor (7), force snesor (8), measurement
Platform hinge (9) and base hinge (10)；
Symmetrical parallel quadrangular mechanism (3) lower part is connected on pedestal (2), symmetrical parallel quadrangular mechanism (3) top and measurement
Platform (5) is connected with measuring table hinge (9)；Four wheel force plates (4) are arranged in four empty slots of measuring table (5)；
Wheel force plate (4) is placed on the top of symmetrical parallel quadrangular mechanism (3), is uniformly distributed four force snesors between the two
(8)；
Obliquity sensor (7) is mounted on the bottom surface of measuring table (5)；Electric cylinder (1) upper end and measuring table (5) connection, pedestal
(2) lower end of electric cylinder (1) is supported；Measuring table (5) and pedestal (2) are connected by base hinge (10).
2. the static measuring devices of vehicle centroid position according to claim 1, which is characterized in that
The symmetrical parallel quadrangular mechanism (3) includes lower supporting plate (3-1), upper backup pad (3-2) and connects between the two
Two total sides parallelogram mechanism；
The lower supporting plate (3-1) of symmetrical parallel quadrangular mechanism (3) is bolted on pedestal (2), upper backup pad (3-2) and
Measuring table (5) is connected with measuring table hinge (9)；
Four force snesors (8) are mounted on the upper backup pad (3-2) and wheel force plate (4) of symmetrical parallel quadrangular mechanism (3)
Between, four corners of the upper backup pad (3-2) of symmetrical parallel quadrangular mechanism (3) are distributed in, for measuring wheel stress.
3. the static measuring devices of vehicle centroid position according to claim 1, which is characterized in that the electric cylinder
(1) hydraulic cylinder is replaced with.
4. the static measuring devices of vehicle centroid position according to claim 1, which is characterized in that increase symmetrical parallel four
The number of Bian Xing mechanism (3), measures the centroid position of multiaxle trucks.
5. the static measurement method of vehicle centroid position, characterized in that method includes the following steps:
Step 1: calculating wheel stress point position: for wheel (6) on wheel force plate (4), the stress point of wheel (6) is wheel
Force plate (4) establishes local coordinate system xoy at i-th of wheel force plate center to the concentrfated load position of wheel (6),
FijIndicate j-th of force sensor measuring value on i-th of wheel force plate, (xij, yij) it is j-th on i-th of wheel force plate
Force snesor coordinate, GiIndicate i-th of wheel stress size,It is calculated according to Principle of equilibrium of three dimensional force system
I-th of wheel stress point coordinate (xi, yi) are as follows:
Step 2: making measuring table (5) be in horizontality by adjusting electric cylinder (1), vehicle centroid horizontal position is calculated；?
Measuring table horizontal coordinates OX ' Y ' Z ' is established at measuring table (5) center, according to Principle of equilibrium of three dimensional force system, calculates vehicle matter
Heart horizontal position (X ', Y ') are as follows:
In formula: It is i-th of wheel force plate center in measuring table
Horizontal coordinates OX ' Y ' Z ' coordinate value, (X 'i, Y 'i) it is i-th of wheel stress point in measuring table horizontal coordinates OX ' Y ' Z '
Coordinate value；
Step 3: electric cylinder (1) elongation makes measuring table (5) be tilted a certain angle θ, vehicle centroid height is calculated；According to space
Force balance principle calculates vehicle centroid height Z ' are as follows:
In formula:l2Measuring table is arrived for measuring table hinge (9)
(5) vertical range on surface, G are the gravity of vehicle, (X "i, Y "i, Z "i) it is wheel stress point in measuring table tilt coordinates system
Coordinate value under OX " Y " Z ", (Xi, Yi, Zi)=(0,0, l2)+(xi, yi, 0) and=(xi, yi, l2)。
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| CN201811513902.XA CN109341951B (en) | 2018-12-12 | 2018-12-12 | Static measurement method and device for vehicle mass center position |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110553793A (en) * | 2019-07-26 | 2019-12-10 | 中国航空工业集团公司济南特种结构研究所 | Method for measuring gravity center of large composite material component |
| CN110595688A (en) * | 2019-10-18 | 2019-12-20 | 江麓机电集团有限公司 | Vehicle three-dimensional centroid detection method |
| CN110954202A (en) * | 2019-12-19 | 2020-04-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Attitude-variable airplane weight and gravity center measuring equipment and attitude-variable airplane weight and gravity center measuring method |
| CN111664997A (en) * | 2020-05-28 | 2020-09-15 | 东风汽车股份有限公司 | Measuring equipment and measuring method for mass center coordinates of cab of commercial vehicle |
| CN112393845A (en) * | 2020-11-30 | 2021-02-23 | 奇瑞汽车股份有限公司 | Vehicle gravity center height obtaining method and device |
| CN114235279A (en) * | 2021-11-30 | 2022-03-25 | 北京航天新立科技有限公司 | Method for measuring three-dimensional mass center of super-long large vehicle |
| CN115183939A (en) * | 2022-06-09 | 2022-10-14 | 江苏省农业机械试验鉴定站 | Self-propelled agricultural machine barycenter automatic measuring device |
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| CN110954202A (en) * | 2019-12-19 | 2020-04-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Attitude-variable airplane weight and gravity center measuring equipment and attitude-variable airplane weight and gravity center measuring method |
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| CN112393845A (en) * | 2020-11-30 | 2021-02-23 | 奇瑞汽车股份有限公司 | Vehicle gravity center height obtaining method and device |
| CN112393845B (en) * | 2020-11-30 | 2021-12-28 | 奇瑞汽车股份有限公司 | Vehicle gravity center height obtaining method and device |
| CN114235279A (en) * | 2021-11-30 | 2022-03-25 | 北京航天新立科技有限公司 | Method for measuring three-dimensional mass center of super-long large vehicle |
| CN115183939A (en) * | 2022-06-09 | 2022-10-14 | 江苏省农业机械试验鉴定站 | Self-propelled agricultural machine barycenter automatic measuring device |
| CN115183939B (en) * | 2022-06-09 | 2024-04-12 | 江苏省农业机械试验鉴定站 | Self-propelled agricultural machine centroid automatic measuring device |
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