CN114879536B - Method and device for acquiring real-time characteristics of suspension system based on digital twinning technology - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及一种基于数字孪生技术获取悬架系统实时特性的方法和装置，属于动画制作技术领域。The invention relates to a method and a device for obtaining real-time characteristics of a suspension system based on a digital twin technology, and belongs to the technical field of animation production.
背景技术Background technique
在汽车的正向开发过程中，悬架系统作为最重要的子系统，是汽车的车架与车轮之间的一切传力和力矩的连接装置，其作用是传递作用在车轮和车架之间的力和力扭，并且缓冲由不平路面传给车架或车身的冲击力，并衰减由此引起的震动，以保证汽车能平顺地、安全行驶。悬架系统的刚度和阻尼特性（统称为悬架系统特性）对于汽车的操纵稳定性和平顺性有着至关重要的影响，悬架系统特性结果的准确性和获取手段的经济性直接影响整车的开发周期和成本，如何采用更低成本和更高效的手段获取精准悬架特性是迫切需要解决的问题。In the forward development process of the car, the suspension system, as the most important subsystem, is the connection device for all the force and torque transmission between the frame and the wheel of the car, and its function is to transmit the action between the wheel and the frame. It can absorb the force and torsion, and buffer the impact force transmitted to the frame or body by the uneven road, and attenuate the vibration caused by it, so as to ensure that the car can run smoothly and safely. The stiffness and damping characteristics of the suspension system (collectively referred to as the characteristics of the suspension system) have a crucial impact on the handling stability and comfort of the vehicle. The accuracy of the results of the suspension system characteristics and the economy of the means of acquisition directly affect the entire vehicle How to obtain accurate suspension characteristics with lower cost and more efficient means is an urgent problem to be solved.
目前的悬架系统主要是根据整车操纵稳定性和平顺性目标，结合经验或对标结果设计悬架系统特性，并且需要将试制好的悬架样件安装在专业的试验台架上，进行相关试验获取特性参数，并将特性参数作为边界条件输入给整车多体动力学模型进行使用。The current suspension system mainly designs the characteristics of the suspension system according to the vehicle handling stability and smoothness goals, combined with experience or benchmarking results, and the trial-produced suspension samples need to be installed on a professional test bench for testing. The characteristic parameters are obtained from relevant tests, and the characteristic parameters are input to the vehicle multi-body dynamics model as boundary conditions for use.
但是，目前的悬架系统性能获取主要是依靠专业试验台架，获取成本高，严重依赖专业设备；且仿真模型构建是依据台架结果给定输入，实车装配状态对悬架系统特性的影响没有得到考虑，往往导致仿真精度较低，影响结果；同时特性获取过程与整车仿真是依序进行，且不能实现实时交互，大大制约了开发周期。However, the current performance of the suspension system mainly relies on professional test benches, which is costly and relies heavily on professional equipment; and the simulation model is constructed based on the given input of the bench results, and the impact of the actual vehicle assembly state on the characteristics of the suspension system If it is not considered, it often leads to low simulation accuracy and affects the results; at the same time, the characteristic acquisition process and the vehicle simulation are carried out in sequence, and real-time interaction cannot be realized, which greatly restricts the development cycle.
发明内容SUMMARY OF THE INVENTION
为了解决上述问题，本发明提出了一种基于数字孪生技术获取悬架系统实时特性的方法和装置，能够不使用台架即可获取实时的悬架特性，并将结果实时传输给整车仿真模型，满足了数字孪生计算的需求，缩短了悬架系统的开发周期。In order to solve the above problems, the present invention proposes a method and device for obtaining the real-time characteristics of the suspension system based on the digital twin technology, which can obtain the real-time suspension characteristics without using a bench, and transmit the results to the vehicle simulation model in real time. , which meets the needs of digital twin computing and shortens the development cycle of the suspension system.
