CN110296848A - Road excitation output system and method based on measured data reconstruct - Google Patents
Road excitation output system and method based on measured data reconstruct Download PDFInfo
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Abstract
The present invention discloses the road excitation output system and method that one of dynamics of vehicle technical field is reconstructed based on measured data, road excitation signal generating unit is by inertial element correction type coherence transfer function computing module, the irrelevant transmission function of inertial element correction type calculates module, non-stationary filter transmission function calculates module, first, second, third white noise sound module, first, second, third non-stationary filter transmission function module, first, the irrelevant transmission function module of second inertial element correction type, inertial element correction type coherence transfer function module and first, second summation module composition, non-stationary filter model can be used in road excitation Dynamic Modeling of the road surface index of oscillation not equal to 2 when, and it is conveniently used with real-time online and generates the generation of non-stationary road excitation signal, the left side that vehicle can be allowed jack horse test bed, Right wheel rut road excitation excitation head, which is provided, calculates the two-wheel rut non-stationary road excitation that power spectrum is consistent with coherence transfer function with actual measurement road surface.
Description
Technical field
The invention belongs to dynamics of vehicle technical fields, are related to dynamics simulation and bench test, and especially one kind is used for
Real-time online generates the output system and method for the two-wheel rut non-stationary road excitation of vehicle.
Background technique
Dynamics simulation and bench test are the important tools of automotive research and exploitation, can be greatly lowered research and development cost and
Shorten the research and development time.Road excitation is the external interference that automobile cannot be avoided, it is steady to the ride comfort of automobile, durability and rollover
Surely it has a major impact.The modeling of road excitation is broadly divided into the modeling of single-wheel rut and two aspect of two-wheel rut modeling.It is built for single-wheel rut
Mould, international standard ISO/TG 108/SC2N67 and standard GB/T 7031-2005 suggest Road Surface Power Spectrum Density (or function
Rate spectrum) GqIt is indicated with formula (1):
In formula, n0For reference arm space of planes frequency, the recommendation value of national standard GB/T 7031-2005 is 0.1m-1；N is road surface
Spatial frequency；Gq(n0) be reference arm space of planes frequency under irregularity coefficient；W is the road surface index of oscillation.And if only if W be 2
When, the stable Gaussian model tormulation road excitation of following formula (2) can be used, MATLAB/Simulink software can be used real-time at this time
Generate road excitation, easily for dynamics of vehicle real-time simulation provide in real time road excitation signal and be vehicle rack examination
It tests platform road excitation excitation head and road excitation signal is provided in real time:
In formula, q (I) is road excitation,For the derivative of q (I)；I is trend of road length；nminFor uneven road surface
Lower limiting frequency, the recommendation value of national standard GB/T 7031-2005 are 0.011m-1；ω (I) is standard white noise signal.
But the Road Surface Power Spectrum Density G being calculated according to actual measurement road excitation dataqRoad surface wave in calculation formula
Dynamic index W is usually not equal to 2, and is variation when the overwhelming majority, i.e., practical road excitation is non-stable.Therefore, it is
Single-wheel rut non-stationary road excitation modeling accuracy is improved, non-stationary Gauss model, steady laplace model, non-stationary are proposed
Laplace model, Gauss-Laplace mixed model, autoregression (AR) model, auto regressive moving average (ARMA) model, Fu
In leaf inverse transformation method, harmonic superposition method, wavelet analysis modeling method etc..But these methods must all generate number offline in advance
According to, directly cannot generate road excitation in real time using MATLAB/Simulink software, and have amount of calculation, need it is prior
The disadvantages of storage.
Currently, the modeling of two-wheel rut is the phase being calculated according to actually detected obtained left and right rut road excitation data
Dry transfer function fitting goes out coherence transfer function model, then seeks another wheel based on a single-wheel rut road excitation signal
The road excitation signal of rut.Common coherence transfer function model mainly has Ammon model, multistage line model, exponential function mould
Type, the quadratic model, isotropism mono-/multi- parameter model, Rational factor reciprocal model etc..The practical coherent transfer letter of fitting at present
It is Ammon model that number is accurately highest, is expressed by (3) under formula:
In formula, n is road surface spatial frequency；ρ is wheelspan；A is wheelspan index；Ω0For with reference to Space Angle frequency；W is road surface
The index of oscillation；P is with reference to coefficient.
Other above-mentioned coherence transfer function models and Ammon model have the shortcomings that one it is common, i.e., in model expression
Contain road surface spatial frequency n, thus left and right rut road excitation can not be exported in real time using MATLAB/Simulink software.
For this purpose, proposing using the equal transmission function simulation of the item number up and down of following formula (4) and approaching coherence transfer function, which needs
The parameter of fitting is more, positive pole easy to form in fit procedure, is to input to obtain by this transmission function to filter white noise
Another rut road excitation, calculated left and right rut road excitation signal are not able to satisfy specified power spectrum and coherent transfer
Function requirements:
In formula, S=j2 π n, j are unit imaginary number；λ0、λ1、…、λk、η0、η1、…、ηkIt is model fitting parameter.
Summary of the invention
The present invention is not consistent for existing actual measurement road surface calculating power spectrum with coherence transfer function and coherence transfer function
Model and non-stationary road excitation model are unable to the problem of real-time online generates two-wheel rut non-stationary road excitation, provide one kind
Based on the road excitation output system and method for measured data reconstruct, to realize that generating actual measurement road surface in real time calculates power spectrum and phase
The two-wheel rut non-stationary road excitation that dry transmission function is consistent.
