CN114088414A - Electric automobile mass, spring and damping model three-parameter extraction method - Google Patents

Electric automobile mass, spring and damping model three-parameter extraction method Download PDF

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CN114088414A
CN114088414A CN202111362951.XA CN202111362951A CN114088414A CN 114088414 A CN114088414 A CN 114088414A CN 202111362951 A CN202111362951 A CN 202111362951A CN 114088414 A CN114088414 A CN 114088414A
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vibration
sprung mass
load
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mass
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程夕明
韩禹飞
吴文靖
王震坡
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Beijing Institute of Technology BIT
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    • G—PHYSICS
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    • 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
    • G—PHYSICS
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    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/04—Suspension or damping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
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Abstract

The invention provides a method for extracting three parameters of a mass, a spring and a damping model of an electric automobile, which is based on a quarter linear two-degree-of-freedom automobile model, considers the influence of a damping coefficient of a shock absorber on the free damping vibration angular frequency of a sprung mass of the automobile, and extracts the three parameters by a deduced expression of the vertical acceleration damping oscillation frequency of the sprung mass of the automobile. The technical scheme provided by the invention has the advantages that the flow is clear, the required sensor is low in cost and easy to obtain, the experimental working condition is simple and easy to realize, the provided three-parameter extraction method is high in precision and strong in stability, the sprung mass parameter and the suspension characteristic parameter of the experimental vehicle can be conveniently and quickly obtained, and the prior knowledge is provided for the subsequent research on the running smoothness and the operating stability of the experimental vehicle.

Description

Electric automobile mass, spring and damping model three-parameter extraction method
Technical Field
The invention belongs to the technical field of vehicle-mounted measurement, and particularly relates to a method for extracting three parameters of a mass model, a spring model and a damping model of an electric vehicle.
Background
Aiming at the problem of estimating the spring load mass and the suspension characteristic parameters of the automobile, scientific researchers provide various methods. CN201980079582.8 proposes a method for estimating the mass of a cargo using a vertical accelerometer, which calculates the sprung mass after loading by the ratio of the vertical vibration periods of the vehicle body before and after loading the cargo, but which does not take into account the effect of the damping of the shock absorber on the vibration. CN201610442383.7 proposes a method for measuring vehicle load based on an acceleration sensor, in which the deflection of a steel plate spring and its stiffness characteristic curve are used to perform weighted calculation on each load to obtain the actual vehicle-mounted mass of the whole vehicle, so as to indirectly measure the vehicle load, but the stiffness characteristic curve of the suspension spring is not easy to obtain. CN200910056114.7 proposes a method for acquiring train load information, in which a pressure sensor is used to measure the air pressure of an air spring of a train braking system, and this air pressure value represents the load capacity of a carriage, but the method is only applicable to an air spring suspension and has poor universality. In the prior patent, under the condition that the suspension stiffness characteristic and the damping characteristic of a shock absorber are unknown, a universal method for extracting the sprung mass of the electric automobile considering the influence of damping on the vibration frequency is lacked at present.
Disclosure of Invention
The invention aims to solve the problem that the sprung mass, the suspension vertical rigidity and the damping coefficient of a shock absorber of an electric automobile are difficult to measure under the condition of no disassembly. Since sprung mass and suspension characteristic parameters have important influences on vehicle ride comfort and handling stability, it is necessary to provide a simple and reliable three-parameter extraction method. The method is based on a quarter linear two-degree-of-freedom automobile model, and the three-parameter extraction is completed by the deduced vertical acceleration damped oscillation frequency expression of the vehicle sprung mass in consideration of the influence of the damping coefficient of the shock absorber on the free damped oscillation angular frequency of the sprung mass of the automobile.
