CN113704870B - Method and device for identifying exciting force of engine, computer equipment and storage medium - Google Patents

Method and device for identifying exciting force of engine, computer equipment and storage medium Download PDF

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CN113704870B
CN113704870B CN202110831807.XA CN202110831807A CN113704870B CN 113704870 B CN113704870 B CN 113704870B CN 202110831807 A CN202110831807 A CN 202110831807A CN 113704870 B CN113704870 B CN 113704870B
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suspension
data
acceleration data
force
elastic
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CN113704870A (en
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黄德惠
胡金蕊
张凯
向建东
耿志广
周强
孙吉超
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FAW Jiefang Automotive Co Ltd
FAW Jiefang Qingdao Automobile Co Ltd
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FAW Jiefang Automotive Co Ltd
FAW Jiefang Qingdao Automobile Co Ltd
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    • G06—COMPUTING; CALCULATING OR COUNTING
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Abstract

The application relates to an engine exciting force identification method, an engine exciting force identification device, computer equipment and a storage medium. The method comprises the following steps: constructing a conversion matrix corresponding to each suspension elastic center point; acquiring target acceleration data corresponding to each suspension elastic center point, and calculating the inertia force of the power assembly according to the target acceleration data corresponding to each suspension elastic center point, the conversion matrix and the preset mass matrix; according to the obtained in-phase dynamic stiffness data and quadrature dynamic stiffness data, calculating second stiffness data of each suspension under a crankshaft coordinate system; and calculating to obtain the suspension system support reaction force according to the target acceleration data, the second rigidity data and the elastic point coordinates, and identifying the engine excitation force according to the suspension system support reaction force and the power assembly inertia force. By adopting the method, the recognition accuracy of the exciting force of the engine can be improved.

Description

Method and device for identifying exciting force of engine, computer equipment and storage medium
Technical Field
The present application relates to the field of power systems, and in particular, to a method and apparatus for identifying exciting force of an engine, a computer device, and a storage medium.
Background
NVH (Noise, vibration, harshness, noise, vibration and harshness) is a comprehensive problem in measuring automobile manufacturing quality, and its perception to automobile users is most direct and superficial. And the engine is the primary source of drive for vehicle NVH. However, the premise of evaluating vehicle NVH performance is effective recognition of the engine excitation force. At present, in practical engineering application, the engine bench test bed is mainly used for detecting the vibration acceleration of multiple points on an engine, and based on the measured vibration acceleration data, the excitation force of the engine is identified according to an excitation force identification formula. Although this method can recognize the engine excitation force, the conventional technique does not take into consideration the frequency-dependent characteristics of the engine excitation force, and has a problem of low recognition accuracy.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an engine excitation force identification method, apparatus, computer device, and storage medium that can improve accuracy of engine excitation force identification.
A method of identifying engine excitation force, the method comprising:
calculating the coordinates of the elastic points corresponding to the elastic center points of the corresponding suspension according to the coordinates of the mass center of the power assembly part under the crankshaft coordinate system and the coordinates of the plurality of suspension points, and constructing a conversion matrix corresponding to the elastic center points of the corresponding suspension based on the coordinates of the elastic points;
Acquiring first test data transmitted by preset first test equipment, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively;
performing frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data;
calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix corresponding to each suspension elastic center point;
acquiring second test data transmitted by a preset second test device, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test device;
according to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system, and converting the first stiffness data under the crankshaft coordinate system based on the coordinate conversion mode to obtain second stiffness data which is adaptive to the first stiffness data;
Calculating suspension branch counter forces corresponding to the suspension points respectively according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension branch counter moments corresponding to the suspension points respectively according to the elastic point coordinates and the suspension branch counter forces;
and calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment, and identifying the engine excitation force according to the suspension system support counter force and the power assembly inertia force.
An engine excitation force identification device, the device comprising:
the device comprises a construction module, a first acquisition module, a first conversion module, a first calculation module, a second acquisition module, a second conversion module, a second calculation module and an identification module, wherein:
the construction module is used for calculating the elastic point coordinates corresponding to the corresponding suspension elastic center points according to the mass center coordinates of the power assembly component under the crankshaft coordinate system and the plurality of suspension point coordinates, and constructing a conversion matrix corresponding to the corresponding suspension elastic center points based on the elastic point coordinates;
the first acquisition module is used for acquiring first test data transmitted by preset first test equipment, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively;
The first conversion module is used for carrying out frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data;
the first calculation module is used for calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix which are respectively corresponding to the suspension elastic center points;
the second acquisition module is used for acquiring second test data transmitted by preset second test equipment, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test equipment;
the second conversion module is used for calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system according to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, and converting the first stiffness data under the crankshaft coordinate system based on the coordinate transformation mode so as to obtain second stiffness data which are adaptive to the first stiffness data;
the second calculation module is used for calculating suspension support counter forces corresponding to each suspension point respectively according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension support counter moments corresponding to each suspension point respectively according to the elastic point coordinates and the suspension support counter forces;
And the identification module is used for calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment and identifying the engine exciting force according to the suspension system support counter force and the power assembly inertia force.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
calculating the coordinates of the elastic points corresponding to the elastic center points of the corresponding suspension according to the coordinates of the mass center of the power assembly part under the crankshaft coordinate system and the coordinates of the plurality of suspension points, and constructing a conversion matrix corresponding to the elastic center points of the corresponding suspension based on the coordinates of the elastic points;
acquiring first test data transmitted by preset first test equipment, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively;
performing frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data;
Calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix corresponding to each suspension elastic center point;
acquiring second test data transmitted by a preset second test device, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test device;
according to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system, and converting the first stiffness data under the crankshaft coordinate system based on the coordinate conversion mode to obtain second stiffness data which is adaptive to the first stiffness data;
calculating suspension branch counter forces corresponding to the suspension points respectively according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension branch counter moments corresponding to the suspension points respectively according to the elastic point coordinates and the suspension branch counter forces;
and calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment, and identifying the engine excitation force according to the suspension system support counter force and the power assembly inertia force.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
calculating the coordinates of the elastic points corresponding to the elastic center points of the corresponding suspension according to the coordinates of the mass center of the power assembly part under the crankshaft coordinate system and the coordinates of the plurality of suspension points, and constructing a conversion matrix corresponding to the elastic center points of the corresponding suspension based on the coordinates of the elastic points;
acquiring first test data transmitted by preset first test equipment, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively;
performing frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data;
calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix corresponding to each suspension elastic center point;
acquiring second test data transmitted by a preset second test device, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test device;
According to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system, and converting the first stiffness data under the crankshaft coordinate system based on the coordinate conversion mode to obtain second stiffness data which is adaptive to the first stiffness data;
calculating suspension branch counter forces corresponding to the suspension points respectively according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension branch counter moments corresponding to the suspension points respectively according to the elastic point coordinates and the suspension branch counter forces;
and calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment, and identifying the engine excitation force according to the suspension system support counter force and the power assembly inertia force.
