CN111651836B - Method and storage medium for checking tire model accuracy based on virtual tire test stand - Google Patents

Method and storage medium for checking tire model accuracy based on virtual tire test stand Download PDF

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CN111651836B
CN111651836B CN202010481094.4A CN202010481094A CN111651836B CN 111651836 B CN111651836 B CN 111651836B CN 202010481094 A CN202010481094 A CN 202010481094A CN 111651836 B CN111651836 B CN 111651836B
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CN111651836A (en
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周帅
许春铁
禹慧丽
黄永旺
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Chongqing Changan Automobile Co Ltd
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Abstract

The invention relates to a method for checking tire model precision based on a virtual tire test bed and a storage medium, which comprises the steps of firstly, building a virtual tire test bed with the functions of adjusting tire installation posture and controlling tire movement in multi-body dynamics analysis software Adams; secondly, creating a virtual road model to be used according to the tire attribute file and the requirement of the verification working condition; then, creating a simulation script capable of reproducing the test working condition according to the test data, and driving the virtual test bench to simulate; and finally, calculating statistics such as the sum variance SSE, the root mean square error RMSE and the like between the simulation result and the test data to obtain a quantitative index of the tire model precision. The invention can check the fitting precision of the tire model under various test conditions, improves the control of the precision of the used tire model by a complete vehicle simulation analyzer, and avoids the influence of insufficient precision of the tire model on complete vehicle simulation. The invention can forecast the mechanical response of the tire model under the non-test working condition by means of simulation.

Description

Method and storage medium for checking tire model accuracy based on virtual tire test stand
Technical Field
The invention relates to CAE (computer Aided engineering) simulation of a tire, in particular to a method and a storage medium for checking the accuracy of a tire model based on a virtual tire test bench.
Background
With the reduction of cost and the continuous improvement of the requirement on the period shortening of the whole vehicle development, the CAE simulation analysis technology of the virtual test field gradually replaces the traditional real vehicle test as an effective means of performance analysis. In general, the ground excitation transmitted from the tire to the vehicle body is dominant in the analysis of the steering stability, the smoothness, the durability and the like. The steady state characteristics of the tire can be closely related to the handling stability of the vehicle; transient characteristics of the tire are key factors affecting ride comfort; the dynamic characteristics of the tire show the stress change of the tire when the tire rolls over an obstacle, and the fatigue life of stress components in each subsystem of the vehicle is influenced.
In the automotive industry, physical tests to determine various properties of tires are typically performed by rubber product test suppliers having associated hardware equipment; and the fitting of the tire model can be completed by the whole vehicle factory or by entrusting a relevant supplier according to the requirement. The fitting work of the tire model mainly involves identifying parameters of each model, and the essence of the fitting work is a process of performing curve fitting on physical test data. Regardless of the fitting algorithm used, by whom the fitting is performed, it is necessary to check the final delivered tire property file. Only when the fitting accuracy of the tire model meets certain requirements, the tire model can be further applied to the whole vehicle simulation so as to analyze various performances of the vehicle.
Therefore, it is necessary to develop a method and a storage medium for checking the accuracy of a tire model based on a virtual tire test stand.
Disclosure of Invention
The invention aims to provide a method for checking the precision of a tire model based on a virtual tire test bed, which can be used for checking the fitting precision of the tire model under various test working conditions, improving the control of the precision of the used tire model by a whole vehicle simulation analyzer and preventing the influence of the insufficient precision of the tire model on the final whole vehicle simulation analysis result.
The invention discloses a method for checking tire model precision based on a virtual tire test bed, which comprises the following steps:
step 1, creating a virtual tire test bed with functions of adjusting tire installation postures and controlling tire movement in multi-body dynamics analysis software Adams;
step 2, creating a virtual road surface model capable of representing a test contact state according to the tire attribute file and the verification working condition to be verified, and calling the virtual road surface model by the virtual tire test bench created in the step 1;
step 3, adjusting and primarily simulating the virtual tire test bed created in the step 1 according to the tire attribute file and the verification working condition to be verified, and determining a proper simulation initial condition;
step 4, extracting a control signal and a response signal in actual test data according to the requirement of the verification working condition;
step 5, utilizing the control signal extracted in the step 4, and being referred by the virtual tire test bed established in the step 1;
step 6, creating a corresponding simulation script according to the verification working condition requirement and the simulation initial condition determined in the step 3, and driving the virtual tire test bed to simulate;
and 7, setting a precision index needing to be checked, and calculating by using the simulation result and the response signal to finally obtain a quantitative index of the fitting precision of the tire model.
