CN115200904A - Bench test method of air suspension system, medium and electronic equipment - Google Patents
Bench test method of air suspension system, medium and electronic equipment Download PDFInfo
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- CN115200904A CN115200904A CN202210727598.9A CN202210727598A CN115200904A CN 115200904 A CN115200904 A CN 115200904A CN 202210727598 A CN202210727598 A CN 202210727598A CN 115200904 A CN115200904 A CN 115200904A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/04—Suspension or damping
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
Abstract
The invention discloses a bench test method, a medium and electronic equipment of an air suspension system, belonging to the technical field of automobile manufacturing detection, wherein in response to a test control program of the air suspension system, a test bed controller sends out corresponding test working condition actuating cylinder load force target values to four actuating cylinders to carry out vertical actuation, and the test bed controller sends a simulated vehicle environment signal to the air suspension controller; the test bed controller collects all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders, and corresponding working condition test data are obtained through calculation according to all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders. This patent uses vehicle simulation assembly's mode to replace real vehicle system on spring and system under the spring, has saved real vehicle participation, has solved the problem that real vehicle resource is not enough. Other whole vehicle electric control systems are replaced by virtual models, and rapid modification is facilitated in the whole vehicle development iteration process.
Description
Technical Field
The invention discloses a bench test method, a medium and electronic equipment of an air suspension system, and belongs to the technical field of automobile manufacturing detection.
Background
With the development of an automobile chassis electric control system, more and more vehicles are provided with an air suspension system, and a road simulation test needs to be performed in the development stage of the air suspension system to judge the vibration damping performance of the suspension. Prior to mass production, air suspension systems require multiple physical on-ring bench tests. The method adopted at present is to install a real vehicle on a four-upright platform for bench test, but the development cycle of the whole vehicle is short at present, so that the real vehicle resource is insufficient, and the real vehicle test on the four-upright platform cannot be supported; in addition, the current whole vehicle electric control system is developed at a higher iteration speed, so that the whole vehicle electric control system cannot be simultaneously embodied on a real vehicle.
Disclosure of Invention
The invention aims to solve the problems that the current whole vehicle development cycle is short, so that the real vehicle resources are insufficient, and the real vehicle test on a four-upright platform cannot be supported; in addition, the existing whole vehicle electric control system is higher in development iteration speed, so that the problem that the whole vehicle electric control system cannot be simultaneously embodied on a real vehicle is solved, and a bench test method, a medium and electronic equipment of the air suspension system are provided.
The technical scheme of the invention is as follows:
according to a first aspect of the embodiments of the present invention, there is provided a bench test method for an air suspension system, which is applied to a bench test system for an air suspension system, the bench test system for an air suspension system includes a vehicle simulation assembly disposed on a four-pillar platform, and the vehicle simulation assembly includes: simulation assembly, air suspension system and sensor group on the spring, be provided with the air suspension controller on the simulation assembly on the spring, air suspension controller, four stand platforms, air suspension system and sensor group respectively with test bench controller electric connection, include:
responding to a test control program of the air suspension system, the test bed controller sends corresponding test working condition actuating cylinder load force target values to the four actuating cylinders to carry out vertical actuation, and the test bed controller sends a simulated vehicle environment signal to the air suspension controller;
the test bed controller collects all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders, and corresponding working condition test data are obtained through calculation according to all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders.
Preferably, the test stand controller includes: the system comprises a performance evaluation module, a driver operation and vehicle dynamics module, a road simulation module and a test bed control module, wherein the test bed control module is respectively electrically connected with four actuating cylinders and four actuating cylinders, the road simulation module is electrically connected with the driver operation and vehicle dynamics module, the driver operation and vehicle dynamics module is electrically connected with an air suspension controller, and the performance evaluation module is respectively electrically connected with the air suspension controller and a sensor group.
Preferably, the air suspension controller is used for sending the working state and the working current of the air suspension to the performance evaluation module, the performance evaluation module is used for evaluating the air suspension controller according to the sensor group signal and the working state and the working current of the air suspension sent by the air suspension controller, the driver operation and vehicle dynamics module is used for sending vehicle operation and dynamics data to the air suspension controller, the road simulation module is used for sending an offline vehicle speed signal to the driver operation and vehicle dynamics module and sending a four-wheel load spectrum signal to the test bed control module, and the test bed control module is used for obtaining a target value of the load force of the actuating cylinder and sending the target value to the four actuating cylinders according to the four-wheel original load spectrum signal after signal conditioning calculation processes such as pruning and correction.
