CN109341951B - Static measurement method and device for vehicle mass center position - Google Patents
Static measurement method and device for vehicle mass center position Download PDFInfo
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Abstract
A static measuring method and device of the vehicle mass center position, it is the vehicle mass center that measures the technical field, in order to solve the problem that the prior art can't measure the force action point of the vehicle accurately, the static measuring device of the vehicle mass center position, the symmetrical parallelogram organization inferior part is connected on the base, the upper portion of the symmetrical parallelogram organization and measuring platform are connected with measuring platform hinge; the four wheel force measuring plates are arranged in four empty grooves of the measuring platform; the wheel force measuring plate is arranged at the upper part of the symmetrical parallelogram mechanism, and four force sensors are uniformly distributed between the wheel force measuring plate and the symmetrical parallelogram mechanism; the inclination angle sensor is arranged on the bottom surface of the measuring platform; the upper end of the electric cylinder is connected with the measuring platform, and the base supports the lower end of the electric cylinder; the measuring platform is connected with the base through a base hinge; the wheel stress point position on the wheel measuring plate can be calculated according to the measured value of the force sensor, the space coordinate of the wheel stress point is obtained, the measuring error caused by inaccurate wheel stress position is avoided, and the measuring precision is improved.
Description
Technical Field
The invention belongs to the technical field of vehicle mass center measurement, and provides a device designed for measuring a vehicle mass center position and a static measurement method of the vehicle mass center position.
Background
The position of the center of mass of the vehicle is divided into a horizontal position and a vertical position, and the vertical position is called the height of the center of mass. The centroid measurement method is classified into a static measurement method and a dynamic measurement method. The static measurement method is based on the static moment balance principle, and the dynamic measurement method is based on the dynamic theory for measurement. The dynamic measurement method comprises a complex pendulum method, a rotational inertia method, a dynamic balance method and the like. Static measurement methods such as the hanging method, the null method, the platform support reaction method, and the mass reaction method, wherein the mass reaction method includes the hoisting method, the lifting method, and the tiltable platform method. For heavy multi-axle vehicles, the beam deformation of the suspension method is large, the measurement accuracy of the hoisting method and the lifting method is low, and the mass center position is generally measured by adopting a platform support reaction force method and a tiltable platform method in China. For the measurement of a general vehicle, a static measurement method is also commonly used.
The Chinese patent publication number is 'CN 102297746A', the patent name is 'device and method for measuring the mass center of a multi-axis vehicle', and the method has low reliability of adjusting the measuring platform to be in the horizontal position by stretching and contracting a hydraulic cylinder or an electric cylinder when the position of the mass center of the vehicle in the horizontal direction is measured. In addition, the supporting reaction force action point of the wheel load weighing plate on the measuring platform to the wheel is approximately processed at the central position of the wheel, so that the actual action point of the supporting reaction force cannot be accurately obtained, and measuring errors are brought. The large and heavy measuring platforms adopted by the method can bring measuring errors when measuring light vehicles.
Disclosure of Invention
The invention provides a static measurement method and a static measurement device for the centroid position of a vehicle, aiming at solving the problem that the measurement error caused by the action point of the stress on the vehicle cannot be accurately measured in the prior art, so that the measurement precision of the centroid of the vehicle is improved, and the application range is wide.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a static measuring device for the position of the center of mass of a vehicle, characterized in that the device comprises: the device comprises an electric cylinder, a base, four symmetrical parallelogram mechanisms, a wheel force measuring plate, a measuring platform, an inclination angle sensor, a force sensor, a measuring platform hinge and a base hinge; the lower part of the symmetrical parallelogram mechanism is connected to the base, and the upper part of the symmetrical parallelogram mechanism is connected with the measuring platform through a measuring platform hinge; the four wheel force measuring plates are placed in four empty grooves of the measuring platform; the wheel force measuring plate is arranged at the upper part of the symmetrical parallelogram mechanism, and four force sensors are uniformly distributed between the wheel force measuring plate and the symmetrical parallelogram mechanism; the inclination angle sensor is arranged on the bottom surface of the measuring platform; the upper end of the electric cylinder is connected with the measuring platform, and the base supports the lower end of the electric cylinder; the measuring platform and the base are connected through a base hinge.