It is of the present invention based on measured data reconstruct road excitation output system the technical solution adopted is that: including road
Road road roughness acquisition system and road vehicle simulation experiment system, pavement of road unevenness acquisition system is by multifunction laser
Road detector and GPS receiver composition, the input terminal of the output end connection multifunction laser road detector of GPS receiver, GPS connect
Receipts machine acquires road longitudinal coordinate, and multifunction laser road detector surveys height L, R of left and right rut road excitation in collection point
And export left and right rut road roughness measured data L1(I) and R1(I)；Road vehicle simulation experiment system by control system and
Left excitation head, right excitation head composition, control system is by road excitation signal generating unit, left excitation head servo control unit and the right side
The output end of excitation head servo control unit composition, multifunction laser road detector connects the defeated of road surface pumping signal generating unit
Enter end, the output end of road excitation signal generating unit is separately connected left excitation head servo control unit, right excitation head servo control
The input terminal of unit processed, the output end of left excitation head servo control unit connect the input terminal of left excitation head, left excitation head output
Be simulated roadway excitation L (t), the output end of right excitation head servo control unit connects the input terminal of right excitation head, right exciting
Head output is simulated roadway excitation R (t).
The road excitation signal generating unit is by inertial element correction type coherence transfer function computing module, inertia rings
It saves the irrelevant transmission function of correction type and calculates module, non-stationary filter transmission function calculating module, the first, second, third white noise
Sound module, the first, second, third non-stationary filter transmission function module, the first, second irrelevant transmitting of inertial element correction type
Function module, inertial element correction type coherence transfer function module and the first, second summation module composition；Described is multi-functional
The output end of laser road detector is separately connected inertial element correction type coherence transfer function computing module, inertial element correction type
Irrelevant transmission function calculates module, non-stationary filter transmission function calculates the input terminal of module, and inertial element correction type is relevant
Transmission function calculates an input terminal of the output end connection inertial element correction type coherence transfer function module of module, inertia rings
The output end that the irrelevant transmission function of section correction type calculates module is separately connected the irrelevant transmitting letter of the first inertial element correction type
Respective 1 input terminal of digital-to-analogue block, the irrelevant transmission function module of the second inertial element correction type, non-stationary filter transmit letter
The output end of number computing module is separately connected the first non-stationary filter transmission function module, the second non-stationary filter transmission function mould
Respective 1 input terminal of block and third non-stationary filter transmission function module；The output end connection the of first white noise sound module
The output end of one non-stationary filter transmission function module, the second white noise sound module connects the second non-stationary filter transmission function mould
Block, the output end of third white noise sound module connect third non-stationary filter transmission function module, and the first non-stationary filter transmits letter
Another input terminal of the output end connection irrelevant transmission function module of the first inertial element correction type of digital-to-analogue block, second is non-flat
Another input terminal of the output end connection inertial element correction type coherence transfer function module of steady filter transfer function module, the
The output end of three non-stationary filter transmission function modules connects the another of the irrelevant transmission function module of the second inertial element correction type
One input terminal, the irrelevant transmission function module of the first inertial element correction type and inertial element correction type coherence transfer function
The output end of module is all connected with the input terminal of the first summation module, and the output end of the first summation module connects left excitation head servo control
The input terminal of unit processed, the irrelevant transmission function module of the second inertial element correction type and inertial element correction type coherent transfer
The output end of function module is all connected with the input terminal of the second summation module, and the output end of the second summation module connects right excitation head and watches
Take the input terminal of control unit.
The road excitation output method of road excitation output system of the present invention based on measured data reconstruct uses
Technical solution be: being includes following steps:
The A: the first inertial element of step correction type coherence transfer function computing module surveys left and right rut road roughness
Data L1(I) and R1(I) it is handled, obtains inertial element correction type coherence transfer function H1(S), by H1(S) it is input to inertia
In link correction type coherence transfer function module；The irrelevant transmission function of inertial element correction type calculates module to left and right rut
Road roughness measured data L1(I) and R1(I) it is handled, obtains the irrelevant transfer function H of inertial element correction type2(S),
By H2(S) the irrelevant transmission function module of the first inertial element correction type and the second irrelevant biography of inertial element correction type are input to
In delivery function module, non-stationary filter transmission function calculates module to left and right rut road roughness measured data L1(I) and R1
(I) it is handled, obtains non-stationary filter transfer function H0(S), by filter transfer function H0(S) it is separately input into first,
Two, in third non-stationary filter transmission function module；
Step the B: the first white noise sound module generates white noise ω1(t) and it is input to the first non-stationary filter transmission function mould
Block, the output of the first non-stationary filter transmission function module is non-stationary road excitation q1(t) and it is input to the first inertial element
In the irrelevant transmission function module of correction type；Second white noise sound module generates white noise ω2(t) and it is input to the filter of the second non-stationary
Wave transmission function module, the output of the second non-stationary filter transmission function module is non-stationary road excitation q2(t) it and is input to
In inertial element correction type coherence transfer function module；Third white noise sound module generates white noise ω3(t) and to be input to third non-
Steady filter transfer function module, the output of third non-stationary filter transmission function module be non-stationary road excitation q3 (t) simultaneously
It is input in the irrelevant transmission function module of the second inertial element correction type:
The irrelevant transmission function module of step the C: the first inertial element correction type is to non-stationary road excitation q1(t) located
Reason obtains revolver rut disturbance road excitation qLi (t) and is input in the first summation module；Inertial element correction type coherent transfer letter
Non-stationary road excitation q of the digital-to-analogue block to input2(t) and inertial element correction type coherence transfer function H1(S) it is handled to obtain
Remaining road excitation qc(t) it and is separately input into the first summation module and the second summation module, the second inertial element correction type
Non-stationary road excitation q of the irrelevant transmission function module to input3(t) signal is handled to obtain right wheel rut disturbance road surface and is swashed
Encourage qRi(t) it and is input in the second summation module；
Road excitation q of the D: the first summation module of step to inputLi(t)、qc(t) summation obtains the excitation of revolver treadway payment
L1(t) it and is input in left excitation head servo control unit, road excitation q of second summation module to inputRi(t)、qc(t) it asks
R is motivated with right wheel treadway payment is obtained1(t) it and is input in right excitation head servo control unit；
Step E: left and right excitation head servo control unit motivates L according to left and right wheel treadway payment1(t)、R1(t) control it is left,
Right excitation head exports simulated roadway excitation L (t) and R (t) in real time.
