CN111307372B - Method for measuring and calculating height of mass center of two-axis automobile - Google Patents
Method for measuring and calculating height of mass center of two-axis automobile Download PDFInfo
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- CN111307372B CN111307372B CN202010302546.8A CN202010302546A CN111307372B CN 111307372 B CN111307372 B CN 111307372B CN 202010302546 A CN202010302546 A CN 202010302546A CN 111307372 B CN111307372 B CN 111307372B
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Abstract
The invention discloses a method for measuring and calculating the height of the mass center of a two-axle automobile, which comprises the steps of firstly measuring the axle distance L, the weight G and the attitude angle deg0 of the static whole automobile when the automobile is in a static state; measuring the acceleration value a0 and the whole vehicle attitude angle deg of the vehicle when the vehicle is accelerated and braked; and finally, measuring the acceleration change and the attitude angle change in the acceleration and braking processes of the automobile, and obtaining the centroid height calculation method by using the acceleration and the change of the attitude angle of the whole automobile according to the relationship between the acceleration of the automobile and the axle load, the height change of the suspension in the static and braking processes and the geometric relationship among the variable quantities. The invention only needs to collect the attitude angle and the acceleration value of the automobile without fixing the suspension and other complicated operations, and compared with the prior art, the invention has the advantages of simple measuring method, universal measuring equipment, safe measuring process and accurate measuring result.
Description
Technical Field
The invention belongs to the technical field of vehicle measurement, and particularly relates to a method for measuring and calculating the height of the mass center of a two-axis automobile.
Background
The position of the center of mass of the vehicle is divided into a horizontal position and a vertical position, and the vertical position is called the height of the center of mass. The height of the mass center of the automobile is an important parameter in the power control of the automobile, and has very important effects on the roll stability and the steering stability of the automobile. Particularly, vehicles with higher mass centers, such as tank cars, pump trucks, SUVs and the like, are extremely easy to turn over under extreme working conditions, and the damage degree of the rollover accident is usually extremely large. Modern vehicles equipped with active roll control systems often require accurate measurement of the height of the center of mass, which is of great application significance to the accurate measurement of the height of the center of mass of an automobile, since the measurement of the height of the center of mass is one of the most important but least easily measurable parameters. At present, the methods for measuring the height of the mass center of the automobile at home and abroad mainly comprise static measurement methods, dynamic measurement methods and the like such as a swing method, a mass reaction method, a scribing method and the like. The conventional static measurement method usually needs to fix a suspension, so that the measurement process is time-consuming and labor-consuming, and measurement errors are generated when the suspension is not firmly fixed, so that the measurement precision is not high. Therefore, it is objectively needed to develop a measuring and calculating method with simple measuring method, universal measuring equipment, safe measuring process and accurate measuring result for the height of the mass center of the two-axis automobile.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide a measuring and calculating method which is simple in measuring method, universal in measuring equipment, safe in measuring process and accurate in measuring result.
