CN113252369A - Method for determining road parameters suitable for air suspension test - Google Patents

Method for determining road parameters suitable for air suspension test Download PDF

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Publication number
CN113252369A
CN113252369A CN202110702263.7A CN202110702263A CN113252369A CN 113252369 A CN113252369 A CN 113252369A CN 202110702263 A CN202110702263 A CN 202110702263A CN 113252369 A CN113252369 A CN 113252369A
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displacement
cylinder
air suspension
road parameters
minimum
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CN113252369B (en
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郭笑通
张永
邵奎爽
李爽
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FAW Group Corp
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FAW Group Corp
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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
    • G01M17/04—Suspension or damping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention relates to the technical field of air suspension test, and discloses a method for determining road parameters suitable for an air suspension test, which comprises the following steps: s1, determining the displacement f of the four actuating cylindersi(k) (ii) a S2, collecting the displacement f of each actuating cylinder at intervals of a preset period delta ti(k) (ii) a S3, judging k-mi2Whether N is less than or equal to; s4, if yes, f is calculatedi(k‑mi1)，fi(k‑mi1‑1)，……,fi(k‑mi2) (ii) a S5, obtaining the maximum displacement Z of the new round of the actuating cylinder1imaxAnd a minimum displacement Z1jmin(ii) a S6, calculating the displacement difference f between each cylinder and the rest cylindersij＝Z1imax‑Z1jmin-s; s7, if any one or more fijIf greater than 0, f isi(k‑mi) Is corrected to fi(k‑mi)‑fijAnd returns to S5, otherwise, execution is performedS8; s8, adding 1 to k and returning to S3; s9, ending the test to obtain new Fi(k) In that respect The method for determining the road parameters suitable for the air suspension test can determine the road parameters suitable for the air suspension test, and avoids the phenomenon that the service life of the test bench is shortened due to unreasonable road parameter setting.

Description

Method for determining road parameters suitable for air suspension test
Technical Field
The invention relates to the technical field of air suspension test, in particular to a method for determining road parameters suitable for an air suspension test.
Background
As the user's demands for ride comfort increase, more and more vehicles begin to carry air suspensions. In order to detect the vibration damping performance of the air suspension, a road simulation test needs to be performed at the development stage of the air suspension. In the prior art, the flatness of a road is simulated by adopting the actuation of four actuating cylinders, and if the displacement of one actuating cylinder is much higher or much lower than that of the other three actuating cylinders, a tackle can be unstable, so that the tackle falls down to cause safety accidents. When the damping performance of the air suspension is detected, the road data is not effectively identified before the test, so that the phenomenon of displacement overrun frequently occurs in the test process, certain damage is caused to the pulley and the test bench, and the service life of the test bench is shortened.
Disclosure of Invention
Based on the above, the present invention provides a method for determining road parameters suitable for an air suspension test, which can determine road parameters suitable for an air suspension test, and avoid the phenomenon that the service life of a test bench is shortened due to unreasonable road parameter settings.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method of determining road parameters suitable for air suspension testing, comprising:
s1, determining the displacement f of the four actuating cylindersi(k) Wherein k is the number of times, and the time interval between two adjacent times is a preset period delta t, i is 1, 2, 3 and 4;
s2, collecting the displacement f of each actuating cylinder every other preset period delta ti(k) Collecting N times, wherein k is 1, 2.