The specific technical scheme is as follows:
a method for extracting three parameters of a mass, spring and damping model of an electric automobile comprises the following steps:
s1 model selection and installation of sensor
An acceleration sensor is used for collecting a vertical vibration acceleration signal of the sprung mass of the automobile, and the frequency range meets the requirement of 0.3-100 Hz; before an experiment, an acceleration sensor is arranged at a vehicle body above a front shaft of a vehicle, and a certain shaft of the sensor is ensured to be vertical to the ground during installation;
s2 no-load vibration experiment
The rear axle suspension is jammed. Lifting the left front wheel and the right front wheel of the vehicle by using a jack, and cushioning a bump with the height of h below the two front tires;
the automobile is in a no-load state and a parking neutral gear state, and an experimenter pushes the automobile slowly to enable wheels to roll off the convex blocks and fall to the ground simultaneously;
recording the time history of the vertical vibration acceleration of the no-load sprung mass by using a recorder, and recording a waveform original signal curve of the vibration acceleration to obtain a first-order low-pass filtering signal curve;
reading the time interval of two adjacent minimum value points A and B of the filtering signal curve to obtain the attenuation vibration period T of the vehicle no-load sprung mass0Calculating the corresponding angular frequency of vibration omega0；
S3 loaded vibration experiment
Keeping other conditions unchanged, increasing the load of the experimental vehicle, and increasing the load increment by delta miAnd repeating the experimental process of the step S2, and calculating to obtain the vibration period T of the current sprung massiAnd corresponding angular frequency of vibration omegai；
The total number of experiments was not less than 4.
S4, calculating three parameters of sprung mass, equivalent stiffness of suspension spring and equivalent damping of shock absorber
△miIs the sprung mass loading, kg; omegaiIs the spring load mass is loaded at a load delta miThe later vertical acceleration vibration angular frequency, rad/s; m issIs one fourth of the spring load of the automobile, kg; k is a radical ofsIs the equivalent stiffness of the suspension spring, N/m; c. CsIs the equivalent damping coefficient of the shock absorber, Ns/m.
Obtaining no-load test frequency omega by vibration experiment0And K sets of experimental data (. DELTA.m)i，ωi) K is a natural number and is more than or equal to 4, and the following results are obtained:
Figure BDA0003359982310000021
Figure BDA0003359982310000022
Figure BDA0003359982310000023
in the formula (I), the compound is shown in the specification,
Figure BDA0003359982310000024
Figure BDA0003359982310000025
Figure BDA0003359982310000026
Figure BDA0003359982310000027
Figure BDA0003359982310000028
Figure BDA0003359982310000031
Figure BDA0003359982310000032
Figure BDA0003359982310000033
Figure BDA0003359982310000034
Figure BDA0003359982310000035
Figure BDA0003359982310000036
the technical scheme provided by the invention has the advantages that the flow is clear, the required sensor is low in cost and easy to obtain, the experimental working condition is simple and easy to realize, the provided three-parameter extraction method is high in precision and strong in stability, the sprung mass parameter and the suspension characteristic parameter of the experimental vehicle can be conveniently and quickly obtained, and the prior knowledge is provided for the subsequent research on the running smoothness and the operating stability of the experimental vehicle.
Drawings
FIG. 1 is a schematic view of an installation position of an acceleration sensor according to an embodiment;
FIG. 2 is a schematic diagram of an example vehicle vibration test process;
FIG. 3 is a graph of the original signal and the filtered signal of the vertical acceleration of the sprung mass of the embodiment;
FIG. 4 is an example quarter-linear automobile model;
FIG. 5 shows different ksValue of csWhen the vibration angle frequency is equal to the vibration angle frequency omega of the vertical acceleration of the sprung mass of the automobile, the vibration angle frequency omega is along with the change rule curve of the load mass delta m.
Detailed Description
The specific technical scheme of the invention is described by combining the embodiment.
The method for extracting the three parameters of the sprung mass, the equivalent stiffness of the suspension spring and the equivalent damping of the shock absorber of the electric automobile comprises the following steps:
s1 model selection and installation of sensor
The acceleration sensor is used for acquiring the frequency range of the vertical vibration acceleration signal of the sprung mass of the automobile, and the frequency range can meet the requirement of 0.3-100 Hz. Before the experiment, the acceleration sensor is arranged at the position of a vehicle body above a front shaft of the vehicle, and a certain shaft of the sensor is ensured to be vertical to the ground during installation. As shown in fig. 1, point F is the mounting position of the acceleration sensor.