The present invention is after adopting the above technical scheme, have the beneficial effect that
1, it is provided and actual measurement road surface using the left and right rut road excitation excitation head that the present invention can allow vehicle jack horse test bed
Calculate the two-wheel rut non-stationary road excitation that power spectrum is consistent with coherence transfer function.
2, it is dynamic to can be used in road excitation of the road surface index of oscillation not equal to 2 when for non-stationary filter model provided by the invention
Mechanical modeling, and be conveniently used with real-time online and generate the generation of non-stationary road excitation signal.
3, the left and right rut non-stationary road excitation data amount of calculation generated using the present invention is small, and precision is high.
Detailed description of the invention
Fig. 1 is to realize system block diagram of the invention；
Fig. 2 is the structural block diagram of the road excitation signal generating unit in Fig. 1.
Specific embodiment
Referring to Fig. 1, the present invention is based on the road excitation output systems of measured data reconstruct to be adopted using pavement of road unevenness
The left and right rut road roughness L of collecting system actual measurement vehicle1(I)、R1(I) data, by measured data L1(I)、R1(I) vehicle is inputted
Road-Simulating Testing System generates simulated roadway after the processing of road vehicle simulation experiment system and motivates L (t), R (t).Its
In, pavement of road unevenness acquisition system is made of multifunction laser road detector and GPS receiver, the output of GPS receiver
The input terminal of end connection multifunction laser road detector, the output end connection road vehicle simulation examination of multifunction laser road detector
Check system.Multifunction laser road detector and GPS receiver are arranged in the top cross-bar of automobile, and GPS receiver is with specific
Length interval obtains the road longitudinal coordinate I of collection point in trend of road length, and road longitudinal coordinate I is inputed to multi-functional
Laser road detector.Multifunction laser road detector surveys the height of left and right rut road excitation in collection point, is revolver respectively
Rut road excitation height L and right wheel rut road excitation height R.Multifunction laser road detector is by the height of the road excitation of actual measurement
L, R generates the left and right rut road roughness measured data L in path space domain in conjunction with road longitudinal coordinate I, fusion1(I)
And R1(I), it is subsequently sent to road vehicle simulation experiment system.
The road vehicle simulation experiment system is made of control system and left excitation head, right excitation head, control therein
System processed is made of road excitation signal generating unit, left excitation head servo control unit, right excitation head servo control unit.It is more
The input terminal of the output end connection road surface pumping signal generating unit of function laser road detector, road excitation signal generating unit
Output end be separately connected the input terminal of left excitation head servo control unit, right excitation head servo control unit.Left excitation head is watched
The output end for taking control unit connects the input terminal of left excitation head, and left excitation head output is simulated roadway excitation L (t), and the right side is swashed
The output end of vibration head servo control unit connects the input terminal of right excitation head, and right excitation head output is simulated roadway excitation R
(t)。
Referring to fig. 2, road excitation signal generating unit is by inertial element correction type coherence transfer function computing module 12, used
Property the irrelevant transmission function of link correction type calculates module 13, non-stationary filter transmission function calculates module 14, first, second,
Third white noise sound module the 1,2,3, first, second, third non-stationary filter transmission function the 4,5,6, first, second inertia rings of module
The irrelevant transmission function module of section correction type 7,9, inertial element correction type coherence transfer function module 8 and first, second are asked
It is formed with module 10,11.