S3, defining delay time length n of each actuating cylinderiAt t1-t2Therein, t2Greater than t1，mi1Is composed of
Figure BDA0003130576830000021
Integer part of (1), mi2Is composed of
Figure BDA0003130576830000022
Integer part of (a), judging k-mi2If not, go to S4; if not, go to S9;
s4, calculating fi(k-mi1)，fi(k-mi1-1)，......,fi(k-mi2)；
S5, f of each actuating cylinderi(k-mi) Maximum displacement Z from previous round0imaxAnd a minimum displacement Z0jminComparing to obtain the maximum displacement Z of the new round of the actuating cylinder1imaxAnd a minimum displacement Z1jminWherein j ═ i, m of the same cylinderi＝mi1；
S6, calculating the displacement difference f between each actuating cylinder and the rest actuating cylindersij＝Z1imax-Z1jmin-s, where i ≠ j, s is a preset displacement of road overrun;
s7, if any one or more fijIf greater than 0, f isi(k-mi) Is corrected to fi(k-mi)-fijAnd returns to S5; otherwise, go to S8;
s8, adding 1 to k and returning to S3;
s9, ending the test to obtain new Fi(k)。
As a preferable mode of the method of determining the road parameter suitable for the air suspension test, in S5, if fi(k-mi)＜Z0jminThen the minimum displacement Z of the new cycle of the cylinder1jmin＝fi(k-mi) Maximum displacement Z1imax＝Z0imax(ii) a If Z is0jmin≤fi(k-mi)≤Z0imaxThen the maximum position of the new round of the actuating cylinderMove Z1imax＝Z0imaxMinimum displacement Z1jmin＝Z0jmin(ii) a If fi(k-mi)＞Z0imaxThen the maximum displacement Z of the new cycle of the cylinder1imax＝fi(k-mi) Minimum displacement Z1jmin＝Z0jmin。
As a preferable mode of the method of determining the road parameter suitable for the air suspension test, in S5, an initial maximum value Z is defined0imaxDefine an initial minimum value of Z as 00jmin＝0。
As a preferred solution for a method of determining road parameters suitable for air suspension testing, four fi(k) Are respectively f1(k)、f2(k)、f3(k) And f4(k)，f1(k) As a function of the target displacement of the cylinder in the left front of the carriage, f2(k) Is a target displacement function of the actuating cylinder in the front right of the carriage, f3(k) Is a target displacement function, f, of the actuating cylinder at the left rear of the carriage4(k) Is a target displacement function of the cylinder behind the right of the trolley.
As a preferable mode of the method of determining road parameters suitable for the air suspension test, in S6, fij＝Z1imax-Z1jmin-s comprises:
f12＝Z11max-Z12min-s；
f13＝Z11max-Z13min-s；
f14＝Z11max-Z14min-s；
f21＝Z12max-Z11min-s；
f23＝Z12max-Z13min-s；
f24＝Z12max-Z14min-s；
f31＝Z13max-Z11min-s；
f32＝Z13max-Z12min-s；
f34＝Z13max-Z14min-s；
f41＝Z14max-Z11min-s；
f42＝Z14max-Z12min-s；
f43＝Z14max-Z13min-s；
in the formula, Z11maxMaximum displacement of the cylinder in the front left, Z11minThe minimum displacement of the cylinder at the front left;
Z12maxmaximum displacement of the right front cylinder, Z12minThe minimum displacement of the cylinder at the front right;
Z13maxmaximum displacement of the cylinder at the rear left, Z13minThe minimum displacement of the actuating cylinder at the rear left;
Z14maxis the maximum displacement of the right rear cylinder, Z14minIs the minimum displacement of the right rear cylinder.
As a preferable mode of the method of determining road parameters suitable for the air suspension test, in S3, k of each of the cylinders is from equal to mi1The calculation is started.
As a preferred embodiment of the method for determining road parameters suitable for air suspension tests, f is defined when k is less than 0i(k)＝0。
As a preferred solution for a method of determining road parameters suitable for air suspension tests, between S1 and S2, the displacement function f of four of said cylinders is seti(k) And inputting the control module.