本发明解决其技术问题采取的技术方案是：The technical scheme adopted by the present invention to solve its technical problems is:
一方面，本发明实施例提供的一种基于数字孪生技术获取悬架系统实时特性的方法，包括以下步骤：On the one hand, a method for obtaining real-time characteristics of a suspension system based on a digital twin technology provided by an embodiment of the present invention includes the following steps:
采集悬架系统的力学变化和位移变化信号；Collect the mechanical change and displacement change signals of the suspension system;
利用带动量的线性识别算法进行计算，获取悬架系统的滞回力曲线；The linear identification algorithm with momentum is used for calculation to obtain the hysteretic force curve of the suspension system;
搭建整车仿真模型，根据获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真；Build a vehicle simulation model, iteratively update the characteristics of the suspension system according to the obtained hysteretic force curve, and simulate the handling and ride comfort of the vehicle;
依据设定的整车操稳和平顺性目标，整车仿真模型输出优化后的悬架阻尼和刚度参数。According to the set vehicle stability and smoothness goals, the vehicle simulation model outputs the optimized suspension damping and stiffness parameters.
作为本实施例一种可能的实现方式，所述采集悬架系统的力学变化和位移变化信号，包括：As a possible implementation manner of this embodiment, the acquisition of the mechanical change and displacement change signals of the suspension system includes:
采集悬架减震器的压力数据；Collect pressure data of suspension shock absorbers;
采集悬架板簧的位移数据。The displacement data of the suspension leaf spring is collected.
作为本实施例一种可能的实现方式，所述利用带动量的线性识别算法进行计算，获取悬架系统的滞回力曲线，包括：As a possible implementation manner of this embodiment, the linear identification algorithm with momentum is used for calculation to obtain the hysteresis force curve of the suspension system, including:
将悬架系统的力学变化和位移变化信号作为输入条件，利用带动量的线性识别算法进行计算，得到悬架系统的滞回力曲线；所述悬架系统的滞回力曲线包括减震器的滞回力曲线和板簧的滞回力曲线。Taking the mechanical change and displacement change signals of the suspension system as input conditions, the linear identification algorithm with momentum is used to calculate the hysteresis force curve of the suspension system; the hysteresis force curve of the suspension system includes the hysteresis force of the shock absorber Curves and hysteresis curves for leaf springs.
作为本实施例一种可能的实现方式，所述搭建整车仿真模型，根据获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真，包括：As a possible implementation manner of this embodiment, building a vehicle simulation model, performing iterative update of the characteristics of the suspension system according to the obtained hysteresis force curve, and performing simulation of the vehicle handling stability and ride comfort, including:
对悬架系统进行实车试验并将获得的悬架系统的滞回力曲线作为基础实车试验结果；Carry out the real vehicle test of the suspension system and use the obtained hysteretic force curve of the suspension system as the basic real vehicle test result;
将利用带动量的线性识别算法进行计算得到悬架系统的滞回力曲线，与基础实车试验结果进行对比校核；The hysteretic force curve of the suspension system is calculated by using the linear identification algorithm with momentum, and is compared and checked with the basic real vehicle test results;
搭建整车仿真模型，依据利用带动量的线性识别算法进行计算获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真。The vehicle simulation model is built, and the characteristics of the suspension system are iteratively updated based on the hysteretic force curve calculated by the linear identification algorithm with momentum, and the vehicle handling stability and ride comfort are simulated.
作为本实施例一种可能的实现方式，在悬架系统特性的迭代更新的过程中，Isight软件作为中枢软件，负责迭代调用带动量的线性识别算法和整车仿真模型，并使两者在迭代更新过程中协同配合。As a possible implementation of this embodiment, in the process of iteratively updating the characteristics of the suspension system, the Isight software, as the central software, is responsible for iteratively calling the linear identification algorithm with momentum and the vehicle simulation model, and making both of them iteratively Collaborate in the update process.