The technical scheme adopted by the invention is detailed as follows:
a method for measuring and calculating the height of the mass center of a two-axis automobile comprises the following steps:
the method comprises the following steps: selecting a straight and long enough road surface as a test road surface for the running of the automobile, wherein the adhesion coefficient of the test road surface is required to be more than or equal to 0.6, then installing an acceleration sensor and a whole automobile attitude angle sensor in the running direction of the automobile, and installing a display in a cab of the automobile, wherein the display can display the measurement values of the acceleration sensor and the whole automobile attitude angle sensor;
step two: when an automobile is in a static state on a test road surface, firstly, measuring the axle distance L from the axle center of a front axle to the axle center of a rear axle of the automobile by using a special measuring ruler for the automobile, measuring the weight G of the whole automobile by using a ground scale, and measuring the static posture angle deg0 of the whole automobile by using a whole automobile posture angle sensor;
step three: the method comprises the steps that a vehicle is accelerated on a test road surface, when the vehicle is accelerated to a speed measurement V0, the acceleration sensor is used for recording the numerical value of the acceleration, the attitude angle sensor is used for measuring the numerical value of the attitude angle of the whole vehicle, then the vehicle brake plate is stepped, the numerical changes of the acceleration a0 and the attitude angle deg of the whole vehicle are observed, when the accelerated acceleration reaches a specified numerical value a0 and the attitude angle of the whole vehicle is deg, the acceleration numerical value a0 and the attitude angle deg of the whole vehicle are kept for more than 2 seconds, the brake plate of the vehicle is kept still, and the vehicle is enabled to keep running in a uniform deceleration state until the vehicle stops;
step four: calculation of centroid height
Under the condition of braking of the automobile, the axle load increased by a front axle due to axle load transfer is known from the automobile design theory
The axle load reduced by the rear axle due to the axle load transfer is
Wherein: h is the height of the mass center, g is the gravity acceleration, 9.8m/s ^2 is taken, and a is the braking deceleration;
secondly, points (0,0,0) on the whole vehicle coordinates X, Y, Z of the vehicle are designated as points A, and when the vehicle is static, the vertical height of the points A from the test road surface is hf0During braking, the vertical height of the point A from the test road surface is hf，
According to the design theory characteristic of the automobile suspension, the height reduced by the point A in the braking process is as follows:
xf＝hf0-hf (4)
thirdly, taking the point (L,0,0) on the whole automobile coordinate X, Y, Z as the point B, and when the automobile is static, the vertical height of the point B from the test road surface is hr0During braking, the vertical height of the point B from the test road surface is hrSame principle of
According to the design theory characteristic of the automobile suspension, the height of the point B is increased during braking as follows:
xr＝hr-hr0 (6)
wherein kf is the rigidity of the front suspension, kr is the rigidity of the rear suspension, and both kf and kr are design values;
fourthly, according to the principle of the geometric relationship, the following conditions are obtained:
when the automobile is in a static state,
in the process of braking the automobile,
the formula (1), (2), (3), (4), (5), (6), (7) and (8) are combined to obtain:
the centroid height h can be calculated by substituting L, deg0, deg, kf, kr, G, a0 values.
According to the method, the relation that the attitude angle of the automobile changes due to the fact that the acceleration of the automobile transfers in the automobile braking process and the acceleration exists, the method for calculating the height of the center of mass by using the acceleration and the change of the attitude angle is obtained by measuring the acceleration change and the change of the attitude angle in the automobile acceleration braking process and according to the relation between the acceleration of the automobile and the axle load, the height change of a suspension in the static and braking processes and the geometric relation among all variable quantities. The invention only needs to collect the attitude angle and the acceleration value of the automobile without fixing the suspension and other complicated operations, and compared with the prior art, the invention has the advantages of simple measuring method, universal measuring equipment, safe measuring process, accurate measuring result and easy popularization and use.
Drawings
FIG. 1 is a schematic illustration of an automotive vehicle at rest on a test road;
FIG. 2 is a schematic illustration of an automotive vehicle in a braking condition on a test road surface;
Detailed Description
The invention is further illustrated by the following description of embodiments and the accompanying drawings, without in any way limiting the invention, and any alterations or substitutions made on the basis of the teachings of the invention shall fall within the scope of protection of the invention.
