CN115684627A - User-associated fuel cell heavy truck saddle six-component force measuring system and method - Google Patents
User-associated fuel cell heavy truck saddle six-component force measuring system and method Download PDFInfo
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Abstract
The invention discloses a user-associated fuel cell heavy truck saddle six-component force measurement system and method. Wherein, measurement system includes: the tractor comprises a tractor and a trailer, wherein a saddle is arranged between the tractor and the trailer; the saddle is connected with the measuring module through the mounting frame, and the measuring module is connected with the tractor through the base of the connecting plate; a first mounting bracket and a second mounting bracket in the mounting bracket are respectively rotatably mounted on two sides of the saddle; a first measuring unit module and a second measuring unit module in the measuring unit modules are installed at two ends of a first installation support, and a third measuring unit module and a fourth measuring unit module in the measuring system are installed at two ends of a second installation support; each measuring unit module is provided with a lower connecting plate and an upper connecting plate, the lower connecting plate and the upper connecting plate are connected through a cross-shaped stress block, and a gap is formed between the lower connecting plate and the upper connecting plate. The system can accurately measure the stress condition of the real vehicle.
Description
Technical Field
The embodiment of the invention relates to a vehicle detection technology, in particular to a user-associated fuel cell heavy truck saddle six-component force measurement system and method.
Background
Because the condition of Chinese roads is very complicated, the excitation difference of a saddle system on different roads is very large, the saddle system, a frame and the like are difficult to be accurately designed, the saddle is used as a connecting device between a tractor and a semitrailer, bears the vertical quality of the semitrailer and the impact from each direction, and plays a role in steering and traction, and the quality of the saddle is very important.
The chassis saddle is mainly used for connecting a vehicle head and a trailer at the back of the vehicle, and the tractor and the trailer are connected through a main pin shaft, so that the saddle can be subjected to complex dynamic impact in braking and starting processes, the impact load is very large, and the strength and fatigue of the saddle and the main pin shaft are greatly influenced. At present, no mature means exists for measuring the load at the saddle, so that the input load such as frame design is not very accurate.
The invention is provided in view of the above.
Disclosure of Invention
The embodiment of the invention provides a user-associated six-component measurement system and method for a fuel cell heavy truck saddle, and solves the problem that the input load of saddle and frame design and the like is inaccurate because the current measurement system cannot effectively and accurately measure the load of the saddle in three directions of X/Y/Z under different working conditions.
The embodiment of the invention provides a user-associated six-component measurement system for a fuel cell heavy truck saddle, which comprises:
the tractor comprises a tractor and a trailer, wherein a saddle is arranged between the tractor and the trailer; the saddle is connected with a measuring module through a mounting frame, and the measuring module is connected with the tractor through a connecting plate base;
a first mounting bracket and a second mounting bracket in the mounting rack are respectively rotatably mounted on two sides of the saddle; a first measuring unit module and a second measuring unit module in the measuring unit modules are installed at two ends of a first installation support, and a third measuring unit module and a fourth measuring unit module in the measuring system are installed at two ends of a second installation support;
the first measuring unit module, the second measuring unit module, the third measuring unit module and the fourth measuring unit module have the same structure;
each measuring unit module is provided with a lower connecting plate and an upper connecting plate, the lower connecting plate and the upper connecting plate are connected through a cross-shaped stress block, and a gap is formed between the lower connecting plate and the upper connecting plate;
4X-direction stress sheets, 4Y-direction stress sheets and 8Z-direction stress sheets are arranged on the cross-shaped stress block.
In another aspect, embodiments of the present invention further provide a user-associated six-component measurement method for a fuel cell weight-card saddle, where the user-associated six-component measurement system for a fuel cell weight-card saddle is used, and the method includes the following steps:
s110, respectively collecting signals of all full-bridge circuits in each measuring unit module in the driving process of the tractor and the trailer, wherein the full-bridge circuits comprise: the X-direction stress sheet is connected with the first full bridge circuit, the Y-direction stress sheet is connected with the second full bridge circuit, and the Z-direction stress sheet is connected with the third full bridge circuit;
s120, solving longitudinal force along the X direction, lateral force along the Y direction and vertical force along the Z direction, which are applied to each measuring unit module, according to the coupling relation between the full-bridge circuit signal and the force applied in each direction;
s130, calculating the moment of the saddle around the upper main pin shaft according to the longitudinal force, the lateral force and the vertical force of all the measuring unit modules and the positions of the saddle on the base of the connecting plate.