Preferably, the sensor group includes: the system comprises a driver acceleration sensor, 4 suspension acceleration sensors, 4 vehicle body acceleration sensors and 4 vehicle body height sensors, wherein the 4 vehicle body acceleration sensors and the 4 vehicle body height sensors are all arranged at suspension positions on left front, right front, left rear and right rear suspensions; the driver position acceleration sensor is arranged at the driver floor of the sprung simulation assembly; 4 suspension acceleration sensors are respectively arranged at the wheel center positions of 4 wheels.
Preferably, the test conditions include: bounce, roll and pitch conditions.
Preferably, when the test operating condition is a bounce operating condition, the calculating according to all signals of the sensor group, the actual values of the load forces and the actual values of the displacements of the four actuating cylinders to obtain corresponding operating condition test data includes:
respectively acquiring 4 bounce working condition vehicle body acceleration data, 4 bounce working condition suspension acceleration data, 4 bounce working condition vehicle body height data, 4 bounce working condition actuating cylinder displacement and bounce working condition driver acceleration;
obtaining a bounce working condition time domain curve group by taking bounce working condition time as a horizontal coordinate, 4 bounce working condition vehicle body acceleration, 4 bounce working condition suspension acceleration, 4 bounce working condition vehicle body height and 4 bounce working condition actuating cylinder displacement as vertical coordinates according to the 4 bounce working condition vehicle body acceleration data, 4 bounce working condition suspension acceleration data, 4 bounce working condition vehicle body height data and 4 bounce working condition actuating cylinder displacement;
obtaining time domain longitudinal, transverse and vertical bouncing working condition acceleration curves of which the acceleration of the driver under the bouncing working condition is a vertical coordinate according to the acceleration of the driver under the bouncing working condition, and obtaining a three-phase weighted acceleration root mean square value of the acceleration of the driver under the bouncing working condition according to the time domain longitudinal, transverse and vertical bouncing working condition acceleration curves of which the acceleration of the driver under the bouncing working condition is a vertical coordinate;
carrying out Fourier transformation on a bounce working condition time domain curve group which takes bounce working condition time as an abscissa and 4 bounce working condition vehicle body accelerations and 4 bounce working condition suspension accelerations as an ordinate to obtain a first bounce working condition transfer function group, and carrying out Fourier transformation on a bounce working condition time domain curve group which takes the bounce working condition time as an abscissa, 4 bounce working condition vehicle body heights and 4 bounce working condition actuating cylinder displacements as ordinates to obtain a second bounce working condition transfer function group;
acquiring a bounce working condition vibration initial angular frequency, a bounce working condition vibration termination angular frequency and a bounce working condition amplitude-frequency characteristic improvement weighting coefficient curve, and acquiring a corresponding bounce working condition weighting amplitude-frequency characteristic total improvement coefficient group of the bounce working condition first transmission function group according to the bounce working condition vibration initial angular frequency, the bounce working condition vibration termination angular frequency, the bounce working condition amplitude-frequency characteristic improvement weighting coefficient curve and the bounce working condition first transmission function group through a formula (1);
wherein: omega 1 Starting angular frequency, omega, of vibration for bouncing conditions 2 For the vibration-terminating angular frequency of the bouncing regime, C ai.1 (omega) is a curve of improved weighting coefficients for the amplitude-frequency behavior of the bounce regime, M ai.1 (ω) is the first set of transfer functions for bounce conditions, K ai.1 And weighting the amplitude-frequency characteristic total improvement coefficient group for the corresponding bouncing working condition of the first transfer function group of the bouncing working condition.
Preferably, when the test operating condition is a roll operating condition, the calculating according to all signals of the sensor group and the signals of the actual load force values and the actual displacement values of the four cylinders to obtain corresponding operating condition test data includes:
respectively acquiring a root mean square value of acceleration three-phase weighted acceleration of a driver under a roll condition, a first transfer function group under the roll condition, a second transfer function group under the roll condition and a total improvement coefficient group of the roll condition weighted amplitude-frequency characteristic corresponding to the first transfer function group under the roll condition;
obtaining the height difference value of the left and right vehicle bodies of the front axle and the rear axle, and obtaining the roll angle of the vehicle body according to the formula (2):
wherein: h is a total of bf (t) is the difference between the left and right body heights of the front axle, h bb (t) is the difference between the left and right vehicle body heights of the rear axle, B is the left and right wheel track, and phi (t) is the vehicle body side inclination angle.
