CN110296848B - Road surface excitation output system and method based on measured data reconstruction - Google Patents
Road surface excitation output system and method based on measured data reconstruction Download PDFInfo
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Abstract
The invention discloses a road surface excitation output system and method based on measured data reconstruction in the technical field of vehicle dynamics.A road surface excitation signal generation unit consists of an inertia link correction type coherent transfer function calculation module, an inertia link correction type incoherent transfer function calculation module, a non-stationary filter transfer function calculation module, a first white noise module, a second white noise module, a third white noise module, a first non-stationary filter transfer function module, a second non-stationary filter transfer function module, a first inertial link correction type incoherent transfer function module, a second inertial link correction type coherent transfer function module, an inertia link correction type coherent transfer function module, a first summation module and a second summation module, wherein the non-stationary filter model can be used for road surface excitation dynamics modeling when a road surface fluctuation index is not equal to 2 and is conveniently used for generating a non-stationary road surface excitation signal on line in real time, and a left and right wheel rut road surface excitation head of a vehicle bench test bed can provide double excitation consistent with And (4) exciting a wheel track non-smooth road surface.
Description
Technical Field
The invention belongs to the technical field of vehicle dynamics, relates to dynamics simulation and bench test, and particularly relates to an output system and method for generating double-track non-stable road surface excitation of a vehicle on line in real time.
Background
The dynamic simulation and bench test are important tools for automobile research and development, and can be used for large scaleReducing the research and development cost and shortening the research and development time. Road excitation is external interference which cannot be avoided by the automobile, and has important influence on the smoothness, durability and rollover stability of the automobile. The modeling of the road surface excitation is mainly divided into a single-track modeling and a double-track modeling. Aiming at single-wheel-track modeling, the international standard ISO/TG 108/SC2N67 and the national standard GB 7031-qRepresented by formula (1):
in the formula, n0For reference to the spatial frequency of the road surface, the recommended value of GB/T7031--1(ii) a n is the spatial frequency of the pavement; gq(n0) The coefficient of the unevenness under the spatial frequency of the reference road surface; and W is a road surface fluctuation index. When W is 2, a stable Gaussian model of the following formula (2) can be used for expressing road surface excitation, MATLAB/Simulink software can be used for generating the road surface excitation in real time, and therefore the road surface excitation signal can be conveniently provided for vehicle dynamics real-time simulation and the road surface excitation head of the vehicle bench test bed in real time:
wherein q (I) is road surface excitation,
is the derivative of q (I); i is the road trend length; n isminFor the lower cut-off frequency of the uneven road surface, the recommended value of the national standard GB/T7031--1(ii) a ω (I) is a standard white noise signal.
However, the calculated road surface power spectral density G is calculated from the measured road surface excitation dataqThe road surface fluctuation index W in the calculation formula is often not equal to 2 and varies most of the time, i.e. the actual road surface excitation is non-stationary. Therefore, to improve single-track non-smooth road surface excitation constructionAnd the model precision provides a non-stationary Gaussian model, a stationary Laplace model, a non-stationary Laplace model, a Gaussian-Laplace mixed model, an Autoregressive (AR) model, an autoregressive moving average (ARMA) model, an inverse Fourier transform method, a harmonic superposition method, a wavelet analysis modeling method and the like. However, these methods all require offline data generation in advance, cannot directly generate the road surface excitation in real time by using MATLAB/Simulink software, and have the disadvantages of calculation workload, storage in advance and the like.
At present, in the double-track modeling, a coherent transfer function model is fitted according to a coherent transfer function obtained by calculating left and right track road surface excitation data obtained by actual detection, and then a road surface excitation signal of another track is obtained on the basis of a single-track road surface excitation signal. Commonly used coherent transfer function models mainly include an Ammon model, a multi-segment line model, an exponential function model, a quadratic model, an isotropic single/multi-parameter model, a factorial reciprocal model and the like. Currently, the most accurate fitting of the actual coherent transfer function is the Ammon model, which is expressed by the following formula (3):
in the formula, n is the spatial frequency of the road surface; rho is the wheel track; a is a track index; omega0Is a reference spatial angular frequency; w is a road surface fluctuation index; p is a reference coefficient.
The other coherent transfer function models and the Ammon model have a common defect that the model expressions all contain road surface spatial frequency n, so that left and right wheel track road surface excitations cannot be output in real time by using MATLAB/Simulink software. Therefore, the method utilizes the transfer function with equal upper and lower terms of the following formula (4) to simulate and approximate the coherent transfer function, the model has more parameters to be fitted, an anode is easy to form in the fitting process, the filtering white noise is taken as another wheel track road excitation acquired by the transfer function, and the calculated left and right wheel track road excitation signals can not meet the requirements of the specified power spectrum and the coherent transfer function:
wherein, S is j2 pi n, j is unit imaginary number; lambda [ alpha ]0、λ1、…、λk、η0、η1、…、ηkAre all model fitting parameters.
Disclosure of Invention
The invention provides a road surface excitation output system and method based on measured data reconstruction aiming at the problems that the calculated power spectrum of the existing measured road surface does not accord with a coherent transfer function and the coherent transfer function model and the non-stationary road surface excitation model cannot generate the double-track non-stationary road surface excitation on line in real time, so that the double-track non-stationary road surface excitation of which the calculated power spectrum of the actual measured road surface accords with the coherent transfer function is generated in real time.