作为本实施例一种可能的实现方式，所述依据设定的整车操稳和平顺性目标，整车仿真模型输出优化后的悬架阻尼和刚度参数，包括：As a possible implementation manner of this embodiment, the vehicle simulation model outputs optimized suspension damping and stiffness parameters according to the set vehicle stability and smoothness goals, including:
依据设定的整车操稳和平顺性目标，整车仿真模型输出优化的悬架阻尼和刚度参数，依据优化后的悬架阻尼和刚度参数进行下一轮的悬架试制和整车实车试验验证，直至满足整车验收标准为止，整车仿真模型输出最终优化后的悬架阻尼和刚度参数。According to the set goals of smooth operation and smoothness of the whole vehicle, the vehicle simulation model outputs the optimized suspension damping and stiffness parameters, and the next round of suspension trial production and the whole vehicle are carried out according to the optimized suspension damping and stiffness parameters Experiments are verified until the vehicle acceptance criteria are met, and the vehicle simulation model outputs the final optimized suspension damping and stiffness parameters.
另一方面，本发明实施例提供的一种基于数字孪生技术获取悬架系统实时特性的装置，包括传感器和悬架系统实时特性获取装置，所述悬架系统实时特性获取装置安装有带动量的线性识别算法软件和整车仿真模型软件，所述传感器安装在悬架减震器的上下安装点之间，采集悬架系统的力学变化和位移变化信号；所述带动量的线性识别算法软件利用带动量的线性识别算法进行计算，获取悬架系统的滞回力曲线；所述整车仿真模型软件搭建整车仿真模型，根据获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真；整车仿真模型软件还依据设定的整车操稳和平顺性目标，输出优化后的悬架阻尼和刚度参数。On the other hand, a device for acquiring real-time characteristics of a suspension system based on a digital twin technology provided by an embodiment of the present invention includes a sensor and a device for acquiring real-time characteristics of a suspension system, wherein the device for acquiring real-time characteristics of a suspension system is installed with a power-driven Linear identification algorithm software and vehicle simulation model software, the sensor is installed between the upper and lower installation points of the suspension shock absorber, and collects the mechanical change and displacement change signals of the suspension system; the linear identification algorithm software with momentum uses The linear identification algorithm of the momentum is used for calculation to obtain the hysteresis force curve of the suspension system; the vehicle simulation model software builds a vehicle simulation model, and iteratively updates the characteristics of the suspension system according to the obtained hysteresis force curve and conducts vehicle operation. Stability and ride comfort simulation; vehicle simulation model software also outputs optimized suspension damping and stiffness parameters according to the set vehicle stability and ride comfort goals.
作为本实施例一种可能的实现方式，所述传感器包括压力传感器和位移传感器，所述压力传感器采集悬架减震器的压力数据，所述位移传感器采集悬架板簧的位移数据。As a possible implementation manner of this embodiment, the sensor includes a pressure sensor and a displacement sensor, the pressure sensor collects pressure data of the suspension shock absorber, and the displacement sensor collects displacement data of the suspension leaf spring.
作为本实施例一种可能的实现方式，所述带动量的线性识别算法软件具体用于：将悬架系统的力学变化和位移变化信号作为输入条件，利用带动量的线性识别算法进行计算，得到悬架系统的滞回力曲线；所述悬架系统的滞回力曲线包括减震器的滞回力曲线和板簧的滞回力曲线。As a possible implementation of this embodiment, the linear identification algorithm software with momentum is specifically used to: take the mechanical change and displacement change signals of the suspension system as input conditions, and use the linear identification algorithm with momentum to calculate, and obtain The hysteresis force curve of the suspension system; the hysteresis force curve of the suspension system includes the hysteresis force curve of the shock absorber and the hysteresis force curve of the leaf spring.
