CN113203580B - Engineering vehicle stability evaluation method, device and system and engineering vehicle - Google Patents
Engineering vehicle stability evaluation method, device and system and engineering vehicle Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims abstract description 69
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 230000035945 sensitivity Effects 0.000 claims description 20
- 238000013097 stability assessment Methods 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 4
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention discloses a method, a device and a system for evaluating stability of an engineering vehicle and the engineering vehicle, wherein the evaluation method comprises the following steps: acquiring acceleration of a plurality of measuring points on a chassis and a cab of the engineering vehicle in three directions; establishing a functional relation between the acceleration of each measuring point in three directions, the position coordinates of the measuring point and six-degree-of-freedom parameters of the engineering vehicle, wherein the six-degree-of-freedom parameters comprise translational displacement of the engineering vehicle in three directions and rotational acceleration around the three directions; establishing a functional relation between acceleration of all measuring points in three directions, position coordinates of all measuring points and six-degree-of-freedom parameters, wherein the six-degree-of-freedom parameters are used as independent variables; and obtaining six-degree-of-freedom parameters through a least square method according to the functional relation.
Description
Technical Field
The disclosure relates to the technical field of engineering vehicles, and in particular relates to a method, a device and a system for evaluating stability of an engineering vehicle and the engineering vehicle.
Background
In the working accidents of engineering vehicles, the loss caused by the rollover accidents is the most serious. With the wide use of engineering vehicles, the safety performance of the engineering vehicles is more and more paid attention to. In recent years, the widespread use of active stabilization systems has been seen in the automotive industry, but this is not the case for low speed engineering vehicles where technology has not yet been popular.
The prior art generally uses an integrated inertial measurement unit sold in the market, is usually high in price, and in order to obtain dynamic stability, the automobile industry formulates various passing/failing indexes, and the applicability of the engineering vehicle needs to be researched; in the engineering vehicle industry, a test prototype is usually scored in a correct or wrong way according to the feeling of an operator, and the subjective assessment of the vehicle stability is carried out.
Disclosure of Invention
The disclosure provides a method, a device and a system for evaluating stability of an engineering vehicle and the engineering vehicle, which can objectively evaluate the stability of the engineering vehicle during working.
According to a first aspect of the present disclosure, there is provided a method for evaluating stability of an engineering vehicle, including:
acquiring acceleration of a plurality of measuring points on a chassis and a cab of the engineering vehicle in three directions;
establishing a functional relation between the acceleration of each measuring point in three directions, the position coordinates of the measuring point and six-degree-of-freedom parameters of the engineering vehicle, wherein the six-degree-of-freedom parameters comprise translational displacement of the engineering vehicle in three directions and rotational acceleration around the three directions;
establishing a functional relation between acceleration of all measuring points in three directions, position coordinates of all measuring points and six-degree-of-freedom parameters, wherein the six-degree-of-freedom parameters are used as independent variables;
and obtaining six-degree-of-freedom parameters through a least square method according to the functional relation.
In some embodiments, the plurality of stations includes four corners of the cab floor and shaft end positions of the front and rear shafts.
In some embodiments, after deriving the six degree of freedom parameters, further comprising:
acquiring pitching motion sensitivity and rolling motion sensitivity of the engineering vehicle along the longitudinal direction and the transverse direction as evaluation indexes of the stability of the engineering vehicle;
the pitching motion sensitivity is the ratio of longitudinal angular acceleration to translational displacement, and the rolling motion sensitivity is the ratio of transverse angular acceleration to translational displacement.
In some embodiments, further comprising:
acceleration of alternating direction and varying amplitude is applied to the work vehicle in at least one of the longitudinal direction and the transverse direction.
In some embodiments, establishing a relationship between acceleration of each station in three directions and station position coordinates and six-degree-of-freedom parameters of the work vehicle includes:
wherein, (u) i ,v i ,w i ) Acceleration in three directions for each measuring point;
(u C ,v C ,w C ) Translational displacement of the engineering vehicle in three directions;
(θ x ,θ y ,θ z ) The rotational angular acceleration of the engineering vehicle around three directions is adopted;
(x i ，y i ，z i ) The position coordinates of the measuring points.
In some embodiments, deriving the six degrees of freedom parameters by least squares according to the functional relationship y=ax comprises:
x＝(A T A) -1 A T y
wherein x is a six-degree-of-freedom parameter of the engineering vehicle;
y is the acceleration of all the measuring points in three directions;
a is a transfer matrix.
