CN109489996B - Magnetorheological semi-active suspension system testing device - Google Patents
Magnetorheological semi-active suspension system testing device Download PDFInfo
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Abstract
The invention discloses a magnetorheological semi-active suspension system test device which comprises a quarter vehicle mechanical rack, an electro-hydraulic servo actuator, a sensing measurement and control system, a signal transmission system and a data processing system, wherein the electro-hydraulic servo actuator outputs at least one standard signal according to an instruction of the sensing measurement and control system, and reproduces a test field or a field road spectrum signal according to the jump of unsprung mass; the sensing measurement and control system also has the function of mutual calibration of control signals required by a control algorithm, and is beneficial to realizing the reliability verification of different algorithms. The device can meet the test requirements of magnetorheological suspensions of different specifications, the actual working condition of a quarter vehicle suspension system is simulated to the maximum extent, and the reliability and the accuracy of the test are improved.
Description
Technical Field
The invention relates to the technical field of test science, in particular to a test device for a magneto-rheological semi-active suspension system.
Background
The automobile magneto-rheological semi-active suspension is a hotspot of current research, and the magneto-rheological suspension test bed is an important device for testing the characteristics of a magneto-rheological damper and a magneto-rheological control algorithm.
Because the distances between the upper fulcrum and the lower fulcrum of the magnetorheological suspensions with different specifications are different, the distance between the upper fulcrum and the lower fulcrum of the fixed suspension needs to be adjusted when the magnetorheological suspensions with different specifications are subjected to related tests. Simultaneously, because the sprung mass of different motorcycle types is different, need adjust the size of sprung mass when experimental different adaptation suspensions. Most of the existing suspension test benches do not have the function of fixing and adjusting a suspension fulcrum, the sprung mass is inconvenient to adjust, and the simplification of the unsprung mass structure affects the accuracy of a magnetorheological suspension characteristic test. The excitation signal cannot reliably reflect the real road condition and causes little influence on the precision of the semi-active suspension control test.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a magnetorheological semi-active suspension system testing device which can improve the precision of data detection and control algorithm and has a simple and practical implementation mode.
In order to achieve the above object, an embodiment of the present invention provides a magnetorheological semi-active suspension system testing apparatus, including a quarter vehicle mechanical rack, an electro-hydraulic servo actuator, a sensing measurement and control system, a signal transmission system, and a data processing system, where the quarter vehicle mechanical rack includes: the device comprises a sliding support frame 1, a sprung mass block 2, a support rod 3, a linear slide rail 4, a first acceleration sensor 5, a suspension fulcrum adjusting mechanism 6, a connecting piece 7, a suspension spring 8, a lower swing arm 9, a magnetorheological damper 10, a second acceleration sensor 11, an angular displacement sensor 12, an upper swing arm 13, a tire and wheel hub 14, a displacement sensor 15, a support rod upper hinge piece 16, a support rod lower hinge piece 17 and a frame base 18; the electro-hydraulic servo actuator comprises: the device comprises an actuator upper contact plate 19, a hydraulic piston rod 20, a hydraulic actuator cylinder 21, a first oil inlet and outlet pipe 22, a second oil inlet and outlet pipe 23, an electro-hydraulic servo valve 24, an electro-hydraulic servo actuator base 25, a hydraulic pump source 26 and a load sensor 27, wherein the electro-hydraulic servo actuator outputs at least one standard signal according to an instruction of a sensing measurement and control system, reproduces a test field or field road spectrum signal according to the jump of unsprung mass, and is used for combining, superposing, editing, amplifying and outputting the at least one standard signal and the test field or field road spectrum signal; the sensing control system and the data processing system both comprise: the system comprises a first acceleration sensor 5, a second acceleration sensor 11, an angular displacement sensor 12, a displacement sensor 15, a load sensor 27, a control board card 28 and a computer 29, wherein the sensing measurement and control system obtains a driving signal of the electro-hydraulic servo actuator through time domain waveform reproduction and the iterative back calculation of a response signal of sprung mass, so that the load of the suspension system is consistent with the load in field or test field tests according to the driving signal.