In an optional embodiment, before the solving of the longitudinal force along the X direction, the lateral force along the Y direction, and the vertical force along the Z direction, which are applied to each measurement unit module according to the decoupling relationship between the full-bridge circuit signal and the forces applied in each direction, the method further includes:
constructing a coupling equation between a longitudinal force along the X direction and each full-bridge circuit signal, which is applied to any measuring unit module, wherein a coefficient in the coupling equation is undetermined;
applying a longitudinal force to the measurement cell module a plurality of times;
measuring strain signals of each full-bridge circuit to each longitudinal force;
substituting the longitudinal force applied each time and the measured signals into the coupling equation to obtain a plurality of loss function equations;
and solving each undetermined coefficient through minimizing the loss function to form a complete decoupling equation.
Has the advantages that: the tractor passes through the saddle with the trailer and is connected, the saddle passes through the mounting bracket and connects measuring module, measuring module passes through the connecting plate base and connects the tractor, through the true connected mode of above structural simulation vehicle, only add a plurality of measuring unit modules in a plurality of measuring module and locate between tractor and the saddle, do not change the stress point that former trailer transmitted to tractor bottom plate as far as possible, the power fully action that can make the trailer is in order to transmit to a plurality of measuring unit modules in the saddle, can accurately detect the effort of trailer and the moment that produces.
Particularly, the force of the upper main pin shaft connected with the trailer is inconvenient to measure (a sensor cannot be arranged), and four connecting parts of the measuring saddle and a connecting plate base of an original tractor are selected as force measuring points, so that the acting force of the trailer born by the upper main pin shaft can be simply converted into the force borne by the four force measuring points to be accurately measured, and the real connection mode of a real vehicle can be kept relatively unchanged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic perspective view of a commercial vehicle with a six-component saddle force measuring system according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of a portion of the structure at A (saddle six-component force measurement system) in FIG. 1;
FIG. 3 is a schematic diagram of a connection structure of a mounting bracket and a measuring unit module in a user-associated six-component measurement system for a fuel cell heavy truck saddle according to an embodiment of the invention;
FIG. 4 is a first structural diagram of a measuring unit module in a user-associated six-component force measuring system for a fuel cell heavy truck saddle according to an embodiment of the present invention;
FIG. 5 is a second schematic structural diagram of a measurement unit module in a user-associated fuel cell heavy-truck saddle six-component measurement system provided by an embodiment of the invention;
FIG. 6 is a schematic diagram of a mounting configuration for a strain gage in a user-associated six-component fuel cell heavy truck saddle measurement system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a first full bridge circuit in a user-associated fuel cell heavy truck saddle six-component force measurement system provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of a second full-bridge circuit in a user-associated fuel cell heavy-duty vehicle saddle six-component force measurement system provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of a third full-bridge circuit in a user-associated fuel cell heavy-truck saddle six-component force measurement system provided by an embodiment of the present invention;
FIG. 10 is a schematic flow diagram of a user-associated six-component measurement method for a fuel cell weight truck saddle provided by an embodiment of the present invention;
FIG. 11 is a schematic top view of a moment calculation provided by an embodiment of the present invention;
FIG. 12 is a schematic side view of a torque calculation provided by an embodiment of the present invention;
FIG. 13 is a schematic diagram illustrating the coupling relationship between the longitudinal force and the voltages of the full-bridge circuits according to the embodiment of the present invention;
FIG. 14 is a schematic diagram illustrating the coupling relationship between the lateral force and the voltages of the full-bridge circuits according to the embodiment of the present invention;