According to a second aspect of the present disclosure, there is provided an engineering vehicle stability evaluation apparatus for performing the engineering vehicle stability evaluation method of the above embodiment.
According to a third aspect of the present disclosure, there is provided an engineering vehicle stability evaluation system including:
the acceleration sensors are configured to detect accelerations of a plurality of measuring points on the chassis and the cab of the engineering vehicle in three directions in a one-to-one correspondence manner; and
the engineering vehicle stability evaluation device of the above embodiment.
According to a fourth aspect of the present disclosure, there is provided an engineering vehicle including the engineering vehicle stability evaluation device or the engineering vehicle stability evaluation system of the above-described embodiment.
According to the engineering vehicle stability assessment method, through acquiring the accelerations of the engineering vehicle chassis and the plurality of measuring points on the cab in three directions, the relation between vibration of different positions of the engineering vehicle and the dynamic stability of the whole vehicle can be quantitatively determined, the working safety of the engineering vehicle is improved, the stability assessment cost of the engineering vehicle can be reduced, and the engineering vehicle stability assessment method is easy to realize.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present disclosure, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a flow diagram of some embodiments of a method of evaluating stability of an aircraft engineering vehicle of the present disclosure.
FIG. 2 is a schematic diagram of the installation location of acceleration sensors in some embodiments of the aircraft engineering vehicle stability assessment system of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without carrying out the inventive task are within the scope of protection of this disclosure.
In the description of the present disclosure, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present disclosure and to simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be configured and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present disclosure; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
In the description of the present disclosure, it should be understood that the use of terms such as "first," "second," etc. for defining components is merely for convenience in distinguishing corresponding components, and the terms are not meant to be construed as limiting the scope of the present disclosure unless otherwise indicated.
In addition, technical features related to different embodiments of the present disclosure described below may be combined with each other as long as they do not make a conflict with each other.
As shown in fig. 1 and 2, the present disclosure provides a method for evaluating stability of an engineering vehicle, including, in some embodiments:
step 110, acquiring accelerations of a plurality of measuring points on the engineering vehicle chassis 2 and the cab 1 in three directions; wherein, the three directions may include: the longitudinal direction x, the transverse direction y and the height direction z are longitudinal, the transverse direction y is transverse and the height direction z is vertical based on the driver sitting in the vehicle. Acceleration of the ith measurement point in three directions (u i ,v i ,w i ) The acceleration may be detected by an acceleration sensor.
Step 120, establishing a functional relation between the acceleration of each measuring point in three directions, the position coordinates of the measuring point and six-degree-of-freedom parameters of the engineering vehicle, wherein the six-degree-of-freedom parameters comprise translational displacement of the engineering vehicle in three directions and rotational acceleration around the three directions; the engineering vehicle C is simplified into a rigid body, and translational displacement in three directions is (u) C ,v C ,w C ) The rotational angular acceleration around the three directions is (θ x ,θ y ,θ z )。
Step 130, establishing acceleration of all measuring points in three directions and position coordinates R of all measuring points i ＝(x i ,y i ,z i ) And a functional relationship between six-degree-of-freedom parameters, wherein the six-degree-of-freedom parameters are used as arguments;
and 140, obtaining six-degree-of-freedom parameters through a least square method according to the functional relation.
Wherein steps 110-140 are performed sequentially. According to the engineering vehicle stability assessment method, the relation between vibration of different positions of the engineering vehicle and the dynamic stability of the whole vehicle can be quantitatively determined by acquiring the accelerations of the engineering vehicle chassis 2 and the measuring points on the cab 1 in three directions, so that the working safety of the engineering vehicle is improved, the stability assessment cost of the engineering vehicle can be reduced, and the engineering vehicle stability assessment method is easy to realize.
In some embodiments, as shown in fig. 2, the plurality of stations includes four corners of the bottom of the cab 1 and shaft end positions of the front and rear shafts, the shaft end positions being positions where the shafts are connected to the wheels 3. Specifically, a plurality of acceleration sensors are arranged in a one-to-one correspondence with a plurality of measuring points, including: four first acceleration sensors 4 at the left and right shaft ends of the front shaft and the left and right shaft ends of the rear shaft, and four second acceleration sensors 5 at the bottom four corners of the cab 1 are provided in total. According to the arrangement mode, the measuring points are arranged at a plurality of different typical positions, so that the vibration condition of the whole engineering vehicle can be reflected more comprehensively, and the stability of the whole engineering vehicle can be accurately evaluated.