The test device for the magneto-rheological semi-active suspension system can conveniently adjust the positions of the sprung mass and the fixed pivot of the suspension, thereby realizing the characteristic test of the magneto-rheological suspension under different vehicle types, reproducing a test field or a field road spectrum signal according to the jump of the unsprung mass acquired by a real vehicle, mutually checking multiple sensors, improving the precision of data detection and control algorithms, simultaneously testing and verifying the control algorithms of different semi-active suspensions, and having simple and practical implementation modes.
In addition, the magnetorheological semi-active suspension system testing device according to the embodiment of the invention can also have the following additional technical characteristics:
further, in one embodiment of the invention, the sprung mass 2 increases or decreases the required number of the sprung mass 2 according to different test conditions, and the mass blocks with different masses are added or removed through the reserved threaded holes on the sprung mass 2.
Further, in an embodiment of the present invention, the suspension fulcrum adjusting mechanism 6 includes a first sliding slot and a second sliding slot, and the position of the connection fulcrum on the suspension is changed by different positions of the bolt in the sliding slots, so as to adapt to magnetorheological suspensions with different length specifications.
Further, in an embodiment of the present invention, the sensing measurement and control system is used for testing the effects of different control algorithms in the control board 28 according to multi-sensor fusion and data transmission.
Further, in one embodiment of the present invention, the control board 28 includes a microcontroller and a coil driver circuit board, wherein the coil driver circuit board adjusts the current output of the driver circuit by adjusting the duty cycle of the input signal of the driver circuit.
Further, in one embodiment of the present invention, the first acceleration sensor 5 and the second acceleration sensor 11 are used to acquire the accelerations of the sprung and unsprung masses.
Further, in one embodiment of the present invention, the angular displacement sensor 12 and displacement sensor 15 are used to acquire the relative displacement of the sprung and unsprung masses and the absolute displacement of the sprung mass.
Further, in one embodiment of the present invention, the semi-active suspension system includes an electro-rheological semi-active suspension system or a solenoid valve type semi-active suspension system.
Further, in one embodiment of the invention, the test apparatus is also used for a passive suspension system and an active suspension system, wherein the active suspension system comprises a hydraulically driven dynamic suspension system, an electromechanically driven dynamic suspension system or a pneumatically driven dynamic suspension system.
Further, in one embodiment of the present invention, the at least one standard signal includes one or more of a sine wave standard signal, a cosine wave standard signal, a triangular wave standard signal, and a square wave standard signal.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a magnetorheological semi-active suspension system testing apparatus according to one embodiment of the invention;
FIG. 2 is a three-dimensional view of a quarter-vehicle machine gantry according to one embodiment of the present invention;
FIG. 3 is a front view of a quarter vehicle machine stand according to one embodiment of the present invention;
FIG. 4 is a left side view of a quarter vehicle machine gantry according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a control system of the MR semi-active suspension system test apparatus of the quarter-vehicle mechanical gantry in accordance with one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The magnetorheological semi-active suspension system test device provided by the embodiment of the invention is described below with reference to the attached drawings.
FIG. 1 is a schematic structural diagram of a magnetorheological semi-active suspension system testing apparatus according to an embodiment of the invention.
As shown in fig. 1, the testing apparatus for a magnetorheological semi-active suspension system comprises: the system comprises a quarter vehicle mechanical rack, an electro-hydraulic servo actuator, a sensing measurement and control system, a signal transmission system and a data processing system.
Wherein, quarter vehicle machine rack includes: the device comprises a sliding support frame 1, a sprung mass 2, a support rod 3, a linear slide rail 4, a first acceleration sensor 5, a suspension fulcrum adjusting mechanism 6, a connecting piece 7, a suspension spring 8, a lower swing arm 9, a magnetorheological damper 10, a second acceleration sensor 11, an angular displacement sensor 12, an upper swing arm 13, a tire and a wheel hub 14, a displacement sensor 15, a support rod upper hinge piece 16, a support rod lower hinge piece 17 and a frame base 18. The three-dimensional view of the quarter vehicle machine stand is shown in fig. 2, the front view in fig. 3, and the left view in fig. 4.
The electro-hydraulic servo actuator comprises: the device comprises an actuator upper contact plate 19, a hydraulic piston rod 20, a hydraulic actuator cylinder 21, a first oil inlet and outlet pipe 22, a second oil inlet and outlet pipe 23, an electro-hydraulic servo valve 24, an electro-hydraulic servo actuator base 25, a hydraulic pump source 26 and a load sensor 27, wherein the electro-hydraulic servo actuator outputs at least one standard signal according to an instruction of a sensing measurement and control system, reproduces a test field or field road spectrum signal according to the jump of unsprung mass, and is used for combining, superposing, editing, amplifying and outputting the at least one standard signal and the test field or field road spectrum signal.