The invention discloses a method for measuring and calculating the height of the mass center of a two-axis automobile, which comprises the following steps of:
the method comprises the following steps: selecting a straight and long enough road surface as a test road surface for the running of an automobile, wherein the adhesion coefficient of the test road surface is required to be more than or equal to 0.6, then installing an acceleration sensor and a whole automobile attitude angle sensor in the running direction of the automobile, installing a display in a cab of the automobile, wherein the display can display the measured values of the acceleration sensor and the whole automobile attitude angle sensor, so that a driver can easily observe the measured data, preferably, the precision of the accelerator sensor is more than or equal to 0.001g, and the precision of the whole automobile attitude angle sensor is more than or equal to 0.01 degrees;
step two: when an automobile is in a static state on a test road surface, firstly, a special measuring ruler for the automobile is used for measuring the axle distance L from the axle center of a front axle to the axle center of a rear axle of the automobile, a ground balance is used for measuring the weight G of the whole automobile, a whole automobile attitude angle sensor is used for measuring a static whole automobile attitude angle deg0, and the whole automobile attitude angle is an included angle between a plane between a front suspension frame and a rear suspension frame of the automobile and the test road surface;
step three: the method comprises the steps of accelerating a vehicle on a test road surface, recording the numerical value of acceleration by using an acceleration sensor when the vehicle accelerates to a speed measurement V0, measuring the numerical value of a finished vehicle attitude angle by using an attitude angle sensor, then stepping on a vehicle brake plate, observing the numerical changes of the acceleration a0 and the finished vehicle attitude angle deg, keeping the brake plate of the vehicle stationary after the accelerated acceleration reaches a specified numerical value a0 and the finished vehicle attitude angle deg for more than 2 seconds when the accelerated acceleration numerical value a0 and the finished vehicle attitude angle deg are kept for de, keeping the brake plate of the vehicle to be in a uniform deceleration state, and stopping the vehicle, wherein safety is considered, rapid deceleration cannot be realized, wheel locking is avoided, and the measurement result is influenced in the process of acceleration test, the acceleration a0 is recommended to be less than or equal to 0.4g, preferably, when the a0 is 0.1g, 0.2g, 0.3g and 0.4g, the V0 is recommended to be 30km/h, 50km/h and/h, 70km/h, 90km/h and other a0 values can be referred to and selected corresponding V0 values, in addition, in the testing process, the tested acceleration value a0 and the whole vehicle attitude angle value deg are kept unchanged for more than 2 seconds in a single test, the testing test is effective, otherwise, the test is invalid, and the testing needs to be carried out again; step four: calculation of centroid height
Under the condition of braking of the automobile, the axle load increased by a front axle due to axle load transfer is known from the automobile design theory
The axle load reduced by the rear axle due to the axle load transfer is
Wherein: h is the height of the mass center, g is the gravity acceleration, 9.8m/s ^2 is taken, and a is the braking deceleration;
secondly, points (0,0,0) on the whole vehicle coordinates X, Y, Z of the vehicle are designated as points A, and when the vehicle is static, the vertical height of the points A from the test road surface is hf0During braking, the vertical height of the point A from the test road surface is hf，
According to the design theory characteristic of the automobile suspension, the height reduced by the point A in the braking process is as follows:
xf＝hf0-hf (4)
thirdly, taking the point (L,0,0) on the whole automobile coordinate X, Y, Z as the point B, and when the automobile is static, the vertical height of the point B from the test road surface is hr0During braking, the vertical height of the point B from the test road surface is hrSame principle of
According to the design theory characteristic of the automobile suspension, the height of the point B is increased during braking as follows:
xr＝hr-hr0 (6)
wherein kf is the rigidity of the front suspension, kr is the rigidity of the rear suspension, and both kf and kr are design values;
fourthly, according to the principle of the geometric relationship, the following conditions are obtained:
when the automobile is in a static state,
in the process of braking the automobile,
the formula (1), (2), (3), (4), (5), (6), (7) and (8) are combined to obtain:
the centroid height h can be calculated by substituting L, deg0, deg, kf, kr, G, a0 values.
The method for calculating the height of the mass center by using the changes of the acceleration and the attitude angle of the whole automobile is obtained by measuring the changes of the acceleration and the attitude angle in the acceleration and braking process of the automobile, according to the relation between the acceleration and the axle load of the automobile, the height change of a suspension in the static and braking processes and the geometric relation among all the variable quantities. The method only needs to acquire the attitude angle and the acceleration value of the automobile, does not need to fix the suspension and other complicated operations, and has the advantages of simple measurement method, universal measurement equipment, safe measurement process and accurate measurement result compared with the prior art, and particularly has simple, convenient and quick calculation of the height of the mass center of the automobile with two shafts.