Further, the step 1 of creating a virtual tire test stand in Adams comprises the following steps:
(a) determining a topological structure of the virtual tire test stand;
(b) creating the corresponding part according to the topology in step (a) above.
(c) Establishing a specified connection relationship between the parts created in the step (b) according to the topological structure in the step (a), wherein the connection relationship comprises a general force and a constraint pair, and adding hinge motion to the constraint pair;
(d) a simulation output request is created, including but not limited to, slip rate, slip angle, camber angle, ground contact, and tire force at the center of the wheel for the tire.
Further, in the step 3, according to the tire attribute file and the verification working condition which need to be verified, the virtual tire test bed created in the step 1 is adjusted and preliminarily simulated, the adjustment includes modification of the topological structure and some internal parameters determined in the step (a), and initial conditions such as the wheel axle height and the tire rotating speed which meet the requirements are determined through preliminary simulation.
Further, in step 6, a simulation script meeting the requirement of the verification condition is created, and the command to be set in the simulation script includes:
(1) a tire property file requiring verification;
(2) verifying a road surface file used by a working condition;
(3) the amount of movement necessary for each hinge movement;
(4) simulation type, duration and number of steps.
Further, the virtual road surface model in the step 2 comprises a 3-dimensional flat road surface model and a 2-dimensional rotary drum road surface model with transverse 90-degree or inclined 45-degree bumps.
Further, the control signals in the step 4 comprise speed, slip rate of the tire, slip angle of the tire and camber angle of the tire; the response signal includes the ground point and the tire force at the wheel center.
Further, the manner of reference in step 5 includes creating a spline curve for reference.
Further, in step 7, the accuracy index includes a sum variance SSE and a root mean square error RMSE between the simulation data and the measured data.
The present invention also contemplates a storage medium having one or more computer readable programs stored thereon that, when executed by one or more controllers, perform the steps of the above-described method for checking the accuracy of a tire model based on a virtual tire test rig.
The invention has the following advantages:
the method for checking the tire model precision based on the virtual tire test bed can reproduce the mechanical response of the tire model in the actual test state in a CAE simulation mode, reflects the tire model precision by statistical indexes, and solves the problem that a whole vehicle simulation analyst controls the tire model precision.
The method for checking the tire model accuracy based on the virtual tire test bed provided by the invention can be applied to all tire models supported by multi-body dynamics software Adams, including but not limited to PAC MC model, PAC2002 model and FTire model, and has wide application types.
The method for inspecting the tire model precision based on the virtual tire test bed can forecast the mechanical response of the tire model under the non-verification working condition, and provides a means for comprehensively exploring the mechanical property of the used tire model.
Drawings
FIG. 1 is a flow chart of an embodiment of a method of checking tire model accuracy based on a virtual tire test rig according to the present invention;
FIG. 2 is a view of a virtual tire test rig topology;
FIG. 3 is a diagram showing a process of extracting control signals and response signals from test data according to example 1;
FIG. 4 is a graph comparing the simulated control signal and the measured control signal in example 1;
FIG. 5 is a graph comparing a simulated response signal with a measured response signal in example 1;
FIG. 6 is a comparison of simulated response signal 1 and measured response signal 1 in example 2;
fig. 7 is a graph comparing the simulated response signal 2 and the measured response signal 2 in example 2.
Detailed Description
The invention will be further explained with reference to the drawings.