The motion during the steady operation of the engineering vehicle is low frequency, high frequency resolution data is not needed, and the sampling frequency can be set to be about 100Hz in the data acquisition process. The mounting direction of the acceleration sensor should be consistent with the coordinate direction of the engineering vehicle (forward in positive x-direction, leftward in positive y-direction, and upward in positive z-direction).
In some embodiments, after deriving the six degree of freedom parameter, the engineering vehicle stability assessment method further includes:
acquiring pitching motion sensitivity of the engineering vehicle along the longitudinal direction x and rolling motion sensitivity of the engineering vehicle along the transverse direction y as evaluation indexes of the stability of the engineering vehicle;
wherein the pitching sensitivity is the rotation angular acceleration theta of the longitudinal direction x x And translational displacement u C Is the angular acceleration theta of the roll motion sensitivity in the lateral direction y y And translational displacement v C Is a ratio of (2).
The embodiment reflects the stability of the whole vehicle through the pitching motion sensitivity and the rolling motion sensitivity of the engineering vehicle, and has the advantages that the sensitivity in two directions can be decoupled so as to more accurately reflect the sensitivity conditions of the vehicle in different directions, and improvement measures can be pertinently taken when the stability of the vehicle is poor.
In this case, a curve may be conceived to represent the relationship between the pitch motion sensitivity and the roll motion sensitivity to which the vehicle is subjected, instead of a single evaluation index. If their relationship is linear, the stability index can be reduced to two single indices, namely pitch stability and roll stability.
In some embodiments, the engineering vehicle stability assessment method further comprises:
acceleration of which the direction is alternately changed and the amplitude is changed is applied to the engineering vehicle in at least one of the longitudinal direction x and the transverse direction y.
This embodiment can be used to derive vehicle stability through experimentation by applying acceleration to the work vehicle that varies in direction and magnitude.
In some embodiments, establishing a relationship between acceleration of each station in three directions and station position coordinates and six-degree-of-freedom parameters of the work vehicle includes:
wherein, (u) i ,v i ,w i ) Acceleration in three directions for each measuring point;
(u C ,v C ,w C ) Translational displacement of the engineering vehicle in three directions;
(θ x ,θ y ,θ z ) The rotational angular acceleration of the engineering vehicle around three directions is adopted;
(x i ，y i ，z i ) Is the position coordinates of the measuring point.
The above formula is transformed by the following formula:
wherein Θ represents rotational angular acceleration of the engineering vehicle around three directions, R i The position coordinate vector of the i-th measuring point is represented, and det represents the determinant of the matrix.
In some embodiments, the functional relationship between the acceleration of all the measuring points in three directions and the position coordinates of all the measuring points and the six-degree-of-freedom parameter is that, according to the functional relationship, the obtaining the six-degree-of-freedom parameter by the least square method includes:
x＝(A T A) -1 A T y
wherein x is a six-degree-of-freedom parameter of the engineering vehicle;
y is the acceleration of all the measuring points in three directions;
a is a transfer matrix.
Since matrix a is not square in form, it is irreversible and has no exact solution. And the six-degree-of-freedom parameter of the whole vehicle can be obtained by adopting least square method calculation.
According to the assessment method, acceleration data of a plurality of positions of the engineering vehicle are utilized, and finally signals are reduced to the six degrees of freedom of the whole vehicle basic rigid body. With multiple acceleration channels, the motion (e.g., acceleration) of the vehicle/cab 1 can be completely captured in three-dimensional space, while the whole rigid body requires only six degrees of freedom to be positioned completely in three-dimensional space. The mathematical transformation/reduction method of the present disclosure can obtain six degrees of freedom from many measured acceleration channels, and can fully utilize this redundancy by a calculation algorithm, improving the evaluation accuracy.
The evaluation method of the present disclosure is described below by way of a specific example. According to the translational displacement (u) of the working vehicle C C ,v C ,w C ) And rotational angular acceleration (θ) x ,θ y ,θ z ) To correlate the acceleration (u) i ,v i ,w i ). For each measurement position:
position vector R is used i ＝(x i ,y i ,z i ) To capture the position of each accelerometer point, and transforming the above formula to obtain the acceleration (u i ,v i ,w i ) The functional relationship with the six degree of freedom parameters is as follows:
taking acceleration of three measuring points as an example, the functional relation between the acceleration of the three measuring points and six-degree-of-freedom parameters is given as the following formula.
And similarly, the relation between the six-degree-of-freedom parameter of the whole vehicle and the acceleration of each position of the engineering vehicle can be obtained by analogy according to the functional relation of the plurality of measuring points in the formula. The equation is, however, not in the form of a square, and is therefore irreversible (without exact solution). The six-degree-of-freedom parameter of the whole vehicle can be obtained by adopting a least square method as follows.