According to the method, the device, the computer equipment and the storage medium for identifying the exciting force of the engine, through constructing the conversion matrix corresponding to each suspension elastic center point respectively, combining frequency domain acceleration data corresponding to each suspension elastic center point respectively obtained through calculation in the whole vehicle state, calculating the inertia force of the power assembly, and identifying the exciting force of the engine according to the suspension counter force, the suspension counter moment and the inertia force of the power assembly obtained through calculation on the basis of analyzing the frequency-dependent characteristic of the suspension stiffness.
Drawings
FIG. 1 is a diagram of an application environment for an engine excitation force identification method in one embodiment;
FIG. 2 is a flow chart of a method of identifying engine excitation force in one embodiment;
FIG. 3 is a schematic diagram of the distribution of 4 measurement points at the engine mount active end in one embodiment;
FIG. 4 is a schematic diagram of the distribution of 4 measurement points on the passive end of the engine mount according to one embodiment;
FIG. 5 is a spectral amplitude distribution diagram of the vibration acceleration in 12 directions at 4 stations at the engine mount active end in one embodiment;
FIG. 6 is a graph showing the spectral amplitude distribution of the acceleration of vibration in 12 directions at 4 points at the passive end of the engine mount in one embodiment;
FIG. 7 is a schematic diagram of six-way inertial force distribution of a powertrain in one embodiment;
FIG. 8 is a schematic diagram of the distribution of the strut forces and strut moments of the powertrain suspension system in one embodiment;
FIG. 9 is a schematic diagram of six-directional excitation force distribution of a powertrain in one embodiment;
FIG. 10 is a block diagram showing a construction of an engine excitation force identifying device according to an embodiment;
FIG. 11 is an internal block diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The method for identifying the exciting force of the engine can be applied to an application environment shown in figure 1. Wherein the first test device 102 and the second test device 104 are each in communication with the computer device 106 via a network.
Specifically, when the excitation force of the engine is identified, the method comprises the following steps:
(1) The computer device 106 calculates the coordinates of the elastic points corresponding to the respective suspension elastic center points from the coordinates of the centroid of the powertrain component in the crankshaft coordinate system and the coordinates of the plurality of suspension points, and constructs a transformation matrix corresponding to the respective suspension elastic center points based on the coordinates of the elastic points.
(2) The computer device 106 obtains first test data transmitted via the first test device 102, the first test data including time domain acceleration data corresponding to each suspended elastic center point.
(3) The computer device 106 performs frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converts the frequency domain acceleration data into a crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data.
(4) The computer device 106 calculates the inertial force of the powertrain according to the target acceleration data, the conversion matrix, and the preset mass matrix corresponding to each suspension elastic center point.
(5) The computer device 106 obtains second test data transmitted via the second test device 104, the second test data including in-phase dynamic stiffness data and quadrature dynamic stiffness data fitted based on the operating frequency of the second test device.
(6) The computer device 106 calculates first stiffness data of each suspension in a corresponding suspension elastic coordinate system according to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, and converts the first stiffness data into a crankshaft coordinate system based on a coordinate transformation mode to obtain second stiffness data which is suitable for the first stiffness data.
(7) The computer device 106 calculates suspension branch counter forces corresponding to the respective suspension points based on the operating frequency, the target acceleration data, and the second stiffness data, and calculates suspension branch counter moments corresponding to the respective suspension points based on the elastic point coordinates and the suspension branch counter forces.
(8) The computer device 106 calculates the suspension system support reaction force based on the suspension support reaction force and the suspension support reaction moment, and recognizes the engine excitation force based on the suspension system support reaction force and the power assembly inertia force.
In one embodiment, the first test device 102 may be a vibration test device, which may be, for example, a vibration sensor, a vibration recorder, or the like. The second test device 104 may be an elastomer test stand. The computer device 106 may be a terminal or a server, wherein the terminal may be, but is not limited to, various personal computers, notebook computers, smartphones, tablet computers, and portable wearable devices, and the server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, there is provided an engine exciting force identifying method, which is described by taking the computer device in fig. 1 as an example, and includes the following steps:
step S202, calculating elastic point coordinates corresponding to the corresponding suspension elastic center points according to mass center coordinates of the power assembly component in a crankshaft coordinate system and the suspension point coordinates, and constructing a conversion matrix corresponding to the corresponding suspension elastic center points based on the elastic point coordinates.
The powertrain component refers to a series of component assemblies that generate power on a vehicle and transmit the power to a road surface. It broadly includes engines, gearboxes, driveshafts, differentials, clutches, etc., but in general, the powertrain is generally referred to only as an engine, a transmission, and the remaining components integrated onto the transmission, such as a clutch/front differential, etc. The suspension points refer to connection points between the suspension and the whole vehicle, wherein one suspension corresponds to one suspension point, and the suspension can be understood as an elastic component for connecting the power assembly component and the whole vehicle. The suspension elastic center point refers to a point at which an external force in any direction acts on a supported object to enable the supported object to only perform translational motion and not generate rotation; that is, if an external moment acts on the supported object about the elastic center principal axis, the object will only rotate and will not move in translation, and the total amount of the suspended elastic center point will be adapted to the total amount of the suspended points.