作为本实施例一种可能的实现方式，所述整车仿真模型软件，具体用于：As a possible implementation manner of this embodiment, the vehicle simulation model software is specifically used for:
对悬架系统进行实车试验并将获得的悬架系统的滞回力曲线作为基础实车试验结果；Carry out the real vehicle test of the suspension system and use the obtained hysteretic force curve of the suspension system as the basic real vehicle test result;
将利用带动量的线性识别算法进行计算得到悬架系统的滞回力曲线，与基础实车试验结果进行对比校核；The hysteretic force curve of the suspension system is calculated by using the linear identification algorithm with momentum, and is compared and checked with the basic real vehicle test results;
搭建整车仿真模型，依据利用带动量的线性识别算法进行计算获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真；Build a vehicle simulation model, perform iterative update of the characteristics of the suspension system based on the hysteretic force curve calculated by the linear identification algorithm with momentum, and simulate the handling stability and ride comfort of the vehicle;
依据设定的整车操稳和平顺性目标，整车仿真模型输出优化的悬架阻尼和刚度参数，依据优化后的悬架阻尼和刚度参数进行下一轮的悬架试制和整车实车试验验证，直至满足整车验收标准为止，整车仿真模型输出最终优化后的悬架阻尼和刚度参数。According to the set goals of smooth operation and smoothness of the whole vehicle, the vehicle simulation model outputs the optimized suspension damping and stiffness parameters, and the next round of suspension trial production and the whole vehicle are carried out according to the optimized suspension damping and stiffness parameters Experiments are verified until the vehicle acceptance criteria are met, and the vehicle simulation model outputs the final optimized suspension damping and stiffness parameters.
作为本实施例一种可能的实现方式，所述悬架系统实时特性获取装置还安装有Isight软件，Isight软件作为中枢软件，在悬架系统特性的迭代更新的过程中，负责迭代调用带动量的线性识别算法和整车仿真模型，并使两者在迭代更新过程中协同配合。As a possible implementation manner of this embodiment, the device for obtaining real-time characteristics of the suspension system is also installed with Isight software. The Isight software, as the central software, is responsible for iteratively calling the dynamic Linear recognition algorithm and vehicle simulation model, and make the two cooperate in the iterative update process.
本发明实施例的技术方案可以具有的有益效果如下：The beneficial effects that the technical solutions of the embodiments of the present invention can have are as follows:
本发明能够不使用台架即可获取实时的悬架特性，并将结果实时传输给整车仿真模型，满足了数字孪生计算的需求，大大简化了悬架系统的设计流程，提高了效率和精度，缩短了悬架系统的开发周期。The present invention can obtain the real-time suspension characteristics without using a bench, and transmit the results to the vehicle simulation model in real time, which satisfies the requirements of digital twin calculation, greatly simplifies the design process of the suspension system, and improves the efficiency and accuracy. , shortening the development cycle of the suspension system.
本发明将传感器安装在减震器上下安装点之间，里面内置压力和位移传感器，车辆运行状态下，依据上下安装点的位置变化，获取力与板簧位移的数据，采样点可依据需求设置；力与位移数据同步传输到计算机内置的带动量的线性识别算法，在2.5ms内即可得到悬架系统（含减震器和板簧）的滞回力曲线；仿真模型得到滞回力曲线进行相关的仿真工作（如整车动力学仿真、平顺性仿真），当工况发生变化时，滞回力实时变化，仿真模型可以实时得到新的结果。与现有技术相比较，本发明具有以下特点：1） 悬架特性结果的获取不依赖台架，直接在整车上获取，成本低，时间短；2） 在实车装配状态下获取，得到的特性更贴合实车状态，精度高；3）特性参数识别在2.5ms内即可完成，能够实现仿真和实车的实时交互，可以进行数字孪生计算，缩短了悬架系统的开发周期。In the present invention, the sensor is installed between the upper and lower installation points of the shock absorber, and the pressure and displacement sensors are built in. In the running state of the vehicle, the data of the force and the displacement of the leaf spring are obtained according to the position change of the upper and lower installation points, and the sampling point can be set according to the requirements. ; The force and displacement data are synchronously transmitted to the computer built-in linear identification algorithm with momentum, and the hysteresis force curve of the suspension system (including shock absorbers and leaf springs) can be obtained within 2.5ms; the hysteresis force curve obtained from the simulation model is correlated When the working conditions change, the hysteresis force changes in real time, and the simulation model can obtain new results in real time. Compared with the prior art, the present invention has the following characteristics: 1) the acquisition of the suspension characteristic results does not depend on the bench, and is obtained directly on the vehicle, with low cost and short time; 3) The characteristic parameter identification can be completed within 2.5ms, which can realize real-time interaction between simulation and real vehicle, and can perform digital twin calculation, which shortens the development cycle of the suspension system.