The sensing control system and the data processing system each include: the system comprises a first acceleration sensor 5, a second acceleration sensor 11, an angular displacement sensor 12, a displacement sensor 15, a load sensor 27, a control board card 28 and a computer 29, wherein the sensing measurement and control system obtains a driving signal of the electro-hydraulic servo actuator through time domain waveform reproduction and the iterative back calculation of a response signal of sprung mass so as to enable the load of the suspension system to be consistent with the load in field or test field tests according to the driving signal. The sensing measurement and control system also has the function of mutual calibration of control signals required by a control algorithm, and is beneficial to realizing the reliability verification of different algorithms.
In one embodiment of the present invention, the at least one standard signal includes one or more of a sine wave standard signal, a cosine wave standard signal, a triangular wave standard signal, and a square wave standard signal.
It can be understood that the electro-hydraulic servo actuator can output standard signals such as sine waves, cosine waves, triangular waves, square waves and the like according to the instruction of the sensing measurement and control system; the test field or field road spectrum signals can be reproduced according to the jump of the unsprung mass collected by the real vehicle; various signals can be combined, superposed, edited, amplified and output; the drive signals of the hydraulic servo and servo actuators can be obtained by iterative back calculation by using a sensing measurement and control system installed on the bench and Time domain Waveform reproduction technology (Time Waveform reproduction) and using the response signals of the sprung mass, so that the load of the suspension system on the test bench is truly consistent with the load in field or test field tests.
Specifically, the device of the embodiment of the invention is mainly applied to the fields of passenger vehicles, commercial vehicles and the like, and mainly comprises the following components: the system comprises a quarter vehicle mechanical rack, an electro-hydraulic servo actuator, a sensing measurement and control system, a signal transmission system and a data processing system. The mechanical rack part of the embodiment of the invention truly simulates a quarter vehicle suspension system, and can test magnetorheological suspensions with different length specifications by adjusting the position of the connecting point of the upper supporting point of the suspension, and simultaneously can change the size of sprung mass according to requirements to adapt to vehicles with different tonnages; the electro-hydraulic servo actuator can simulate different road surface excitations through a control system; the sensing measurement and control system consisting of the displacement sensor, the acceleration sensor, the data acquisition system and the magneto-rheological semi-active suspension controller can test different semi-active control algorithms and compare the test effects of different algorithms on the same road condition and the same magneto-rheological suspension. The test device provided by the embodiment of the invention can meet the test requirements of magnetorheological suspensions with different specifications, test and compare different magnetorheological semi-active control algorithms, test the response characteristics of the suspensions under different road excitation conditions, simulate the actual working conditions of a quarter vehicle suspension system to the maximum extent, and improve the development efficiency of the semi-active suspension, the passive suspension and the active suspension including the magnetorheological shock absorber, and the reliability and accuracy of the test. Fig. 5 shows a control system diagram of an apparatus according to an embodiment of the present invention.
The magnetorheological semi-active suspension system test device according to the specific embodiment will be further explained.
Further, in one embodiment of the invention, the number of the required sprung mass blocks 2 can be increased or decreased according to different test conditions, and the mass blocks with different masses can be increased or removed through the reserved threaded holes on the sprung mass blocks 2.
Further, in an embodiment of the present invention, the suspension fulcrum adjusting mechanism 6 includes two sliding grooves, namely a first sliding groove and a second sliding groove, and the position of the connection fulcrum on the suspension can be changed by different positions of the bolt in the sliding grooves, so as to adapt to magnetorheological suspensions with different length specifications.
In addition, the mechanism of the upper swing arm 13, the lower swing arm 9, the tire and the wheel hub 14 more realistically simulates the suspension system of a specific vehicle.
Further, in one embodiment of the present invention, the sensing measurement and control system is used to test the effect of different control algorithms in the control board 28 according to multi-sensor fusion and data transmission.
Specifically, the sensing measurement and control system and the data processing system both include: the device comprises a first acceleration sensor 5, a second acceleration sensor 11, an angular displacement sensor 12, a displacement sensor 15, a load sensor 27, a control board 28 and a computer 29. The sensing measurement and control system can test the effects of different control algorithms in the control board card according to multi-sensor fusion and data transmission.
