CN113252369B - Method for determining road parameters suitable for air suspension test - Google Patents
Method for determining road parameters suitable for air suspension test Download PDFInfo
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- CN113252369B CN113252369B CN202110702263.7A CN202110702263A CN113252369B CN 113252369 B CN113252369 B CN 113252369B CN 202110702263 A CN202110702263 A CN 202110702263A CN 113252369 B CN113252369 B CN 113252369B
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- 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
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Abstract
The invention relates to the technical field of air suspension test and discloses a test toolA method of determining road parameters for an air suspension test, comprising: s1, determining the displacement f of four actuating cylinders i (k) (ii) a S2, collecting the displacement f of each actuating cylinder at intervals of a preset period delta t i (k) (ii) a S3, judging k-m i2 Whether N is less than or equal to; s4, if yes, f is calculated i (k‑m i1 )，f i (k‑m i1 ‑1)，......,f i (k‑m i2 ) (ii) a S5, obtaining the maximum displacement Z of the new round of the actuating cylinder 1imax And a minimum displacement Z 1jmin (ii) a S6, calculating the displacement difference f between each actuating cylinder and the rest actuating cylinders ij ＝Z 1imax ‑Z 1jmin -s; s7, if any one or more f ij If greater than 0, f is i (k‑m i ) Is corrected to f i (k‑m i )‑f ij And returning to S5, otherwise, executing S8; s8, adding 1 to k and returning to S3; s9, finishing the test to obtain new F i (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
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 four actuating cylinders i (k) Wherein k is the number of times, and the time interval between two adjacent times is a preset period Δ t, i =1,2, 3 and 4;
s2, collecting the displacement f of each actuating cylinder every other preset period delta t i (k) A total of N acquisitions, wherein k =1, 2.... N;
s3, defining delay time length n of each actuating cylinder i At t 1 -t 2 Therein, t 2 Greater than t 1 ，m i1 Is composed of
Integer part of (1), m i2 Is->
Integer part of (a), judging k-m i2 Whether the N is smaller than or equal to N or not is judged, if yes, S4 is executed; if not, executing S9;
s4, calculating f i (k-m i1 )，f i (k-m i1 -1)，......,f i (k-m i2 )；
S5, f of each actuating cylinder i (k-m i ) Maximum displacement Z from previous round 0imax And a minimum displacement Z 0jmin Comparing to obtain the maximum displacement Z of the new round of the actuating cylinder 1imax And a minimum displacement Z 1jmin Wherein the same applies toJ = i, m for cylinder i ＝m i1 ；
S6, calculating the displacement difference f between each actuating cylinder and the rest actuating cylinders ij ＝Z 1imax -Z 1jmin -s, where i ≠ j, s is a preset displacement of road overrun;
s7, if any one or more f ij If greater than 0, f is i (k-m i ) Correction as f i (k-m i )-f ij And returning to S5; otherwise, executing S8;
s8, adding 1 to k and returning to S3;
s9, finishing the test to obtain new F i (k)。
As a preferable mode of the method of determining the road parameter suitable for the air suspension test, in S5, if f i (k-m i )＜Z 0jmin Then the minimum displacement Z of the new cycle of the cylinder 1jmin ＝f i (k-m i ) Maximum displacement Z 1imax ＝Z 0imax (ii) a If Z is 0jmin ≤f i (k-m i )≤Z 0imax Then the maximum displacement Z of the new cycle of the cylinder 1imax ＝Z 0imax Minimum displacement Z 1jmin ＝Z 0jmin (ii) a If f i (k-m i )＞Z 0imax Then the maximum displacement Z of the new cycle of the cylinder 1imax ＝f i (k-m i ) Minimum displacement Z 1jmin ＝Z 0jmin 。
As a preferred solution to the method of determining road parameters suitable for air suspension tests, in S5, an initial maximum value Z is defined 0imax =0, defining an initial minimum value Z 0jmin ＝0。
As a preferred solution for a method of determining road parameters suitable for air suspension testing, four f i (k) Are respectively f 1 (k)、f 2 (k)、f 3 (k) And f 4 (k)，f 1 (k) As a function of the target displacement of the cylinder in the left front of the carriage, f 2 (k) Is a target displacement function of the actuating cylinder in the front right of the carriage, f 3 (k) The purpose of the actuating cylinder at the left rear of the tackleMark shift function, f 4 (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, f ij ＝Z 1imax -Z 1jmin -s comprises:
f 12 ＝Z 11max -Z 12min -s；
f 13 ＝Z 11max -Z 13min -s；
f 14 ＝Z 11max -Z 14min -s；
f 21 ＝Z 12max -Z 11min -s；
f 23 ＝Z 12max -Z 13min -s；
f 24 ＝Z 12max -Z 14min -s；
f 31 ＝Z 13max -Z 11min -s；
f 32 ＝Z 13max -Z 12min -s；
f 34 ＝Z 13max -Z 14min -s；
f 41 ＝Z 14max -Z 11min -s；
f 42 ＝Z 14max -Z 12min -s；
f 43 ＝Z 14max -Z 13min -s；
in the formula, Z 11max Maximum displacement of the cylinder in the front left, Z 11min The minimum displacement of the cylinder at the front left;
Z 12max maximum displacement of the right front cylinder, Z 12min The minimum displacement of the cylinder at the front right;
Z 13max maximum displacement of the cylinder at the rear left, Z 13min The minimum displacement of the actuating cylinder at the rear left;
Z 14max is the maximum displacement of the right rear cylinder, Z 14min Is the right rearOf the actuating cylinder.
As a preferred solution to the method of determining road parameters suitable for air suspension tests, in S3 k of each of said cylinders is from equal to m i1 The 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 0 i (k)＝0。
As a preferred solution for the method of determining road parameters suitable for air suspension tests, between S1 and S2, the displacement function f of four of said cylinders is applied i (k) And inputting the control module.
As a preferable mode of the method for determining the road parameter suitable for the air suspension test, in S7, f in the control module is set i (k-m i ) Is corrected to f i (k-m i )-f ij 。
The invention has the beneficial effects that: the invention discloses a method for determining road parameters suitable for an air suspension test, which is characterized in that 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 f is recalculated ij Up to all f ij The driving displacement of each cylinder is less than or equal to 0, so that the reasonability of the driving displacement of each cylinder is ensured, the parameters of a road are more reasonable, the phenomenon that the service life of a test bed is shortened due to unreasonable road parameter setting is avoided, and the test progress is accelerated.
Drawings
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. 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," "second," and the like 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 four actuating cylinders i (k) Where k is the number of times between two adjacent timesThe time interval is a preset period delta t, i =1,2, 3 and 4;
s2, collecting the displacement f of each actuating cylinder at intervals of a preset period delta t i (k) A total of N acquisitions, wherein k =1, 2.... N;
s3, defining delay time length n of each actuating cylinder i At t 1 -t 2 Therein, t 2 Greater than t 1 ，m i1 Is composed of
Integer part of (1), m i2 Is->
Integer part of (a), judging k-m i2 Whether the N is less than or equal to N or not is judged, if yes, S4 is executed; if not, executing S9;
s4, calculating f i (k-m i1 )，f i (k-m i1 -1)，......,f i (k-m i2 )；
S5, f of each actuating cylinder i (k-m i ) Maximum displacement Z from previous round 0imax And a minimum displacement Z 0jmin Comparing to obtain the maximum displacement Z of the new round of the actuating cylinder 1imax And a minimum displacement Z 1jmin Wherein j = i, m for the same cylinder i ＝m i1 ；
S6, calculating the displacement difference f between each actuating cylinder and the rest actuating cylinders ij ＝Z 1imax -Z 1jmin -s, where i ≠ j, s is a preset displacement of road overrun;
s7, if any one or more f ij If greater than 0, f is i (k-m i ) Is corrected to f i (k-m i )-f ij And returning to S5; otherwise, executing S8;
s8, adding 1 to k and returning to S3;
s9, finishing the test to obtain new F i (k)。
In S9, F i (k) For displacing four cylinders f i (k) New displacement obtained by correcting part of data in (1)A 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 recalculated ij Up to all f ij All 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.