The invention discloses a road surface excitation output system based on measured data reconstruction, which adopts the technical scheme that: the road surface unevenness collecting system comprises a multifunctional laser road detector and a GPS receiver, the output end of the GPS receiver is connected with the input end of the multifunctional laser road detector, the GPS receiver collects the longitudinal coordinates of a road, the multifunctional laser road detector actually measures the height L, R of the excitation of left and right wheel rut road surfaces at a collecting point and outputs left and right wheel rut road surface unevenness actual measurement data L1(I) And R1(I) (ii) a The vehicle road simulation test system comprises a control system, a left excitation head and a right excitation head, wherein the control system comprises a road excitation signal generation unit, a left excitation head servo control unit and a right excitation head servo control unit, the output end of the multifunctional laser path detector is connected with the input end of the road excitation signal generation unit, the output end of the road excitation signal generation unit is respectively connected with the input ends of the left excitation head servo control unit and the right excitation head servo control unit, the output end of the left excitation head servo control unit is connected with the input end of the left excitation head, the left excitation head outputs a simulated road excitation L (t), the output end of the right excitation head servo control unit is connected with the input end of the right excitation head, and the right excitation head outputs an excitation signalWhat is shown is the simulated road surface excitation r (t).
The road surface excitation signal generation unit consists of an inertia link correction type coherent transfer function calculation module, an inertia link correction type incoherent transfer function calculation module, a nonstationary filtering transfer function calculation module, a first white noise module, a second white noise module, a third white noise module, a first nonstationary filtering transfer function module, a second nonstationary filtering transfer function module, a third nonstationary filtering transfer function module, a first inertia link correction type incoherent transfer function module, a second inertia link correction type coherent transfer function module, a first summation module and a second summation module; the output end of the multifunctional laser path detector is respectively connected with the input ends of an inertia link correction type coherent transfer function calculation module, an inertia link correction type incoherent transfer function calculation module and a non-stationary filtering transfer function calculation module, the output end of the inertia element correction type coherent transfer function calculation module is connected with one input end of the inertia element correction type coherent transfer function module, the output end of the inertia element correction type incoherent transfer function calculation module is respectively connected with 1 input end of the first inertia element correction type incoherent transfer function module and 1 input end of the second inertia element correction type incoherent transfer function module, the output end of the non-stationary filtering transfer function calculation module is respectively connected with 1 input end of each of the first non-stationary filtering transfer function module, the second non-stationary filtering transfer function module and the third non-stationary filtering transfer function module; the output end of the first white noise module is connected with the first non-stationary filtering transfer function module, the output end of the second white noise module is connected with the second non-stationary filtering transfer function module, the output end of the third white noise module is connected with the third non-stationary filtering transfer function module, the output end of the first non-stationary filtering transfer function module is connected with the other input end of the first inertia link correction type incoherent transfer function module, the output end of the second non-stationary filtering transfer function module is connected with the other input end of the inertia link correction type coherent transfer function module, the output end of the third non-stationary filtering transfer function module is connected with the other input end of the second inertia link correction type incoherent transfer function module, the output ends of the first inertia link correction type incoherent transfer function module and the inertia correction type coherent transfer function module are both connected with the input end of the first summation module, the output end of the first summing module is connected with the input end of the left excitation head servo control unit, the output ends of the second inertia link correction type incoherent transfer function module and the inertia link correction type coherent transfer function module are connected with the input end of the second summing module, and the output end of the second summing module is connected with the input end of the right excitation head servo control unit.
The invention discloses a road surface excitation output method of a road surface excitation output system based on measured data reconstruction, which adopts the technical scheme that: comprises the following steps:
step A: the first inertia link correction type coherent transfer function calculation module is used for measuring left and right wheel track road surface unevenness actual measurement data L1(I) And R1(I) Processing to obtain an inertial link correction type coherent transfer function H1(S) reacting H1(S) inputting the data into an inertial link correction type coherent transfer function module; the inertia link correction type incoherent transfer function calculation module carries out actual measurement on the left and right wheel track road surface unevenness data L1(I) And R1(I) Processing to obtain an inertial link correction type incoherent transfer function H2(S) reacting H2(S) inputting the data into a first inertial link correction type incoherent transfer function module and a second inertial link correction type incoherent transfer function module, and a nonstationary filtering transfer function calculation module performing actual measurement on the left and right track road surface unevenness data L1(I) And R1(I) Processing to obtain a non-stationary filter transfer function H0(S), filtering the transfer function H0(S) inputting the signals into a first non-stationary filter transfer function module, a second non-stationary filter transfer function module and a third non-stationary filter transfer function module respectively;
and B: the first white noise module generates white noise omega1(t) and input to a first non-stationary filter transfer function module, the output of which is a non-stationary road excitation q1(t) inputting the data into a first inertia link correction type incoherent transfer function module; the second white noise module generates white noise omega2(t) and input to a second non-stationary filter transfer function block, the output of which is non-stationaryRoad excitation q2(t) inputting the signal into an inertial element correction type coherent transfer function module; the third white noise module generates white noise omega3(t) and inputting the data to a third non-stationary filtering transfer function module, wherein the output of the third non-stationary filtering transfer function module is non-stationary road surface excitation q3(t) and inputting the output of the third non-stationary filtering transfer function module into a second inertia-link-corrected incoherent transfer function module:
and C: excitation q of non-stationary road surface by first inertia link correction type incoherent transfer function module1(t) processing to obtain a left track disturbed road surface excitation qLi (t) and inputting the left track disturbed road surface excitation qLi (t) into a first summation module; inertia link correction type coherent transfer function module for exciting input non-stationary road surface q2(t) and inertial element correction type coherent transfer function H1(S) processing to obtain residual road surface excitation qc(t) and respectively inputting the signals into a first summation module and a second summation module, wherein the second inertial element correction type incoherent transfer function module is used for exciting the input non-stationary road surface q3(t) processing the signal to obtain right track disturbance road surface excitation qRi(t) and input into a second summing module;
step D: a first summation module sums an input road excitation qLi(t)、qc(t) summing to obtain left wheel rut road surface excitation L1(t) and inputting the data into a left excitation head servo control unit, and a second summation module excites the input road surface qRi(t)、qc(t) summing to obtain right wheel rut road surface excitation R1(t) and inputting the signal into a right excitation head servo control unit;
step E: the left and right excitation head servo control units excite L according to the rut road surface of the left and right wheels1(t)、R1(t) controlling the left and right excitation heads to output simulated road surface excitations L (t) and R (t) in real time.