附图说明Description of drawings
图1是根据一示例性实施例示出的一种基于数字孪生技术获取悬架系统实时特性的方法流程图；1 is a flowchart of a method for obtaining real-time characteristics of a suspension system based on a digital twin technology according to an exemplary embodiment;
图2是根据一示例性实施例示出的一种基于数字孪生技术获取悬架系统实时特性的装置结构图；2 is a structural diagram of an apparatus for acquiring real-time characteristics of a suspension system based on a digital twin technology, according to an exemplary embodiment;
图3是根据一示例性实施例示出的一种基于数字孪生技术获取悬架系统实时特性的装置的工作原理图。FIG. 3 is a working principle diagram of an apparatus for acquiring real-time characteristics of a suspension system based on a digital twin technology, according to an exemplary embodiment.
具体实施方式Detailed ways
下面结合附图与实施例对本发明做进一步说明：Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
为能清楚说明本方案的技术特点，下面通过具体实施方式，并结合其附图，对本发明进行详细阐述。下文的公开提供了许多不同的实施例或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。此外，本发明可以在不同例子中重复参考数字和/或字母。这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施例和/或设置之间的关系。应当注意，在附图中所图示的部件不一定按比例绘制。本发明省略了对公知组件和处理技术及工艺的描述以避免不必要地限制本发明。In order to clearly illustrate the technical features of the solution, the present invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted from the present invention to avoid unnecessarily limiting the present invention.
如图1所示，本发明实施例提供的一种基于数字孪生技术获取悬架系统实时特性的方法，包括以下步骤：As shown in FIG. 1 , a method for obtaining real-time characteristics of a suspension system based on a digital twin technology provided by an embodiment of the present invention includes the following steps:
采集悬架系统的力学变化和位移变化信号；Collect the mechanical change and displacement change signals of the suspension system;
利用带动量的线性识别算法进行计算，获取悬架系统的滞回力曲线；The linear identification algorithm with momentum is used for calculation to obtain the hysteretic force curve of the suspension system;
搭建整车仿真模型，根据获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真；Build a vehicle simulation model, iteratively update the characteristics of the suspension system according to the obtained hysteretic force curve, and simulate the handling and ride comfort of the vehicle;
依据设定的整车操稳和平顺性目标，整车仿真模型输出优化后的悬架阻尼和刚度参数。According to the set vehicle stability and smoothness goals, the vehicle simulation model outputs the optimized suspension damping and stiffness parameters.
作为本实施例一种可能的实现方式，所述采集悬架系统的力学变化和位移变化信号，包括：As a possible implementation manner of this embodiment, the acquisition of the mechanical change and displacement change signals of the suspension system includes:
采集悬架减震器的压力数据；Collect pressure data of suspension shock absorbers;
采集悬架板簧的位移数据。The displacement data of the suspension leaf spring is collected.
作为本实施例一种可能的实现方式，所述利用带动量的线性识别算法进行计算，获取悬架系统的滞回力曲线，包括：As a possible implementation manner of this embodiment, the linear identification algorithm with momentum is used for calculation to obtain the hysteresis force curve of the suspension system, including:
将悬架系统的力学变化和位移变化信号作为输入条件，利用带动量的线性识别算法进行计算，得到悬架系统的滞回力曲线；所述悬架系统的滞回力曲线包括减震器的滞回力曲线和板簧的滞回力曲线。Taking the mechanical change and displacement change signals of the suspension system as input conditions, the linear identification algorithm with momentum is used to calculate the hysteresis force curve of the suspension system; the hysteresis force curve of the suspension system includes the hysteresis force of the shock absorber Curves and hysteresis curves for leaf springs.