The position of the center of mass of the vehicle is divided into a horizontal position and a vertical position, and the vertical position is called the height of the center of mass. The static measurement method of the vehicle mass center position comprises the following steps: the vehicle runs onto the wheel force measuring plate placed in the empty groove of the measuring platform, and the wheel is in contact with the wheel force measuring plate. The measuring platform is adjusted to be in a horizontal position through the electric cylinder, the stress of the wheels is measured according to the force sensor, and the horizontal position of the mass center of the vehicle can be calculated. After the electric cylinder extends to enable the measuring platform to rotate to a certain angle, the height of the centroid can be calculated according to the inclination angle theta of the vehicle measured by the inclination angle sensor and the calculated horizontal position of the centroid of the vehicle.
The static measurement method of the vehicle mass center position is characterized by comprising the following steps:
step one, calculating the position of a wheel stress point: the wheel is arranged on the wheel force measuring plate, the stress point of the wheel is the concentrated load action point of the wheel force measuring plate on the wheel, and a local coordinate system xoy, F is established at the center of the ith wheel force measuring plateijRepresenting the jth force sensor measurement on the ith wheel force plate, (x)ij，yij) For the jth force sensor coordinate on the ith wheel force plate, GiIndicating the stress magnitude of the ith wheel,
calculating the stress point coordinate (x) of the ith wheel according to the space force system balance principlei，yi) Comprises the following steps:
step two, adjusting the electric cylinder to enable the measuring platform to be in a horizontal state, and calculating the horizontal position of the mass center of the vehicle; establishing a horizontal coordinate system OX ' Y ' Z ' of the measuring platform at the center of the measuring platform, and calculating the horizontal position (X ', Y ') of the mass center of the vehicle according to the space force system balance principle as follows:
in the formula:
is the coordinate value of the center of the ith wheel force measuring plate in the horizontal coordinate system OX 'Y' Z 'of the measuring platform, (X'i，Y′i) The coordinate value of the ith wheel stress point in the horizontal coordinate system OX ' Y ' Z ' of the measuring platform;
step three, extending the electric cylinder to enable the measuring platform to incline by a certain angle theta, and calculating the height of the mass center of the vehicle; according to the space force system balance principle, the height Z' of the mass center of the vehicle is calculated as follows:
in the formula:
l2for measuring the vertical distance from the platform hinge to the surface of the platform, G is the weight of the vehicle, (X ″)i，Y″i，Z″i) The coordinate value of the wheel stress point under the inclined coordinate system OX ' Y ' Z ' of the measuring platform is (X)i，Yi，Zi)＝(0，0，l2)+(xi，yi，0)＝(xi，yi，l2)。
The invention has the beneficial effects that:
(1) the invention can calculate the position of the wheel stress point on the wheel measuring plate according to the measured value of the force sensor, obtain the space coordinate of the wheel stress point, avoid the measuring error caused by inaccurate wheel stress position and improve the measuring precision.
(2) The invention adopts a symmetrical parallelogram mechanism to ensure that the measuring platform is always kept in a horizontal state in the tilting motion process, and when the measuring platform is in a static state, the wheels are ensured to be only acted by the measuring platform in the vertical direction, thereby avoiding the influence of friction force on the measuring precision. Meanwhile, an additional wheel load weighing plate and a related force sensor are not required to be researched and designed, and only the normal acting force is required to be measured. Therefore, the cost is saved, the structure is simple, the performance is more reliable than that of the additionally designed force sensor according to the existing mature force sensor, and the measurement precision is easier to ensure.
(3) The invention can increase the number of the symmetrical parallelogram mechanisms, arrange symmetrical parallelograms according to the wheel track and the wheel base of the wheel, and measure the mass center coordinate of the multi-axis vehicle. The bracket is added on the wheel force measuring plate, so that the coordinate of the mass center of the armored car can be measured.
Drawings
Fig. 1 is a schematic view of the overall structure of the static measuring device for the centroid position of the vehicle.