As a preferable mode of the method of determining the road parameter suitable for the air suspension test, in S7, f in the control module is seti(k-mi) Is corrected to fi(k-mi)-fij。
The invention has the beneficial effects that: the invention discloses a method for determining road parameters suitable for air suspension tests, wherein the difference between the maximum displacement of one actuating cylinder and the minimum displacement of other actuating cylinders is determinedIf the displacement exceeds the preset displacement exceeding the road limit, correcting the maximum displacement of the actuating cylinder and recalculating fijUp to all fijAll be less than or equal to 0, guaranteed the rationality of the displacement that actuates of every actuating cylinder to make the parameter of road comparatively reasonable, avoided because the road parameter sets up the emergence that the phenomenon that makes the life of test bench shorten because unreasonable, accelerated the experimental progress.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a flow chart of a method of determining road parameters suitable for air suspension testing as provided by an embodiment of the present invention.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present embodiment provides a method for determining road parameters suitable for an air suspension test, as shown in fig. 1, comprising:
s1, determining the displacement f of the four actuating cylindersi(k) Wherein k is the number of times, and the time interval between two adjacent times is a preset period delta t, i is 1, 2, 3 and 4;
s2, collecting the displacement f of each actuating cylinder at intervals of a preset period delta ti(k) Collecting N times, wherein k is 1, 2.
S3, defining delay time length n of each actuating cylinderiAt t1-t2Therein, t2Greater than t1，mi1Is composed of
Figure BDA0003130576830000061
Integer part of (1), mi2Is composed of
Figure BDA0003130576830000062
Integer part of (a), judging k-mi2If not, go to S4; if not, go to S9;
s4, calculating fi(k-mi1)，fi(k-mi1-1)，......,fi(k-mi2)；
S5, f of each cylinderi(k-mi) Andmaximum displacement Z of previous round0imaxAnd a minimum displacement Z0jminComparing to obtain the maximum displacement Z of the new round of the actuating cylinder1imaxAnd a minimum displacement Z1jminWherein j ═ i, m of the same cylinderi＝mi1；
S6, calculating the displacement difference f between each cylinder and the rest cylindersij＝Z1imax-Z1jmin-s, where i ≠ j, s is a preset displacement of road overrun;
s7, if any one or more fijIf greater than 0, f isi(k-mi) Is corrected to fi(k-mi)-fijAnd returns to S5; otherwise, go to S8;
s8, adding 1 to k and returning to S3;
s9, ending the test to obtain new Fi(k)。
In S9, Fi(k) For displacing four cylinders fi(k) The partial data in (3) is corrected to obtain a new displacement function.
It should be noted that, the four actuating cylinders of this embodiment are respectively disposed on the test bed, the free end of each actuating cylinder is provided with a base, and each base is respectively and fixedly connected with a tire of the pulley so as to fix the pulley on the base and prevent the pulley from slipping off the base. The operation of the tackle on the road is simulated through the up-and-down movement of the actuating cylinder in the vertical direction, the displacement of the actuating cylinder represents the flatness of the road, and the air suspension adjusts the parameters of the air suspension according to the height change of the road in the vertical direction, so that the stability of the vehicle body is ensured.
In the method for determining road parameters suitable for the air suspension test provided by the embodiment, once the difference value between the maximum displacement of one actuating cylinder and the minimum displacement of other actuating cylinders exceeds the preset displacement exceeding the road limit, the maximum displacement of the actuating cylinder is corrected and the f is recalculatedijUp to all fijAre all less than or equal to 0, the rationality of the actuating displacement of each actuating cylinder is ensured, thereby ensuring that the parameters of the road are reasonable, and avoiding that the test bench is not reasonable due to unreasonable road parameter settingThe service life is shortened, and the test progress is accelerated.
Specifically, in S1, the above four fi(k) Are respectively f1(k)、f2(k)、f3(k) And f4(k)，f1(k) As a function of the target displacement of the cylinder in the left front of the carriage, i.e. as a function of the vertical height of the left front wheel path of the carriage, f2(k) As a function of the target displacement of the cylinder at the front right of the carriage, i.e. as a function of the height of the road at the front right of the carriage in the vertical direction, f3(k) Is a target displacement function of the cylinder at the left rear of the tackle, i.e. a height variation function in the vertical direction of the left rear wheel path of the tackle, f4(k) Is a target displacement function of the actuating cylinder at the right rear of the tackle, namely a height change function of the right rear wheel road of the tackle in the vertical direction.