Specifically, in S1, the above four f i (k) Are respectively f 1 (k)、f 2 (k)、f 3 (k) And f 4 (k)，f 1 (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, f 2 (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, f 3 (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, f 4 (k) Is a target displacement function of the actuating cylinder at the rear right of the tackle, namely a height change function of a road at the rear right wheel of the tackle in the vertical direction.
Between S1 and S2, the displacement function f of the four cylinders is set i (k) Input control module, i.e. f 1 (k)、f 2 (k)、f 3 (k) And f 4 (k) Input to the control module, in particular f to be detected every preset period Δ t i (k) Input control modules, i.e. displacement functions f i (k) For different displacements of different order, i.e. the displacement function f i (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 an individual single chip microcomputer, or may be composed of a plurality of distributed single chip microcomputers, and a control program may run in the single chip microcomputer.
Defining the embodiment as Δ t of 1ms and s of 100mm, the delay time period n of each cylinder i Is between 80ms and 120ms, t 1 Is 80ms, t 2 A delay time period n of each cylinder of the embodiment is 120ms i Are all between 80ms and 120ms, respectively m 1 ＝80、81、......、120，m 2 ＝80、81、......、120，m 3 ＝80、81、......、120，m 4 ＝80、81、......、120，m i1 Is 80,m i2 Is 120. In other embodiments, Δ t, t 1 、t 2 And s 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 computation, in S3, from k equals m i1 The calculation is started, i.e. from k equal to 80. When k is less than 0, f i (k) =0, definition of f when k is greater than N i (k) And =0. In S5, an initial maximum value Z is defined 0imax =0, defining an initial minimum value Z 0jmin =0, i.e. for each cylinder the initial maximum and minimum values are both 0, i.e. Z 01max ＝0，Z 02max ＝0，Z 03max ＝0，Z 04max ＝0，Z 01min ＝0，Z 02min ＝0，Z 03min ＝0，Z 04min ＝0。
In S5, m is i ＝m i1 I.e. f i (k-m i )＝f i (k-m i1 ) If f is i (k-m i1 )＜Z 0jmin Then the minimum displacement Z of the cylinder in a new cycle 1jmin ＝f i (k-m i1 ) Maximum displacement Z 1imax ＝Z 0imax (ii) a If Z is 0jmin ≤f i (k-m i1 )≤Z 0imax Then the maximum displacement Z of the cylinder in a new cycle 1imax ＝Z 0imax Minimum displacement Z 1jmin ＝Z 0jmin (ii) a If f i (k-m i1 )＞Z 0imax Then the maximum displacement Z of the cylinder in a new cycle 1imax ＝f i (k-m i1 ) Minimum displacement Z 1jmin ＝Z 0jmin I and j are the same for the same cylinder.
Specifically, for the left front wheel, if f 1 (k-80)＜Z 01min Then the new round of displacement Z of the cylinder 11min ＝f 1 (k-80), maximum displacement Z 11max ＝Z 01max (ii) a If f 1 (k-80) Z or more 01min And is less than or equal to Z 01max Then the maximum displacement Z of the cylinder in a new cycle 11max ＝Z 01max Minimum displacement Z 11min ＝Z 01min (ii) a If f 1 (k-80)＞Z 01max Then the maximum displacement Z of the cylinder in a new cycle 11max ＝f 1 (k-80), minimum displacement Z 11min ＝Z 01min Z herein 01min And Z 01max The 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 f 2 (k-80)＜Z 02min Then the minimum displacement Z of the cylinder in a new cycle 12min ＝f 2 (k-80), maximum displacement Z 12max ＝Z 02max (ii) a If f 2 (k-80) Z or more 02min And is less than or equal to Z 02max Then the maximum displacement Z of the cylinder in a new cycle 12max ＝Z 02max Minimum displacement Z 12min ＝Z 02min (ii) a If f 2 (k-80)＞Z 02max Then the maximum displacement Z of the cylinder in a new cycle 12max ＝f 2 (k-80), minimum displacement Z 12min ＝Z 02min Z herein 02min And Z 02max Respectively representing the extreme front right cylinder in the previous calculationSmall displacement and maximum displacement.