作为本实施例一种可能的实现方式，所述搭建整车仿真模型，根据获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真，包括：As a possible implementation manner of this embodiment, building a vehicle simulation model, performing iterative update of the characteristics of the suspension system according to the obtained hysteresis force curve, and performing simulation of the vehicle handling stability and ride comfort, including:
对悬架系统进行实车试验并将获得的悬架系统的滞回力曲线作为基础实车试验结果；Carry out the real vehicle test of the suspension system and use the obtained hysteretic force curve of the suspension system as the basic real vehicle test result;
将利用带动量的线性识别算法进行计算得到悬架系统的滞回力曲线，与基础实车试验结果进行对比校核；The hysteretic force curve of the suspension system is calculated by using the linear identification algorithm with momentum, and is compared and checked with the basic real vehicle test results;
搭建整车仿真模型，依据利用带动量的线性识别算法进行计算获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真。The vehicle simulation model is built, and the characteristics of the suspension system are iteratively updated based on the hysteretic force curve calculated by the linear identification algorithm with momentum, and the vehicle handling stability and ride comfort are simulated.
作为本实施例一种可能的实现方式，在悬架系统特性的迭代更新的过程中，Isight软件作为中枢软件，负责迭代调用带动量的线性识别算法和整车仿真模型，并使两者在迭代更新过程中协同配合。As a possible implementation of this embodiment, in the process of iteratively updating the characteristics of the suspension system, the Isight software, as the central software, is responsible for iteratively calling the linear identification algorithm with momentum and the vehicle simulation model, and making both of them iteratively Collaborate in the update process.
作为本实施例一种可能的实现方式，所述依据设定的整车操稳和平顺性目标，整车仿真模型输出优化后的悬架阻尼和刚度参数，包括：As a possible implementation manner of this embodiment, the vehicle simulation model outputs optimized suspension damping and stiffness parameters according to the set vehicle stability and smoothness goals, including:
依据设定的整车操稳和平顺性目标，整车仿真模型输出优化的悬架阻尼和刚度参数，依据优化后的悬架阻尼和刚度参数进行下一轮的悬架试制和整车实车试验验证，直至满足整车验收标准为止，整车仿真模型输出最终优化后的悬架阻尼和刚度参数。According to the set goals of smooth operation and smoothness of the whole vehicle, the vehicle simulation model outputs the optimized suspension damping and stiffness parameters, and the next round of suspension trial production and the whole vehicle are carried out according to the optimized suspension damping and stiffness parameters Experiments are verified until the vehicle acceptance criteria are met, and the vehicle simulation model outputs the final optimized suspension damping and stiffness parameters.
如图2所示，本发明实施例提供的一种基于数字孪生技术获取悬架系统实时特性的装置，包括传感器和悬架系统实时特性获取装置，所述悬架系统实时特性获取装置安装有带动量的线性识别算法软件和整车仿真模型软件，所述传感器安装在悬架减震器的上下安装点之间，采集悬架系统的力学变化和位移变化信号；所述带动量的线性识别算法软件利用带动量的线性识别算法进行计算，获取悬架系统的滞回力曲线；所述整车仿真模型软件搭建整车仿真模型，根据获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真；整车仿真模型软件还依据设定的整车操稳和平顺性目标，输出优化后的悬架阻尼和刚度参数。As shown in FIG. 2 , a device for acquiring real-time characteristics of a suspension system based on a digital twin technology provided by an embodiment of the present invention includes a sensor and a device for acquiring real-time characteristics of a suspension system, and the device for acquiring real-time characteristics of a suspension system is installed with a drive The sensor is installed between the upper and lower installation points of the suspension shock absorber, and collects the mechanical change and displacement change signals of the suspension system; the linear identification algorithm with the momentum The software uses a linear identification algorithm with momentum to perform calculations to obtain the hysteresis force curve of the suspension system; the vehicle simulation model software builds a vehicle simulation model, and iteratively updates the characteristics of the suspension system according to the obtained hysteresis force curve and performs adjustment. Simulation of vehicle handling stability and ride comfort; the vehicle simulation model software also outputs optimized suspension damping and stiffness parameters according to the set vehicle handling stability and ride comfort goals.