Wherein, the output end of multifunction laser road detector is separately connected the calculating of inertial element correction type coherence transfer function
The irrelevant transmission function of module 12, inertial element correction type calculates module 13, non-stationary filter transmission function calculates module 14
Input terminal, by the measured data L of left and right rut road roughness1(I) and R1(I) it is input to inertial element correction type coherent transfer
The irrelevant transmission function of function computation module 12, inertial element correction type calculates module 13 and non-stationary filter transmission function calculates
In module 14.The output end connection inertial element correction type of inertial element correction type coherence transfer function computing module 12 is relevant to be passed
One input terminal of delivery function module 8, the output end that the irrelevant transmission function of inertial element correction type calculates module 13 connect respectively
Connect the irrelevant transmission function module 7 of the first inertial element correction type, the irrelevant transmission function module 9 of the second inertial element correction type
Respective 1 input terminal.The output end that non-stationary filter transmission function calculates module 14 is separately connected the first non-stationary filter
Transmission function module 4, the second non-stationary filter transmission function module 5 and third non-stationary filter transmission function module 6 it is respective
1 input terminal.Three independent 1,2,3 output ends of white noise sound module are separately connected corresponding non-stationary filter transmitting letter
Another respective input terminal of digital-to-analogue block 4,5,6, the i.e. output end of the first white noise sound module 1 connect the first non-stationary filter and pass
The output end of delivery function module 4, the second white noise sound module 2 connects the second non-stationary filter transmission function module 5, third white noise
The output end of module 3 connects third non-stationary filter transmission function module 6.First non-stationary filter transmission function module 4 it is defeated
Outlet connects another input terminal of the irrelevant transmission function module 7 of the first inertial element correction type, and the second non-stationary filter passes
Another input terminal of the output end connection inertial element correction type coherence transfer function module 8 of delivery function module 5, third are non-flat
The output end of steady filter transfer function module 6 connects another of the irrelevant transmission function module 9 of the second inertial element correction type
Input terminal.The irrelevant transmission function module 7 of first inertial element correction type and inertial element correction type coherence transfer function mould
The output end of block 8 is all connected with the input terminal of the first summation module 10, and the output end of the first summation module 10 connects left excitation head and watches
Take the input terminal of control unit.The irrelevant transmission function module 9 of second inertial element correction type and inertial element correction type phase
The output end of dry transmission function module 8 is all connected with the input terminal of the second summation module 11, and the output end of the second summation module 11 connects
Connect the input terminal of right excitation head servo control unit.
Wherein, the first inertial element correction type coherence transfer function computing module 12 is to the actual measurement L received1(I) and R1
(I) calculation processing is carried out, inertial element correction type coherence transfer function H is obtained1(S), by H1(S) it is input to inertial element correction
In type coherence transfer function module 8, the building of inertial element correction type coherence transfer function module 8 is completed.Inertial element correction
The irrelevant transmission function of type calculates module 13 to the measured data L received1(I) and R1(I) calculation processing is carried out, inertia is obtained
The irrelevant transfer function H of link correction type2(S), by H2(S) it is input to the irrelevant transmission function mould of the first inertial element correction type
In block 7 and the irrelevant transmission function module 9 of the second inertial element correction type, the first irrelevant transmitting of inertial element correction type is completed
The building of function module 7 and the irrelevant transmission function module 9 of the second inertial element correction type.Non-stationary filter transmission function calculates
Module 14 is to the measured data L received1(I) and R1(I) calculation processing is carried out, non-stationary filter transfer function H is obtained0(S),
By filter transfer function H0(S) it is separately input into the first, second, third non-stationary filter transmission function module 4,5,6, completes
The building of first, second, third non-stationary filter transmission function module 4,5,6.
Wherein, the first white noise sound module 1 generates white noise ω1(t), by white noise ω1(t) it is input to the filter of the first non-stationary
Wave transmission function module 4, the output of the first non-stationary filter transmission function module 4 is non-stationary road excitation signal q1(t), non-
Steady road excitation signal q1(t) it is input in the irrelevant transmission function module 7 of the first inertial element correction type.Second white noise
Module 2 generates white noise ω2(t), by white noise ω2(t) it is input to the second non-stationary filter transmission function module 5, second is non-flat
Steady 5 output of filter transfer function module is non-stationary road excitation signal q2(t), non-stationary road excitation signal q2(t) it inputs
Into inertial element correction type coherence transfer function module 8.Third white noise sound module 3 generates white noise ω3(t), by white noise
ω3(t) third non-stationary filter transmission function module 6, the right and wrong that third non-stationary filter transmission function module 6 exports are input to
Steady road excitation signal q3(t), non-stationary road excitation signal q3(t) it is input to the second irrelevant biography of inertial element correction type
In delivery function module 9.
The non-stationary road excitation q of 7 pairs of the irrelevant transmission function module of first inertial element correction type inputs1(t) signal
It is handled, obtains revolver rut disturbance road excitation qLi(t) signal, and by the qLi(t) signal is input to the first summation module 10
In.The non-stationary road excitation q of 8 pairs of module of inertial element correction type coherence transfer function inputs2(t) signal, inertial element school
Eurymeric coherence transfer function H1(S) it is handled, obtains remaining road excitation qc(t) signal, and by the qc(t) signal difference is defeated
Enter into the first summation module 10 and the second summation module 11.The irrelevant transmission function module 9 of second inertial element correction type is right
The non-stationary road excitation q of input3(t) signal is handled, and obtains right wheel rut disturbance road excitation qRi(t) signal, and should
qRi(t) signal is input in the second summation module 11.
The road excitation q of first 10 pairs of summation module inputLi(t)、qc(t) read group total obtains revolver treadway payment and swashs
Encourage L1(t), revolver treadway payment motivates L1(t) it is input in left excitation head servo control unit.The input of second 11 pairs of summation module
Road excitation qRi(t)、qc(t) read group total obtains right wheel treadway payment excitation R1(t), right wheel treadway payment motivates R1(t)
It is input in right excitation head servo control unit.
Left and right excitation head is separately fixed at the piston rod upper end of the hydraulic cylinder of vehicle vertically upward, left and right excitation head
Servo control unit motivates L according to left and right wheel treadway payment1(t)、R1(t) it controls left and right excitation head and exports different moulds in real time
Quasi- road excitation L (t) and R (t), simulated roadway excitation.