Between S1 and S2, the displacement function f of the four cylindersi(k) Input control module, i.e. f1(k)、f2(k)、f3(k) And f4(k) Input to the control module, in particular f to be detected every preset period Δ ti(k) Input control modules, i.e. displacement functions fi(k) For different displacements of different order, i.e. the displacement function fi(k) As a discrete database. Preferably, the control module is a controller, the controller may be a centralized or distributed controller, for example, the controller may be a single-chip microcomputer or may be composed of a plurality of distributed single-chip microcomputers, and the single-chip microcomputers may run control programs.
Defining Δ t of this embodiment as 1ms, s as 100mm, and the delay time period n of each cylinderiIs between 80ms and 120ms, t1Is 80ms, t2A delay time period n of each cylinder of the embodiment is 120msiAre all between 80ms and 120ms, respectively m1＝80、81、......、120，m2＝80、81、......、120，m3＝80、81、......、120，m4＝80、81、......、120，mi1Is 80, mi2Is 120. In other embodiments, Δ t, t1、t2And s is largeThe size is not limited to this limitation of the present embodiment, and may be other values, specifically determined according to the cylinder.
To speed up the calculation, in S3, m is equal to ki1The calculation is started, i.e. from k equal to 80. When k is less than 0, fi(k) When k is greater than N, f is defined as 0i(k) 0. In S5, an initial maximum value Z is defined0imaxDefine an initial minimum value of Z as 00jmin0, i.e. for each cylinder the initial maximum and minimum values are both 0, i.e. Z01max＝0，Z02max＝0，Z03max＝0，Z04max＝0，Z01min＝0，Z02min＝0，Z03min＝0，Z04min＝0。
In S5, m isi＝mi1I.e. fi(k-mi)＝fi(k-mi1) If f isi(k-mi1)＜Z0jminThen the minimum displacement Z of the cylinder in a new cycle1jmin＝fi(k-mi1) Maximum displacement Z1imax＝Z0imax(ii) a If Z is0jmin≤fi(k-mi1)≤Z0imaxThen the maximum displacement Z of the cylinder in a new cycle1imax＝Z0imaxMinimum displacement Z1jmin＝Z0jmin(ii) a If fi(k-mi1)＞Z0imaxThen the maximum displacement Z of the cylinder in a new cycle1imax＝fi(k-mi1) Minimum displacement Z1jmin＝Z0jminI and j are the same for the same cylinder.
Specifically, for the left front wheel, if f1(k-80)＜Z01minThen the new round of displacement Z of the cylinder11min＝f1(k-80), maximum displacement Z11max＝Z01max(ii) a If f1(k-80) Z or more01minAnd is less than or equal to Z01maxThen the maximum displacement Z of the cylinder in a new cycle11max＝Z01maxMinimum displacement Z11min＝Z01min(ii) a If f1(k-80)＞Z01maxThen the cylinder takes a new turnMaximum displacement Z of11max＝f1(k-80), minimum displacement Z11min＝Z01minZ herein01minAnd Z01maxThe minimum displacement and the maximum displacement of the front left cylinder during the previous round of calculation are respectively indicated.
For the front right wheel, if f2(k-80)＜Z02minThen the minimum displacement Z of the cylinder in a new cycle12min＝f2(k-80), maximum displacement Z12max＝Z02max(ii) a If f2(k-80) Z or more02minAnd is less than or equal to Z02maxThen the maximum displacement Z of the cylinder in a new cycle12max＝Z02maxMinimum displacement Z12min＝Z02min(ii) a If f2(k-80)＞Z02maxThen the maximum displacement Z of the cylinder in a new cycle12max＝f2(k-80), minimum displacement Z12min＝Z02minZ herein02minAnd Z02maxThe minimum displacement and the maximum displacement of the front right cylinder during the previous calculation are respectively represented.