FIG. 2 is a schematic diagram of a symmetrical parallelogram structure according to the present invention.
Fig. 3 is a wheel force analysis diagram on a wheel force measuring plate, and the origin o of a wheel force coordinate system oxyz is the center of the wheel force measuring plate.
Fig. 4(a) is a three-dimensional perspective view of the horizontal coordinate system OX 'Y' Z 'of the measuring platform, fig. 4(b) is a wheel force analysis diagram on the X' OZ 'plane of the horizontal coordinate system OX' Y 'Z' of the measuring platform, and fig. 4(c) is a wheel force analysis diagram on the X 'OY' plane of the horizontal coordinate system of the measuring platform.
FIG. 5 is a diagram of wheel force analysis on the X "OZ" plane in the tilted coordinate system OX "Y" Z "of the measuring platform obtained by rotating the horizontal coordinate system OX ' Y ' Z ' by an angle θ.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-2, a static measurement device for the position of the center of mass of a vehicle includes: the device comprises an electric cylinder 1, a base 2, a symmetrical parallelogram mechanism 3, a wheel force measuring plate 4, a measuring platform 5, an inclination angle sensor 7, a force sensor 8, a measuring platform hinge 9 and a base hinge 10. The lower part of the symmetrical parallelogram mechanism 3 is connected to the base 2, and the upper part of the symmetrical parallelogram mechanism 3 is connected with the measuring platform 5 by a measuring platform hinge 9; the four wheel force measuring plates 4 are arranged in four empty grooves of the measuring platform 5; the wheel force measuring plate 4 is arranged at the upper part of the symmetrical parallelogram mechanism 3, and four force sensors 8 are uniformly distributed between the wheel force measuring plate and the symmetrical parallelogram mechanism. The inclination sensor 7 is installed on the bottom surface of the measuring platform 5 and is used for measuring the inclination of the platform. The upper end of the electric cylinder 1 is connected with the measuring platform 5, and the base 2 supports the lower end of the electric cylinder 1; the measuring platform 5 and the base 2 are connected by a base hinge 10.
As shown in FIG. 2, the symmetrical parallelogram mechanism 3 includes a lower support plate 3-1, an upper support plate 3-2, and two common-sided parallelogram mechanisms connected therebetween.
Four symmetrical parallelogram mechanisms 3 are arranged between the base 2 and the measuring platform 5 according to the wheelbase and the track of the vehicle. The lower supporting plate 3-1 of the symmetrical parallelogram mechanism 3 is connected on the base 2 by bolts, and the upper supporting plate 3-2 is connected with the measuring platform 5 by a measuring platform hinge 9. The wheel force measuring plate 4 is placed on the upper supporting plate 3-2 and is positioned in a hollow groove of the measuring platform 5. The force sensors 8 are arranged between the upper supporting plate 3-2 and the wheel force measuring plate 4 and distributed on four corners of the upper supporting plate 3-2 for measuring the stress of the wheel.
The electric cylinder 1 extends to drive the measuring platform 5 to do fixed-axis rotation motion around the base hinge 10. The rotation motion of the measuring platform 5 drives the upper supporting plate 3-2 of the symmetrical parallelogram mechanism 3 to do translation motion through the measuring platform hinge 9, wherein the upper supporting plate 3-2 below the front wheel of the vehicle translates upwards, and the upper supporting plate 3-2 below the rear wheel of the vehicle translates downwards. Finally, the vehicle is tilted by the translational movement of the symmetrical parallelogram mechanism 3.
The electric cylinder 1 may be replaced by a hydraulic cylinder.
The number of the symmetrical parallelogram mechanisms 3 is increased, and the mass center position of the multi-axis vehicle can be measured.
The wheel force measuring plate 4 is provided with a support, and the center of mass position of the armored car can be measured.