Specifically, based on the coordinates of the elastic points, a transformation matrix corresponding to the elastic center point of the suspension is constructed, including: for each suspension elastic center point, determining a plurality of direction components corresponding to corresponding elastic point coordinates, and constructing and obtaining a cross matrix corresponding to the corresponding suspension elastic center point based on the following formula according to the determined plurality of direction components:
wherein r is cpix The elastic point coordinates of the ith suspension elastic center point are the first direction components corresponding to the x-axis direction; r is (r) cpiy A second direction component corresponding to the elastic point coordinate of the ith suspension elastic center point in the y-axis direction; r is (r) cpiz A third direction component corresponding to the elastic point coordinate of the ith suspension elastic center point in the z-axis direction; b (B) i A cross matrix corresponding to the ith suspension elastic center point;
according to the cross matrix B corresponding to the corresponding suspension elastic center point i And a preset identity matrix E, and constructing a conversion matrix corresponding to the corresponding suspension elastic center point based on the following formula:
T i ＝[E B i ]；
wherein T is i The transformation matrix corresponding to the ith suspension elastic center point.
In one embodiment, the computer device calculates the elastic point coordinates corresponding to the respective suspended elastic center point by:
The computer equipment determines that the mass center coordinate of the power assembly component under the crankshaft coordinate system is r c And the coordinates of the suspension points corresponding to the suspension points are r p1 、…、r pN Wherein r is p1 Is the coordinate of the first suspension point, r pN The coordinates of the nth suspension point, N being the total number of suspension points. Correspondingly, for each suspension point, calculating the corresponding suspension point coordinate and the centroid coordinate, wherein the obtained coordinate of the ith suspension elastic center point is: r is (r) cpi ＝r c -r pi 。
In one embodiment, the computer device determines that the centroid coordinate in the powertrain component crankshaft coordinate system is r c ＝[396.5 6.0 150.0]mm, the coordinates of the suspension points corresponding to the suspension points are as follows: r is (r) p1 ＝[1069.25 366 85]mm；r p2 ＝[1069.25-366 85]mm；r p3 ＝[-167.4 345 145.5]mm；r p4 ＝[-167.4-345 145.5]mm. Based on formula r cpi ＝r c -r pi The coordinates of the first suspension elastic center point are obtained as follows: r is (r) cp1 ＝[-672.75-360 65]The method for calculating the coordinates of the center point of the suspension elastic element in mm can be referred to the above method, and the embodiment of the application will not be described in detail.
Step S204, first test data transmitted by a preset first test device are acquired, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively.
Specifically, the data type measured by the first test device is time domain data, and the identification of the engine exciting force is performed based on the frequency domain acceleration data. Therefore, for the currently acquired time domain acceleration data, the frequency domain acceleration needs to be converted by a corresponding frequency domain conversion mode, for example, a fourier transform mode, so as to improve the recognition accuracy of the exciting force of the engine.
In one embodiment, vibration accelerations of 12 directions of a 4-point suspension of a power assembly of a certain commercial vehicle are acquired by using first test equipment, wherein the vibration acceleration of an active end in a time domain is shown in fig. 3, and the vibration acceleration of a passive end in the time domain is shown in fig. 4 (it should be noted that in fig. 3 and 4, three directions of X, Y and Z are left to right, and left front suspension, right front suspension, left rear suspension and right rear suspension are from top to bottom). In one embodiment, after frequency domain conversion, the active end vibration acceleration in the frequency domain is shown in fig. 5, and the passive end vibration acceleration in the frequency domain is shown in fig. 6.
And S206, performing frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into a crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data.
Specifically, the coordinate transformation method is determined by the following steps: determining a first rotation transformation matrix required for conversion from a suspension driving end measuring point coordinate system to a crankshaft coordinate system based on a pre-constructed crankshaft coordinate system, a suspension driving end measuring point coordinate system and a suspension driven end measuring point coordinate system; determining a second rotation transformation matrix required for conversion from the suspended passive end measurement point coordinate system to the crankshaft coordinate system; a coordinate transformation scheme is determined based on the first rotational transformation matrix and the second rotational transformation matrix.
In one of the embodiments, on the one hand:
the computer device is based on a pre-built crankshaft coordinate system Γ g The ith suspension driving end measuring point coordinate system Γ ami And an ith suspension passive end measurement point coordinate system Γ pmi Further determining the secondary crankshaft coordinate system Γ g Coordinate system gamma from ith suspension driving end measuring point ami Is R g-ami From the crankshaft coordinate system Γ g The rotation transformation matrix from the ith suspension passive end measuring point coordinate system is R g-pmi 。
On the other hand, the time domain acceleration data includes the affiliated suspensionCoordinate system Γ of active end measuring point ami Active end time domain acceleration data a of (2) ami And the belonging suspension passive end measuring point coordinate system Γ pmi Passive end time domain acceleration data a of (2) pmi . In the present embodiment, the computer device uses a fourier transform mode to make the active-end time-domain acceleration data a ami Passive end time domain acceleration data a pmi After being converted into corresponding frequency domain data, the corresponding active end frequency domain acceleration data A is obtained ami And passive end frequency domain acceleration data a pmi 。
Based on the above embodiment, the computer device specifically extracts the active-end frequency-domain acceleration data a by ami And passive end frequency domain acceleration data a pmi Converting into a crankshaft coordinate system to obtain corresponding first target acceleration data A ai And second target acceleration data A pi (R is the same as g-ami 、R g-pmi May be an identity matrix):
A ai ＝R g-ami A ami ；
A pi ＝R g-pmi A pmi 。
step S208, calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix corresponding to the suspension elastic center points.
Specifically, the power assembly is regarded as a rigid body, and the calculation of the inertial force of the power assembly is carried out according to target acceleration data and a conversion matrix corresponding to each suspension elastic center point respectively and a preset mass matrix, wherein the calculation of the rigid body acceleration is carried out based on the first target acceleration data and the conversion matrix through the following formula:
wherein T is i For the conversion matrix corresponding to the ith suspension elastic center point, A ai The first target acceleration data corresponding to the ith suspension elastic center point is obtained; i= [1, 2..,N]N is the total number of the suspension elastic center points;is a rigid acceleration;
based on the acting force relation between the rigid acceleration and the inertia force of the power assembly, the inertia force F of the power assembly is carried out by the following formula I Is calculated by (1):
wherein M is a mass matrix determined according to preset inertia parameters of the power assembly.