For the left rear wheel, if f3(k-80)＜Z03minThen the minimum displacement Z of the cylinder in a new cycle13min＝f3(k-80), maximum displacement Z13max＝Z03max(ii) a If f3(k-80) Z or more03minAnd is less than or equal to Z03maxThen the maximum displacement Z of the cylinder in a new cycle13max＝Z03maxMinimum displacement Z13min＝Z03min(ii) a If f3(k-80)＞Z03maxThen the maximum displacement Z of the cylinder in a new cycle13max＝f3(k-80), minimum displacement Z13min＝Z03minZ herein03minAnd Z03maxThe minimum displacement and the maximum displacement of the rear left cylinder during the previous calculation are respectively indicated.
For the right rear wheel, if f4(k-80)＜Z04minThen the minimum displacement Z of the cylinder in a new cycle14min＝f4(k-80), maximum displacement Z14max＝Z04max(ii) a If f4(k-80) are all equal to or greater than Z04minAnd is less than or equal toAt Z04maxThen the maximum displacement Z of the cylinder in a new cycle14max＝Z04maxMinimum displacement Z14min＝Z04min(ii) a If f4(k-80)＞Z04maxThen the maximum displacement Z of the cylinder in a new cycle14max＝f4(k-80), minimum displacement Z14min＝Z04minZ herein04minAnd Z04maxThe minimum displacement and the maximum displacement of the right rear cylinder during the previous round of calculation are respectively represented.
In S6, fij＝Z1imax-Z1jmin-100 comprises:
f12＝Z11max-Z12min-100；
f13＝Z11max-Z13min-100；
f14＝Z11max-Z14min-100；
f21＝Z12max-Z11min-100；
f23＝Z12max-Z13min-100；
f24＝Z12max-Z14min-100；
f31＝Z13max-Z11min-100；
f32＝Z13max-Z12min-100；
f34＝Z13max-Z14min-100；
f41＝Z14max-Z11min-100；
f42＝Z14max-Z12min-100；
f43＝Z14max-Z13min-100。
in S7, once f12、f13、f14、f21、f23、f24、f31、f32、f34、f41、f42、f43Is greater than 0, then f isi(k-mi) Is modified intofi(k-mi)-fijAnd returns to S5 for recalculation. The displacement f of the four actuating cylinders can be quickly judged by comparing the difference value of the maximum displacement and the minimum displacement of the four actuating cylinders with the preset displacement s exceeding the limit of the roadi(k) If it is not appropriate, the original position shift function f is selectedi(k) And correcting to ensure that the difference value of the maximum displacement and the minimum displacement of the four actuating cylinders at any moment is smaller than the preset displacement s exceeding the road limit.
In particular, if f12If greater than 0, f is1(k-80) correction to f1(k-80)-f12While controlling f in the modulei(k-mi) Is corrected to fi(k-mi)-fijThen f is added1(k-80) by f1(k-80)-f12And returns to S5 to recalculate until f12、f13、f14、f21、f23、f24、f31、f32、f34、f41、f42、f43All less than or equal to 0.
The method for determining road parameters suitable for the air suspension test provided by the embodiment can be used for pre-testing the height value of the road in the vertical direction before the road simulation test is carried out on the air suspension, and then carrying out the actual road simulation test after the fact that the whole road is not overrun is determined. Through the pre-test, the out-of-limit road working condition can be identified and corrected, the out-of-limit phenomenon is prevented from frequently occurring in the actual test, the test safety is improved, the service life of the four-upright platform is prolonged, and the test progress is accelerated.
The method for determining the road parameters suitable for the air suspension test provided by the embodiment has the advantages that the algorithm complexity is low, complex mathematical operations such as multiplication, division, square and the like are avoided, only simple addition and subtraction operations are needed, the comparison of numerical values is converted into simple subtraction operation, and the operation time is saved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. A method of determining road parameters suitable for air suspension testing, comprising:
s1, determining the displacement f of the four actuating cylindersi(k) Wherein k is the number of times, and the time interval between two adjacent times is a preset period delta t, i is 1, 2, 3 and 4;
s2, collecting the displacement f of each actuating cylinder every other preset period delta ti(k) Collecting N times, wherein k is 1, 2.