FIG. 15 is a schematic diagram illustrating the coupling relationship between the vertical force and the voltages of the full-bridge circuits according to an embodiment of the present invention;
in the figure, 1, a saddle, 2, a connecting plate base, 3 and a first measuring unit module;
31. the device comprises a lower connecting plate, a lower connecting plate 32, an upper connecting plate, a cross-shaped stress block 33, a stress sheet mounting position in X direction 34, a stress sheet mounting position in Y direction 35, a stress sheet mounting position in Z direction 36, a stress sheet first mounting position in Z direction 37, a stress sheet second mounting position in Z direction 38, a gap 39, a module joint 310, a first threaded hole 311, a second threaded hole 312 and a sealing cover;
4. the device comprises a second measuring unit module 5, a third measuring unit module 6, a fourth measuring unit module 7 and a first mounting bracket;
71. side main pin shaft mounting holes, 72 and third bolt mounting holes;
8. the second mounting bracket 9, the side main pin shaft 10 and the upper main pin shaft mounting hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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 simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-9, the embodiment of the present invention provides a user-associated six-component measurement system for a saddle of a fuel cell heavy truck, which is suitable for measuring the stress condition of the saddle of the fuel cell heavy truck. The measuring system includes: the tractor comprises a tractor and a trailer, wherein a saddle 1 is arranged between the tractor and the trailer; the saddle 1 is connected with a measuring module through a mounting frame, and the measuring module is connected with a trailer through a connecting plate base 2; a first mounting bracket 7 and a second mounting bracket 8 in the mounting rack are respectively rotatably mounted on two sides of the saddle 1; a first measuring unit module 3 and a second measuring unit module 4 in the measuring modules are arranged at two ends of a first mounting bracket 7, and a third measuring unit module 5 and a fourth measuring unit module 6 in the measuring system are arranged at two ends of a second mounting bracket 8; the first measuring unit module 3, the second measuring unit module 4, the third measuring unit module 5 and the fourth measuring unit module 6 have the same structure; each measuring unit module is provided with a lower connecting plate 31 and an upper connecting plate 32, the lower connecting plate 31 and the upper connecting plate 32 are connected through a cross-shaped stress block 33, and a gap 38 is formed between the lower connecting plate 31 and the upper connecting plate 32; 4X-direction stress sheets, 4Y-direction stress sheets and 8Z-direction stress sheets are installed on the cross-shaped stress block 33. In fig. 2, + FX, + FY, and + FZ represent positive directions in the X direction, the Y direction, and the Z direction, respectively.
Through above structure, need emphasize, the tractor passes through saddle 1 with the trailer and is connected, saddle 1 passes through the mounting bracket and connects measuring module, measuring module passes through the connecting plate base and connects the tractor, through the true connected mode of above structural simulation vehicle, only add a plurality of measuring unit module in a plurality of measuring module and locate between tractor and saddle, do not change the stress point that former saddle transmits to the tractor bottom plate as far as possible, can make the power of trailer fully act on the saddle in order to transmit to a plurality of measuring unit module, can accurately detect the effort of trailer and the moment that produces.
Specifically, in the real vehicle, the tractor and the trailer are connected through the saddle 1, the saddle 1 is directly connected to the tractor, and the saddle 1 is directly bolted to the tractor through four stress points on two sides of the saddle. In the embodiment, the four stress points on the two sides of the saddle 1 are connected with the four measuring unit modules, the four measuring unit modules are connected to the tractor, the four stress points directly act on the measuring modules, and the force of the trailer acting on the saddle 1 through the upper main pin shaft can be accurately measured.
The middle parts of the first mounting bracket 7 and the second mounting bracket 8 are respectively provided with a side main pin shaft mounting hole 71, a side main pin shaft 9 is rotatably mounted in the main pin shaft mounting hole 71, and the side main pin shaft 9 is connected with the saddle 1. An upper main pin shaft mounting hole 10 is formed in the middle of the saddle 1, an upper main pin shaft is rotatably mounted in the upper main pin shaft mounting hole 10, and the upper main pin shaft is connected with a trailer.