It is first surveyed using pavement of road unevenness acquisition system before the work of road vehicle simulation experiment system referring to Fig. 1-2
One section at least 2 kilometers long of left and right rut road roughness data, calculate left and right rut road excitation autopower spectral density
And coherence transfer function, then root constructs non-stationary filter transmission function module, inertial element correction type coherence transfer function mould
Block, inertial element correction type not inertial element correction type coherence transfer function module, then according to institute's running car to be simulated
Speed v (m/s) determines the input parameter of white noise sound module.Road vehicle simulation experiment system work when, by a left side for test car,
Right wheel is separately fixed on corresponding left and right excitation head, what left and right excitation head servo control unit was exported according to summation module
Left and right wheel treadway payment motivates L1(t)、R1(t) it controls left and right piston rod and exports different height in real time, is i.e. simulated roadway motivates
L (t) and R (t), the left and right wheel of test car just receives simulation corresponding with left and right rut road excitation live signal at this time
Road excitation input.Detailed process is as follows:
Step 1: road roughness is surveyed using pavement of road unevenness acquisition system, one section at least 2 kilometers long of actual measurement
Left and right rut road roughness data.On actual measurement road longitudinal coordinate I, GPS receiver is with 2 times of uneven road surface upper cut off frequencies
InverseFor the sampling interval, wherein nmaxFor the cutoff frequency on uneven road surface, national standard GB/T 7031-2005's
Recommendation value is 2.83m-1, determine the road longitudinal coordinate I of each road roughness collection point, and be input to the inspection of multifunction laser road
Instrument is surveyed, multifunction laser road detector surveys revolver rut road excitation height L in path coordinate point and right wheel rut road excitation is high
R is spent, left and right rut road roughness L is generated after the completion of acquisition1(I)、R1(I), it is then forwarded to control system.
Step 2: inertial element correction type coherence transfer function computing module 12 and the irrelevant transmitting of inertial element correction type
Function computation module 13 is to left and right rut road roughness L1(I)、R1(I) it is handled, is provided using Matlab software
Mscohere () function first acquires coherent function square vector Coh2 as the following formula (5)LR, then by formula (6) acquire L1(I) and R1(I)
Spatial domain in coherent function CohLR, CohLRFor with road surface spatial frequency vector nROne-to-one vector.
[Coh2LR nR]=mscohere (L1(I),R1(I), 256, [], 1024,2nmax) (5)
Wherein, Coh2LRFor coherent function vector CohLRSquare vector；nRFor with CohLRThe corresponding road surface space of data
Frequency vector；[] indicates to use default value.
Then, inertial element correction type coherence transfer function computing module 12 is provided using MATLAB software
(7) fitting obtains fitting parameter α to lsqcurvefit () tool as the following formula0、α1、α2、β0、β1And β2, when fitting takes all over vector nRIn
Each value:
Wherein, j is unit imaginary number；α0、α1、α2、β0、β1And β2It is non-negative fitting parameter；N is road surface spatial frequency.
Unlike the approximating method of inertial element correction type coherence transfer function computing module 12, inertial element correction
The irrelevant transmission function of type calculates lsqcurvefit () tool that module 13 is provided using MATLAB software and is fitted as the following formula (8)
Obtain fitting parameter ψ0、ψ1、ψ2、ξ0、ξ1And ξ2Value, when fitting takes all over vector nREach of value:
Wherein, ψ0、ψ1、ψ2、ξ0、ξ1And ξ2It is non-negative fitting parameter.
Inertial element correction type coherence transfer function computing module 12 is according to fitting parameter α0、α1、α2、β0、β1、β2, press
The transfer function H of formula (9) building inertial element correction type coherence transfer function model1(S)。
In formula, S is Laplace operator.
The irrelevant transmission function of inertial element correction type calculates module 13 according to fitting parameter ψ0、ψ1、ψ2、ξ0、ξ1、ξ2, press
The transfer function H of following formula (10) the building irrelevant transfer function model of inertial element correction type2(S)。
In formula (9) and formula (10),WithFor inertial element trend term, inertial element correction is described
The substantially form of type coherence transfer function model and inertial element correction type uncorrelated function model；WithFor fitting precision correction term, coherence transfer function model and uncorrelated function model are determined in trend term
Substantially in morphological basis, modeling accuracy is improved according to the different progress model accuracy corrections of specific value, correction term is more quasi-
It is higher to close precision, correction item number can require to be increased and decreased according to practical fitting precision.
Step 3: implement simultaneously with step 2: non-stationary filter transmission function calculates module 14 to left and right rut road surface
Motivate measured data L1(I)、R1(I) handled, using MATLAB software provide pwelch () function as the following formula (11) and
(12) L is sought out respectively1(I) and R1(I) the autopower spectral density G in spatial domainLAnd GR, GLAnd GRIt is and road surface space frequency
Rate vector nROne-to-one vector:
[GL nR]=pwelch (L1(I),1024,[],[],2nmax) (11)
[GR nR]=pwelch (R1(I),1024,[],[],2nmax) (12)
Then, non-stationary filter transmission function calculates module 14 and presses formula using the mean () function that MATLAB software provides
(13) that seeks needing to generate road excitation estimates road excitation coefficient
In formula, n is road surface spatial frequency, and when fitting takes all over vector nREach of value.
Then, non-stationary filter transmission function calculates lsqcurvefit () work that module 14 is provided using MATLAB software
Tool obtains fitting parameter χ by formula (13) fitting0、χ1、χ2、χ3、μ1、μ2And μ3Value:
In formula, nsFor the maximum Frequency point of error after correcting for the first time；χ0、χ1、χ2、χ3、μ1、μ2And μ3It is the fitting greater than 0
Parameter；nminFor the lower limiting frequency of uneven road surface.