Preferably, when the test condition is a pitching condition, the calculating according to all the signals of the sensor group and the signals of the actual load force values and the actual displacement values of the four cylinders to obtain the test data of the corresponding condition includes:
respectively acquiring a root mean square value of acceleration three-phase weighted acceleration at a pitching condition driver, a pitching condition first transfer function group, a pitching condition second transfer function group and a pitching condition weighted amplitude-frequency characteristic total improvement coefficient group corresponding to the pitching condition first transfer function group;
obtaining the height difference values of the left front vehicle body and the left rear vehicle body and the height difference values of the right front vehicle body and the right rear vehicle body, and obtaining the pitch angle of the vehicle body according to a formula (3):
wherein: h is bl (t) is the difference between the heights of the left front and left rear vehicle bodies, h br (t) is the height difference between the right front and the right rear vehicle bodies, L is the wheelbase, and psi (t) is the vehicle body pitch angle.
A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of a bench test method for an air suspension system as described above.
An electronic device, comprising: at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of a bench test method for an air suspension system as described above.
The invention has the beneficial effects that:
the patent provides a bench test method, medium and electronic equipment of air suspension system, uses vehicle simulation assembly's mode to replace real vehicle system on spring and system under the spring, has saved real car participation, has solved the not enough problem of real car resource. Other whole vehicle electric control systems (such as a power assembly, a brake system, a steering system and the like) are replaced by virtual models, so that the whole vehicle electric control systems can be modified quickly in the whole vehicle development iteration process.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
FIG. 1 is a block diagram illustrating a bench test system for an air suspension system in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating electrical connections of a bench test system of an air suspension system in accordance with an exemplary embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Fig. 1-2 illustrate a method of bench testing an air suspension system according to an exemplary embodiment, applied to a bench testing system of an air suspension system, and thus first a bench testing system of an air suspension system will be described, including: four stand platforms, vehicle simulation assembly, air suspension controller, test bench controller. The vehicle simulation assembly comprises a sprung simulation assembly, an air suspension system and a sensor group.
The on-spring simulation assembly simulates the body structure of a real vehicle through a series of steel plate clamps, before a test, the vehicle simulation assembly is required to be conveyed to a KC test bed, and the quantity and the position of the counter weight blocks on the on-spring simulation assembly are adjusted, so that the whole vehicle parameters of the vehicle simulation assembly, such as the front and rear axle load, the mass center height and the like, are consistent with the whole vehicle parameters of the real vehicle as much as possible. And then, the vehicle simulation assembly is transported to a four-wheel positioning test bed, so that the four-wheel positioning parameters are consistent with the real vehicle parameters as much as possible.
The air suspension system comprises a front suspension, a rear suspension, a front control arm, a rear control arm, a front stabilizer bar, a rear stabilizer bar, four wheels, an air compressor, an electromagnetic valve, a left front air bag, a right front air bag, a left rear air bag, a right rear air bag, an air storage tank and a continuous damping shock absorber, which are all real vehicle parts and are installed according to the space position of a real vehicle.
The sensor group comprises a left front vehicle body acceleration sensor, a right front vehicle body acceleration sensor, a left rear vehicle body acceleration sensor, a left front vehicle body height sensor, a right front vehicle body height sensor, a left rear vehicle body height sensor and a right rear vehicle body height sensor, and the 8 sensors are all arranged at the suspension positions on a left front suspension, a right front suspension, a left rear suspension and a right rear suspension; the driver position acceleration sensor is arranged at the driver floor of the sprung simulation assembly; and the left front suspension acceleration sensor, the right front suspension acceleration sensor, the left rear suspension acceleration sensor and the right rear suspension acceleration sensor are arranged at the wheel centers of 4 wheels.
The air suspension controller controls the air spring and the continuous damping shock absorber to move, and is a real vehicle part.