In a real vehicle, the first mounting bracket 7 and the second mounting bracket 8 are directly connected to the connecting plate base 2 of the tractor through two groups of a plurality of bolts respectively, and the four joints, namely the geometric center of the connection of each group of a plurality of bolts, are a stress point. In the present embodiment, the lower connecting plate 31 and the upper connecting plate 32 are respectively provided with a plurality of second threaded holes 311 and first threaded holes 310; the upper connecting plate 32 is bolted to the first mounting bracket 7 or the second mounting bracket 8 through the first threaded hole 310, and the lower connecting plate 31 is bolted to the connecting plate base 2 of the tractor through the second threaded hole 311. Each measuring cell module is arranged between two sets of lower and upper connecting plates 31, 32, so that the four force points of the first and second mounting brackets 7, 8 act on a measuring cell. Because the force of the upper main hinge pin connected with the trailer is inconvenient to measure (a sensor cannot be arranged), the measuring mode is adopted, namely four connecting parts of the measuring saddle 1 and the connecting plate base 2 of the original tractor are selected as force measuring points, so that the acting force of the trailer born by the upper main hinge pin can be simply converted into the force borne by the four force measuring points to be accurately measured, and the real connecting mode of a real vehicle can be kept relatively unchanged, and the measuring unit module is additionally arranged. Preferably, the number of the second threaded holes 311 on each lower connecting plate 31 is 8, and the number of the first threaded holes 310 on each upper connecting plate 32 is 8.
Furthermore, 4 mounting positions 34 of the X-direction stress sheet, 4 mounting positions 35 of the Y-direction stress sheet, 4 first mounting positions 36 of the Z-direction stress sheet, and 4 second mounting positions 37 of the Z-direction stress sheet are arranged on the cross-shaped stress block 33; two X-direction stress sheet mounting positions 34 and two Y-direction stress sheet mounting positions 35 are arranged on the upper surface of the cross-shaped stress block 33; two X-direction stress sheet mounting positions 34 and two Y-direction stress sheet mounting positions 35 are arranged on the lower surface of the cross-shaped stress block 33; the first mounting position 36 of each Z-direction stress sheet and the second mounting position 37 of each Z-direction stress sheet are the middle positions of the side walls of the cross-shaped stress block 33, the first mounting position 36 of each Z-direction stress sheet and the second mounting position 37 of each Z-direction stress sheet are adjacent and perpendicular to each other, the mounting positions are all arranged at the middle positions, stress and strain can be better collected, and the deformation of the middle positions is the most. X-direction stress sheets X are respectively arranged on the X-direction stress sheet mounting positions 34 R1 、X R2 、X R3 And X R4 (ii) a Y-direction stress sheets Y are respectively arranged on the Y-direction stress sheet mounting positions 35 R1 、Y R2 、Y R3 And Y R4 (ii) a Z-direction stress sheet Z is arranged on the first Z-direction stress sheet mounting position 36 and the second Z-direction stress sheet mounting position 37 R1 、Z R2 、Z R3 、Z R4 、Z R5 、Z R6 、Z R7 And Z R8 。
In this embodiment, each strain gauge corresponds to a resistor; x-direction stress sheet X R1 、X R2 、X R3 And X R4 Connected to form a first full bridge circuit, as shown in fig. 7; y-direction stress sheet Y R1 、Y R2 、Y R3 And Y R4 Connected to form a second full bridge circuit, as shown in fig. 8; z-direction stress sheet Z R1 、Z R2 、Z R3 、Z R4 、Z R5 、Z R6 、Z R7 And Z R8 Connected to form a third full bridge circuit as shown in figure 9. Strain signal per full bridge circuitThe wires are passed out through the module joints 39 between the lower and upper connection plates 31, 32.