For the left rear wheel, if f 3 (k-80)＜Z 03min Then the minimum displacement Z of the cylinder in a new cycle 13min ＝f 3 (k-80), maximum displacement Z 13max ＝Z 03max (ii) a If f 3 (k-80) Z or more 03min And is less than or equal to Z 03max Then the maximum displacement Z of the cylinder in a new cycle 13max ＝Z 03max Minimum displacement Z 13min ＝Z 03min (ii) a If f 3 (k-80)＞Z 03max Then the maximum displacement Z of the cylinder in a new cycle 13max ＝f 3 (k-80), minimum displacement Z 13min ＝Z 03min Z herein 03min And Z 03max The minimum displacement and the maximum displacement of the rear left cylinder during the previous calculation are respectively indicated.
For the right rear wheel, if f 4 (k-80)＜Z 04min Then the minimum displacement Z of the cylinder in a new cycle 14min ＝f 4 (k-80), maximum displacement Z 14max ＝Z 04max (ii) a If f 4 (k-80) are all equal to or greater than Z 04min And is less than or equal to Z 04max Then the maximum displacement Z of the cylinder in a new cycle 14max ＝Z 04max Minimum displacement Z 14min ＝Z 04min (ii) a If f 4 (k-80)＞Z 04max Then the maximum displacement Z of the cylinder in a new cycle 14max ＝f 4 (k-80), minimum Displacement Z 14min ＝Z 04min Z herein 04min And Z 04max The minimum displacement and the maximum displacement of the right rear cylinder during the previous round of calculation are respectively represented.
In S6, f ij ＝Z 1imax -Z 1jmin -100 comprises:
f 12 ＝Z 11max -Z 12min -100；
f 13 ＝Z 11max -Z 13min -100；
f 14 ＝Z 11max -Z 14min -100；
f 21 ＝Z 12max -Z 11min -100；
f 23 ＝Z 12max -Z 13min -100；
f 24 ＝Z 12max -Z 14min -100；
f 31 ＝Z 13max -Z 11min -100；
f 32 ＝Z 13max -Z 12min -100；
f 34 ＝Z 13max -Z 14min -100；
f 41 ＝Z 14max -Z 11min -100；
f 42 ＝Z 14max -Z 12min -100；
f 43 ＝Z 14max -Z 13min -100。
in S7, once f 12 、f 13 、f 14 、f 21 、f 23 、f 24 、f 31 、f 32 、f 34 、f 41 、f 42 、f 43 Is greater than 0, then f is i (k-m i ) Is corrected to f i (k-m i )-f ij And 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 road i (k) If it is not appropriate, the original position shift function f is selected i (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, suppose f 12 If greater than 0, f is 1 (k-80) correction to f 1 (k-80)-f 12 While controlling f in the module i (k-m i ) Correction as f i (k-m i )-f ij Then f is added 1 (k-80) is replaced with f 1 (k-80)-f 12 And returning to S5 for recalculation until f 12 、f 13 、f 14 、f 21 、f 23 、f 24 、f 31 、f 32 、f 34 、f 41 、f 42 、f 43 All 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 and division power and the like are avoided, only simple addition and subtraction operations are needed, the comparison of numerical values is also converted into simple subtraction operations, 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 four actuating cylinders i (k) Wherein k is the number of times, and the time interval between two adjacent times is a preset period Δ t, i =1,2, 3 and 4;
s2, collecting the displacement f of each actuating cylinder every other preset period delta t i (k) A total of N acquisitions, wherein k =1, 2.... N;
s3, defining delay time length n of each actuating cylinder i At t is located 1 -t 2 Therein, t 2 Greater than t 1 ，m i1 Is composed of
Integer part of (2), m i2 Is->
Integer part of (a), judging k-m i2 Whether the N is smaller than or equal to N or not is judged, if yes, S4 is executed; if not, executing S9;
s4, calculating f i (k-m i1 )，f i (k-m i1 -1)，......,f i (k-m i2 )；