On this basis, the stability of the engineering vehicle can be used as an evaluation index by the pitch motion sensitivity and the roll motion sensitivity. And finally reducing the signals to six-degree-of-freedom parameters of the basic rigid body of the whole vehicle by utilizing acceleration data of a plurality of measuring points in three directions, wherein the parameters comprise translational displacement in the three directions and rotational acceleration in the three directions.
Next, the present disclosure provides an engineering vehicle stability evaluation apparatus for performing the engineering vehicle stability evaluation method of the above embodiment. The engineering vehicle stability evaluation device can adopt a controller. The controller may be a general purpose processor, a programmable logic controller (Programmable Logic Controller, abbreviated as PLC), a digital signal processor (Digital Signal Processor, abbreviated as DSP), an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), a Field programmable gate array (Field-Programmable Gate Array, abbreviated as FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.
Again, the present disclosure provides an engineering vehicle stability assessment system comprising: a plurality of acceleration sensors configured to detect accelerations of a plurality of measurement points on the engineering vehicle chassis 2 and the cab 1 in three directions in one-to-one correspondence; and the engineering vehicle stability evaluation device of the above embodiment.
Finally, the present disclosure provides an engineering vehicle comprising: the engineering vehicle stability evaluation device of the above embodiment, or the engineering vehicle stability evaluation system.
The foregoing is illustrative of the present disclosure and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., which are within the spirit and principles of the present disclosure.
Claims (7)
1. A method for evaluating the stability of an engineering vehicle, comprising:
acquiring acceleration of a plurality of measuring points on a chassis and a cab of the engineering vehicle in three directions;
establishing a functional relation between the acceleration of each measuring point in the three directions, the position coordinates of the measuring point and six-degree-of-freedom parameters of the engineering vehicle, wherein the six-degree-of-freedom parameters comprise translational displacement of the engineering vehicle in the three directions and rotational angular acceleration around the three directions;
establishing a functional relation between the acceleration of all measuring points in the three directions, the position coordinates of all measuring points and the six-degree-of-freedom parameter, wherein the six-degree-of-freedom parameter is taken as an independent variable;
obtaining the six-degree-of-freedom parameter through a least square method according to the functional relation;
after the six-degree-of-freedom parameters are obtained, acquiring the pitching motion sensitivity of the engineering vehicle along the longitudinal direction and the rolling motion sensitivity of the engineering vehicle along the transverse direction as evaluation indexes of the stability of the engineering vehicle; the pitching motion sensitivity is the ratio of longitudinal rotation angular acceleration to translational displacement, and the rolling motion sensitivity is the ratio of transverse angular acceleration to translational displacement;
wherein deriving the six degrees of freedom parameters by a least squares method according to the functional relationship y=ax comprises:
x＝(ATA)'ATy
wherein x is a six-degree-of-freedom parameter of the engineering vehicle;
y is the acceleration of all the measuring points in the three directions;
a is a transfer matrix.
2. The method of claim 1, wherein the plurality of stations includes four corners of the cab floor and shaft end positions of front and rear shafts.
3. The engineering vehicle stability evaluation method according to claim 1, further comprising:
acceleration of alternating direction and varying amplitude is applied to the work vehicle in at least one of the longitudinal direction and the transverse direction.
4. The method according to claim 1, wherein establishing a relationship between acceleration of each of the survey points in the three directions and the survey point position coordinates and six-degree-of-freedom parameters of the construction vehicle includes:
wherein, (u) i ,v i ,w i ) Acceleration in the three directions for each measuring point;
(u C ,v C ,w C ) Translational displacement of the engineering vehicle in three directions;
(θ x ,θ y ,θ z ) The rotational angular acceleration of the engineering vehicle around three directions is adopted;
(x i ，y i ，z i ) The position coordinates of the measuring points.
5. A stability evaluation device for an engineering vehicle, characterized by being configured to execute the stability evaluation method for an engineering vehicle according to any one of claims 1 to 4.
6. An engineering vehicle stability assessment system, comprising:
the acceleration sensors are configured to detect accelerations of a plurality of measuring points on the chassis and the cab of the engineering vehicle in three directions in a one-to-one correspondence manner; and
the construction vehicle stability evaluation device according to claim 5.
7. An engineering vehicle, comprising: the construction vehicle stability evaluation device according to claim 5, or the construction vehicle stability evaluation system according to claim 6.
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