Example 1
In this embodiment, as shown in fig. 1, a method for verifying tire model accuracy based on a virtual test bed includes first building a virtual tire test bed having functions of adjusting a tire mounting posture and controlling tire movement in multi-body dynamics analysis software. And secondly, creating a virtual road model to be used according to the tire attribute file and the requirement of the verification working condition. And then creating a simulation script capable of reproducing the test working condition according to the test data, and driving the virtual test bench to simulate. And finally, calculating statistics such as sum variance SSE, root mean square error RMSE and the like between the simulation result and the test data to obtain a quantitative index of the tire model precision. The method can check the fitting accuracy of the tire model under various test conditions, and comprises the following steps:
step 1, creating a virtual tire test bed with functions of adjusting tire installation postures and controlling tire movement in multi-body dynamics analysis software Adams;
step 2, according to the tire attribute file and the verification working condition which need to be verified, creating a virtual road surface model which can represent a test contact state, setting factors such as a geometric outline and a friction coefficient of a road surface, and calling the factors by the virtual tire test bench created in the step 1;
step 3, adjusting and primarily simulating the virtual tire test bed created in the step 1 according to the tire attribute file and the verification working condition to be verified, and determining a proper simulation initial condition;
step 4, extracting a control signal and a response signal in actual test data according to the requirement of the verification working condition;
step 5, utilizing the control signal extracted in the step 4, and being referred by the virtual tire test bed established in the step 1;
step 6, creating a corresponding simulation script according to the verification working condition requirement and the simulation initial condition determined in the step 3, and driving the virtual tire test bed to simulate;
and 7, setting a precision index needing to be checked, and calculating by using the simulation result and the response signal to finally obtain a quantitative index of the fitting precision of the tire model.
In this embodiment, in step 1, creating a virtual tire test bench having functions of adjusting a tire installation posture and controlling a tire motion in a multi-body dynamics analysis software Adams includes the following steps:
(a) determining a topological structure of the virtual tire test stand;
(b) creating a corresponding part (part) according to the topology in step (a) above.
(c) Establishing a specified connection relationship between the parts created in the step (b) according to the topological structure in the step (a), wherein the connection relationship comprises a general force (general force) and a constraint pair (joint), and adding a hinge motion (joint motion) on the constraint pair;
(d) a simulation output request (request) is created, including but not limited to slip rate, cornering angle, camber angle, ground contact, and tire stress at the wheel center of the tire.
In this embodiment, in step 2, the virtual road surface model capable of representing the actual test contact state is created according to the tire attribute file and the verification condition to be verified, and generally includes a 3-dimensional flat road surface model and a 2-dimensional drum road surface model with a transverse 90 ° or oblique 45 ° bump. The road surface model created must be compatible with the tire property file, using more formats such as rdf, crg, etc.
In this embodiment, in step 3, according to the tire attribute file and the verification condition to be verified, the virtual tire test stand created in step 1 is appropriately adjusted and preliminarily simulated. It is generally necessary to modify the topology and some internal parameters determined in step (a) and determine the initial conditions of axle height, tire rotation speed, etc. that meet the requirements through preliminary simulation.
In this embodiment, in step 4, according to the requirement of verifying the working condition, the control signal and the response signal in the actual test data are extracted and converted into the data file in the RPC III format. The control signals typically include speed, slip rate of the tire, slip angle of the tire, camber angle of the tire, and the like; the response signal typically includes the ground point and tire force at the wheel center, among other things.
In this embodiment, in step 5, according to the data file created in step 4, a spline curve is created in Adams to refer to the spline curve, and the reference channel is a control signal in the RPC file.
Further, in step 6, a simulation script meeting the requirement of the verification condition is created, and the command to be set in the simulation script includes:
(1) a tire property file requiring verification;
(2) verifying a road surface file used by a working condition;
(3) the amount of movement necessary for each hinge movement;
(4) simulation type, duration and number of steps.
In this embodiment, in the step 7, the accuracy index generally includes a sum variance SSE, a root mean square error RMSE, and the like between the simulation data and the response signal.
Example 1 is described in more detail below by way of example:
the wheel load 6035N, the steel belt speed 25m/s and the steady-state slip condition fitting accuracy check are carried out on a PAC2002(USE _ MODE ═ 14) tire attribute file "PAC 2002_215_50_ R17. tir" of a certain tire brand 215/50R17 model, and the quantitative index of the fitting accuracy is calculated by taking the root mean square error RMSE as a statistic.