The four-column platform comprises a left front actuating cylinder, a right front actuating cylinder, a left rear actuating cylinder, a right rear actuating cylinder, a tray and an anti-falling mechanism, wherein each actuating cylinder is connected with one tray and follows the actuating cylinder, the tray is used for supporting four wheels but is not fixedly connected, and the four actuating cylinders are used for driving the four wheels to vertically move; each tray is provided with an anti-falling mechanism, when the motion amplitude of four wheels does not exceed a threshold value and the displacement difference value between the four wheels does not exceed the threshold value (when the four-column platform has no fault), the anti-falling mechanism and the wheels are kept in a loose state, once the motion amplitude of any one of the four wheels exceeds the threshold value or the displacement difference value between the four wheels exceeds the threshold value (when the four-column platform has a fault), the four actuating cylinders stop actuating at once, the anti-falling mechanism tensions the wheels, so that the vehicle simulation assembly is kept stable and cannot fall.
The test bed controller adopts an HIL simulator, is a central control center of the whole test bed and supplies power to the air compressor, the electromagnetic valve and the air spring controller; controlling the motion of four actuating cylinders of the four-upright platform in a force control mode or a displacement control mode, and collecting values of force sensors and displacement sensors integrated on the four actuating cylinders; reading a CAN signal sent by an air suspension controller, and simulating a vehicle environment signal to send to the air suspension controller; values are collected for a sensor group mounted on a vehicle simulation assembly.
The test control program of the air suspension system is downloaded to a test bed controller and comprises a driver control and vehicle dynamics module, a test bed control module, a performance evaluation module and a road simulation module.
The air suspension controller is placed on the sprung simulation assembly, and a driver control and vehicle dynamics module sends a gear, a vehicle speed, a steering wheel corner, a steering wheel rotating speed, a longitudinal acceleration, a transverse acceleration, a yaw rate, a power assembly and a driving mode signal to the CAN for the air suspension controller to use; and the air suspension controller sends the working state and the working current of the air suspension to the performance evaluation module for performance evaluation.
The road simulation module sends the four-wheel load spectrum signal to the test bed control module, the four-wheel load spectrum signal is an off-line simulation signal and can be obtained through four-wheel load spectrum data of an actual road surface, a road vertical height spectrum can also be simulated in the driver control and vehicle dynamics module, and the four-wheel load spectrum data of the road is calculated through the vehicle dynamics module. The road simulation module sends an offline vehicle speed signal to the driver control and vehicle dynamics module.
The test bed control module is used for converting the four-wheel original load spectrum signals into load force target values of the left front actuating cylinder, the right front actuating cylinder, the left rear actuating cylinder and the right rear actuating cylinder after signal conditioning calculation processes such as pruning and correction according to the four-wheel original load spectrum signals, sending the load force target values to the left front actuating cylinder, the right front actuating cylinder, the left rear actuating cylinder and the right rear actuating cylinder, and controlling push rods of the four actuating cylinders to perform linear motion in a force control mode when the four-column platform is not in fault; when the four-upright platform breaks down, the push rods of the four actuating cylinders immediately stop at the current positions. The four actuating cylinders send the actual values of the load force and the actual values of the displacement of the four actuating cylinders to the test bed control module for real-time detection of the working state of the test bed and signal conditioning operations such as pruning and correction of the test bed control module.
After the sensor group is subjected to signal conditioning calculation processes such as filtering and the like, the sensor group signals are sent to a performance evaluation module for performance evaluation.
The bench test system of the air suspension system is described above, and the bench test method of the air suspension system will be described in detail below:
responding to the test control program of the air suspension system, the test bed controller sends corresponding test working condition actuating cylinder load force target values to the four actuating cylinders to carry out vertical actuation, the test bed controller sends a simulated whole vehicle environment signal to the air suspension controller, and the test working conditions comprise: bounce, roll and pitch conditions.