After the technical scheme is adopted, the invention has the beneficial effects that:
1. the invention can make the left and right wheel track road surface excitation heads of the vehicle bench test bed provide the double-wheel track non-stable road surface excitation which is consistent with the calculated power spectrum of the measured road surface and the coherent transfer function.
2. The non-stationary filtering model provided by the invention can be used for road excitation dynamics modeling when the road fluctuation index is not equal to 2, and can be conveniently used for generating a non-stationary road excitation signal on line in real time.
3. The left and right track non-stable road surface excitation data generated by the invention has small calculation workload and high precision.
Drawings
FIG. 1 is a block diagram of a system implementing the present invention;
fig. 2 is a block diagram of the structure of the road surface excitation signal generating unit in fig. 1.
Detailed Description
Referring to fig. 1, the road surface excitation output system based on measured data reconstruction of the invention adopts a road surface irregularity acquisition system to measure the left and right wheel track road surface irregularity L of a vehicle1(I)、R1(I) Data, measured data L1(I)、R1(I) Inputting the road simulation test system into a vehicle road simulation test system, and generating simulated road surface excitations L (t) and R (t) after being processed by the vehicle road simulation test system. The road surface unevenness collecting system comprises a multifunctional laser road detector and a GPS receiver, wherein the output end of the GPS receiver is connected with the input end of the multifunctional laser road detector, and the output end of the multifunctional laser road detector is connected with a vehicle road simulation test system. The multifunctional laser road detector and the GPS receiver are both arranged on a top cross beam of the automobile, and the GPS receiver obtains road longitudinal coordinates I of acquisition points on the road trend length at specific length intervals and inputs the road longitudinal coordinates I to the multifunctional laser road detector. The multifunctional laser road detector measures the left and right wheel track road surface excitation height at the collection point, namely the left wheel track road surface excitation height L and the right wheel track road surface excitation height R. The multifunctional laser road detector combines the actually measured road surface excited height L, R with the road longitudinal coordinate I to generate the actually measured left and right wheel track road surface unevenness data L in the road space domain1(I) And R1(I) And then sent to a vehicle road simulation test system.
The vehicle road simulation test system consists of a control system, a left excitation head and a right excitation head, wherein the control system consists of a road surface excitation signal generation unit, a left excitation head servo control unit and a right excitation head servo control unit. The output end of the multifunctional laser path detector is connected with the input end of a road surface excitation signal generation unit, and the output end of the road surface excitation signal generation unit is respectively connected with the input ends of a left excitation head servo control unit and a right excitation head servo control unit. The output end of the left excitation head servo control unit is connected with the input end of the left excitation head, the left excitation head outputs simulated road surface excitation L (t), the output end of the right excitation head servo control unit is connected with the input end of the right excitation head, and the right excitation head outputs simulated road surface excitation R (t).
Referring to fig. 2, the road excitation signal generating unit is composed of an inertia link corrected coherent transfer function calculating module 12, an inertia link corrected incoherent transfer function calculating module 13, a non-stationary filter transfer function calculating module 14, first, second, and third white noise modules 1,2,3, first, second, and third non-stationary filter transfer function modules 4, 5, and 6, first and second inertia link corrected incoherent transfer function modules 7 and 9, an inertia link corrected coherent transfer function module 8, and first and second summing modules 10 and 11.
Wherein, the output end of the multifunctional laser road detector is respectively connected with the input ends of an inertia link correction type coherent transfer function calculation module 12, an inertia link correction type incoherent transfer function calculation module 13 and a non-stationary filtering transfer function calculation module 14, and the actually measured data L of the unevenness of the left and right wheel track road surfaces1(I) And R1(I) The input is input into an inertia link correction type coherent transfer function calculation module 12, an inertia link correction type incoherent transfer function calculation module 13 and a non-stationary filtering transfer function calculation module 14. The output end of the inertia element correction type coherent transfer function calculation module 12 is connected to one input end of the inertia element correction type coherent transfer function module 8, and the output end of the inertia element correction type incoherent transfer function calculation module 13 is respectively connected to 1 input end of each of the first inertia element correction type incoherent transfer function module 7 and the second inertia element correction type incoherent transfer function module 9. The output ends of the non-stationary filter transfer function calculation modules 14 are respectively connected1 input of each of the first non-stationary filter transfer function module 4, the second non-stationary filter transfer function module 5 and the third non-stationary filter transfer function module 6. The output ends of the three independent white noise modules 1,2 and 3 are respectively connected with the other input end of each of the corresponding non-stationary filtering transfer function modules 4, 5 and 6, namely, the output end of the first white noise module 1 is connected with the first non-stationary filtering transfer function module 4, the output end of the second white noise module 2 is connected with the second non-stationary filtering transfer function module 5, and the output end of the third white noise module 3 is connected with the third non-stationary filtering transfer function module 6. The output end of the first non-stationary filtering transfer function module 4 is connected with the other input end of the first inertia element correction type incoherent transfer function module 7, the output end of the second non-stationary filtering transfer function module 5 is connected with the other input end of the inertia element correction type coherent transfer function module 8, and the output end of the third non-stationary filtering transfer function module 6 is connected with the other input end of the second inertia element correction type incoherent transfer function module 9. The output ends of the first inertia link correction type incoherent transfer function module 7 and the inertia link correction type coherent transfer function module 8 are both connected with the input end of a first summation module 10, and the output end of the first summation module 10 is connected with the input end of a left excitation head servo control unit. The output ends of the second inertia link correction type incoherent transfer function module 9 and the inertia link correction type coherent transfer function module 8 are both connected with the input end of a second summation module 11, and the output end of the second summation module 11 is connected with the input end of the right excitation head servo control unit.