S5, f of each actuating cylinder i (k-m i ) Maximum displacement Z from previous round 0imax And a minimum displacement Z 0jmin Comparing to obtain the maximum displacement Z of the new round of the actuating cylinder 1imax And a minimum displacement Z 1jmin Wherein j = i, m for the same cylinder i ＝m i1 ；
S6, calculating the displacement difference f between each actuating cylinder and the rest actuating cylinders ij ＝Z 1imax -Z 1jmin -s, where i ≠ j, s is a preset displacement of road overrun;
s7, if any one or more f ij If greater than 0, f is i (k-m i ) Is corrected to f i (k-m i )-f ij And returning to S5; otherwise, executing S8;
s8, adding 1 to k and returning to S3;
s9, finishing the test to obtain new F i (k) Wherein F is i (k) For displacing four cylinders f i (k) The partial data in (3) is corrected to obtain a new displacement function.
2. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that in S5If f is i (k-m i )＜Z 0jmin Then the minimum displacement Z of the new cycle of the cylinder 1jmin ＝f i (k-m i ) Maximum displacement Z 1imax ＝Z 0imax (ii) a If Z is 0jmin ≤f i (k-m i )≤Z 0imax Then the maximum displacement Z of the new cycle of the cylinder 1imax ＝Z 0imax Minimum displacement Z 1jmin ＝Z 0jmin (ii) a If f i (k-m i )＞Z 0imax Then the maximum displacement Z of the new cycle of the cylinder 1imax ＝f i (k-m i ) Minimum displacement Z 1jmin ＝Z 0jmin 。
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 defined 0imax =0, defining an initial minimum value Z 0jmin ＝0。
4. Method for determining road parameters suitable for air suspension tests according to claim 1, characterized in that four f i (k) Are respectively f 1 (k)、f 2 (k)、f 3 (k) And f 4 (k)，f 1 (k) As a function of the target displacement of the cylinder in the left front of the carriage, f 2 (k) As a function of the target displacement of the actuating cylinder in front of the right of the carriage, f 3 (k) A target displacement function, f, of the actuating cylinder at the left rear of the carriage 4 (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 f ij ＝Z 1imax -Z 1jmin -s comprises:
f 12 ＝Z 11max -Z 12min -s；
f 13 ＝Z 11max -Z 13min -s；
f 14 ＝Z 11max -Z 14min -s；
f 21 ＝Z 12max -Z 11min -s；
f 23 ＝Z 12max -Z 13min -s；
f 24 ＝Z 12max -Z 14min -s；
f 31 ＝Z 13max -Z 11min -s；
f 32 ＝Z 13max -Z 12min -s；
f 34 ＝Z 13max -Z 14min -s；
f 41 ＝Z 14max -Z 11min -s；
f 42 ＝Z 14max -Z 12min -s；
f 43 ＝Z 14max -Z 13min -s；
in the formula, Z 11max Maximum displacement of the cylinder to the front left, Z 11min A minimum displacement of the cylinder to the left front;
Z 12max maximum displacement of the right front cylinder, Z 12min The minimum displacement of the cylinder at the front right;
Z 13max maximum displacement of the cylinder to the rear left, Z 13min A minimum displacement of the cylinder to the left rear;
Z 14max maximum displacement of the cylinder at the rear right, Z 14min Is 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 of each of said cylinders is from equal to m i1 The 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 0 i (k) =0, defines f when k is greater than N i (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 applied i (k) And inputting the control module.
9. The method of determining road parameters for air suspension testing of claim 8, wherein in S7, f in the control module is adjusted i (k-m i ) Correction as f i (k-m i )-f ij 。
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