In this embodiment, the tractor passes through the saddle with the trailer and is connected, the saddle passes through the mounting bracket and connects measuring module, measuring module passes through the connecting plate base and connects the tractor, through the true connected mode of above structural simulation vehicle, only add a plurality of measuring unit module in a plurality of measuring module and locate between tractor and saddle, do not change the stress point that former trailer transmitted to tractor bottom plate as far as possible, can make the power fully act on of trailer in order to transmit to a plurality of measuring unit module in the saddle, can accurately detect the effort of trailer and the moment that produces. Particularly, the force of the upper main pin shaft connected with the trailer is inconvenient to measure (a sensor cannot be arranged), and four connecting parts of the measuring saddle and a connecting plate base of an original tractor are selected as force measuring points, so that the acting force of the trailer borne by the upper main pin shaft can be simply converted into the force borne by the four force measuring points to be accurately measured, and the real connection mode of a real vehicle can be kept relatively unchanged.
In addition, in order to ensure that the saddle system mounting support cannot be damaged by structural vibration when the commercial vehicle actually runs, the method takes the collected road load of a user as the basis, combines the investigation result of the user to obtain 90% of the using load condition of the user, takes the working condition of the actual user as input, designs the saddle system mounting support structure, combines the basic damage matrix of each characteristic road condition of a test field to establish a user-test field damage correlation model, finally performs test equivalence on the working condition of the actual user, and inspects the durability and reliability of the saddle design support and the frame by using the equivalent load.
The embodiment of the invention also provides a user-associated method for measuring six component forces of a saddle of a fuel cell heavy truck, and the measuring system of any one of the embodiments is adopted to measure six component forces of the saddle of the fuel cell heavy truck. As shown in fig. 10, the method specifically includes the following steps:
s110, respectively collecting signals of all full-bridge circuits in each measuring unit module in the driving process of the tractor and the trailer, wherein the full-bridge circuits comprise: the X is to the first full-bridge circuit that the stress piece connects formation, the Y is to the second full-bridge circuit that the stress piece connects formation, and the Z is to the third full-bridge circuit that the stress piece connects formation.
Specifically, as shown in fig. 7, 8 and 9, in each measurement unit module, the voltage signal between two resistors in each full-bridge circuit is respectively acquired through the strain signal line of each full-bridge circuit
. As is clear from the characteristics of the full bridge circuit, the voltage signal variation satisfies the following relationship:
wherein E represents the loading voltage of the full bridge circuit,
represents the voltage between the measured resistors, m represents the strain coefficient of the strain gage,
respectively showing the change of the resistance value of the four strain gauges after being acted by force. The collected voltage signals are used for calculating the force applied to the strain gauge.
And S120, solving longitudinal force along the X direction, lateral force along the Y direction and vertical force along the Z direction which are applied to each measuring unit module according to the coupling relation between the full-bridge circuit signal and the force applied in each direction.
The coupling relationship may be determined by pre-calibration and may be expressed in the form:
longitudinal force:F x= C 11 ×E x +b 11 +C 12 ×E y +b 12 +C 13 ×E z +b 13 （2）
lateral force:F y= C 21 ×E x +b 21 +C 22 ×E y +b 22 +C 23 ×E z +b 23 （3）
vertical force:F z= C 31 ×E x +b 31 +C 32 ×E y +b 32 +C 33 ×E z +b 33 （4）
wherein, the first and the second end of the pipe are connected with each other,E x which represents the voltage of the first full circuit,E y representing the voltage of the second full-bridge circuit,E z representing the voltage of the third full bridge circuit.c ij Andb ij (i, j =1,2,3) each represent a calibrated coefficient. The specific calibration process will be described in detail in the following embodiments, and will not be described herein.
And S130, calculating the moment of the saddle around the upper main pin shaft mounting hole according to the longitudinal force, the lateral force and the vertical force of all the measuring unit modules and the positions of the saddle on the connecting plate base.