Wherein, the first inertia link correction type coherent transfer function calculation module 12 calculates the received actual measurement L1(I) And R1(I) Calculating to obtain an inertial link correction type coherent transfer function H1(S) reacting H1And (S) is input into the inertial element correction type coherent transfer function module 8 to complete the construction of the inertial element correction type coherent transfer function module 8. The inertia link correction type incoherent transfer function calculation module 13 calculates the received measured data L1(I) And R1(I) Calculating to obtain an inertial link correction type incoherent transfer function H2(S) subjectingH2And (S) inputting the data into the first inertia link correction type incoherent transfer function module 7 and the second inertia link correction type incoherent transfer function module 9 to complete the construction of the first inertia link correction type incoherent transfer function module 7 and the second inertia link correction type incoherent transfer function module 9. The non-stationary filter transfer function calculation module 14 performs filtering on the received measured data L1(I) And R1(I) Performing calculation processing to obtain a non-stationary filtering transfer function H0(S), filtering the transfer function H0(S) is respectively input into the first, second and third non-stationary filtering transfer function modules 4, 5 and 6 to complete the construction of the first, second and third non-stationary filtering transfer function modules 4, 5 and 6.
Wherein the first white noise module 1 generates white noise ω1(t) white noise ω1(t) is input into a first non-stationary filter transfer function module 4, and the output of the first non-stationary filter transfer function module 4 is a non-stationary road surface excitation signal q1(t), non-stationary road surface excitation signal q1(t) is input into the first inertia-step-corrected incoherent transfer function module 7. The second white noise module 2 generates white noise ω2(t) white noise ω2(t) is input to a second non-stationary filter transfer function module 5, and the output of the second non-stationary filter transfer function module 5 is a non-stationary road surface excitation signal q2(t), non-stationary road surface excitation signal q2And (t) is input into the inertia element correction type coherent transfer function module 8. The third white noise module 3 generates white noise ω3(t) white noise ω3(t) is input to a third non-stationary filter transfer function module 6, and the third non-stationary filter transfer function module 6 outputs a non-stationary road excitation signal q3(t), non-stationary road surface excitation signal q3(t) is input to the second inertia-element-corrected incoherent transfer function module 9.
The first inertia link correction type incoherent transfer function module 7 excites the input non-stationary road surface q1(t) processing the signal to obtain left track disturbance road surface excitation qLi(t) signal, and mixing qLiThe (t) signal is input into the first summing module 10. Inertia link correction phaseDry transfer function module 8 stimulates q for input non-smooth road surface2(t) signal and inertial element correction type coherent transfer function H1(S) processing to obtain residual road surface excitation qc(t) signal, and converting the qcThe (t) signals are input to the first and second summing modules 10 and 11, respectively. The second inertia link correction type incoherent transfer function module 9 excites the input non-stationary road surface to q3(t) processing the signal to obtain right track disturbance road surface excitation qRi(t) signal, and converting the qRiThe (t) signal is input to a second summing block 11.
The first summation module 10 sums the input road excitation qLi(t)、qc(t) summing to obtain left wheel rut road surface excitation L1(t), left wheel rut road surface excitation L1(t) is input to the left excitation head servo control unit. The second summation module 11 sums the input road excitation qRi(t)、qc(t) summing to obtain right wheel rut road surface excitation R1(t) right wheel rut road surface excitation R1(t) is inputted to the right excitation head servo control unit.
The left and right excitation heads are respectively fixed on the upper ends of piston rods of hydraulic oil cylinders of the vertically upward vehicle, and the servo control unit of the left and right excitation heads excites L according to the rut road surfaces of the left and right wheels1(t)、R1(t) controlling the left and right excitation heads to output different simulated road surface excitations L (t) and R (t) in real time, and simulating the road surface excitations.