A static measurement method of the position of the center of mass of a vehicle comprises the following steps:
(1) the horizontal coordinate system OX 'Y' Z 'of the measuring platform and the X' OY 'plane thereof are established according to fig. 4(b), (c), and fig. 4(a) is a three-dimensional perspective view of the horizontal coordinate system OX' Y 'Z' of the measuring platform, and the origin of the horizontal coordinate system of the measuring platform is established at the center of the measuring platform 5. As shown in fig. 3, a local coordinate system oxyz is established on each wheel force plate 4, and a local coordinate system origin o is established at the center of the wheel force plate 4. In local coordinate system oxyz, the wheel is stressed
Position coordinates (x) of wheel stress points are obtained by utilizing space force system balance principlei，yi) Comprises the following steps:
on the horizontal coordinate system OX ' Y ' Z ' of the measuring platform, according to the position coordinates (x) of the stress point of the wheeli，yi) And then, calculating the horizontal position coordinates (X ', Y') of the mass center of the vehicle by utilizing the space force system balance principle as follows:
in the formula:
is the coordinate value of the center of the ith wheel force measuring plate in the horizontal coordinate system OX ' Y ' Z ' of the measuring platform,
l1is the distance of the center of the wheel force plate in the X' axis direction, l2For measuring the perpendicular distance of the platform hinge to the surface of the measuring platform,/3Is the distance of the center of the wheel force plate in the direction of the Y' axis.
(2) After the electric cylinder 1 rotates the measuring platform 5 by a certain angle theta, the height of the mass center of the vehicle is measured at the moment. The inclined coordinate system OX "Y" Z "of the measuring platform is established, and as shown in FIG. 5, the equilibrium equation of the force system is as follows:
the following were obtained: the height coordinate of the mass center is
In the formula:
g is the gravity of the vehicle, (X ″)i，Y″i，Z″i) The coordinate value of the wheel stress point under the inclined coordinate system OX ' Y ' Z ' of the measuring platform is (X)i，Yi，Zi)＝(0，0，l2)+(xi，yi，0)＝（xi，yi，l2)。
Claims (5)
1. A static measuring device for the position of the center of mass of a vehicle, characterized in that the device comprises: the device comprises an electric cylinder (1), a base (2), four symmetrical parallelogram mechanisms (3), a wheel force measuring plate (4), a measuring platform (5), an inclination angle sensor (7), a force sensor (8), a measuring platform hinge (9) and a base hinge (10);
the lower part of the symmetrical parallelogram mechanism (3) is connected to the base (2), and the upper part of the symmetrical parallelogram mechanism (3) is connected with the measuring platform (5) by a measuring platform hinge (9); the four wheel force measuring plates (4) are arranged in four empty grooves of the measuring platform (5); the wheel force measuring plate (4) is arranged at the upper part of the symmetrical parallelogram mechanism (3), and four force sensors (8) are uniformly distributed between the wheel force measuring plate and the symmetrical parallelogram mechanism;
the inclination angle sensor (7) is arranged on the bottom surface of the measuring platform (5); the upper end of the electric cylinder (1) is connected with the measuring platform (5), and the base (2) supports the lower end of the electric cylinder (1); the measuring platform (5) is connected with the base (2) through a base hinge (10).
2. The static measurement device of the vehicle centroid position according to claim 1,
the symmetrical parallelogram mechanism (3) comprises a lower supporting plate (3-1), an upper supporting plate (3-2) and two common-edge parallelogram mechanisms connected between the lower supporting plate and the upper supporting plate;
a lower supporting plate (3-1) of the symmetrical parallelogram mechanism (3) is connected to the base (2) by a bolt, and an upper supporting plate (3-2) is connected with the measuring platform (5) by a measuring platform hinge (9);
the four force sensors (8) are arranged between the upper supporting plate (3-2) of the symmetrical parallelogram mechanism (3) and the wheel force measuring plate (4), are distributed at four corners of the upper supporting plate (3-2) of the symmetrical parallelogram mechanism (3), and are used for measuring the stress of the wheel.
3. The static measurement device of the vehicle centroid position according to claim 1, characterized in that said electric cylinder (1) is replaced by a hydraulic cylinder.
4. The static measurement device of the vehicle centroid position according to claim 1, characterized in that the number of symmetrical parallelogram mechanisms (3) is increased to measure the centroid position of the multi-axis vehicle.