It, will when road vehicle simulation experiment system institute speed to be simulated is vm/sIt simulates and tries as road vehicle
Check system or so rut road excitation excitation head provides in real-time time domain and estimates road excitation coefficient, and (14) construct as the following formula
Non-stationary filter transfer function H0(S):
Wherein, v is automobile driving speed；For sought out by formula (13) need to generate road excitation estimate road surface
Drive factor；On the basis of filter item, it correspond to road surface index of oscillation W be equal to 2,For the road surface index of oscillation
First correction term, χ1> μ1Corresponding W < 2,It is for error maximum frequency point after first amendment
nsCharacteristic frequency point correction term, χ0To estimate irregularity coefficient correction term, the more fitting precisions of characteristic frequency point correction term are more
Height, its item number can require to be increased and decreased according to practical fitting precision.
Step 4: by the transfer function H in step 21(S) it is input to inertial element correction type coherence transfer function module 8,
By transfer function H2(S) the irrelevant transmission function module 7 of the first inertial element correction type and the second inertial element are separately input into
In the irrelevant transmission function module 9 of correction type, by non-stationary filter transfer function H in step 30(S) three non-stationaries are input to
In filter transfer function module 4,5,6.
Generate three mutually independent half unit white noise signal ω of frequency multiplication respectively by three white noise sound modules 1,2,31
(t)、ω2(t) and ω3(t), the spectrum of these three white noise sound modules and sampling time are respectively set as 1 HeWhen t is
Between variable, seed is respectively set as 23341,23343 and 23347, at this point, by frequency 2vn is usedmaxCalculate ωi(t) (i=1,
2,3) in [0 vnmax] power spectral density G in frequency rangeωiEqual to 2.White noise signal ω1(t) it is input to the first non-stationary
In filter transfer function module 4, white noise signal ω2(t) it is input in the second non-stationary filter transmission function module 5, white noise
Acoustical signal ω3(t) it is input in third non-stationary filter transmission function module 6.
The white noise signal ω of first 4 pairs of non-stationary filter transmission function module input1(t) it is handled, is obtained non-flat
Steady road excitation signal q1(t).The white noise signal ω of second 5 pairs of non-stationary filter transmission function module input2(t) located
Reason, obtains non-stationary road excitation signal q2(t).The white noise signal of 6 pairs of module of third non-stationary filter transmission function inputs
ω3(t) it is handled, obtains non-stationary road excitation signal q3(t).34,5,6 pairs of non-stationary filter transmission function module defeated
The method that the signal entered is handled is identical, by taking the first non-stationary filter transmission function module 4 as an example, detailed process are as follows: first right
White noise signal ω1(t) Fourier transformation is carried out to obtainThen rightAnd H0(S) product carries out in Fu
Leaf inverse transformation obtains non-stationary road excitationWhereinWithRespectively Fu
In leaf transformation operator and Fourier are inverse changes transform operator, Laplace operator S=j2 π n when calculating.
The non-stationary road excitation q of 7 pairs of the irrelevant transmission function module of first inertial element correction type inputs1(t) signal
It is handled, obtains revolver rut disturbance road excitation qLi(t) signal,Inertial element correction
The non-stationary road excitation signal q of 8 pairs of type coherence transfer function module inputs2(t) remaining road excitation q is obtainedc(t) signal,The non-stationary road of 9 pairs of the irrelevant transmission function module of second inertial element correction type inputs
Motivate q in face3(t) it is handled, obtains right wheel rut disturbance road excitation qRi(t),
The irrelevant transmission function module 7 of first inertial element correction type and inertial element correction type coherence transfer function module
8 export revolver rut respectively disturbs road excitation qLi(t) with remaining road excitation qc(t) into the first summation module 10, first is asked
With module 10 according to formula L1(t)=qLi(t)+qc(t) revolver treadway payment excitation L is calculated1(t).Second inertial element correction type
Irrelevant transmission function module 9 exports right wheel rut disturbance road surface with inertial element correction type coherence transfer function module 8 respectively and swashs
Encourage qRi(t) with remaining road excitation qc(t) into the second summation module 11, the second summation module 11 is according to formula R1(t)=qRi(t)
+qc(t) revolver treadway payment excitation R is calculated1(t)。
Step 5: excitation head servo control unit receives the left and right rut road excitation L generated in step 41(t)、R1
(t), corresponding left and right excitation head is respectively driven, generates the left and right rut determined by actual measurement road excitation and simulation speed in real time
Road excitation.Test car left and right wheels are separately fixed on corresponding left and right excitation head, left and right excitation head SERVO CONTROL
Unit receives the excitation of the left and right wheels treadway payment in step 4 L1(t)、R1(t), control left and right piston rod export in real time it is different
Highly, height value is L (t), R (t), i.e. simulation non-stationary road excitation.At this point, realistic simulation road excitation L (t) and R (t)
Numerical value is respectively equal to revolver treadway payment pumping signal L1(t) and right wheel treadway payment pumping signal R1(t)。
Revolver treadway payment pumping signal L in the present invention, in time domain1(t) and right wheel treadway payment pumping signal right wheel
Treadway payment pumping signal R1(t) complex expression sees below formula (15) and (16) respectively:
L1(j2 π n)=H2(j2πn)q1(j2πn)+H1(j2πn)q2(j2πn) (15)
R1(j2 π n)=H2(j2πn)q3(j2πn)+H1(j2πn)q2(j2πn) (16)
Since the designated value of coherence transfer function in time domain isNumerical value and road excitation spatial domain in
Coherence transfer function CohLRIt is equal, butWithCorresponding frequency vector is by nRIt is transformed under the action of speed v
vnR。
Time domain or so rut road excitation signal L1(t) and R1(t) autopower spectral densityAnd coherent transfer
FunctionIt is indicated respectively by formula (17), (18) and (19).