Referring to fig. 1-2, before the vehicle road simulation test system works, a road surface irregularity acquisition system is used for actually measuring left and right track road surface irregularity data of at least 2 kilometers, the left and right track road surface excitation self-power spectral density and a coherent transfer function are calculated, then a non-stationary filtering transfer function module, an inertial link correction type coherent transfer function module and an inertial link correction type non-inertial link correction type coherent transfer function module are constructed, and then input parameters of a white noise module are determined according to the vehicle running speed v (m/s) to be simulated. When the vehicle road simulation test system works, the left wheel and the right wheel of a test automobile are respectively fixed on the corresponding left excitation head and right excitation headThe vibration head servo control unit outputs left and right wheel rut road surface excitation L according to the summation module1(t)、R1(t) controlling the left piston rod and the right piston rod to output different heights in real time, namely simulating road surface excitations L (t) and R (t), wherein the left wheel and the right wheel of the test automobile are subjected to the simulated road surface excitations corresponding to the real-time signals of the left wheel track road surface excitations and the right wheel track road surface excitations. The specific process is as follows:
step 1: the road surface unevenness collecting system is adopted to actually measure the road surface unevenness, and the data of the left and right wheel track road surface unevenness of at least 2 kilometers in length is actually measured. On the longitudinal coordinate I of the measured road, the GPS receiver takes the reciprocal of the cut-off frequency on the uneven road surface by 2 times
Is a sampling interval, where nmaxThe recommended value of national standard GB/T7031--1Determining road longitudinal coordinate I of each road surface unevenness collecting point, inputting the road longitudinal coordinate I into a multifunctional laser road detector, actually measuring left wheel track road surface excitation height L and right wheel track road surface excitation height R at the road coordinate point by the multifunctional laser road detector, and generating left and right wheel track road surface unevenness L after collection1(I)、R1(I) And then sent to the control system.
Step 2: the inertia link correction type coherent transfer function calculation module 12 and the inertia link correction type incoherent transfer function calculation module 13 are used for the unevenness L of the left and right wheel track road surfaces1(I)、R1(I) Processing is carried out, the square vector Coh2 of the coherent function is firstly obtained by using the mscore () function provided by Matlab software according to the following formula (5)LRThen, according to the formula (6), L is obtained1(I) And R1(I) Coh in the spatial domainLR，CohLRIs a spatial frequency vector n with the road surfaceRVectors in a one-to-one correspondence.
[Coh2LR nR]＝mscohere(L1(I),R1(I)，256，[],1024,2nmax) (5)
Wherein, Coh2LRIs a vector Coh of a coherence functionLRThe square vector of (a); n isRIs and CohLRRoad surface space frequency vectors corresponding to the data; []Indicating that a default value is used.
Then, the inertial element correction type coherent transfer function calculation module 12 obtains a fitting parameter α by fitting according to the following formula (7) using an lsqcurvefit () tool provided by MATLAB software0、α1、α2、β0、β1And beta2Taking vector n in fittingREach value of (a):
wherein j is a unit imaginary number; alpha is alpha0、α1、α2、β0、β1And beta2All are non-negative fitting parameters; and n is the spatial frequency of the road surface.
Different from the fitting method of the inertial link correction type coherent transfer function calculation module 12, the inertial link correction type incoherent transfer function calculation module 13 uses an lsqcurvefit () tool provided by MATLAB software to obtain a fitting parameter psi according to the following formula (8)0、ψ1、ψ2、ξ0、ξ1And xi2Values of (a), taking the vector n of passes in the fittingREach value of (a):
wherein psi0、ψ1、ψ2、ξ0、ξ1And xi2Are all non-negative fitting parameters.
The inertial element correction type coherent transfer function calculation module 12 calculates the fitting parameter alpha0、α1、α2、β0、β1、β2An inertia element correction model is constructed according to the following formula (9)Transfer function H of coherent transfer function model1(S)。
In the formula, S is laplace operator.
The inertial element correction type incoherent transfer function calculation module 13 calculates the fitting parameter psi0、ψ1、ψ2、ξ0、ξ1、ξ2The transfer function H of the inertial element correction type incoherent transfer function model is constructed according to the following formula (10)2(S)。
In the formula (9) and the formula (10),
and
describing the approximate forms of an inertial link correction type coherent transfer function model and an inertial link correction type uncorrelated function model for an inertial link trend term;
and
for fitting the precision correction term, on the basis that the trend term determines the approximate forms of the coherent transfer function model and the uncorrelated function model, the model precision is corrected according to the difference of specific numerical values to improve the modeling precision, the more the correction terms, the higher the fitting precision, and the number of the correction terms can be increased or decreased according to the actual fitting precision requirement.
And step 3: simultaneously with the step 2, the following steps are carried out: the nonstationary filter transfer function calculation module 14 is used for carrying out excitation actual measurement on left and right track road surfaces1(I)、R1(I) To carry outProcessing, adopting pwelch () function provided by MATLAB software to respectively obtain L according to the following formulas (11) and (12)1(I) And R1(I) Self-power spectral density G in the spatial domain ofLAnd GR，GLAnd GRAre all the spatial frequency vector n with the road surfaceRVector of one-to-one correspondence:
[GL nR]＝pwelch(L1(I),1024,[],[],2nmax) (11)
[GR nR]＝pwelch(R1(I),1024,[],[],2nmax) (12)
then, the non-stationary filter transfer function calculation module 14 utilizes the mean () function provided by MATLAB software to obtain the estimated road surface excitation coefficient required to generate the road surface excitation according to the formula (13)
Wherein n is the spatial frequency of the road surface, and a vector n is taken during fittingREach value of (1).
Then, the non-stationary filter transfer function calculation module 14 uses the lsqcurvefit () tool provided by MATLAB software to fit according to equation (13) to obtain the fitting parameter χ0、χ1、χ2、χ3、μ1、μ2And mu3The value of (c):
in the formula, nsThe frequency point with the maximum error after the initial correction is obtained; chi shape0、χ1、χ2、χ3、μ1、μ2And mu3All are fitting parameters greater than 0; n isminThe lower cut-off frequency of the uneven road surface.