5. The static measurement method of the vehicle mass center position is characterized by comprising the following steps:
step one, calculating the position of a wheel stress point: the wheel (6) is arranged on the wheel force measuring plate (4), the stress point of the wheel (6) is the concentrated load action point of the wheel force measuring plate (4) on the wheel (6), and a local coordinate system xoy, F is established at the center of the ith wheel force measuring plateijRepresenting the jth force sensor measurement on the ith wheel force plate, (x)ij，yij) For the jth force sensor coordinate on the ith wheel force plate, GiThe force applied to the ith wheel is shown,
calculating the stress point coordinate (x) of the ith wheel according to the space force system balance principlei，yi) Comprises the following steps:
step two, the measuring platform (5) is in a horizontal state by adjusting the electric cylinder (1), and the horizontal position of the mass center of the vehicle is calculated; establishing a measuring platform horizontal coordinate system OX ' Y ' Z ' at the center of the measuring platform (5), and calculating the horizontal position (X ', Y ') of the mass center of the vehicle according to the space force system balance principle as follows:
in the formula:
is the coordinate value of the center of the ith wheel force measuring plate in the horizontal coordinate system OX 'Y' Z 'of the measuring platform, (X'i，Y′i) The coordinate value of the ith wheel stress point in the horizontal coordinate system OX ' Y ' Z ' of the measuring platform;
step three, extending the electric cylinder (1) to enable the measuring platform (5) to incline by a certain angle theta, and calculating the height of the mass center of the vehicle; according to the space force system balance principle, the height Z' of the mass center of the vehicle is calculated as follows:
in the formula:
l2for measuring the vertical distance from the platform hinge (9) to the surface of the measuring platform (5), G is the gravity of the vehicle, (X ″)i，Y″i，Z″i) The coordinate value of the wheel stress point under the inclined coordinate system OX ' Y ' Z ' of the measuring platform is (X)i,Yi,Zi) Is a coordinate value of the wheel stress point under a local coordinate system with the measuring platform hinge (9) as an origin point, (X)i，Yi，Zi)＝(0，0，l2)+(xi，yi，0)＝(xi，yi，l2)。
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| CN110553793B (en) * | 2019-07-26 | 2021-04-20 | 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 |
| CN110595688B (en) * | 2019-10-18 | 2021-06-25 | 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 |
| 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 |
| 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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| SU520513A1 (en) * | 1974-01-17 | 1976-07-05 | Центральный Ордена Трудового Красного Знамени Научно-Исследовательский Автомобильный И Автомоторный Институт | Device for determining torsion centers of a vehicle carrier system |
| SU522433A1 (en) * | 1974-12-17 | 1976-07-25 | Челябинский Филиал Государственного Союзного Научно-Исследовательского Тракторного Института Нати | Stand for determining the coordinates of the center of gravity of transport vehicles |
| JPH09243352A (en) * | 1996-03-06 | 1997-09-19 | Nissan Altia Co Ltd | Vehicle wheel alignment measuring method |
| JP2011002334A (en) * | 2009-06-18 | 2011-01-06 | Honda Motor Co Ltd | Method for adjusting wheel alignment of vehicle |
| CN101893517A (en) * | 2010-07-28 | 2010-11-24 | 吉林大学 | Automobile stability parameter test bench and test method using same |
| CN102297746B (en) * | 2011-08-18 | 2015-11-11 | 哈尔滨理工大学 | The center mass measuring device of multiple-axle vehicle and measuring method |
| CN102620888B (en) * | 2012-03-29 | 2014-04-30 | 浙江大学 | Heavy vehicle mass and mass center detection device |
| CN103969002B (en) * | 2013-02-06 | 2016-01-20 | 广州汽车集团股份有限公司 | A kind of object mass center method of testing |
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| CN105823598A (en) * | 2016-03-22 | 2016-08-03 | 山东理工大学 | Passenger car mass center position measurement device and measurement and calculation method |
| CN106840519B (en) * | 2017-01-19 | 2019-03-05 | 河南理工大学 | A kind of static measurement method of two-axle car height of center of mass |
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