In one embodiment, the computer device performs the calculation of the powertrain inertia force by:
(a1) Regarding the power assembly as a rigid body, for any point p on the rigid body, it is in the inertial coordinate system Γ Oxyz And a satellite coordinate system Γ Cxyz The relation of (2) is:
r op ＝r c +r cp ； (1)
in the formula (1), r op For point p to inertial coordinate system Γ Oxyz Vector of r cp For point p to the satellite coordinate system Γ Cxyz Vector of r c Rigid body centroid point c to inertial coordinate system Γ Oxyz Is a vector of (a).
(a2) After deriving equation (1) twice, the acceleration relation of the rigid point p is obtained as follows:
a op ＝a c +ε×r cp +ω×(ω×r cp )； (2)
in the formula (2), a op Absolute acceleration being the rigid point p; a, a c Absolute acceleration being the rigid body centroid point c; epsilon is the rigid body angular acceleration; ω is the rigid body rotational angular velocity.
(a3) Since the rigid body is in the vicinity of the equilibrium position and rotates only slightly, ω× (ω×r cp ) Is a second order small quantity, which can be ignored, based on this principle, the formula (2) is reduced to the following formula (3):
a op ＝a c +ε×r cp 。 (3)
(a4) After converting the formula (3) into a matrix form, the following formula (4) is obtained:
in the formula (4), the amino acid sequence of the compound,is a coefficient matrix, wherein E is an identity matrix, < >> Is a rigid acceleration. r is (r) px 、r py And r pz Are the direction components corresponding to the x, y and z axes of the corresponding suspension points respectively. a, a ox 、a oy And a oz Is the direction component corresponding to the translational acceleration relative to the x, y and z axes respectively. Epsilon x 、ε y And epsilon z Are directional components of the rigid angular acceleration epsilon corresponding to the x, y and z axes respectively.
(a5) From equation (4), when the acceleration of N (N.gtoreq.2) point on the rigid body is known, the expansion equation is obtained:
equation transformation is performed on equation (5) to obtain the corresponding rigid acceleration:
(a6) Bringing the above formula (6) and the preset mass matrix M into the following formula (7) to perform the rigid body inertia force F I Is calculated by (1):
wherein: m is a predetermined mass matrix, in one embodiment (kg refers to kg.m 2 Refers to kilograms of square meters):
(a7) First target acceleration data A of each item calculated previously a1 ～A aN Conversion matrix T 1 ～T N And (3) carrying out the preset mass matrix into the formula (7), so as to obtain the inertial force of the power assembly in the frequency domain, wherein the inertial force is as follows:
the inertial force of the powertrain obtained based on the above formula (8) is shown in fig. 7 (wherein the upper left side in the figure is the translational X direction, the upper middle side is the translational Y direction force, the upper right side is the translational Z direction force, the lower left side is the rotational Rx direction moment, the lower middle side is the rotational Ry direction moment, and the lower right side is the rotational Rz direction moment).
Step S210, second test data transmitted by a preset second test device are acquired, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test device.
Specifically, after the sweep experiment is performed via the second test apparatus, the in-phase dynamic stiffness for the ith suspension elastic property is calculated by the following formula (9):
k' pi ＝C 1 ×ln(f)+C 2 ； (9)
and, for the orthogonal dynamic stiffness of the ith suspension damping characteristic, it will be calculated by the following equation (10):
k” pi ＝C 3 ×ln(f)+C 4 (C 1 ～C 4 fitting coefficients). (10)
In one embodiment, based on the resulting k' pi 、k” pi The p-direction dynamic stiffness k of the ith suspension main shaft can be determined pi The method comprises the following steps: k (k) pi ＝k' pi +j*k” pi (Is an imaginary unit; k' pi Representing the in-phase dynamic stiffness, k' of the rubber-elastic element " pi Representing the orthogonal dynamic stiffness of the rubber damping characteristics). Similarly, based on the mode, the q-direction dynamic stiffness k of the ith suspension main shaft can be obtained qi And the dynamic stiffness k of the suspension main shaft in the r direction ri 。
In one embodiment, as shown in table 1, the dynamic fitting stiffness of the front and rear suspensions is specifically:
TABLE 1
Front suspension stiffness Front suspension X-direction of engine Front suspension Y-direction of engine Front suspension Z direction of engine
K'(N/mm) 31.524ln(f)+792.19 12.152ln(f)+299.63 27.023ln(f)+886.78
K"(N/mm) 0.3235f+26.015 0.1362f+12.686 0.3037f+33.362
Rear suspension stiffness Rear suspension X-direction of engine Rear suspension Y-direction of engine Rear suspension Z direction of engine
K'(N/mm) 42.913ln(f)+1593 16.355ln(f)+436.65 100.39ln(f)+1934.5
K"(N/mm) 0.2452f+60.782 0.1507f+18.044 0.1352f+99.423
Wherein K ' is K ' obtained by fitting ' pi K "is K" obtained by fitting " pi F is the working frequency of the second test equipment, and the fitting coefficients of the second test equipment in different directions for the suspension of the engine are different in value.
Step S212, calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system according to in-phase dynamic stiffness data and quadrature dynamic stiffness data, and converting the first stiffness data under a crankshaft coordinate system based on a coordinate transformation mode to obtain second stiffness data of each suspension under the crankshaft coordinate system.
Specifically, the computer device calculates the p-direction dynamic stiffness k of the suspension main shaft based on the step S210 pi Dynamic stiffness in q direction k qi And r-direction dynamic stiffness k ri First stiffness data for each suspension in a corresponding suspension elastic coordinate system is calculated. Then, at the time of determinationAfter the conversion mode from the suspension elastic coordinate system to the crankshaft coordinate system, the first stiffness is converted into corresponding second dynamic stiffness data based on the conversion mode.