Further, in one embodiment of the present invention, the first acceleration sensor 5 and the second acceleration sensor 11 are used to acquire the accelerations of the sprung mass and the unsprung mass. The angular displacement sensor 12 and the displacement sensor 15 are used to acquire the relative displacement of the sprung and unsprung masses and the absolute displacement of the sprung mass.
It can be understood that the signal value obtained by the displacement sensor is accurate, the real-time performance is good, and the signal is suitable for being used as a feedback signal of suspension control after being processed by differentiation and the like, but the displacement sensor is difficult to be installed on a real vehicle to measure the absolute displacement of the sprung mass and the unsprung mass, and only an integral signal of an acceleration sensor can be used for replacing a speed signal. The redundant displacement sensing system is arranged on the rack, so that mutual correction of the two sensing systems can be realized, secondary processing signals of the acceleration sensing system can be corrected, and an integral algorithm is adjusted, so that the acceleration sensing system is more accurate and reliable when applied to the whole vehicle.
Further, in one embodiment of the present invention, the control board 28 includes a microcontroller and a coil driver circuit board, wherein the coil driver circuit board adjusts the current output of the driver circuit by adjusting the duty cycle of the input signal of the driver circuit.
Further, in one embodiment of the present invention, the semi-active suspension system includes an electro-rheological semi-active suspension system or a solenoid valve type semi-active suspension system. The test device is also used for passive suspension systems and active suspension systems, wherein the active suspension systems comprise hydraulic driven dynamic suspension systems, electromechanical driven dynamic suspension systems or pneumatic driven dynamic suspension systems.
It can be understood that the quarter vehicle mechanical rack, the electro-hydraulic servo actuator, the sensing and monitoring system, the signal transmission system and the data processing system of the embodiment of the invention can be also suitable for a passive suspension system; other types of semi-active suspension systems including current transformer type, solenoid valve type, etc.; active suspension systems such as a hydraulic drive type, an electromechanical drive type, and a pneumatic drive type; the characteristic test, development and debugging, test comparison and analysis of the active and semi-active suspension system with adjustable rigidity and damping including the adjustable air spring.
In summary, the embodiment of the invention provides a quarter automobile magneto-rheological semi-active suspension test device for magneto-rheological suspensions with different sprung masses and different specifications, the relative position of the upper fulcrum of the fixed suspension can be adjusted according to the actual test requirements, the sprung masses required by different automobile types can be adjusted, and an unsprung mass structure similar to that of an actual automobile as far as possible is designed; reproducing signals acquired by a test field or a field road spectrum on an electro-hydraulic servo actuator; the multiple sensors are mutually corrected and checked, the accuracy of a control algorithm is improved, and the requirements of magneto-rheological semi-automatic suspension characteristic tests and algorithm matching tests of different specifications are met.
According to the test device for the magneto-rheological semi-active suspension system, the sprung mass and the fixed position of the upper fulcrum of the suspension can be conveniently adjusted, so that the characteristic test of the magneto-rheological suspension under different vehicle types is realized, a test field or a field road spectrum signal can be reproduced according to the jump of the unsprung mass acquired by a real vehicle, the multiple sensors are mutually verified, the precision of data detection and control algorithms is improved, the control algorithms of different semi-active suspensions can be tested and verified simultaneously, and the implementation mode is simple and practical.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A magnetorheological semi-active suspension system test device is characterized by comprising: a quarter vehicle mechanical rack, an electro-hydraulic servo actuator, a sensing measurement and control system, a signal transmission system and a data processing system, wherein,
the quarter vehicle machine stand comprises: the magnetorheological suspension device comprises a sliding support frame (1), sprung mass blocks (2), a support rod (3), a linear slide rail (4), a first acceleration sensor (5), a suspension fulcrum adjusting mechanism (6), a connecting piece (7), a suspension spring (8), a lower swing arm (9), a magnetorheological damper (10), a second acceleration sensor (11), an angular displacement sensor (12), an upper swing arm (13), a tire and a wheel hub (14), a displacement sensor (15), a support rod upper articulated piece (16), a support rod lower articulated piece (17) and a frame base (18), wherein the suspension fulcrum adjusting mechanism (6) comprises a first sliding groove and a second sliding groove, and the positions of connecting fulcrums on the suspension are changed through different positions of bolts in the sliding grooves so as to adapt to magnetorheological suspensions with different length specifications;