S2 no-load vibration experiment
(1) In order to eliminate the coupling problem of vertical vibration of the front and rear suspensions of the experimental vehicle, the rear axle suspension is clamped by materials such as a wood block. The left and right front wheels of the vehicle are simultaneously raised by using a jack, and a bump with the height h is padded under the two front tires. The height h of the bump can be selected from 60 mm, 90 mm, 120mm and the like according to the type of a vehicle and the suspension structure.
(2) The vehicle is in a state of no-load and parking and neutral gear, as shown in fig. 2, the experimenter pushes the vehicle slowly, and F represents the pushing force of the experimenter, so that the wheels roll off the bumps and simultaneously fall to the ground.
The mode of generating free damping vibration for the automobile suspension system is not unique, and besides the roll-down method shown in fig. 2, the method can also adopt a drop-off method of releasing a mechanism after a drop mechanism supports the middle part of an axle at the testing end for a certain height, a pull-down method of releasing a rope after a rope pulls a vehicle body near the axle at the testing end for a certain height from a balance position, and the like.
(3) And (3) recording the time history of the vertical vibration acceleration of the unloaded sprung mass by using a recorder, wherein the recorded vibration acceleration waveform is shown as an original signal curve in figure 3. The corresponding first order low pass filtered signal waveform is shown in the filtered signal curve of fig. 3.
(4) In fig. 3, the time interval between two adjacent minimum value points A and B of the filtered signal curve is read to obtain the damped vibration period T of the unloaded sprung mass of the vehicle0Calculating the corresponding angular frequency of vibration omega0. Taking an acceleration curve acquired in a certain experiment as an example, coordinates of point a are (1.51, -0.1007), and coordinates of point B are (2, -0.01047), then the calculated values of the vibration period and the vibration angular frequency during no load are:
T0＝xB-xA＝2-1.51＝0.49s (1)
Figure BDA0003359982310000041
s3 loaded vibration experiment
Keeping other conditions unchanged, increasing the load of the experimental vehicle, and increasing the load by delta miAnd (3) repeating the experimental process in the step (2), and calculating to obtain the vibration period T of the current sprung massiAnd corresponding vibration angular frequency omegai. The total number of experiments was not less than 4.
S4, calculating three parameters of sprung mass, equivalent stiffness of suspension spring and equivalent damping of shock absorber
The quarter line car model is shown in figure 4. Wherein, Δ miIs the sprung mass loading, kg; omegaiIs the spring load mass is loaded at a load delta miThe later vertical acceleration vibration angular frequency, rad/s; m issIs one fourth of the spring load of the automobile, kg; k is a radical ofsIs the equivalent stiffness of the suspension spring, N/m; c. CsIs the equivalent damping coefficient of the shock absorber, Ns/m.
Obtaining no-load test frequency omega by vibration experiment0And K sets of experimental data (. DELTA.m)i，ωi) K is a natural number and is not less than 4 to obtain
Figure BDA0003359982310000042
Figure BDA0003359982310000043
Figure BDA0003359982310000051
In the formula (I), the compound is shown in the specification,
Figure BDA0003359982310000052
Figure BDA0003359982310000053
Figure BDA0003359982310000054
Figure BDA0003359982310000055
Figure BDA0003359982310000056
Figure BDA0003359982310000057
Figure BDA0003359982310000058
Figure BDA0003359982310000059
Figure BDA00033599823100000510
Figure BDA00033599823100000511
Figure BDA00033599823100000512
considering the no-load spring load mass of the automobile as a constant value, respectively selecting three suspension spring equivalent stiffness ksAnd equivalent damping coefficient c of shock absorbersThe effectiveness of the parameter extraction method of the present application is described. When taking different ksValue of csIn the value, the change rule of the vibration angular frequency omega of the vertical acceleration of the sprung mass of the automobile along with the load mass delta m is shown in figure 5. Wherein, as the spring load mass of the automobile increases, the vertical acceleration vibration angular frequency thereof gradually decreases. In addition, the vibration angular frequency increases with the increase of the equivalent stiffness of the automobile suspension spring or the decrease of the equivalent damping coefficient of the shock absorber. Under the condition of different equivalent stiffness of the suspension spring and the equivalent damping coefficient of the shock absorber, the extraction results and relative errors of the three parameters of the sprung mass of the automobile, the equivalent stiffness of the suspension spring and the equivalent damping coefficient of the shock absorber are shown in the table 1.