In one embodiment:
first, the computer equipment calculates the calculated p-direction dynamic stiffness k of the ith suspension main shaft pi Dynamic stiffness in q direction k qi And r-direction dynamic stiffness k ri Is brought into the following formula (11) to suspend the elastic coordinate system Γ in each suspension si First rigidity K si ：
K si ＝diag([k pi k qi k ri ]) (11)；
In the formula (9), p represents a longitudinal coordinate axis of the suspension elastic coordinate system, q represents a transverse coordinate axis of the suspension elastic coordinate system, and r represents a vertical coordinate axis of the suspension elastic coordinate system.
Next, the computer device bases on the rotation transformation matrix R disclosed in step S206 g-ami Or R is g-pmi Determining a rotation transformation matrix R transformed from the crankshaft coordinate system to an ith suspension elastic coordinate system g-si 。
Finally, the rotation transformation matrix R g-si And a first rigidity K si Is carried into the following formula (12) to obtain the first rigidity data K si Adaptive second stiffness data K gi ：
Step S214, calculating suspension support counter forces corresponding to the suspension points according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension support counter moments corresponding to the suspension points according to the elastic point coordinates and the suspension support counter forces.
Specifically, according to the working frequency, the target acceleration data and the second stiffness data, a suspension support reaction force corresponding to each suspension point is calculated, and according to the elastic point coordinates and the suspension support reaction force, a suspension support reaction moment corresponding to each suspension point is calculated, including: calculating suspension support reaction forces respectively corresponding to each suspension point through the following formula:
wherein R is fi Is the suspension support reaction force K corresponding to the ith suspension point gi The second dynamic stiffness data corresponding to the ith suspension is obtained, and f is the working frequency of second test equipment;
And calculating suspension support counter force corresponding to each suspension point and elastic point coordinates corresponding to each suspension elastic center point according to the following formula:
wherein r is cpi The elastic point coordinates corresponding to the ith suspension elastic center point are B i Is a cross matrix corresponding to the ith suspension elastic center point, R Mi And the suspension counter moment corresponding to the ith suspension point.
In one embodiment, the suspension reaction force R of the ith suspension point in the corresponding working frequency range fi The method comprises the following steps:
based on the above formula (13), the computer device will perform suspension support counter moment R by the following formula (14) Mi To obtain suspension branch counter moment corresponding to each suspension point respectively:
and S216, calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment, and recognizing the engine exciting force according to the suspension system support counter force and the inertia force of the power assembly.
Specifically, according to suspension branch counter force and suspension branch counter moment, carry out suspension system branch counter force's calculation to according to suspension system branch counter force and power assembly inertial force, carry out the discernment of engine excitation force, include: according to the suspension counter force and the suspension counter moment, the suspension system counter force F is carried out by the following formula m Is calculated by (1):
wherein R is f R is the total suspension reaction force M The total suspension support counter moment; k (K) gN For the second dynamic stiffness data corresponding to the Nth suspension, B N A cross matrix corresponding to the Nth suspension elastic center point; a is that aN For the first target acceleration data corresponding to the N-th suspension elastic center point, A pN The second target acceleration data corresponding to the Nth suspension elastic center point is obtained; n is the total number of the suspension elastic center points;
according to the supporting reaction force F of the suspension system m And the inertia force F of the power assembly I The engine exciting force F is carried out by the following formula c Is calculated by the identification of:
in one embodiment, assume that the six-way excitation force at the center of mass of the powertrain is F c According to the darabal principle, there are:
F c +F m +F I ＝0。 (15)
therefore, after the above formula (15), the computer device can convert the formula F c ＝-(F m +F I ) Identifying and obtaining the exciting force F of the engine c Wherein, please refer to fig. 8 for a schematic diagram of the distribution of the branch counter force and branch counter moment of the suspension system obtained by solvingExciting force F of the motor c Refer to fig. 9 (wherein, in fig. 8-9, the upper left is the translational X direction, the upper middle is the translational Y direction force, the upper right is the translational Z direction force, the lower left is the rotational Rx direction moment, the lower middle is the rotational Ry direction moment, and the lower right is the rotational Rz direction moment).
According to the method for identifying the exciting force of the engine, the conversion matrixes corresponding to the suspension elastic center points are constructed, the frequency domain acceleration data corresponding to the suspension elastic center points are calculated in a whole vehicle state, the inertia force of the power assembly is calculated, the exciting force of the engine is identified according to the suspension support counter force, the suspension support counter moment and the inertia force of the power assembly which are obtained through calculation on the basis of analyzing the frequency variation characteristics of the suspension rigidity, and compared with the conventional method for identifying the exciting force of the engine, the method for identifying the exciting force of the engine is identified by combining the data measured in the whole vehicle state and the suspension frequency-dependent stiffness characteristics, has strong adaptability, can effectively eliminate identification errors and has higher practical application value.
In one embodiment, the time domain acceleration data comprises active-end time domain acceleration data of the suspension active-end measurement point coordinate system and passive-end time domain acceleration data of the suspension passive-end measurement point coordinate system; frequency domain conversion is carried out on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and the frequency domain acceleration data is converted into a crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data, and the method comprises the following steps:
And performing frequency domain conversion processing on the active end time domain acceleration data to obtain corresponding active end frequency domain acceleration data.
The computer equipment converts the time domain acceleration data of the active end into corresponding frequency domain acceleration data of the active end in a Fourier transformation mode. It should be noted that, on the one hand, the frequency domain transformation is a physical term, and the transformation manner mainly transforms a complex time signal or a space signal into a structural form represented by frequency components, that is, the frequency domain transformation. The frequency domain transformation is the most widely used processing method in the fault diagnosis of the mechanical equipment, because the fault occurs and the signal frequency structure is often changed during the development, and a plurality of fault reasons can be explained and elucidated through the analysis of the frequency information.
And carrying out frequency domain conversion processing on the passive end time domain acceleration data to obtain corresponding passive end frequency domain acceleration data.
The conversion may be specifically performed according to the above-mentioned conversion method of the active-end frequency domain acceleration data, which is not described in detail in the embodiment of the present application.