The test bed controller collects all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders, and calculates the corresponding working condition test data according to all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders, and the specific content is as follows:
when the test working condition is a bounce working condition, respectively acquiring 4 bounce working condition vehicle body acceleration data, 4 bounce working condition suspension acceleration data, 4 bounce working condition vehicle body height data, 4 bounce working condition actuating cylinder displacement and bounce working condition driver acceleration;
obtaining a bounce working condition time domain curve group A taking bounce working condition time as a horizontal coordinate, 4 bounce working condition vehicle body acceleration, 4 bounce working condition suspension acceleration, 4 bounce working condition vehicle body height and 4 bounce working condition working cylinder displacement as vertical coordinates according to the 4 bounce working condition vehicle body acceleration data, 4 bounce working condition suspension acceleration data, 4 bounce working condition vehicle body height data and 4 bounce working condition working cylinder displacement bi.1 (t)，A si.1 (t)，H bi.1 (t)，H si.1 (t)(i＝1，2，3，4)；
Obtaining time domain longitudinal, transverse and vertical bounce working condition acceleration curves a with the acceleration of the driver under the bounce working condition as a vertical coordinate according to the acceleration of the driver under the bounce working condition dx.1 (t)，a dy.1 (t)，a dz.1 (t), obtaining an acceleration three-phase weighted acceleration root mean square value of the bounce working condition driver according to time-domain longitudinal, transverse and vertical bounce working condition acceleration curves of which the acceleration of the bounce working condition driver is a vertical coordinate;
according to the bounce working condition time as abscissa and 4 bounce working condition vehicle body accelerations and 4 bounce working condition suspension accelerations as ordinateCarrying out Fourier transformation on the time domain curve group of the bounce working condition to obtain a first transfer function group M of the bounce working condition ai.1 (omega), carrying out Fourier transform according to a bounce working condition time domain curve group which takes bounce working condition time as a horizontal coordinate, 4 bounce working condition vehicle body heights and 4 bounce working condition actuating cylinder displacements as a vertical coordinate to obtain a bounce working condition second transfer function group N ai，1 (ω)；
Acquiring a bounce working condition vibration initial angular frequency, a bounce working condition vibration termination angular frequency and a bounce working condition amplitude-frequency characteristic improvement weighting coefficient curve, and acquiring a bounce working condition weighting amplitude-frequency characteristic total improvement coefficient group corresponding to the bounce working condition first transmission function group through a formula (1) according to the bounce working condition vibration initial angular frequency, the bounce working condition vibration termination angular frequency, the bounce working condition amplitude-frequency characteristic improvement weighting coefficient curve and the bounce working condition first transmission function group;
wherein: omega 1 Starting angular frequency, omega, of vibration for bouncing conditions 2 For the vibration-terminating angular frequency of the bouncing regime, C ai.1 (omega) is a curve of improved weighting coefficients for the amplitude-frequency behavior of the bounce regime, M ai.1 (ω) is the first set of transfer functions for bounce conditions, K ai.1 And weighting the amplitude-frequency characteristic total improvement coefficient group for the corresponding bouncing working condition of the first transfer function group of the bouncing working condition.
When the test working condition is a roll working condition, acquiring a mean square root value of acceleration three-phase weighted acceleration of a driver under the roll working condition, a first transfer function group under the roll working condition, a second transfer function group under the roll working condition and a total improvement coefficient group of the roll working condition weighted amplitude-frequency characteristic corresponding to the first transfer function group under the roll working condition respectively, wherein the acquisition mode of the roll working condition is consistent with the calculation method of the bounce working condition, so that the repeated description is omitted;
obtaining the height difference value of the left and right vehicle bodies of the front axle and the rear axle, and obtaining the roll angle of the vehicle body according to the formula (2):
wherein: h is bf (t) is the difference between the left and right vehicle body heights of the front axle and h bf (t)＝h b1.2 (t)-h b2.2 (t)，h bb (t) is the difference between the left and right vehicle body heights of the rear axle and h bb (t)＝h b3.2 (t)-h b4.2 (t), B is the left and right track width, and phi (t) is the vehicle body side inclination angle.
When the test working condition is a pitching working condition, acquiring a root mean square value of the accelerated speed three-phase weighted acceleration of a driver under the pitching working condition, a first transfer function group under the pitching working condition, a second transfer function group under the pitching working condition and a total improvement coefficient group of the weighting amplitude-frequency characteristic of the pitching working condition corresponding to the first transfer function group under the pitching working condition respectively, wherein the acquiring mode of the pitching working condition is consistent with the calculating method of the bounce working condition, so that the repeated description is omitted;
obtaining the height difference values of the left front vehicle body and the left rear vehicle body and the height difference values of the right front vehicle body and the right rear vehicle body, and obtaining the pitch angle of the vehicle body according to a formula (3):
wherein: h is a total of bl (t) is the difference between the heights of the left front and left rear vehicle bodies and h bl (t)＝h b1.3 (t)-h b3.3 (t)，h br (t) is the difference between the heights of the right front and right rear vehicle bodies and h br (t)＝h b2.3 (t)-h b4.3 (t), L is the wheelbase, and psi (t) is the vehicle body pitch angle.