the electro-hydraulic servo actuator comprises: the device comprises an actuator upper contact plate (19), a hydraulic piston rod (20), a hydraulic actuator cylinder (21), a first oil inlet and outlet pipe (22), a second oil inlet and outlet pipe (23), an electro-hydraulic servo valve (24), an electro-hydraulic servo actuator base (25), a hydraulic pump source (26) and a load sensor (27), wherein the electro-hydraulic servo actuator outputs at least one standard signal according to an instruction of the sensing measurement and control system, reproduces a test field or a field road spectrum signal according to the jump of unsprung mass, and is used for combining, superposing, editing, amplifying and outputting the at least one standard signal and the test field or field road spectrum signal; and
the sensing control system and the data processing system both comprise: the device comprises a first acceleration sensor (5), a second acceleration sensor (11), an angular displacement sensor (12), a displacement sensor (15), a load sensor (27), a control board card (28) and a computer (29), wherein the sensing measurement and control system obtains the driving signal of the electro-hydraulic servo actuator through time domain waveform reproduction and the iterative back calculation of the response signal of sprung mass, so that the driving signal enables the load of the suspension system to be consistent with the load in the field or test field test.
2. The magnetorheological semi-active suspension system testing device according to claim 1, wherein the sprung mass (2) increases or decreases the required number of the sprung mass (2) according to different test conditions, and mass blocks of different masses are added or removed through threaded holes reserved in the sprung mass (2).
3. The magnetorheological semi-active suspension system testing device according to claim 1, wherein the sensing and control system is used for testing the effects of different control algorithms on the control board (28) according to multi-sensor fusion and data transmission.
4. The magnetorheological semi-active suspension system testing device according to claim 3, wherein the control board (28) comprises a microcontroller and a coil drive circuit board, wherein the coil drive circuit board adjusts the current output of the drive circuit by adjusting the duty cycle of the input signal of the drive circuit.
5. The magnetorheological semi-active suspension system testing apparatus according to claim 1, wherein the first acceleration sensor (5) and the second acceleration sensor (11) are used for acquiring the acceleration of the sprung and unsprung masses.
6. The magnetorheological semi-active suspension system testing apparatus according to claim 5, wherein the angular displacement sensor (12) and the displacement sensor (15) are used to acquire the relative displacement of the sprung and unsprung masses and the absolute displacement of the sprung mass.
7. The magnetorheological semi-active suspension system testing device according to claim 1, wherein the semi-active suspension system comprises an electro-rheological semi-active suspension system or a solenoid valve type semi-active suspension system.
8. The magnetorheological semi-active suspension system testing device according to claim 7, wherein the testing device is further used for a passive suspension system and an active suspension system, wherein the active suspension system comprises a hydraulically driven dynamic suspension system, an electromechanically driven dynamic suspension system or a pneumatically driven dynamic suspension system.
9. The magnetorheological semi-active suspension system test apparatus of claim 1, wherein the at least one reference signal comprises one or more of a sine wave reference signal, a cosine wave reference signal, a triangular wave reference signal, and a square wave reference signal.
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| CN201548409U (en) * | 2009-11-16 | 2010-08-11 | 浙江大学 | Simulated condition multifunctional test bed of one-quarter suspension of vehicle |
| US8844345B1 (en) * | 2010-10-25 | 2014-09-30 | Roehrig Engineering, Inc. | Imparting motion to a test object such as a motor vehicle in a controlled fashion |
| CN104515660A (en) * | 2014-12-25 | 2015-04-15 | 安徽机电职业技术学院 | Vibration test bench for automotive suspension |
| CN207439689U (en) * | 2017-11-27 | 2018-06-01 | 中国农业大学 | A kind of multi-functional a quarter vehicle suspension characteristic test experimental bench |
| CN107957340A (en) * | 2017-12-22 | 2018-04-24 | 重庆长安汽车股份有限公司 | Automobile a quarter suspension and damper simulation working condition tests platform |
| CN208297140U (en) * | 2018-04-02 | 2018-12-28 | 华南理工大学 | A kind of 1/4 automotive semi-active suspension pilot system |
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