TABLE 1
Figure BDA00033599823100000513
Figure BDA0003359982310000061
Therefore, when the stiffness of the suspension spring and the damping of the shock absorber are changed, the three-parameter extraction method provided by the invention is reliable.

Claims (3)

1.一种电动汽车质量、弹簧、阻尼模型三参数提取方法，其特征在于，包括以下步骤：1. a method for extracting three parameters of electric vehicle mass, spring, damping model, is characterized in that, comprises the following steps: S1、传感器的选型及安装S1. Selection and installation of sensors 使用加速度传感器采集汽车簧载质量的垂向振动加速度信号，在实验前，将加速度传感器布置在汽车前轴上方的车身处，安装时应保证传感器的某一轴与地面垂直；The acceleration sensor is used to collect the vertical vibration acceleration signal of the car sprung mass. Before the experiment, the acceleration sensor is arranged on the body above the front axle of the car. When installing, it should be ensured that a certain axis of the sensor is perpendicular to the ground; S2、空载振动实验S2, no-load vibration experiment 卡死后轴悬架；使用千斤顶将车辆的左右前轮同时抬高，并在两个前轮胎下方垫设高度为h的凸块；Stuck the rear axle suspension; use the jack to raise the left and right front wheels of the vehicle at the same time, and place a bump with a height of h under the two front tires; 使汽车处于空载和停车挂空挡的状态，实验员缓缓推动车辆，使车轮从凸块上滚下，并同时落地；With the car in the state of no-load and parking and hanging in neutral, the experimenter slowly pushed the car to make the wheels roll off the bumps and land at the same time; 采用记录仪记录空载簧载质量垂向振动加速度的时间历程，记录振动加速度波形原始信号曲线，获得一阶低通滤波信号曲线；A recorder is used to record the time history of the vertical vibration acceleration of the unloaded sprung mass, record the original signal curve of the vibration acceleration waveform, and obtain the first-order low-pass filtered signal curve; 读取滤波信号曲线相邻两个极小值点A和B的时间间隔，得到车辆空载簧载质量的衰减振动周期T0，计算相应的振动角频率ω0；Read the time interval between two adjacent minimum points A and B on the filtered signal curve, obtain the damping vibration period T 0 of the unloaded sprung mass of the vehicle, and calculate the corresponding vibration angular frequency ω 0 ; S3、加载振动实验S3. Loading vibration experiment 保持其他条件不发生变化，增加实验车辆的载荷，载荷增量为△mi，重复步骤S2的实验过程，计算得到当前簧载质量的振动周期Ti和对应的振动角频率ωi；Keep other conditions unchanged, increase the load of the experimental vehicle, the load increment is Δm i , repeat the experimental process of step S2 , and calculate the vibration period Ti and the corresponding vibration angular frequency ω i of the current sprung mass; S4、簧载质量、悬架弹簧等效刚度、减振器等效阻尼三参数计算S4, three-parameter calculation of sprung mass, equivalent stiffness of suspension spring, and equivalent damping of shock absorber △mi是簧载质量加载量，kg；ωi是簧载质量在加载△mi后的垂向加速度振动角频率，rad/s；ms是汽车簧载质量的四分之一，kg；ks是悬架弹簧等效刚度，N/m；cs是减振器等效阻尼系数，Ns/m；△m i is the load of the sprung mass, kg; ω i is the vertical acceleration vibration angular frequency of the sprung mass after loading △m i , rad/s; m s is a quarter of the car sprung mass, kg ; k s is the equivalent stiffness of the suspension spring, N/m; c s is the equivalent damping coefficient of the shock absorber, Ns/m; 由振动实验得到空载测试频率ω0和K组实验数据(Δmi，ωi)，K为自然数，且K≥4，得到：The no-load test frequency ω 0 and K groups of experimental data (Δm i , ω i ) are obtained from the vibration experiment, K is a natural number, and K≥4, we get:
