CN111006884A - Method for measuring wheel axle slip angle and slip stiffness based on Fourier transform - Google Patents

Method for measuring wheel axle slip angle and slip stiffness based on Fourier transform Download PDF

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CN111006884A
CN111006884A CN201911190871.3A CN201911190871A CN111006884A CN 111006884 A CN111006884 A CN 111006884A CN 201911190871 A CN201911190871 A CN 201911190871A CN 111006884 A CN111006884 A CN 111006884A
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wheel
vehicle
axle
angle
cornering stiffness
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CN111006884B (en
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张宁
马慧
李田
赵子乾
吴建华
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/013—Wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G01B21/26—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems

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Abstract

The invention discloses a method for measuring a wheel axle slip angle and slip stiffness based on Fourier transform, which comprises the following steps: obtaining an axle slip angle and a wheel slip angle; acquiring a wheel lateral force and an axle lateral force; and solving the wheel cornering stiffness and the axle cornering stiffness. The invention has wide application range and various measuring objects, can be applied to common passenger vehicles and complex articulated vehicles, and can be applied to four-wheel vehicles and two-wheel or multi-wheel vehicles; the measuring cost is low, advanced and expensive optical sensors are not needed to be used for measuring the wheel slip angle and the axle slip angle, and only common vehicle-grade wheel speed sensors, wheel lateral force sensors or wheel sextant are needed.