Speed to be simulated by the vehicle road simulation test systemAt vm/s, will
The method is used as a left and right wheel track road excitation head of a vehicle road simulation test system to provide real-time estimated road excitation coefficients in a time domain, and a non-stationary filtering transfer function H is constructed according to the following formula (14)0(S)：
Wherein v is the automobile running speed;
the estimated road surface excitation coefficient of the road surface excitation required to be generated is obtained by the formula (13);
is a reference filter term which corresponds to a road surface fluctuation index W equal to 2,
for the first correction term of the road surface undulation index, χ1＞μ1Corresponding to W < 2,
is aimed at the error maximum frequency point n after the primary correctionsCharacteristic frequency point correction term of (1)0In order to estimate the correction term of the irregularity coefficient, the more the correction terms of the characteristic frequency points are, the higher the fitting precision is, and the number of terms can be increased or decreased according to the actual fitting precision requirement.
And 4, step 4: transfer function H in step 21(S) is input to an inertial element correction type coherent transfer function module 8, and a transfer function H is input2(S) are respectively input into a first inertia link correction type incoherent transfer function module 7 and a second inertia link correction type incoherent transfer function module 9, and the non-stationary filtering transfer function H in the step 3 is input0(S) are input into three non-stationary filter transfer function modules 4, 5, 6.
Three white noise modules 1,2 and 3 respectively generate three mutually independent frequency multiplication half-unit white noise signals omega1(t)、ω2(t) and ω3(t) the spectral values and sampling times of the three white noise modules are set to 1 and
t is a time variable, and the seeds are set to 23341, 23343 and 23347, respectively, at a sampling frequency of 2vnmaxCalculate ωi(t) (i ═ 1,2,3) at [0 vn-max]Power spectral density G in the frequency rangeωiEqual to 2. White noise signal omega1(t) input to the first non-stationary filter transfer function module 4, a white noise signal ω2(t) input to the second non-stationary filter transfer function module 5, a white noise signal ω3(t) is input into a third non-stationary filter transfer function block 6.
The first non-stationary filter transfer function module 4 is used for input white noise signal omega1(t) processing to obtain a non-smooth road surface excitation signal q1(t) of (d). The second non-stationary filter transfer function module 5 is used for the input white noise signal omega2(t) processing to obtain a non-smooth road surface excitation signal q2(t) of (d). The third non-stationary filter transfer function module 6 is used for the input white noise signal omega3(t) processing to obtain a non-smooth road surface excitation signal q3(t) of (d). The method for processing the input signal by the 3 non-stationary filter transfer function modules 4, 5 and 6 is the same, taking the first non-stationary filter transfer function module 4 as an example, the specific process is as follows: first on white noise signal omega1(t) Fourier transform to obtain
Then to
And H0Performing inverse Fourier transform on the product of the (S) to obtain non-stationary road surface excitation
Wherein
And
the calculation time is the laplacian S ═ j2 pi n for the fourier transform operator and the inverse fourier transform operator, respectively.
The first inertia link correction type incoherent transfer function module 7 excites the input non-stationary road surface q1(t) processing the signal to obtain left track disturbance road surface excitation qLi(t) a signal(s) is (are),
inertial link correction type coherent transfer function module 8 is used for input non-stationary road surface excitation signal q2(t) obtaining a residual road excitation qc(t) a signal(s) is (are),
the second inertia link correction type incoherent transfer function module 9 excites the input non-stationary road surface to q3(t) processing to obtain right track disturbed road excitation qRi(t)，
The first inertial link correction type incoherent transfer function module 7 and the inertial link correction type coherent transfer function module 8 respectively output left track disturbance road surface excitation qLi(t) and residual road excitation qc(t) to the first summing module 10, the first summing module 10 being according to the formula L1(t)＝qLi(t)+qc(t) calculating left wheel rut road surface excitation L1(t) of (d). The second inertia link correction type incoherent transfer function module 9 and the inertia link correction type coherent transfer function module 8 respectively output right wheel track disturbed road surface excitation qRi(t) and residual road excitation qc(t) to the second summing module 11, the second summing module 11 being according to the formula R1(t)＝qRi(t)+qc(t) calculating left wheel rut road surface stressExcitation R1(t)。
And 5: the excitation head servo control unit receives the left and right wheel track pavement excitations L generated in the step 41(t)、R1And (t) respectively driving the corresponding left and right excitation heads to generate left and right wheel track road surface excitation determined by the actual measurement road surface excitation and the simulated vehicle speed in real time. Respectively fixing the left and right wheels of the test automobile on the corresponding left and right excitation heads, and receiving the excitation L of the left and right wheel rut road surface in the step 4 by the left and right excitation head servo control unit1(t)、R1And (t) controlling the left piston rod and the right piston rod to output different heights in real time, wherein the height values are L (t) and R (t), and simulating non-smooth road surface excitation. At this time, the values of the actual simulated road surface excitations L (t) and R (t) are respectively equal to the left-wheel track road surface excitation signal L1(t) and right wheel rut road excitation signal R1(t)。
In the invention, the excitation signal L of the left wheel track road surface in the time domain1(t) and Right-wheel Rut road excitation Signal R1The complex expressions of (t) are shown in the following formulas (15) and (16), respectively:
L1(j2πn)＝H2(j2πn)q1(j2πn)+H1(j2πn)q2(j2πn) (15)
R1(j2πn)＝H2(j2πn)q3(j2πn)+H1(j2πn)q2(j2πn) (16)
since the coherent transfer function in the time domain is specified to have a value of
Value of (d) and road surface excitation spatial domain intra-domain coherent transfer function CohLRAre equal but
And
the corresponding frequency vector is composed of nRIs converted into vn under the action of vehicle speed vR。
Time domain left and right wheel track road surface excitation signal L1(t) and R1(t) self-Power spectral Density
And coherent transfer function
Represented by formulas (17), (18) and (19), respectively.