Based on a first rotation transformation matrix R g-ami The frequency domain acceleration data A of the active end is obtained by the following formula ami Converting into a crankshaft coordinate system to obtain corresponding first target acceleration data A ai ：
A ai ＝R g-ami A ami 。
Based on a second rotation transformation matrix R g-pmi The passive end frequency domain acceleration data A is obtained by the following formula pmi Converting into a crankshaft coordinate system to obtain corresponding second target acceleration data A pi ：
A pi ＝R g-pmi A pmi 。
In the embodiment, the frequency domain acceleration data is converted into the crankshaft coordinate system, so that the subsequent calculation of the second stiffness data is facilitated, and the excitation force identification precision is improved.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in fig. 2 may include a plurality of steps or stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily sequential, but may be performed in rotation or alternatively with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 10, there is provided an engine excitation force identifying device 1000, the device including a building module 1001, a first obtaining module 1002, a first converting module 1003, a first calculating module 1004, a second obtaining module 1005, a second converting module 1006, a second calculating module 1007, and an identifying module 1008, wherein:
the construction module 1001 is configured to calculate an elastic point coordinate corresponding to a corresponding suspension elastic center point according to a centroid coordinate of the powertrain component in a crankshaft coordinate system and a plurality of suspension point coordinates, and construct a transformation matrix corresponding to the corresponding suspension elastic center point based on the elastic point coordinate.
The first obtaining module 1002 is configured to obtain first test data transmitted via a preset first test device, where the first test data includes time domain acceleration data corresponding to each suspension elastic center point.
The first conversion module 1003 is configured to perform frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and convert the frequency domain acceleration data to a crankshaft coordinate system based on a preset coordinate transformation mode to obtain corresponding target acceleration data.
The first calculation module 1004 is configured to calculate an inertial force of the powertrain according to the target acceleration data and the conversion matrix corresponding to each suspension elastic center point, and a preset mass matrix.
The second obtaining module 1005 is configured to obtain second test data transmitted via a preset second test device, where the second test data includes in-phase dynamic stiffness data and quadrature dynamic stiffness data obtained by fitting based on an operating frequency of the second test device.
The second conversion module 1006 is configured to calculate first stiffness data of each suspension in a corresponding suspension elastic coordinate system according to in-phase dynamic stiffness data and quadrature dynamic stiffness data, and convert the first stiffness data into a crankshaft coordinate system based on a coordinate transformation manner, so as to obtain second stiffness data adapted to the first stiffness data.
The second calculation module 1007 is configured to calculate suspension branch counter forces corresponding to each suspension point according to the working frequency, the target acceleration data, and the second stiffness data, and calculate suspension branch counter moments corresponding to each suspension point according to the elastic point coordinates and the suspension branch counter forces.
The identification module 1008 is used for calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment, and identifying the engine exciting force according to the suspension system support counter force and the inertia force of the power assembly.
In one embodiment, the first conversion module 1003 is further configured to determine, for each suspension elastic center point, a plurality of direction components corresponding to the coordinates of the corresponding elastic point, and construct, according to the determined plurality of direction components, a cross matrix corresponding to the corresponding suspension elastic center point based on the following formula:
Wherein r is cpix The elastic point coordinates of the ith suspension elastic center point are the first direction components corresponding to the x-axis direction; r is (r) cpiy A second direction component corresponding to the elastic point coordinate of the ith suspension elastic center point in the y-axis direction; r is (r) cpiz A third direction component corresponding to the elastic point coordinate of the ith suspension elastic center point in the z-axis direction; b (B) i A cross matrix corresponding to the ith suspension elastic center point; according to the cross matrix B corresponding to the corresponding suspension elastic center point i And a preset identity matrix E, and constructing a conversion matrix corresponding to the corresponding suspension elastic center point based on the following formula:
T i ＝[E B i ]；
wherein T is i The transformation matrix corresponding to the ith suspension elastic center point.
In one embodiment, the apparatus further comprises a third calculation module, wherein the third calculation module is configured to determine a first rotation transformation matrix required for transforming from the suspension driving end measurement point coordinate system to the crankshaft coordinate system based on the pre-constructed crankshaft coordinate system, the suspension driving end measurement point coordinate system, and the suspension passive end measurement point coordinate system; determining a second rotation transformation matrix required for conversion from the suspended passive end measurement point coordinate system to the crankshaft coordinate system; a coordinate transformation scheme is determined based on the first rotational transformation matrix and the second rotational transformation matrix.
In one embodiment, the time domain acceleration data includes active end time domain acceleration data of the suspension active end measurement point coordinate system and passive end time domain acceleration data of the suspension passive end measurement point coordinate system; the first conversion module 1003 is further configured to perform frequency domain conversion processing on the active-end time domain acceleration data, so as to obtain corresponding active-end frequency domain acceleration data; carrying out frequency domain conversion processing on the passive end time domain acceleration data to obtain corresponding passive end frequency domain acceleration data; based on a first rotation transformation matrix R g-ami The frequency domain acceleration data A of the active end is obtained by the following formula ami Converting into a crankshaft coordinate system to obtain corresponding first target acceleration data A ai ：
A ai ＝R g-ami A ami ；
Based on a second rotation transformation matrix R g-pmi The passive end frequency domain acceleration data A is obtained by the following formula pmi Converting into a crankshaft coordinate system to obtain corresponding second target acceleration data A pi ：
A pi ＝R g-pmi A pmi 。
In one embodiment, regarding the powertrain as a rigid body, the first calculation module 1004 is further configured to perform the calculation of the rigid body acceleration based on the first target acceleration data and the transformation matrix by the following formula:
wherein T is i For the conversion matrix corresponding to the ith suspension elastic center point, A ai The first target acceleration data corresponding to the ith suspension elastic center point is obtained; i= [1,2, ], N]N being the centre point of suspension elasticityTotal number;is a rigid acceleration; based on the acting force relation between the rigid acceleration and the inertia force of the power assembly, the inertia force F of the power assembly is carried out by the following formula I Is calculated by (1):
wherein M is a mass matrix determined according to preset inertia parameters of the power assembly.