Description

Method for measuring wheel axle slip angle and slip stiffness based on Fourier transform
Technical Field
The invention relates to a method for measuring a wheel axle slip angle and slip stiffness, in particular to a method for measuring a wheel axle slip angle and slip stiffness based on Fourier transform.
Background
The wheel/axle slip angle and the slip stiffness in the driving process of the automobile are key vehicle parameters and state information used for evaluating the dynamic performances such as vehicle operation stability and the like and realizing the accurate control of an automobile electronic control system and the intelligent vehicle auxiliary or unmanned technology. How to accurately estimate and measure both at low cost and in real time in engineering practice has been one of the goals of the automobile engineering researchers' diligent efforts. Meanwhile, obtaining the important parameter of more accurate wheel/axle cornering stiffness is also a necessary foundation for building a vehicle dynamics simulation model and implementing virtual prototype simulation analysis. In the traditional method, a linearized vehicle monorail model can be generally adopted to process vehicle test data from the aspect of kinematics, and in recent years, scientific research and technicians propose new methods, on one hand, a wheel/axle yaw angle can be measured in real time through a relatively expensive optical speed sensor, on the other hand, the real-time wheel/axle yaw angle can be estimated through an advanced Kalman filter or a state observer, and then measured or estimated lateral force is used for calculating yaw stiffness. However, the conventional method has a limited application range, is difficult to be used for real-time control, the cost of the advanced optical sensor is too high to be configured in mass-production vehicle models, and the robustness and the practicability of advanced algorithms such as kalman filtering or a state observer are still to be improved.
Therefore, it is desired to solve the above problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a Fourier transform-based method for measuring the cornering angle and the cornering stiffness of a wheel axle, which is suitable for the working condition that the vehicle dynamic state is in the tire linear range and a vehicle system has harmonic response, has strong operability and low cost.
The technical scheme is as follows: in order to achieve the aim, the invention discloses a method for measuring the cornering angle and the cornering stiffness of a wheel axle based on Fourier transform, which comprises the following steps:
(1) vehicle for obtainingThe axle slip angle and the wheel slip angle are detected by a wheel speed sensor to obtain the wheel speed, and the wheel speed is calculated to obtain the longitudinal running speed v of the vehiclexThe lateral acceleration a at the front axle of the vehicle is detected by a lateral acceleration sensory,fAnd lateral acceleration a at the rear axle of the vehicley,rThe yaw rate of the vehicle is detected by a yaw rate sensor
Figure BDA0002293542870000011
Steering wheel angle signal delta of vehicle detected by steering wheel angle sensorsCalculating the front axle slip angle α according to the formulaf，
Figure BDA0002293542870000021
Calculating the rear axle slip angle α according to the formular，
Figure BDA0002293542870000022
Wherein isRepresents the fixed transmission ratio obtained by the vehicle steering system after linear simplification, represents the complex amplitude in the complex frequency domain, j represents the imaginary unit, omega1Representing a dominant frequency of the acquired vehicle yaw rate; neglecting the influence of wheel positioning parameters, and enabling the wheel slip angles of the wheels on the left side and the right side to be equal to the axle slip angles;
(2) acquiring wheel lateral force and axle lateral force, detecting through a wheel lateral force sensor or a wheel sextant to obtain the wheel lateral force, and adding the wheel lateral force on the left side and the wheel lateral force on the right side to obtain the axle lateral force;
(3) and solving the cornering stiffness of the wheel and the cornering stiffness of the axle, and calculating to obtain the cornering stiffness C of the front axle of the vehicle according to a formula when the dynamic state of the vehicle is in the linear range of the tireα,fAnd vehicle rear axle cornering stiffness Cα,r，
Figure BDA0002293542870000023
Figure BDA0002293542870000024
Wherein, Fy,fRepresenting the lateral force of the front axle of the vehicle, Fy,rCan represent the lateral force of the rear axle of the vehicle; the vehicle front wheel cornering stiffness is equal to the vehicle front axle cornering stiffness, and the vehicle rear wheel cornering stiffness is equal to the vehicle rear axle cornering stiffness.
Wherein, the wheel speed in the step (1) is calculated by a maximum wheel speed algorithm or an average wheel speed algorithm to obtain the longitudinal running speed v of the vehiclex。
Further, in the step (1), a lateral acceleration sensor is installed at the center of the rear axle, and the lateral acceleration a at the rear axle of the vehicle is detected by the lateral acceleration sensory,rCalculating the lateral acceleration a of the front axle of the vehicle by a formulay,f，
Figure BDA0002293542870000025
Wherein l1Indicating the wheelbase between the front and rear axles of the vehicle.
Preferably, in the step (3), when the maximum value of the amplitude of the measured lateral acceleration of the vehicle is less than 5m/s2Time indicates that the vehicle dynamics are within the tire linear range.
In addition, in the step (3), when the wheel slip angle and the axle slip angle of the vehicle are smaller than 5 degrees, the vehicle dynamic state is in the tire linear range.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages:
(1) the invention has wide application range and various measuring objects, can be applied to common passenger vehicles and complex articulated vehicles, and can be applied to four-wheel vehicles and two-wheel or multi-wheel vehicles; (2) the measuring cost is low, the advanced and expensive optical sensor is not needed to be used for measuring the wheel slip angle and the axle slip angle, and only a common vehicle-grade wheel speed sensor, a wheel lateral force sensor or a wheel sextant are needed; (3) the method has simple measurement conditions, can be directly applied to road tests of vehicles, does not need additional measurement conditions, is simpler and more effective compared with other methods such as vehicle state observers and the like, and is not easily interfered by external environment.
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FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The measurement method is based on a harmonic response mechanism of a vehicle system, so that the following two test scenes are mainly adopted: (1) under external harmonic excitation, a common vehicle can show harmonic response under forced vibration, such as a standard snake-shaped pile winding test of a passenger vehicle; (2) under external non-periodic excitation, a particular vehicle will exhibit harmonic response under free vibration, such as a dynamic critical oscillation test triggered by pulsed excitation of an articulated vehicle traveling at high speed.