The following description will specifically describe an implementation of the method for verifying the accuracy of a tire model based on a virtual tire test stand provided in the present embodiment by using a tire model example.
Step 1: in multi-body dynamics analysis software Adams, a virtual tire test bed with functions of adjusting the installation posture of a tire and controlling the movement of the tire is created;
(a) the topology of the virtual tire test rig is determined as shown in fig. 2.
(b) As shown in fig. 2, the required part (part) is created in Adams according to the topology in step (a) above. Wherein the ground is the basis for building the entire virtual tire test stand. The road surface (road) corresponds to a steel belt used in a physical test for verifying a steady-state sliding working condition, a belted layer (belt) corresponds to a belted layer of a real tire, a rim (rim) corresponds to a rim of the real tire, and a wheel shaft (spindle) corresponds to an autorotation shaft in the physical test. The integral up-and-down movement of the wheel axle, the wheel rim and the belt layer can be realized by means of a steering knuckle (wheel carrier), and the integral twisting movement of the steering knuckle, the wheel axle, the wheel rim and the belt layer can be realized by means of a slip adjuster (slip adjuster). The rigid plane (rigid plane) acts as a rigid boundary to prevent the entire virtual tire test stand from moving in response to a reaction force.
(c) Establishing a specified connection relationship between the parts created in the above (b) according to the topology in the above step (a). The ground (ground) is connected with the road surface (road) through a translational pair (translational joint), the direction is the global X-axis positive direction, and a translational motion (translational joint motion) is arranged, and the translational motion can be used for adjusting the motion speed of the road surface. The connection between the road surface (road) and the belt (belt) is by six force components (general purpose), representing the excitation of the road surface to the tire. The belt layer (belt) and the rim (rim) are connected through a fixed joint and a six-component force. The rim (rim) and the wheel axle (spindle) are connected through a revolute joint, the direction is the global Y-axis positive direction, and a rotational joint motion is arranged, and the joint motion can be used for adjusting the slip ratio of the tire. The Wheel axle (spindle) is connected with the steering knuckle (Wheel carrier) through a revolute joint (revolute joint), the direction is the global X-axis positive direction, and a rotational joint motion (rotational joint motion) is provided, and the joint motion can be used for adjusting the camber angle of the tire. The steering knuckle (wheel carrier) is connected with the ground (ground) through a single-component (single-component) in the negative direction of the global Z axis, and the single-component can be used for applying required wheel load; on the other hand, the knuckle (wheel carrier) is connected to the side-yaw adjuster (slip adjuster) by a translational pair (translational joint) oriented in the positive direction of the global Z-axis, and a translational movement (translational joint motion) is provided, which can be used to adjust the height of the axle. The sideslip adjuster (slip adjuster) is connected with the rigid plane (rigid plane) through a revolute joint (revolute joint) in the direction of the global Z-axis positive direction, and a rotational joint motion (rotational joint motion) is set, and the joint motion can be used for adjusting the sideslip angle of the tire. The rigid plane (rigid plane) is connected with the ground through a fixed joint as a rigid boundary.
(d) Two simulated output requests (requests) are created. The first one, named "kinematics _ request", is used to output the slip ratio, the slip angle and the camber angle of the tire; the second, named "forces _ request," outputs six force components at the tire contact patch.
Step 2: based on the PAC2002 tire model and the steady-state slip condition verification requirement, a text editor is adopted to create a road surface file '3D _ flat.rdf' according to the format requirement of the 3D Shell road surface model, and the road surface file is called by a virtual tire test bed.
And step 3: the tyre property file to be verified "PAC 2002_215_50_ r17. tir", using the MODE USE _ MODE is 14, so that the connection between the rim (rim) and the belt (belt) can be regarded as a rigid connection, closing the six force component 2. The height of the wheel axle is determined to be 295.6mm by the wheel load 6035N and the speed of the steel belt is 25m/s, and the initial rotating speed of the tire is 63.52 rad/s.