During the running of the vehicle, the saddle generates a certain moment due to the bumping. The most complicated is the stress situation at the mounting hole of the upper king-pin shaft. In the embodiment, after the longitudinal force, the lateral force and the vertical force of each measuring unit module are obtained, the moment applied to the saddle around the upper main pin shaft mounting hole is further calculated. Specifically, referring to fig. 11 and 12, the calculation formula of the moment is as follows:
M X =(F Z3 +F Z4 )×L 1 -(F Z1 -F Z2 )×L 1 -(F Y1 +F Y2 )×L 3 -(F Y3 +F Y4 )×L 3 （4）
M Y =(F Z1 +F Z3 )×L 2 -(F Z2 +F Z4 )×L 2 -(F X1 +F X2 )×L 3 -(F X3 +F X4 )×L 3 （5）
M Z =(F X1 +F X2 )×L 1 -(F X3 +F X4 )×L 1 +(F Y2 -F Y1 )×L 2 +(F Y4 -F Y3 )×L 2 （6）
wherein, the first and the second end of the pipe are connected with each other,M X ，M Y andM Z respectively representing moments in the X-direction, Y-direction and Z-direction,F X1 、F Y1 andF Z1 respectively representing the forces in the X-direction, Y-direction and Z-direction to which the first measuring cell module 3 is subjected,F X2 、F Y2 andF Z2 respectively representing the forces in the X-direction, Y-direction and Z-direction to which the second measuring cell module 4 is subjected,F X3 、F Y3 andF Z3 respectively representing the forces in the X-direction, Y-direction and Z-direction to which the third measuring unit module 5 is subjected,F X4 、F Y4 andF Z4 respectively representing the forces in the X-direction, Y-direction and Z-direction to which the fourth measuring unit module 6 is subjected,L 1 、L 2 andL 3 and respectively showing the distances from each measuring unit module to the main pin shaft mounting hole along the Y direction, the X direction and the Z direction.
Because a certain position relation exists between the upper main pin shaft and the four force measuring points, in order to more accurately analyze the stress of the upper main pin shaft, the embodiment not only directly calculates the stress of the main pin shaft along three directions, but also calculates the moment of each force measuring point on the main pin shaft, and the moment can be favorable for analyzing the deformation and the performance of the main pin shaft from the perspective of a three-dimensional space and more accurately and comprehensively reflect the stress condition of the saddle. According to the maximum load measured in three directionsF max And maximum momentM max The strength of large vehicles such as a tractor with a saddle and a truck can be analyzed and verified, and systems such as a commercial vehicle frame can be improved and guided.
On the basis of the above embodiment and the following embodiment, the present embodiment refines the calibration process of the strain gauge. In particular, a defined input force is applied to the measuring cell moduleFThe output voltage r of the measurement unit module can be obtainedEInput amount ofFAnd an output amount rEThere is a mapping relationship, calibration is to clarify the mapping relationship. For a direct output type sensor (namely a stress sheet), when each direction is input independently, only the corresponding direction has output, and the other directions have no output, so that the mapping relation of each component can be directly obtained according to a calibration result. For an indirect output type sensor, when a single component is input, a plurality of components generate an output result, and decoupling operation is required to obtain a mapping relation between an input quantity and an output quantity. Therefore, before the road test is carried out formally, the measurement unit module is calibrated to determine the mapping relationship.
In one embodiment, the calibration process is as follows: one-way concentrated load force is applied to any measuring unit moduleFThe forces in the three directions are respectivelyF x 、F y 、F z The strain gauge is deformed by force, and the output voltage is respectively after passing through the bridge formed by the measuring unit modulesE x 、E y 、E z . The calibration result is preliminarily processed to obtain that the input and the output of the main channel (the force application direction) are in a linear relation, the output quantity of the coupling channel (in other two directions) is small, and the linear relation is approximate, as shown in figures 13, 14 and 15, so that a linear decoupling mode is adopted to construct a coupling equation shown in formulas (2) to (4), and the equation coefficient is undetermined.
Assuming a nominal input ofF x 、F y 、F z Output voltage ofE x 、E y 、E z With a calibration factor ofc ij Then, the following relationship can be obtained between the input quantity and the output quantity: applying unidirectional concentrated load force to unit measurement module during calibrationFThe forces in the three directions are respectivelyF x 、F y 、F z The strain gauge is deformed by force, and the output voltage is respectively after passing through a bridge formed by unit measuring modulesE x 、E y 、E z The relationship between force and voltage is found to be:
note the book
As a sensitivity coefficient matrix, the input is
Output is as
。
Equation (7) can be expressed as: f = C × E (8)
The following can be obtained: c = F × E -1 （9）
Wherein C is a decoupling matrix to be solved.