Wherein,
and
are respectively L in the time domain1(t)、R1(t)、q1(t)、q2(t) and q3(t) self-power spectral density;
and
are respectively q in the time domain1(t)、q2(t) and q3(t) cross-power spectral density;
and
are respectively L in the time domain1(t) and R1(t) cross-power spectral density.
Due to q1(t)、q2(t) and q3(t) equal self-power spectral density, from qi(t)＝H0ωi(t) (i ═ 1,2,3) their values of spectral density under self-power are known
In the formula, GωiIs a frequency-multiplied half-unit white noise signal omega in the time domaini(t) a power spectral density equal to 2.
The belt (13) and (14) have the following structure:
due to q1(t)、q2(t) and q3(t) are independent of each other, therefore
And
all equal to zero, equations (17), (18) and (19) can be simplified as:
because the values of the actual simulated road surface excitation L (t) and R (t) are respectively equal to the left wheel track road surface excitation signal L1(t) and R1(t) accordingly, formulae (22) and(23) the method provided by the invention can be used for enabling the product of the power spectral density excited by the left and right track road surfaces generated in real time and the power spectral density actually measured on the road surface by the simulated automobile running at the speed v in the step 1
The equation (24) shows that the method provided by the invention can be used for generating the coherent transfer function excited by the left and right wheel track road surfaces in real time and simulating the coherent transfer function model of the automobile running at the speed v on the road surface actually measured in the step 1
Are matched.
Claims (5)
1. The utility model provides a road surface excitation output system based on measured data reconsitution, including road surface roughness collection system and vehicle road analogue test system, road surface roughness collection system comprises multi-functional laser way detector and GPS receiver, the input of multi-functional laser way detector is connected to the output of GPS receiver, the GPS receiver gathers road longitudinal coordinate, multi-functional laser way detector is at the height L, R of the left, right wheel rut road surface excitation of collection point actual measurement, and output left, right wheel rut road surface roughness measured data L1(I) And R1(I) (ii) a The vehicle road simulation test system comprises a control system, a left excitation head and a right excitation head, wherein the control system comprises a road excitation signal generating unit, a left excitation head servo control unit and a right excitation head servo control unit, the output end of the multifunctional laser path detector is connected with the input end of the road excitation signal generating unit, the output end of the road excitation signal generating unit is respectively connected with the input ends of the left excitation head servo control unit and the right excitation head servo control unit, the output end of the left excitation head servo control unit is connected with the input end of the left excitation head, the left excitation head outputs a simulated road surface excitation L (t), the output end of the right excitation head servo control unit is connected with the input end of the right excitation head, and the right excitation head outputs a simulated road surface excitation R (t), and is characterized in that: the road surface excitation signal generating unit is corrected by an inertia link to form a coherent transfer functionThe device comprises a calculation module (12), an inertial link correction type incoherent transfer function calculation module (13), a non-stationary filtering transfer function calculation module (14), a first white noise module, a second white noise module, a third white noise module (1, 2,3), a first non-stationary filtering transfer function module, a second non-stationary filtering transfer function module, a third non-stationary filtering transfer function module (4, 5, 6), a first inertial link correction type incoherent transfer function module, a second inertial link correction type incoherent transfer function module (7, 9), an inertial link correction type coherent transfer function module (8) and a first summation module (10, 11); the output end of the multifunctional laser path detector is respectively connected with the input ends of an inertia link correction type coherent transfer function calculation module (12), an inertia link correction type incoherent transfer function calculation module (13) and a nonstationary filtering transfer function calculation module (14), the output end of the inertia link correction type coherent transfer function calculation module (12) is connected with one input end of an inertia link correction type coherent transfer function module (8), the output end of the inertia link correction type incoherent transfer function calculation module (13) is respectively connected with 1 input end of a first inertia link correction type incoherent transfer function module (7) and 1 input end of a second inertia link correction type incoherent transfer function module (9), and the output end of the nonstationary filtering transfer function calculation module (14) is respectively connected with the first nonstationary filtering transfer function module (4), 1 input of each of a second non-stationary filter transfer function module (5) and a third non-stationary filter transfer function module (6); the output end of the first white noise module (1) is connected with a first non-stationary filtering transfer function module (4), the output end of the second white noise module (2) is connected with a second non-stationary filtering transfer function module (5), the output end of the third white noise module (3) is connected with a third non-stationary filtering transfer function module (6), the output end of the first non-stationary filtering transfer function module (4) is connected with the other input end of the first inertia link correction type incoherent transfer function module (7), the output end of the second non-stationary filtering transfer function module (5) is connected with the other input end of the inertia link correction type coherent transfer function module (8), the output end of the third non-stationary filtering transfer function module (6) is connected with the other input end of the second inertia link correction type incoherent transfer function module (9), the first inertia link correction type incoherent transfer function module (7) and the inertia correction type coherent transfer function module (8) ) Output of (2)The output ends of the first summing module (10) are connected with the input end of the left excitation head servo control unit, the output ends of the second inertia link correction type incoherent transfer function module (9) and the inertia link correction type coherent transfer function module (8) are connected with the input end of the second summing module (11), and the output end of the second summing module (11) is connected with the input end of the right excitation head servo control unit.