Figure FDA0003359982300000011
Figure FDA0003359982300000011
Figure FDA0003359982300000012
Figure FDA0003359982300000012
Figure FDA0003359982300000013
Figure FDA0003359982300000013
 式中，In the formula,
Figure FDA0003359982300000014
Figure FDA0003359982300000014
Figure FDA0003359982300000021
Figure FDA0003359982300000021
Figure FDA0003359982300000022
Figure FDA0003359982300000022
Figure FDA0003359982300000023
Figure FDA0003359982300000023
Figure FDA0003359982300000024
Figure FDA0003359982300000024
Figure FDA0003359982300000025
Figure FDA0003359982300000025
Figure FDA0003359982300000026
Figure FDA0003359982300000026
Figure FDA0003359982300000027
Figure FDA0003359982300000027
Figure FDA0003359982300000028
Figure FDA0003359982300000028
Figure FDA0003359982300000029
Figure FDA0003359982300000029
Figure FDA00033599823000000210
Figure FDA00033599823000000210
 2.根据权利要求1所述的一种电动汽车质量、弹簧、阻尼模型三参数提取方法，其特征在于，S1中加速度传感器，频率范围满足0.3～100Hz的要求。2 . The method for extracting three parameters of an electric vehicle mass, spring and damping model according to claim 1 , wherein the acceleration sensor in S1 has a frequency range of 0.3 to 100 Hz. 3 . 3.根据权利要求1所述的一种电动汽车质量、弹簧、阻尼模型三参数提取方法，其特征在于，S3的实验次数不小于4次。3 . The method for extracting three parameters of an electric vehicle mass, spring and damping model according to claim 1 , wherein the number of experiments in S3 is not less than 4 times. 4 .
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CN103076188A (en) * 2013-01-04 2013-05-01 常州万安汽车部件科技有限公司 Drop test single-degree-of-freedom vehicle model-based vehicle parameter identification method
CN204330121U (en) * 2014-12-03 2015-05-13 郑州宇通客车股份有限公司 A kind of automobile offset frequency proving installation
CN111241706A (en) * 2020-01-23 2020-06-05 上海理工大学 Automobile suspension dynamic load performance evaluation method based on dynamic K & C test system
CN112182764A (en) * 2020-09-29 2021-01-05 奇瑞汽车股份有限公司 Vehicle ride comfort test method and device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090312966A1 (en) * 2008-06-17 2009-12-17 Guenter Nobis Method for testing a vibration damper of a motor vehicle in the installed state, and vibration damper-test system for a motor vehicle
CN103076146A (en) * 2013-01-04 2013-05-01 常州万安汽车部件科技有限公司 Drop test seven-degree-of-freedom vehicle model-based vehicle parameter identification method
CN103076148A (en) * 2013-01-04 2013-05-01 常州万安汽车部件科技有限公司 Drop test dual-four-degree-of-freedom half vehicle model-based vehicle parameter identification method
CN103076188A (en) * 2013-01-04 2013-05-01 常州万安汽车部件科技有限公司 Drop test single-degree-of-freedom vehicle model-based vehicle parameter identification method
CN204330121U (en) * 2014-12-03 2015-05-13 郑州宇通客车股份有限公司 A kind of automobile offset frequency proving installation
CN111241706A (en) * 2020-01-23 2020-06-05 上海理工大学 Automobile suspension dynamic load performance evaluation method based on dynamic K & C test system
CN112182764A (en) * 2020-09-29 2021-01-05 奇瑞汽车股份有限公司 Vehicle ride comfort test method and device

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