Claims (5)
1. A method for measuring and calculating the height of the mass center of a two-axis automobile is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: selecting a straight and long enough road surface as a test road surface for the running of the automobile, wherein the adhesion coefficient of the test road surface is required to be more than or equal to 0.6, then installing an acceleration sensor and a whole automobile attitude angle sensor in the running direction of the automobile, and installing a display in a cab of the automobile, wherein the display can display the measurement values of the acceleration sensor and the whole automobile attitude angle sensor;
step two: when an automobile is in a static state on a test road surface, firstly, measuring the axle distance L from the axle center of a front axle to the axle center of a rear axle of the automobile by using a special measuring ruler for the automobile, measuring the weight G of the whole automobile by using a ground scale, and measuring the static posture angle deg0 of the whole automobile by using a whole automobile posture angle sensor;
step three: the method comprises the steps that a vehicle is accelerated on a test road surface, when the vehicle is accelerated to a speed measurement V0, the acceleration sensor is used for recording the numerical value of the acceleration, the attitude angle sensor is used for measuring the numerical value of the attitude angle of the whole vehicle, then the vehicle brake plate is stepped, the numerical changes of the acceleration a0 and the attitude angle deg of the whole vehicle are observed, when the accelerated acceleration reaches a specified numerical value a0 and the attitude angle of the whole vehicle is deg, the acceleration numerical value a0 and the attitude angle deg of the whole vehicle are kept for more than 2 seconds, the brake plate of the vehicle is kept still, and the vehicle is enabled to keep running in a uniform deceleration state until the vehicle stops;
step four: calculation of centroid height
Under the condition of braking of the automobile, the axle load increased by a front axle due to axle load transfer is known from the automobile design theory
The axle load reduced by the rear axle due to the axle load transfer is
Wherein: h is the height of the mass center, g is the gravity acceleration, 9.8m/s ^2 is taken, and a is the braking deceleration;
secondly, points (0,0,0) on the whole vehicle coordinates X, Y, Z of the vehicle are designated as points A, and when the vehicle is static, the vertical height of the points A from the test road surface is hf0In production ofIn the moving process, the vertical height of the A point from the test road surface is hf，
According to the design theory characteristic of the automobile suspension, the height reduced by the point A in the braking process is as follows:
xf＝hf0-hf (4)
thirdly, taking the point (L,0,0) on the whole automobile coordinate X, Y, Z as the point B, and when the automobile is static, the vertical height of the point B from the test road surface is hr0During braking, the vertical height of the point B from the test road surface is hrSame principle of
According to the design theory characteristic of the automobile suspension, the height of the point B is increased during braking as follows:
xr＝hr-hr0 (6)
wherein kf is the rigidity of the front suspension, kr is the rigidity of the rear suspension, and both kf and kr are design values;
fourthly, according to the principle of the geometric relationship, the following conditions are obtained:
when the automobile is in a static state,
in the process of braking the automobile,
the formula (1), (2), (3), (4), (5), (6), (7) and (8) are combined to obtain:
the centroid height h can be calculated by substituting L, deg0, deg, kf, kr, G, a0 values.
2. The method for measuring and calculating the height of the mass center of the two-axis automobile according to claim 1, wherein the method comprises the following steps: in the first step, the precision of an accelerator sensor is required to be more than or equal to 0.001g, and the precision of a whole vehicle attitude angle sensor is required to be more than or equal to 0.01 degrees.
3. The method for measuring and calculating the height of the mass center of the two-axis automobile according to claim 1, wherein the method comprises the following steps: and in the second step, the attitude angle of the whole automobile is an included angle between a plane between the front suspension and the rear suspension of the automobile and the test road surface.
4. The method for measuring and calculating the height of the mass center of the two-axis automobile according to claim 1, wherein the method comprises the following steps: in step three, the acceleration value a0 is less than or equal to 0.4 g.
5. The method for measuring and calculating the height of the mass center of the two-axis automobile according to claim 1, wherein the method comprises the following steps: in the third step, when a0 is 0.1g, 0.2g, 0.3g and 0.4g, the corresponding V0 is suggested to be 30km/h, 50km/h, 70km/h and 90 km/h.
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| CN113588290B (en) * | 2021-07-31 | 2023-07-04 | 重庆长安汽车股份有限公司 | Method for determining human body mass center in vehicle axle load design |
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