As shown in fig. 1, the method for measuring the cornering angle and the cornering stiffness of the wheel axle based on the fourier transform of the invention comprises the following steps:
(1) calculating the axle slip angle and the wheel slip angle, detecting the wheel speed through a wheel speed sensor, and calculating the longitudinal running speed v of the vehicle through a maximum wheel speed algorithm or an average wheel speed algorithmxWherein, the vehicle is required to run at a constant speed, and four or more wheels of the vehicle are provided with wheel speed sensors; a lateral acceleration sensor is arranged at the center of the rear axle, and the lateral acceleration a at the rear axle of the vehicle is detected by the lateral acceleration sensory,rCalculating the lateral acceleration a of the front axle of the vehicle by a formulay,f，
Figure BDA0002293542870000031
Wherein l1Representing the axis between the front and rear axles of the vehicleDistance;
the yaw rate of the vehicle is detected by a yaw rate sensor
Figure BDA0002293542870000032
The vehicle lateral acceleration sensor and the yaw angular velocity sensor are both arranged in a trunk of the test vehicle, so that the positions of the vehicle lateral acceleration sensor and the yaw angular velocity sensor in a horizontal plane are vertically projected in the middle of a rear axle of the vehicle, or a vehicle-grade sensor capable of realizing integrated Measurement of the vehicle lateral acceleration and the yaw angular velocity or a vehicle-grade Inertial Measurement Unit (IMU) is selected; steering wheel angle signal delta of vehicle detected by steering wheel angle sensorsCalculating the front axle slip angle α according to the formulaf，
Figure BDA0002293542870000041
Figure BDA0002293542870000042
Calculating the rear axle slip angle α according to the formular，
Figure BDA0002293542870000043
Wherein isRepresents the fixed transmission ratio obtained by the vehicle steering system after linear simplification, represents the complex amplitude in the complex frequency domain, j represents the imaginary unit, omega1Representing a dominant frequency of the acquired vehicle yaw rate; v. ofy,fAnd vy,rRespectively representing the lateral speeds of the front and rear axles of the vehicle; psi1Indicating the yaw angle of the vehicle βfRepresenting the centroid slip angle at the front axle of the vehicle αfIndicating the vehicle front wheel/front axle slip angle, αrRepresenting the vehicle rear wheel/rear axle slip angle; s represents the laplacian operator; integral sign is represented by ^ integral; neglecting the influence of wheel positioning parameters, and enabling the wheel slip angles of the wheels on the left side and the right side to be equal to the axle slip angles;
(2) acquiring wheel lateral force and axle lateral force, detecting through a wheel lateral force sensor or a wheel sextant to obtain the wheel lateral force, and adding the wheel lateral force on the left side and the wheel lateral force on the right side to obtain the axle lateral force; fy,iAnd vw,iRespectively representing the lateral force and the wheel speed of the wheel to be measured, i denotes the number (1, 2, 3, 4) of the wheel; wherein the wheel lateral force sensors can be selectively arranged on the left and right wheels of the corresponding axle;
(3) and calculating the wheel cornering stiffness and the axle cornering stiffness when the vehicle dynamics state is in the linear range of the tire, wherein the maximum value of the amplitude of the measured vehicle lateral acceleration is less than 5m/s2When the vehicle dynamic state is in the tire linear range or when the wheel slip angle and the axle slip angle of the vehicle are less than 5 degrees, the vehicle dynamic state is in the tire linear range;
calculating to obtain the lateral deflection rigidity C of the front axle of the vehicle according to a formulaα,fAnd vehicle rear axle cornering stiffness Cα,r，
Figure BDA0002293542870000044
Figure BDA0002293542870000045
Wherein, Fy,fRepresenting the lateral force of the front axle of the vehicle, Fy,rCan represent the lateral force of the rear axle of the vehicle; the vehicle front wheel cornering stiffness is equal to the vehicle front axle cornering stiffness, and the vehicle rear wheel cornering stiffness is equal to the vehicle rear axle cornering stiffness.
The lateral deflection rigidity obtained by the method not only comprises amplitude information, but also comprises phase information, but the phase information obtained by data processing in an actual road test is generally near zero degree; the amplitude is the measured yaw stiffness, and the phase information is generally zero. The measuring method is mainly suitable for the working condition that the vehicle dynamic state is in the tire linear range and a vehicle system has harmonic response, necessary vehicle state information is obtained through a vehicle state sensor with lower cost in engineering practice, and a simple and common vehicle single-track model with linear tire characteristics can be established on the basis of the known vehicle geometric parameters and steering ratio of a steering system; furthermore, the amplitude-frequency and phase-frequency characteristics of the harmonic signals of each vehicle state can be further obtained through common Fourier transform in a signal analysis method, and accurate measurement of the wheel/axle slip angle and the slip stiffness can be finally realized based on the linear tire characteristics.
When the vehicle wheel/axle slip angle is less than 5 degrees and the vehicle dynamic state works in the linear range of the tire, the invention can accurately measure the wheel/axle slip angle and the slip stiffness of a vehicle system under harmonic response by means of small angle approximation principle (sin x ≈ x and cos x ≈ 1) and Fourier transform in mathematics. The vehicle system under harmonic response can be regarded as a mechanical vibration system, and the vehicle state quantities such as lateral acceleration, yaw rate and the like of the system show harmonic response characteristics under a certain dominant frequency. At this time, the wheel/axle cornering angle and the lateral force also present a harmonic response characteristic under the dominant frequency, and since both have amplitude and phase information, the wheel/axle cornering stiffness represented in a complex frequency domain manner can be obtained by adopting fourier transform and complex calculation, wherein the amplitude is the measured cornering stiffness, and the phase information is generally zero. The method comprises the steps of (1) integrating a calculation method of an axle slip angle in a linear two-degree-of-freedom vehicle single-track model in an automobile theory in the derivation process of a wheel/axle slip angle expressed in a complex frequency domain mode; because the calculation process is necessarily simplified and the influence of wheel positioning parameters is often ignored, the obtained axle slip angle can be approximate to the wheel slip angles of the wheels on the left side and the right side, and therefore the accurate measurement of the wheel/axle slip angle and the slip stiffness is realized.