2. The method for outputting road surface excitation of a road surface excitation output system based on measured data reconstruction as claimed in claim 1, comprising the steps of:
step A: the first inertia link correction type coherent transfer function calculation module (12) is used for measuring the left and right track road surface unevenness actual measurement data L1(I) And R1(I) Processing to obtain an inertial link correction type coherent transfer function H1(S) reacting H1(S) inputting the data into an inertial link correction type coherent transfer function module (8); an inertia link correction type incoherent transfer function calculation module (13) measures the left and right wheel track road surface unevenness actual measurement data L1(I) And R1(I) Processing to obtain an inertial link correction type incoherent transfer function H2(S) reacting H2(S) is input into a first inertia link correction type incoherent transfer function module (7) and a second inertia link correction type incoherent transfer function module (9), and a nonstationary filtering transfer function calculation module (14) performs actual measurement data L on the left and right wheel track road surface unevenness1(I) And R1(I) Processing to obtain a non-stationary filter transfer function H0(S), filtering the transfer function H0(S) are respectively input into a first, a second and a third non-stationary filter transfer function module (4, 5, 6);
and B: the first white noise module (1) generates white noise omega1(t) and input to a first non-stationary filter transfer function module (4), the output of the first non-stationary filter transfer function module (4) is a non-stationary road excitation q1(t) and inputting the data into a first inertia link correction type incoherent transfer function module (7); the second white noise module (2) generates white noise omega2(t) and input toA second non-stationary filter transfer function module (5), the output of the second non-stationary filter transfer function module (5) is non-stationary road surface excitation q2(t) and inputting the signal into an inertial link correction type coherent transfer function module (8); the third white noise module (3) generates white noise omega3(t) and input to a third non-stationary filter transfer function module (6), the third non-stationary filter transfer function module (6) outputting a non-stationary road excitation q3(t) and inputting the data into a second inertia element correction type incoherent transfer function module (9):
and C: the first inertia link correction type incoherent transfer function module (7) excites the non-stable road surface q1(t) processing to obtain left track disturbed road excitation qLi(t) and input into a first summing module (10); an inertia link correction type coherent transfer function module (8) excites the input non-stable road surface q2(t) and inertial element correction type coherent transfer function H1(S) processing to obtain residual road surface excitation qc(t) and respectively input into a first summation module (10) and a second summation module (11), and a second inertia element correction type incoherent transfer function module (9) excites the input non-smooth road surface q3(t) processing the signal to obtain right track disturbance road surface excitation qRi(t) and input into a second summing module (11);
step D: a first summation module (10) sums an input road excitation qLi(t)、qc(t) summing to obtain left wheel rut road surface excitation L1(t) and input into the left excitation head servo control unit, and a second summation module (11) excites the input road surface qRi(t)、qc(t) summing to obtain right wheel rut road surface excitation R1(t) and inputting the signal into a right excitation head servo control unit;
step E: the left and right excitation head servo control units excite L according to the rut road surface of the left and right wheels1(t)、R1(t) controlling the left and right excitation heads to output simulated road surface excitations L (t) and R (t) in real time.
3. The road surface excitation output method according to claim 2, characterized in that: in step A, an inertial element correction type coherent transfer functionThe number calculation module (12) and the inertia element correction type incoherent transfer function calculation module (13) firstly according to the formula [ Coh2 ]LRnR]＝mscohere(L1(I),R1(I)，256，[],1024,2nmax) Finding Coh2 a square vector of the coherence functionLRThen according to formula
Find L1(I) And R1(I) Coh in the spatial domainLR，nRIs and CohLRThe data corresponding road surface space frequency vector [ phi ]]Indicating the use of default values;
then an inertia link correction type coherent transfer function calculation module (12) is used for calculating a coherent transfer function according to the formula
Obtaining a fitting parameter alpha0、α1、α2、β0、β1And beta2J is a unit imaginary number; n is the spatial frequency of the pavement; an inertial link correction type incoherent transfer function calculation module (13) is a formula according to
Deriving a fitting parameter psi0、ψ1、ψ2、ξ0、ξ1And xi2A value of (d);
finally, an inertial element correction type coherent transfer function calculation module (12) is according to formula
Obtaining an inertial element correction type coherent transfer function H1(S), wherein S is a Laplace operator; an inertial link correction type incoherent transfer function calculation module (13) is a formula according to
Obtaining an inertial link correction type incoherent transfer function H2(S)。
4. The road surface excitation output method according to claim 2, characterized in that: in the step A, the non-stationary filter transfer function calculation module (14) firstly finds out L1(I) And R1(I) Self-power spectral density G in the spatial domain ofLAnd GRAccording to formula (I)
Calculating the estimated road surface excitation coefficient
n is the spatial frequency of the pavement; then according to formula
Obtaining a fitting parameter χ0、χ1、χ2、χ3、μ1、μ2、μ3；nsThe frequency point with the maximum error after the initial correction is obtained; n isminThe lower cut-off frequency of the uneven road surface; finally according to formula
Obtaining a non-stationary filter transfer function H0(S)。
5. The road surface excitation output method according to claim 2, characterized in that: in step D, the first summation module (10) is based on the formula L1(t)＝qLi(t)+qc(t) calculating left wheel rut road surface excitation L1(t) the second summing module (11) is according to the formula R1(t)＝qRi(t)+qc(t) calculating left wheel rut road surface excitation R1(t)。
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