Example two
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the bench test method of an air suspension system as set out above.
Without loss of generality, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instruction data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the foregoing. The system memory and mass storage devices described above may be collectively referred to as memory.
EXAMPLE III
An electronic device, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the bench test method for an air suspension system described above.
The memory may be used to store software programs and modules, and the processor may execute various functional applications of the terminal and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an execution program required for at least one function, and the like.
The storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be appreciated by those skilled in the art that the above embodiments are only for clarity of illustration of the invention, and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concept as defined by the claims and their equivalents.
Claims (10)
1. A bench test method of an air suspension system is applied to the bench test system of the air suspension system, the bench test system of the air suspension system comprises a vehicle simulation assembly arranged on a four-column platform, and the vehicle simulation assembly comprises: simulation assembly, air suspension system and sensor group on the spring, be provided with the air suspension controller on the simulation assembly on the spring, air suspension controller, four stand platforms, air suspension system and sensor group respectively with test bench controller electric connection, its characterized in that includes:
responding to a test control program of the air suspension system, the test bed controller sends corresponding test working condition actuating cylinder load force target values to the four actuating cylinders to carry out vertical actuation, and the test bed controller sends a simulated vehicle environment signal to the air suspension controller;
the test bed controller collects all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders, and corresponding working condition test data are obtained through calculation according to all signals of the sensor group and signals of the actual values of the load forces and the actual values of the displacements of the four actuating cylinders.
2. The bench test method for an air suspension system of claim 1, wherein the test bench controller comprises: the system comprises a performance evaluation module, a driver operation and vehicle dynamics module, a road simulation module and a test bed control module, wherein the test bed control module is electrically connected with four actuating cylinders and four actuating cylinders respectively, the road simulation module is electrically connected with the driver operation and vehicle dynamics module, the driver operation and vehicle dynamics module is electrically connected with an air suspension controller, and the performance evaluation module is electrically connected with the air suspension controller and a sensor group respectively.
3. The bench test method for the air suspension system according to claim 2, wherein the air suspension controller is configured to send the operating state and the operating current of the air suspension to the performance evaluation module, the performance evaluation module is configured to evaluate the air suspension controller according to the sensor group signals and the operating state and the operating current of the air suspension sent by the air suspension controller, the driver control and vehicle dynamics module is configured to send vehicle control and dynamics data to the air suspension controller, the road simulation module is configured to send an offline vehicle speed signal to the driver control and vehicle dynamics module, and is further configured to send a four-wheel load spectrum signal to the test bench control module, and the test bench control module is configured to obtain the target value of the load force of the actuating cylinder according to the four-wheel original load spectrum signal after signal conditioning calculation processes such as pruning and correction, and send the target value to the four actuating cylinders.
4. The bench test method for the air suspension system as claimed in claim 3, wherein said sensor group comprises: the system comprises a driver acceleration sensor, 4 suspension acceleration sensors, 4 vehicle body acceleration sensors and 4 vehicle body height sensors, wherein the 4 vehicle body acceleration sensors and the 4 vehicle body height sensors are all arranged at suspension positions on left front, right front, left rear and right rear suspensions; the driver position acceleration sensor is arranged at the driver floor of the sprung simulation assembly; 4 suspension acceleration sensors are respectively arranged at the wheel center positions of 4 wheels.
5. The bench test method for an air suspension system of claim 4, wherein said test conditions comprise: bounce, roll and pitch conditions.