In one embodiment, the second calculation module 1007 is further configured to calculate suspension branch counter forces corresponding to the suspension points respectively by the following formula:
wherein R is fi Is the suspension support reaction force K corresponding to the ith suspension point gi The second dynamic stiffness data corresponding to the ith suspension is obtained, and f is the working frequency of second test equipment; and calculating suspension support counter force corresponding to each suspension point and elastic point coordinates corresponding to each suspension elastic center point according to the following formula:
wherein r is cpi The elastic point coordinates corresponding to the ith suspension elastic center point are B i Is a cross matrix corresponding to the ith suspension elastic center point, R Mi And the suspension counter moment corresponding to the ith suspension point.
In one embodiment, the identification module 1008 is further configured to perform a suspension system counter force F according to the suspension counter force and suspension counter moment by the following formula m Is calculated by (1):
wherein R is f R is the total suspension reaction force M The total suspension support counter moment; k (K) gN For the second dynamic stiffness data corresponding to the Nth suspension, B N A cross matrix corresponding to the Nth suspension elastic center point; a is that aN For the first target acceleration data corresponding to the N-th suspension elastic center point, A pN The second target acceleration data corresponding to the Nth suspension elastic center point is obtained; n is the total number of the suspension elastic center points; according to the supporting reaction force F of the suspension system m And the inertia force F of the power assembly I The engine exciting force F is carried out by the following formula c Is calculated by the identification of:
according to the engine exciting force identification device, the conversion matrixes corresponding to the suspension elastic center points are constructed, the calculated frequency domain acceleration data corresponding to the suspension elastic center points are combined in the whole vehicle state, the calculation of the inertia force of the power assembly is carried out, the identification of the engine exciting force is carried out according to the calculated suspension support counter force, the suspension support counter moment and the inertia force of the power assembly on the basis of analyzing the frequency variation characteristics of the suspension rigidity, and compared with the conventional engine exciting force identification method, the engine exciting force is identified by combining the measured data in the whole vehicle state and the suspension frequency-varying rigidity characteristics, the adaptability is strong, the identification error can be effectively eliminated, and the high practical application value is realized.
The specific limitation of the engine excitation force identification device can be referred to as the limitation of the engine excitation force identification method hereinabove, and the description thereof will not be repeated here. The modules in the engine excitation force identification device can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal or a server, and the internal structure of which may be as shown in fig. 11. The computer device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program when executed by a processor implements a method of identifying engine excitation force.
It will be appreciated by those skilled in the art that the structure shown in FIG. 11 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
According to the computer equipment, through constructing the conversion matrix respectively corresponding to each suspension elastic center point and combining the frequency domain acceleration data respectively corresponding to each suspension elastic center point obtained through calculation in the whole vehicle state, the calculation of the inertia force of the power assembly is carried out, on the basis of analyzing the frequency-dependent characteristic of the suspension rigidity, the identification of the engine exciting force is carried out according to the suspension counter force, the suspension counter moment and the inertia force of the power assembly obtained through calculation, compared with the traditional engine exciting force identification method, the data measured in the whole vehicle state and the suspension frequency-dependent stiffness characteristic are combined, the engine exciting force is identified, the adaptability is strong, the identification error can be effectively eliminated, and the high practical application value is realized.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
According to the storage medium, through constructing the conversion matrix corresponding to each suspension elastic center point respectively, and combining the frequency domain acceleration data corresponding to each suspension elastic center point respectively obtained through calculation in the whole vehicle state, the calculation of the inertia force of the power assembly is carried out, on the basis of analyzing the frequency-dependent characteristic of the suspension rigidity, the identification of the exciting force of the engine is carried out according to the suspension counter force, the suspension counter moment and the inertia force of the power assembly obtained through calculation, compared with the conventional identifying method of the exciting force of the engine, the method is combined with the data measured in the whole vehicle state and the characteristics of the frequency-dependent rigidity of the suspension, the method is strong in adaptability, can effectively eliminate identification errors, and has higher practical application value.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. An engine excitation force identification method, characterized in that the method comprises:
calculating the coordinates of the elastic points corresponding to the elastic center points of the corresponding suspension according to the coordinates of the mass center of the power assembly part under the crankshaft coordinate system and the coordinates of the plurality of suspension points, and constructing a conversion matrix corresponding to the elastic center points of the corresponding suspension based on the coordinates of the elastic points;
Acquiring first test data transmitted by preset first test equipment, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively;
performing frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data;
calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix corresponding to each suspension elastic center point;
acquiring second test data transmitted by a preset second test device, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test device;
according to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system, and converting the first stiffness data under the crankshaft coordinate system based on the coordinate conversion mode to obtain second stiffness data which is adaptive to the first stiffness data;
Calculating suspension branch counter forces corresponding to the suspension points respectively according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension branch counter moments corresponding to the suspension points respectively according to the elastic point coordinates and the suspension branch counter forces;
and calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment, and identifying the engine excitation force according to the suspension system support counter force and the power assembly inertia force.
2. The method of claim 1, wherein constructing a transformation matrix corresponding to the respective suspended elastic center point based on the elastic point coordinates comprises:
for each suspension elastic center point, determining a plurality of direction components corresponding to corresponding elastic point coordinates, and constructing and obtaining a cross matrix corresponding to the corresponding suspension elastic center point according to the determined plurality of direction components based on the following formula:
wherein r is cpix The elastic point coordinates of the ith suspension elastic center point are the first direction components corresponding to the x-axis direction; r is (r) cpiy For the elastic point coordinates of the ith suspension elastic center point, in A second direction component corresponding to the y-axis direction; r is (r) cpiz A third direction component corresponding to the elastic point coordinate of the ith suspension elastic center point in the z-axis direction; b (B) i A cross matrix corresponding to the ith suspension elastic center point;
according to the cross matrix B corresponding to the corresponding suspension elastic center point i And a preset identity matrix E, and constructing a conversion matrix corresponding to the corresponding suspension elastic center point based on the following formula:
T i ＝[E B i ]；
wherein T is i The transformation matrix corresponding to the ith suspension elastic center point.
3. The method of claim 1, wherein the coordinate transformation means is determined by:
determining a first rotation transformation matrix required for conversion from a suspension driving end measuring point coordinate system to a crankshaft coordinate system based on a pre-constructed crankshaft coordinate system, a suspension driving end measuring point coordinate system and a suspension driven end measuring point coordinate system;
determining a second rotational transformation matrix required to convert from the suspended passive end point coordinate system to the crankshaft coordinate system;
and determining the coordinate transformation mode based on the first rotation transformation matrix and the second rotation transformation matrix.