作为本实施例一种可能的实现方式，所述传感器包括压力传感器和位移传感器，所述压力传感器采集悬架减震器的压力数据，所述位移传感器采集悬架板簧的位移数据。As a possible implementation manner of this embodiment, the sensor includes a pressure sensor and a displacement sensor, the pressure sensor collects pressure data of the suspension shock absorber, and the displacement sensor collects displacement data of the suspension leaf spring.
作为本实施例一种可能的实现方式，所述带动量的线性识别算法软件具体用于：将悬架系统的力学变化和位移变化信号作为输入条件，利用带动量的线性识别算法进行计算，得到悬架系统的滞回力曲线；所述悬架系统的滞回力曲线包括减震器的滞回力曲线和板簧的滞回力曲线。As a possible implementation of this embodiment, the linear identification algorithm software with momentum is specifically used to: take the mechanical change and displacement change signals of the suspension system as input conditions, and use the linear identification algorithm with momentum to calculate, and obtain The hysteresis force curve of the suspension system; the hysteresis force curve of the suspension system includes the hysteresis force curve of the shock absorber and the hysteresis force curve of the leaf spring.
作为本实施例一种可能的实现方式，所述整车仿真模型软件，具体用于：As a possible implementation manner of this embodiment, the vehicle simulation model software is specifically used for:
对悬架系统进行实车试验并将获得的悬架系统的滞回力曲线作为基础实车试验结果；Carry out the real vehicle test of the suspension system and use the obtained hysteretic force curve of the suspension system as the basic real vehicle test result;
将利用带动量的线性识别算法进行计算得到悬架系统的滞回力曲线，与基础实车试验结果进行对比校核；The hysteretic force curve of the suspension system is calculated by using the linear identification algorithm with momentum, and is compared and checked with the basic real vehicle test results;
搭建整车仿真模型，依据利用带动量的线性识别算法进行计算获得的滞回力曲线进行悬架系统特性的迭代更新并进行整车操稳及平顺性的仿真；Build a vehicle simulation model, perform iterative update of the characteristics of the suspension system based on the hysteretic force curve calculated by the linear identification algorithm with momentum, and simulate the handling stability and ride comfort of the vehicle;
依据设定的整车操稳和平顺性目标，整车仿真模型输出优化的悬架阻尼和刚度参数，依据优化后的悬架阻尼和刚度参数进行下一轮的悬架试制和整车实车试验验证，直至满足整车验收标准为止，整车仿真模型输出最终优化后的悬架阻尼和刚度参数。According to the set goals of smooth operation and smoothness of the whole vehicle, the vehicle simulation model outputs the optimized suspension damping and stiffness parameters, and the next round of suspension trial production and the whole vehicle are carried out according to the optimized suspension damping and stiffness parameters Experiments are verified until the vehicle acceptance criteria are met, and the vehicle simulation model outputs the final optimized suspension damping and stiffness parameters.
作为本实施例一种可能的实现方式，所述悬架系统实时特性获取装置还安装有Isight软件，Isight软件作为中枢软件，在悬架系统特性的迭代更新的过程中，负责迭代调用带动量的线性识别算法和整车仿真模型，并使两者在迭代更新过程中协同配合。As a possible implementation manner of this embodiment, the device for obtaining real-time characteristics of the suspension system is also installed with Isight software. The Isight software, as the central software, is responsible for iteratively calling the dynamic Linear recognition algorithm and vehicle simulation model, and make the two cooperate in the iterative update process.