Claims (5)

1. A method for measuring the cornering angle and the cornering stiffness of a wheel axle based on Fourier transform is characterized by comprising the following steps:
(1) calculating the axle slip angle and the wheel slip angle, detecting through a wheel speed sensor to obtain the wheel speed, and calculating the wheel speed to obtainLongitudinal travel speed v of vehiclexThe lateral acceleration a at the front axle of the vehicle is detected by a lateral acceleration sensory,fAnd lateral acceleration a at the rear axle of the vehicley,rThe yaw rate of the vehicle is detected by a yaw rate sensor
Figure FDA0002293542860000015
Steering wheel angle signal delta of vehicle detected by steering wheel angle sensorsCalculating the front axle slip angle α according to the formulaf，
Figure FDA0002293542860000011
Calculating the rear axle slip angle α according to the formular，
Figure FDA0002293542860000012
Wherein isRepresents the fixed transmission ratio obtained by the vehicle steering system after linear simplification, represents the complex amplitude in the complex frequency domain, j represents the imaginary unit, omega1Representing a dominant frequency of the acquired vehicle yaw rate; neglecting the influence of wheel positioning parameters, and enabling the wheel slip angles of the wheels on the left side and the right side to be equal to the axle slip angles;
(2) acquiring wheel lateral force and axle lateral force, detecting through a wheel lateral force sensor or a wheel sextant to obtain the wheel lateral force, and adding the wheel lateral force on the left side and the wheel lateral force on the right side to obtain the axle lateral force;
(3) and solving the cornering stiffness of the wheel and the cornering stiffness of the axle, and calculating to obtain the cornering stiffness C of the front axle of the vehicle according to a formula when the dynamic state of the vehicle is in the linear range of the tireα,fAnd vehicle rear axle cornering stiffness Cα,r，
Figure FDA0002293542860000013
Figure FDA0002293542860000014
Wherein, Fy,fRepresenting the lateral force of the front axle of the vehicle, Fy,rRepresenting a lateral force of a rear axle of the vehicle; the vehicle front wheel cornering stiffness is equal to the vehicle front axle cornering stiffness, and the vehicle rear wheel cornering stiffness is equal to the vehicle rear axle cornering stiffness.
2. The fourier transform-based method of measuring wheel axle cornering angle and cornering stiffness of claim 1, wherein: in the step (1), the wheel speed is calculated through a maximum wheel speed algorithm or an average wheel speed algorithm to obtain the longitudinal running speed v of the vehiclex。
3. The fourier transform-based method of measuring wheel axle cornering angle and cornering stiffness of claim 1, wherein: in the step (1), a lateral acceleration sensor is arranged at the center of the rear axle, and the lateral acceleration a at the rear axle of the vehicle is detected by the lateral acceleration sensory,rCalculating the lateral acceleration a of the front axle of the vehicle by a formulay,f，
Figure FDA0002293542860000021
Wherein l1Indicating the wheelbase between the front and rear axles of the vehicle.
4. The fourier transform-based method of measuring wheel axle cornering angle and cornering stiffness of claim 1, wherein: when the maximum value of the amplitude of the measured lateral acceleration of the vehicle in the step (3) is less than 5m/s2Time indicates that the vehicle dynamics are within the tire linear range.
5. The fourier transform-based method of measuring wheel axle cornering angle and cornering stiffness of claim 1, wherein: and (3) when the wheel slip angle and the axle slip angle of the vehicle are smaller than 5 degrees, the vehicle dynamic state is in the tire linear range.
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CN112046491A (en) * 2020-08-19 2020-12-08 福瑞泰克智能系统有限公司 Method and device for estimating cornering stiffness of wheel, vehicle and readable storage medium
CN113848068A (en) * 2021-09-10 2021-12-28 东风汽车集团股份有限公司 Vehicle deviation measuring method and device
CN114084225A (en) * 2021-11-19 2022-02-25 吉林大学 Wheel corner measuring system suitable for rack and pinion steering mechanism

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CN112046491A (en) * 2020-08-19 2020-12-08 福瑞泰克智能系统有限公司 Method and device for estimating cornering stiffness of wheel, vehicle and readable storage medium
CN113848068A (en) * 2021-09-10 2021-12-28 东风汽车集团股份有限公司 Vehicle deviation measuring method and device
CN114084225A (en) * 2021-11-19 2022-02-25 吉林大学 Wheel corner measuring system suitable for rack and pinion steering mechanism
CN114084225B (en) * 2021-11-19 2023-12-12 吉林大学 Wheel corner measurement system suitable for rack and pinion steering mechanism

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