And 4, step 4: as shown in fig. 3, according to the steady-state slip condition verification requirement, the slip ratio and the longitudinal force at the ground point in the actual test data are respectively extracted as the control signal and the response signal, and a test data file 1 named as "Fx _ pure. This file was converted to RPC III formatted data file 3 "Fx _ pure. rsp" using fatigue analysis software 2 femmat-LAB. The content 4 in the xls file corresponds to the content 5 in the rsp file, i.e., the control signal slip ratio SR is channel 1 and the response signal longitudinal force FX is channel 2.
And 5: according to the data file 'Fx _ pure. rsp' created in the step 4, a SPLINE curve (SPLINE _1) is created in the View interface to be referenced, and the reference channel is channel 1.
Step 6: according to the steady-state slip condition verification requirement, creating a simulation SCRIPT (SIM _ SCRIPT _1), and driving the virtual tire test bed created in the step 1 to simulate:
(1) a tire property file to be verified is set, and the order is as follows,
STRING/1,STRING＝C:\test\PAC2002_215_50_R17.tir
(2) setting a road surface file used by the verification working condition, commanding the following steps,
STRING/2,STRING＝C:\test\3d_flat.rdf
(3) the amount of movement necessary for each hinge movement, wherein the command for steady state slip of the tire is as follows,
MOTION/35,VELOCITY,FUNCTION＝(1+interp(time,3,1))*63.52
(4) simulation type, duration and number of steps, commands are as follows,
SIMULATE/STATIC
SIMULATE/DYNAMIC,END＝20,STEPS＝4000
and 7: the slip ratio versus control signal ratio in the simulation data is shown in fig. 4, and the longitudinal force versus response signal ratio in the simulation data is shown in fig. 5. The accuracy index is set as the root mean square error RMSE, the calculation formula is as follows,
Figure BDA0002517414170000071
where n is the number of sample points. And resampling the simulation data according to the sampling frequency of the response signal, calculating the simulation data after resampling, and finally obtaining 359N root mean square error of the simulation data and the simulation data.
Example 2
And (3) carrying out wheel load 7.2kN and drum speed 40km/h on an FTire tire attribute file 'FTire _215_50_ R17. tir' of a certain tire brand 215/50R17 model under the working condition that the FTire tire attribute file is rolled by 90-degree transverse bumps dynamically, and checking the fitting accuracy to obtain a quantitative index of the fitting accuracy by taking root mean square error RMSE as statistic.
Step 1: in the multi-body dynamics analysis software Adams, a virtual tire test stand having a function of adjusting the tire mounting attitude and controlling the tire movement is created.
Step 2: based on FTire tire models and the working condition verification requirements of dynamically rolling over 90-degree transverse bumps, a text editor is adopted to create a Road surface file' 2D _ dry.
And step 3: the tire property file to be verified, "FTire _215_50_ r17. tir", belongs to a flexible ring tire model, thus closing six force components 2. The height of the wheel axle is 290.9mm and the initial rotation speed of the tire is 35.66rad/s, which is determined by the wheel load of 7.2kN and the rotating drum speed of 40 km/h.
And 4, step 4: and (3) respectively extracting the drum speed and the longitudinal force at the wheel center in the actual test data according to the working condition verification requirement of the transverse lug which is dynamically rolled through 90 degrees and determined in the step (2), wherein the vertical force is used as a control signal and a response signal, and a test data file named as 'clear _90. xls' is constructed.
And 5: rdf in the road surface file "2D _ dry.rdf", the control signal speed V is referenced as follows.