如图3所示，本发明提供了一种基于整车状态下实时获取悬架特性并进行数字孪生计算的系统，采用本发明可以不使用台架即可获取实时的悬架特性，并将结果实时传输给整车仿真模型，并进行数字孪生计算，主要包括传感器、带动量的线性识别算法、仿真模型和悬架系统四个部分，本发明的工作原理如下。As shown in FIG. 3 , the present invention provides a system for obtaining suspension characteristics in real time and performing digital twin calculation based on the state of the entire vehicle. Using the present invention, the real-time suspension characteristics can be obtained without using a bench, and the results Real-time transmission to the vehicle simulation model, and digital twin calculation, mainly includes four parts: sensor, linear identification algorithm with momentum, simulation model and suspension system. The working principle of the present invention is as follows.
1.悬架安装在整车上进行实车试验，且在悬架减震器上下安装点之间安装传感器，里面包含压力和位移传感器，车辆运行状态下，依据上下安装点的位置变化，获取力与板簧位移的数据，采样点可依据需求设置。1. The suspension is installed on the whole vehicle for real vehicle test, and sensors are installed between the upper and lower installation points of the suspension shock absorber, which include pressure and displacement sensors. When the vehicle is running, according to the position change of the upper and lower installation points, obtain For the data of force and leaf spring displacement, the sampling point can be set as required.
2.获取的力和位移信号作为输入条件同步输入Matlab软件中，在matlab软件中运行带动量的线性识别算法，在2.5ms内即可得到悬架系统（含减震器和板簧）的滞回力曲线（即悬架系统特性）。2. The obtained force and displacement signals are input into the Matlab software as input conditions synchronously, and the linear identification algorithm with momentum is run in the matlab software, and the hysteresis of the suspension system (including shock absorbers and leaf springs) can be obtained within 2.5ms. Return force curve (i.e. suspension system characteristics).
3.使用Trucksim软件搭建整车仿真模型，在整个迭代开始前需要与基础实车试验结果进行对比校核，以便确认模型的仿真精度（仅需校核一次），依据上述步骤中获得的滞回力曲线进行悬架系统特性的更新并进行整车操稳及平顺性的仿真。3. Use Trucksim software to build a vehicle simulation model. Before the start of the entire iteration, it needs to be compared and checked with the basic real vehicle test results to confirm the simulation accuracy of the model (only need to be checked once). According to the hysteresis force obtained in the above steps The curve is used to update the characteristics of the suspension system and simulate the handling and smoothness of the whole vehicle.
4.在迭代更新的过程中，Isight软件作为中枢软件，负责迭代调用Matlab软件和Trucksim软件，从而实现在每一个迭代过程中，两者的协同配合。4. In the process of iterative update, Isight software, as the central software, is responsible for iteratively calling Matlab software and Trucksim software, so as to realize the cooperation between the two in each iterative process.
5.依据设定的整车操稳和平顺性目标，Trucksim软件将输出优化后的悬架阻尼和刚度参数，依据该参数可以进行下一轮的悬架试制和整车实车试验验证，直至满足整车验收标准。5. According to the set goals of smooth operation and smoothness of the whole vehicle, the Trucksim software will output the optimized suspension damping and stiffness parameters. According to these parameters, the next round of suspension trial production and vehicle real vehicle test verification can be carried out. Meet the vehicle acceptance criteria.
采用本发明后，整个悬架系统的设计流程将得到大大的简化，从而提高效率和精度。采用本发明进行悬架设计流程如下：After adopting the present invention, the design process of the entire suspension system will be greatly simplified, thereby improving efficiency and precision. The suspension design process using the present invention is as follows:
1.设计师进行悬架系统特性设计；1. The designer conducts the characteristic design of the suspension system;
2.进行悬架和整车的试制；2. Trial production of suspension and vehicle;
3.搭建整车多体动力学仿真模型，并进行整车试验，利用本发明将试验结果与仿真模型进行实时互动更新；3. Build a vehicle multi-body dynamics simulation model, conduct a vehicle test, and use the present invention to interactively update the test results and the simulation model in real time;
4.完成开发工作。4. Complete the development work.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the present invention can still be Modifications or equivalent replacements are made to the specific embodiments of the present invention, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention shall be included within the protection scope of the claims of the present invention.
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