According to the force superposition principle, the relationship between the forces in three directions and signals of each full-bridge circuit is decoupled respectively. The decoupling process is described in detail below, taking the force in the X direction as an example. First, the longitudinal force applied each time and the measured signal are substituted into the coupling equation to obtain a plurality of loss function equations. According to the linear regression theory, the formula (2) is rewritten as the following linear regression equation:
F x= C 10 +C 11 ×E x +C 12 ×E y +C 13 ×E z +ε（10）
thenC 10 、C 11 、C 12 AndC 13 in order to be the regression coefficient, the method,εin order to make for a redundant error,C 10 =b 11 +b 12 +b 13 。
will be (A) and (B)E x ,E y ,E z ,F x ) A plurality of sets of measurement data of (a) ((b))E xk ,E yk ,E zk ,F xk ) By substituting (k =1,2, \8230n) into regression equation (10), we can obtain:
F xk= C 10 +C 11 ×E xk +C 12 ×E yk +C 13 ×E zk +ε k （11）
wherein, the first and the second end of the pipe are connected with each other,ε k indicating the error of each measurement.
Suppose thatε k Is estimated ase k Called residual, also called loss function, the above equation (11) is written as:
F xk= C 10 +C 11 ×E xk +C 12 ×E yk +C 13 ×E zk +e k （12）
suppose thatF xk Is estimated asf xk Then:
f xk= C 10 +C 11 ×E xk +C 12 ×E yk +C 13 ×E zk （13）
thus, a plurality of loss function equations are obtained:
e k =F xk -f xk （14）
based on the above loss function equation, each undetermined coefficient is solved through the minimization of the loss function, and a complete decoupling equation is formed. Specifically, the sum of the squares of the loss functions should be minimized:
according to the extreme value principle, the method is to makeMThe value reaches the minimum, eachc i1 (i=0,1,2,3) value must satisfy:Mto eachc i1 All partial derivatives of (a) are zero, i.e.:
at this time, the deviation continues to be obtained from equation (17):
and (3) arranging the partial derivative formula (18) to obtain:
writing equation (19) in matrix form:
therefore, the temperature of the molten metal is controlled,
The decoupling process in the Y direction and the Z direction is similar and will not be described again.
The embodiment provides an accurate decoupling algorithm, and measurement accuracy is improved.
In conclusion, the invention provides a user-associated fuel cell heavy truck saddle six-component force measuring system and a measuring method, which solve the problem of accurately measuring large impact loads borne by a saddle under different working conditions during braking, accelerating and turning of a tractor and provide accurate load force for structural design and analysis of a frame and parts of a saddle of a commercial vehicle. The invention can effectively measure the limit load of tractors and the like on different road surfaces, and the measuring system can also provide guidance for the design and load acquisition of other different types of vehicle suspension systems.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. A user-associated fuel cell heavy-duty vehicle saddle six-component force measurement system, comprising:
the tractor comprises a tractor and a trailer, wherein a saddle (1) is arranged between the tractor and the trailer; the saddle (1) is connected with a measuring module through a mounting frame, and the measuring module is connected with the tractor through a connecting plate base (2);
a first mounting bracket (7) and a second mounting bracket (8) in the mounting rack are respectively rotatably mounted on two sides of the saddle (1); a first measuring unit module (3) and a second measuring unit module (4) in the measuring modules are installed at two ends of a first installing support (7), and a third measuring unit module (5) and a fourth measuring unit module (6) in the measuring system are installed at two ends of a second installing support (8);
the first measuring unit module (3), the second measuring unit module (4), the third measuring unit module (5) and the fourth measuring unit module (6) are identical in structure;
each measuring unit module is internally provided with a lower connecting plate (31) and an upper connecting plate (32), the lower connecting plate (31) and the upper connecting plate (32) are connected through a cross-shaped stress block (33), and a gap (38) is formed between the lower connecting plate (31) and the upper connecting plate (32);
4X-direction stress sheets, 4Y-direction stress sheets and 8Z-direction stress sheets are mounted on the cross-shaped stress block (33).