6. The bench test method for air suspension system according to claim 5, wherein when said test condition is a bounce condition, said calculating according to all signals of said sensor group and said four actual values of cylinder load force and displacement signals to obtain corresponding condition test data comprises:
respectively acquiring 4 bounce working condition vehicle body acceleration data, 4 bounce working condition suspension acceleration data, 4 bounce working condition vehicle body height data, 4 bounce working condition actuating cylinder displacement and bounce working condition driver acceleration;
obtaining a bounce working condition time domain curve group by taking bounce working condition time as a horizontal coordinate, 4 bounce working condition vehicle body accelerations, 4 bounce working condition suspension accelerations, 4 bounce working condition vehicle body heights and 4 bounce working condition working cylinder displacements as vertical coordinates according to the 4 bounce working condition vehicle body acceleration data, the 4 bounce working condition suspension acceleration data, the 4 bounce working condition vehicle body height data and the 4 bounce working condition working cylinder displacements;
obtaining time domain longitudinal, transverse and vertical bouncing working condition acceleration curves taking the acceleration of the driver under the bouncing working condition as a vertical coordinate according to the acceleration of the driver under the bouncing working condition, and obtaining an acceleration three-phase weighted acceleration root mean square value of the driver under the bouncing working condition according to the time domain longitudinal, transverse and vertical bouncing working condition acceleration curves taking the acceleration of the driver under the bouncing working condition as the vertical coordinate;
carrying out Fourier transformation on a bounce working condition time domain curve group which takes bounce working condition time as an abscissa and 4 bounce working condition vehicle body accelerations and 4 bounce working condition suspension accelerations as an ordinate to obtain a first bounce working condition transfer function group, and carrying out Fourier transformation on a bounce working condition time domain curve group which takes the bounce working condition time as an abscissa, 4 bounce working condition vehicle body heights and 4 bounce working condition actuating cylinder displacements as ordinates to obtain a second bounce working condition transfer function group;
acquiring a bounce working condition vibration initial angular frequency, a bounce working condition vibration termination angular frequency and a bounce working condition amplitude-frequency characteristic improvement weighting coefficient curve, and acquiring a bounce working condition weighting amplitude-frequency characteristic total improvement coefficient group corresponding to the bounce working condition first transmission function group through a formula (1) according to the bounce working condition vibration initial angular frequency, the bounce working condition vibration termination angular frequency, the bounce working condition amplitude-frequency characteristic improvement weighting coefficient curve and the bounce working condition first transmission function group;
wherein: omega 1 Starting angular frequency, omega, of vibration for bouncing conditions 2 For the vibration-terminating angular frequency of the bouncing regime, C ai.1 (omega) is a curve of improved weighting coefficients for the amplitude-frequency behavior of the bounce regime, M ai.1 (ω) is the first transfer function set of bounce behavior, K ai.1 And weighting the amplitude-frequency characteristic total improvement coefficient group for the corresponding bouncing working condition of the first transfer function group of the bouncing working condition.
7. The bench test method for the air suspension system according to claim 6, wherein when the test condition is a roll condition, the calculating based on all the signals of the sensor group and the actual values of the load forces and the actual values of the displacements of the four cylinders to obtain the corresponding condition test data comprises:
respectively acquiring a root mean square value of acceleration three-phase weighted acceleration of a driver under a roll condition, a first transfer function group under the roll condition, a second transfer function group under the roll condition and a total improvement coefficient group of the roll condition weighted amplitude-frequency characteristic corresponding to the first transfer function group under the roll condition;
obtaining the height difference value of the left and right vehicle bodies of the front axle and the rear axle, and obtaining the roll angle of the vehicle body according to the formula (2):
wherein: h is a total of bf (t) is the difference between the left and right vehicle body heights of the front axle, h bb (t) is the difference between the left and right vehicle body heights of the rear axle, B is the left and right wheel track, and phi (t) is the vehicle body side inclination angle.
8. The bench test method for the air suspension system according to claim 6, wherein when the test condition is a pitch condition, the calculating according to all signals of the sensor group and the signals of the actual values of the load forces and the actual values of the displacements of the four cylinders to obtain corresponding condition test data comprises:
respectively acquiring a root mean square value of the accelerated speed three-phase weighted accelerated speed of a pitching condition driver, a pitching condition first transfer function group, a pitching condition second transfer function group and a pitching condition first transfer function group corresponding to a pitching condition weighted amplitude-frequency characteristic total improvement coefficient group;
obtaining the height difference values of the left front vehicle body and the left rear vehicle body and the height difference values of the right front vehicle body and the right rear vehicle body, and obtaining the pitch angle of the vehicle body according to a formula (3):
wherein: h is bl (t) is the difference between the heights of the left front and left rear vehicle bodies, h br (t) is the height difference between the right front and the right rear vehicle bodies, L is the wheelbase, and psi (t) is the vehicle body pitch angle.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the method of any one of claims 1-8 when executed.
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