Wherein,WithRespectively L in time domain1(t)、R1(t)、q1(t)、q2(t) and q3
(t) autopower spectral density；WithRespectively q in time domain1(t)、q2(t) and q3
(t) cross-spectral density；WithRespectively L in time domain1(t) and R1(t) cross-spectral density.
Due to q1(t)、q2(t) and q3(t) autopower spectral density is equal, by qi(t)=H0ωi(t) (i=1,2,3) knows
Their autopower spectral density values are
In formula, GωiFor the half unit white noise signal ω of frequency multiplication in time domaini(t) power spectral density is equal to 2.
(13) and (14), which are brought into formula (21), to be had:
Due to q1(t)、q2(t) and q3(t) independently of each other, soWith?
Equal to zero, formula (17), (18) and (19) can be with abbreviation are as follows:
Since the numerical value of realistic simulation road excitation L (t) and R (t) are respectively equal to revolver treadway payment pumping signal L1(t)
And R1(t), therefore, formula (22) and (23) show the left and right rut road surface that can make to generate in real time using method provided by the invention
The power spectral density and simulated automotive of excitation travel the product for surveying the power spectral density on road surface in step 1 with speed vIt matches, formula (24) shows to make to generate left and right rut road excitation in real time using method provided by the invention
Coherence transfer function and simulated automotive with speed v travel in step 1 survey road surface on coherence transfer function model
It matches.
Claims (6)
1. a kind of road excitation output system based on measured data reconstruct, including pavement of road unevenness acquisition system and vehicle
Road-Simulating Testing System, it is characterized in that: pavement of road unevenness acquisition system is by multifunction laser road detector and GPS receiver
Machine composition, the input terminal of the output end connection multifunction laser road detector of GPS receiver, it is longitudinal that GPS receiver acquires road
Coordinate, multifunction laser road detector survey height L, R of left and right rut road excitation in collection point and export left and right rut
Road roughness measured data L1(I) and R1(I)；Road vehicle simulation experiment system is by control system and left excitation head, right exciting
Head composition, control system is by road excitation signal generating unit, left excitation head servo control unit and right excitation head SERVO CONTROL
Unit composition, the input terminal of the output end connection road surface pumping signal generating unit of multifunction laser road detector, road excitation
The output end of signal generating unit is separately connected the input of left excitation head servo control unit, right excitation head servo control unit
End, the output end of left excitation head servo control unit connect the input terminal of left excitation head, and left excitation head output is simulated roadway
It motivates L (t), the output end of right excitation head servo control unit connects the input terminal of right excitation head, and right excitation head output is mould
Quasi- road excitation R (t).
2. the road excitation output system according to claim 1 based on measured data reconstruct, it is characterized in that: the road
Face pumping signal generating unit is by inertial element correction type coherence transfer function computing module (12), inertial element correction type not phase
Dry transmission function calculates module (13), non-stationary filter transmission function calculates module (14), the first, second, third white noise acoustic mode
Block (1,2,3), the first, second, third non-stationary filter transmission function module (4,5,6), the first, second inertial element correction type
Irrelevant transmission function module (7,9), inertial element correction type coherence transfer function module (8) and the first, second summation mould
Block (10,11) composition；The output end of the multifunction laser road detector is separately connected inertial element correction type coherent transfer
The irrelevant transmission function of function computation module (12), inertial element correction type calculates module (13), non-stationary filter transmission function
The output end of the input terminal of computing module (14), inertial element correction type coherence transfer function computing module (12) connects inertia rings
An input terminal of correction type coherence transfer function module (8) is saved, the irrelevant transmission function of inertial element correction type calculates module
(13) output end is separately connected the irrelevant transmission function module (7) of the first inertial element correction type, the correction of the second inertial element
Respective 1 input terminal of the irrelevant transmission function module (9) of type, non-stationary filter transmission function calculate the output of module (14)
It is non-that end is separately connected the first non-stationary filter transmission function module (4), the second non-stationary filter transmission function module (5) and third
Respective 1 input terminal of steady filter transfer function module (6)；The output end connection first of first white noise sound module (1) is non-
The output end of steady filter transfer function module (4), the second white noise sound module (2) connects the second non-stationary filter transmission function mould
The output end of block (5), third white noise sound module (3) connects third non-stationary filter transmission function module (6), the filter of the first non-stationary
The output end of wave transmission function module (4) connects another of the irrelevant transmission function module (7) of the first inertial element correction type
The output end of input terminal, the second non-stationary filter transmission function module (5) connects inertial element correction type coherence transfer function mould
Another input terminal of block (8), the output end of third non-stationary filter transmission function module (6) connect the correction of the second inertial element
Another input terminal of the irrelevant transmission function module (9) of type, the irrelevant transmission function module (7) of the first inertial element correction type
And the output end of inertial element correction type coherence transfer function module (8) is all connected with the input terminal of the first summation module (10),
The output end of first summation module (10) connects the input terminal of left excitation head servo control unit, and the second inertial element correction type is not
The output end of coherence transfer function module (9) and inertial element correction type coherence transfer function module (8) is all connected with second and asks
With the input terminal of module (11), the output end of the second summation module (11) connects the input terminal of right excitation head servo control unit.