4. A method according to claim 3, wherein the time domain acceleration data comprises active-end time domain acceleration data of the belonging suspension active-end measurement point coordinate system and passive-end time domain acceleration data of the belonging suspension passive-end measurement point coordinate system;
The step of performing frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data to the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data, including:
performing frequency domain conversion processing on the active end time domain acceleration data to obtain corresponding active end frequency domain acceleration data;
performing frequency domain conversion processing on the passive end time domain acceleration data to obtain corresponding passive end frequency domain acceleration data;
based on the first rotational transformation matrix R g-ami The frequency domain acceleration data A of the active end is obtained by the following formula ami Converting into a crankshaft coordinate system to obtain corresponding first target acceleration data A ai ：
A ai ＝R g-ami A ami ；
Based on the second rotational transformation matrix R g-pmi The passive end frequency domain acceleration data A is obtained by the following formula pmi Converting into a crankshaft coordinate system to obtain corresponding second target acceleration data A pi ：
A pi ＝R g-pmi A pmi 。
5. The method of claim 4, wherein the calculating the inertial force of the powertrain is performed based on the target acceleration data, the transformation matrix, and the predetermined mass matrix, which correspond to the respective suspended elastic center points, and comprises
Based on the first target acceleration data and the conversion matrix, calculation of the rigid acceleration is performed by the following formula:
wherein T is i For the conversion matrix corresponding to the ith suspension elastic center point, A ai The first target acceleration data corresponding to the ith suspension elastic center point is obtained; i= [1,2, ], N]N is the total number of the suspension elastic center points;is a rigid acceleration;
based on the acting force relation between the rigid acceleration and the inertia force of the power assembly, the inertia force F of the power assembly is carried out by the following formula I Is calculated by (1):
wherein M is a mass matrix determined according to preset inertia parameters of the power assembly.
6. The method of claim 4, wherein calculating suspension strut counter forces corresponding to respective suspension points from the operating frequency, the target acceleration data, and the second stiffness data, and calculating suspension strut counter moments corresponding to respective suspension points from the spring point coordinates and the suspension strut counter forces, comprises:
calculating suspension support counter forces corresponding to the suspension points respectively through the following formula:
wherein R is fi Is the suspension support reaction force K corresponding to the ith suspension point gi The second dynamic stiffness data corresponding to the ith suspension is obtained, and f is the working frequency of the second test equipment;
and calculating suspension counter force moment according to the following formula aiming at suspension counter force corresponding to each suspension point and elastic point coordinates corresponding to each suspension elastic center point respectively:
wherein r is cpi The elastic point coordinates corresponding to the ith suspension elastic center point are B i For the cross matrix corresponding to the ith suspension elastic center point,R Mi and the suspension counter moment corresponding to the ith suspension point.
7. The method of claim 6, wherein the calculating the suspension system support reaction force based on the suspension support reaction force and the suspension support counter moment, and the identifying the engine excitation force based on the suspension system support reaction force and the powertrain inertia force, comprises:
according to the suspension counter force and the suspension counter moment, the suspension system counter force F is carried out by the following formula m Is calculated by (1):
wherein R is f R is the total suspension reaction force M The total suspension support counter moment; k (K) gN For the second dynamic stiffness data corresponding to the Nth suspension, B N A cross matrix corresponding to the Nth suspension elastic center point; a is that aN For the first target acceleration data corresponding to the N-th suspension elastic center point, A pN The second target acceleration data corresponding to the Nth suspension elastic center point is obtained; n is the total number of the suspension elastic center points;
according to the suspension system support reaction force F m And the inertia force F of the power assembly I The engine exciting force F is carried out by the following formula c Is calculated by the identification of:
8. the utility model provides an engine exciting force recognition device which characterized in that, the device includes construction module, first acquisition module, first conversion module, first calculation module, second acquisition module, second conversion module, second calculation module and recognition module, wherein:
the construction module is used for calculating the elastic point coordinates corresponding to the corresponding suspension elastic center points according to the mass center coordinates of the power assembly component under the crankshaft coordinate system and the plurality of suspension point coordinates, and constructing a conversion matrix corresponding to the corresponding suspension elastic center points based on the elastic point coordinates;
the first acquisition module is used for acquiring first test data transmitted by preset first test equipment, wherein the first test data comprise time domain acceleration data corresponding to each suspension elastic center point respectively;
The first conversion module is used for carrying out frequency domain conversion on the time domain acceleration data to obtain corresponding frequency domain acceleration data, and converting the frequency domain acceleration data into the crankshaft coordinate system based on a preset coordinate conversion mode to obtain corresponding target acceleration data;
the first calculation module is used for calculating the inertia force of the power assembly according to the target acceleration data, the conversion matrix and the preset mass matrix which are respectively corresponding to the suspension elastic center points;
the second acquisition module is used for acquiring second test data transmitted by preset second test equipment, wherein the second test data comprise in-phase dynamic stiffness data and quadrature dynamic stiffness data which are obtained by fitting based on the working frequency of the second test equipment;
the second conversion module is used for calculating first stiffness data of each suspension under a corresponding suspension elastic coordinate system according to the in-phase dynamic stiffness data and the quadrature dynamic stiffness data, and converting the first stiffness data under the crankshaft coordinate system based on the coordinate transformation mode so as to obtain second stiffness data which are adaptive to the first stiffness data;
the second calculation module is used for calculating suspension support counter forces corresponding to each suspension point respectively according to the working frequency, the target acceleration data and the second rigidity data, and calculating suspension support counter moments corresponding to each suspension point respectively according to the elastic point coordinates and the suspension support counter forces;
And the identification module is used for calculating the suspension system support counter force according to the suspension support counter force and the suspension support counter moment and identifying the engine exciting force according to the suspension system support counter force and the power assembly inertia force.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
CN202110831807.XA 2021-07-22 2021-07-22 Method and device for identifying exciting force of engine, computer equipment and storage medium Active CN113704870B (en)

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