[PARAMETERS]
V＝11.111
Step 6: according to the working condition verification requirement of dynamically rolling over a 90-degree transverse lug, creating a simulation SCRIPT (SIM _ SCRIPT _1), and driving the virtual tire test bed created in the step 1 to simulate:
(1) a tire property file to be verified is set, and the order is as follows,
STRING/1,STRING＝C:\test\FTire_215_50_R17.tir
(2) setting a road surface file used by the verification working condition, commanding the following steps,
STRING/2,STRING＝C:\test\2d_drum.rdf
(3) the amount of movement necessary for each hinge movement, wherein the command to set the wheel axle height is as follows,
MOTION/38,FUNCTION＝-33.5605
(4) simulation type, duration and number of steps, command as follows
SIMULATE/STATIC
SIMULATE/DYNAMIC,END＝4,STEPS＝10000
And 7: the comparison of the simulated data vertical force (simulated response signal 1) and the test data vertical force (measured response signal 1) is shown in fig. 6, and the comparison of the simulated data longitudinal force (simulated response signal 2) and the test data longitudinal force (measured response signal 2) is shown in fig. 7. The accuracy index is set to the root mean square error RMSE. The sampling frequency of the simulation data and the response signal is 2500Hz, and the coincidence of time points can be ensured. The root mean square error of the wheel center vertical force FZC is 265N and the root mean square error of the wheel center longitudinal force FX is 463N.
The present invention also contemplates a storage medium having one or more computer readable programs stored thereon that, when executed by one or more controllers, perform the steps of the above-described method for checking the accuracy of a tire model based on a virtual tire test rig.

Claims (7)

1. A method for checking tire model accuracy based on a virtual tire test rig, comprising the steps of:
step 1, creating a virtual tire test bed with functions of adjusting tire installation postures and controlling tire movement in multi-body dynamics analysis software Adams;
step 2, creating a virtual road surface model capable of representing a test contact state according to the tire attribute file and the verification working condition to be verified, and calling the virtual road surface model by the virtual tire test bench created in the step 1;
step 3, adjusting and primarily simulating the virtual tire test bed created in the step 1 according to the tire attribute file and the verification working condition to be verified, and determining a proper simulation initial condition;
step 4, extracting a control signal and a response signal in actual test data according to the requirement of the verification working condition;
step 5, utilizing the control signal extracted in the step 4, and being referred by the virtual tire test bed established in the step 1;
step 6, creating a corresponding simulation script according to the verification working condition requirement and the simulation initial condition determined in the step 3, and driving the virtual tire test bed to simulate;
step 7, setting a precision index to be checked, and calculating by using a simulation result and a response signal to finally obtain a quantitative index of the fitting precision of the tire model;
in step 1, creating a virtual tire test stand in Adams comprises the following steps:
(a) determining a topological structure of the virtual tire test stand;
(b) creating a corresponding part according to the topological structure in the step (a);
(c) establishing a specified connection relationship between the parts created in the step (b) according to the topological structure in the step (a), wherein the connection relationship comprises a general force and a constraint pair, and adding hinge motion to the constraint pair;
(d) a simulation output request is created, including but not limited to, slip rate, slip angle, camber angle, ground contact, and tire force at the center of the wheel for the tire.
2. The method for checking the accuracy of a tire model based on a virtual tire test stand according to claim 1, wherein in the step 6, a simulation script satisfying the requirement of the verification condition is created, and the commands required to be set in the simulation script comprise:
(1) a tire property file requiring verification;
(2) verifying a road surface file used by a working condition;
(3) the amount of movement necessary for each hinge movement;
(4) simulation type, duration and number of steps.
3. The method for checking the accuracy of a tire model based on a virtual tire test stand according to claim 1, wherein the virtual road surface model in the step 2 comprises a 3-dimensional flat road surface model and a 2-dimensional drum road surface model with lugs arranged at 90 ° horizontally or 45 ° obliquely.
4. The method for inspecting the accuracy of a tire model based on a virtual tire test stand according to claim 1, wherein the control signals in the step 4 include a speed, a slip ratio of the tire, a slip angle of the tire, and a camber angle of the tire; the response signal includes the ground point and the tire force at the wheel center.
5. The method for inspecting tire model accuracy based on a virtual tire test stand of claim 1, wherein the manner of reference in step 5 comprises creating a spline curve for reference.
6. The method of inspecting tire model accuracy based on a virtual tire test rig of claim 1, wherein: in step 7, the accuracy index includes a sum variance SSE and a root mean square error RMSE between the simulation data and the measured data.
7. A storage medium, characterized by: stored with one or more computer readable programs that, when invoked and executed by one or more controllers, carry out the steps of the method for checking the accuracy of a tire model on the basis of a virtual tire rig according to any one of claims 1 to 6.
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