3. a kind of road excitation output side of the road excitation output system as claimed in claim 2 based on measured data reconstruct
Method, it is characterized in that including following steps:
Step the A: the first inertial element correction type coherence transfer function computing module (12) surveys left and right rut road roughness
Data L1(I) and R1(I) it is handled, obtains inertial element correction type coherence transfer function H1(S), by H1(S) it is input to inertia
In link correction type coherence transfer function module (8)；The irrelevant transmission function of inertial element correction type calculate module (13) to it is left,
Right wheel rut road roughness measured data L1(I) and R1(I) it is handled, obtains the irrelevant transmission function of inertial element correction type
H2(S), by H2(S) the irrelevant transmission function module (7) of the first inertial element correction type and the second inertial element correction type are input to
In irrelevant transmission function module (9), it is real to left and right rut road roughness that non-stationary filter transmission function calculates module (14)
Measured data L1(I) and R1(I) it is handled, obtains non-stationary filter transfer function H0(S), by filter transfer function H0(S) respectively
It is input in the first, second, third non-stationary filter transmission function module (4,5,6)；
Step the B: the first white noise sound module (1) generates white noise ω1(t) and it is input to the first non-stationary filter transmission function module
(4), that the output of the first non-stationary filter transmission function module (4) is non-stationary road excitation q1(t) and it is input to the first inertia
In the irrelevant transmission function module (7) of link correction type；Second white noise sound module (2) generates white noise ω2(t) and it is input to
Two non-stationary filter transmission function modules (5), the output of the second non-stationary filter transmission function module (5) is that non-stationary road surface is swashed
Encourage q2(t) it and is input in inertial element correction type coherence transfer function module (8)；Third white noise sound module (3) generates white noise
Sound ω3(t) and it is input to third non-stationary filter transmission function module (6), third non-stationary filter transmission function module (6) is defeated
Out be non-stationary road excitation q3(t) it and is input in the irrelevant transmission function module (9) of the second inertial element correction type:
The irrelevant transmission function module (7) of step the C: the first inertial element correction type is to non-stationary road excitation q1(t) it is handled
Obtain revolver rut disturbance road excitation qLi(t) it and is input in the first summation module (10)；Inertial element correction type coherent transfer
Non-stationary road excitation q of the function module (8) to input2(t) and inertial element correction type coherence transfer function H1(S) at
Reason obtains remaining road excitation qc(t) it and is separately input into the first summation module (10) and the second summation module (11), second
Non-stationary road excitation q of the irrelevant transmission function module (9) of inertial element correction type to input3(t) signal handle
Road excitation q is disturbed to right wheel rutRi(t) it and is input in the second summation module (11)；
Road excitation q of the D: the first summation module of step (10) to inputLi(t)、qc(t) summation obtains the excitation of revolver treadway payment
L1(t) it and is input in left excitation head servo control unit, road excitation q of the second summation module (11) to inputRi(t)、qc
(t) summation obtains right wheel treadway payment excitation R1(t) it and is input in right excitation head servo control unit；
Step E: left and right excitation head servo control unit motivates L according to left and right wheel treadway payment1(t)、R1(t) it controls left and right sharp
Vibration head exports simulated roadway excitation L (t) and R (t) in real time.
4. road excitation output method according to claim 3, it is characterized in that: inertial element correction type is relevant in step A
Transmission function calculates module (12) and the irrelevant transmission function of inertial element correction type calculates module (13) first according to formula [Coh2LR
nR]=mscohere (L1(I),R1(I), 256, [], 1024,2nmax) acquire coherent function square vector Coh2LR, further according to formulaAcquire L1(I) and R1(I) the coherent function Coh in spatial domainLR, nRFor with CohLRThe corresponding road of data
Space of planes frequency vector, [] indicate to use default value；
Then inertial element correction type coherence transfer function computing module (12) is according to formulaObtain fitting parameter α0、α1、α2、β0、β1And β2, j is that unit is empty
Number；N is road surface spatial frequency；The irrelevant transmission function of inertial element correction type calculates module (13) according to formulaObtain fitting parameter ψ0、ψ1、ψ2、ξ0、ξ1And ξ2Value；
Finally, inertial element correction type coherence transfer function computing module (12) is according to formula
Obtain inertial element correction type coherence transfer function H1(S), S is Laplace operator；The irrelevant transmitting of inertial element correction type
Function computation module (13) is according to formulaIt is irrelevant to obtain inertial element correction type
Transfer function H2(S)。
5. road excitation output method according to claim 3, it is characterized in that: in step A, non-stationary filter transmission function
Computing module (14) first seeks out L1(I) and R1(I) the autopower spectral density G in spatial domainLAnd GR, according to formulaIt seeks estimating road excitation coefficientN is road surface spatial frequency；Further according to formulaObtain fitting parameter χ0、
χ1、χ2、χ3、μ1、μ2、μ3；nsFor the maximum Frequency point of error after correcting for the first time；nminFor the lower limiting frequency of uneven road surface；Finally
According to formulaObtain non-stationary filter transfer function H0
(S)。
6. road excitation output method according to claim 3, it is characterized in that: in step D, the first summation module (10) root
According to formula L1(t)=qLi(t)+qc(t) revolver treadway payment excitation L is calculated1(t), the second summation module (11) is according to formula R1(t)
=qRi(t)+qc(t) revolver treadway payment excitation R is calculated1(t)。
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