S3, defining delay time length n of each actuating cylinderiAt t1-t2Therein, t2Greater than t1，mi1Is composed of
Figure FDA0003130576820000011
Integer part of (1), mi2Is composed of
Figure FDA0003130576820000012
Integer part of (a), judging k-mi2If not, go to S4; if not, go to S9;
s4, calculating fi(k-mi1)，fi(k-mi1-1)，......,fi(k-mi2)；
S5, f of each actuating cylinderi(k-mi) Maximum displacement Z from previous round0imaxAnd a minimum displacement Z0jminComparing to obtain the maximum displacement Z of the new round of the actuating cylinder1imaxAnd a minimum displacement Z1jminWherein the same one isJ ═ i, m of the cylinderi＝mi1；
S6, calculating the displacement difference f between each actuating cylinder and the rest actuating cylindersij＝Z1imax-Z1jmin-s, where i ≠ j, s is a preset displacement of road overrun;
s7, if any one or more fijIf greater than 0, f isi(k-mi) Is corrected to fi(k-mi)-fijAnd returns to S5; otherwise, go to S8;
s8, adding 1 to k and returning to S3;
s9, ending the test to obtain new Fi(k)。
2. The method for determining road parameters for air suspension test according to claim 1, wherein in S5, if fi(k-mi)＜Z0jminThen the minimum displacement Z of the new cycle of the cylinder1jmin＝fi(k-mi) Maximum displacement Z1imax＝Z0imax(ii) a If Z is0jmin≤fi(k-mi)≤Z0imaxThen the maximum displacement Z of the new cycle of the cylinder1imax＝Z0imaxMinimum displacement Z1jmin＝Z0jmin(ii) a If fi(k-mi)＞Z0imaxThen the maximum displacement Z of the new cycle of the cylinder1imax＝fi(k-mi) Minimum displacement Z1jmin＝Z0jmin。
3. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that in S5 an initial maximum value Z is defined0imaxDefine an initial minimum value of Z as 00jmin＝0。
4. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that four fi(k) Are respectively f1(k)、f2(k)、f3(k) And f4(k)，f1(k) As a function of the target displacement of the cylinder in the left front of the carriage, f2(k) Is a target displacement function of the actuating cylinder in the front right of the carriage, f3(k) Is a target displacement function, f, of the actuating cylinder at the left rear of the carriage4(k) Is a target displacement function of the cylinder behind the right of the trolley.
5. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that in S6 fij＝Z1imax-Z1jmin-s comprises:
f12＝Z11max-Z12min-s；
f13＝Z11max-Z13min-s；
f14＝Z11max-Z14min-s；
f21＝Z12max-Z11min-s；
f23＝Z12max-Z13min-s；
f24＝Z12max-Z14min-s；
f31＝Z13max-Z11min-s；
f32＝Z13max-Z12min-s；
f34＝Z13max-Z14min-s；
f41＝Z14max-Z11min-s；
f42＝Z14max-Z12min-s；
f43＝Z14max-Z13min-s；
in the formula, Z11maxMaximum displacement of the cylinder in the front left, Z11minThe minimum displacement of the cylinder at the front left;
Z12maxmaximum displacement of the right front cylinder, Z12minThe minimum displacement of the cylinder at the front right;
Z13maxmaximum displacement of the cylinder at the rear left, Z13minThe minimum displacement of the actuating cylinder at the rear left;
Z14maxis the maximum displacement of the right rear cylinder, Z14minIs the minimum displacement of the right rear cylinder.
6. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that in S3 k for each of said cylinders is from equal to mi1The calculation is started.
7. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that f is defined when k is less than 0i(k) When k is greater than N, f is defined as 0i(k)＝0。
8. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that between S1 and S2 the displacement function f of four of said cylinders is variedi(k) And inputting the control module.
9. The method for determining road parameters for air suspension test according to claim 8, wherein in S7 f in the control modulei(k-mi) Is corrected to fi(k-mi)-fij。
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