2. The user-associated six-component measurement system for the fuel cell heavy truck saddle according to claim 1, wherein 4X-direction stress piece mounting positions (34), 4Y-direction stress piece mounting positions (35), 4Z-direction stress piece first mounting positions (36), and 4Z-direction stress piece second mounting positions (37) are arranged on the cross-shaped stress block (33);
the two X-direction stress sheet mounting positions (34) and the two Y-direction stress sheet mounting positions (35) are arranged on the upper surface of the cross-shaped stress block (33); the two X-direction stress sheet mounting positions (34) and the two Y-direction stress sheet mounting positions (35) are arranged on the lower surface of the cross-shaped stress block (33);
and each Z-direction stress sheet first mounting position (36) and each Z-direction stress sheet second mounting position (37) are the middle positions of the side walls of the cross-shaped stress block (33), and the Z-direction stress sheet first mounting position (36) and the Z-direction stress sheet second mounting position (37) are adjacent and are mutually perpendicular.
3. The user-associated six-component fuel cell heavy truck saddle measurement system according to claim 2, wherein X-direction stress pieces X are respectively mounted on the X-direction stress piece mounting locations (34) R1 、X R2 、X R3 And X R4 (ii) a Y-direction stress sheets Y are respectively arranged on the Y-direction stress sheet mounting positions (35) R1 、Y R2 、Y R3 And Y R4 (ii) a Z-direction stress sheet Z is arranged on the first Z-direction stress sheet mounting position (36) and the second Z-direction stress sheet mounting position (37) R1 、Z R2 、Z R3 、Z R4 、Z R5 、Z R6 、Z R7 And Z R8 。
4. The user-associated fuel cell heavy truck saddle six-component measurement system of claim 3, wherein the X-direction stress patch X R1 、X R2 、X R3 And X R4 Connected to form a first full bridge circuit; the Y-direction stress sheet Y R1 、Y R2 、Y R3 And Y R4 Connected to form a second full bridge circuit; the Z-direction stress sheet Z R1 、Z R2 、Z R3 、Z R4 、Z R5 、Z R6 、Z R7 And Z R8 Connected to form a third full bridge circuit; and the strain signal wire of each full-bridge circuit penetrates out through a module joint (39) between the lower connecting plate (31) and the upper connecting plate (32).
5. The user-associated six-component measurement system for a fuel cell heavy truck saddle according to claim 1, wherein a side kingpin shaft mounting hole (71) is formed in each of the middle portions of the first mounting bracket (7) and the second mounting bracket (8), a side kingpin shaft (9) is rotatably mounted in the kingpin shaft mounting hole (71), and the side kingpin shaft (9) is connected with the saddle (1).
6. The user-associated six-component fuel cell heavy-duty saddle measurement system according to claim 1, characterized in that an upper kingpin axis mounting hole (10) is provided in the middle of the saddle (1), an upper kingpin axis is rotatably mounted in the upper kingpin axis mounting hole (10), and the upper kingpin axis is connected to the trailer.
7. The user-associated fuel cell heavy truck saddle six-component measurement system according to claim 1, characterized in that said lower connection plate (31), upper connection plate (32) are provided with a plurality of second threaded holes (311) and first threaded holes (310), respectively; the upper connecting plate (32) is connected with the first mounting bracket (7) or the second mounting bracket (8) through the first threaded hole (310) in a bolt mode, and the lower connecting plate (31) is connected with the connecting plate base (2) through the second threaded hole (311) in a bolt mode.
8. The user-associated fuel cell heavy truck saddle six-component measurement system according to claim 7, characterized in that the number of second threaded holes (311) on each lower connection plate (31) is 8, and the number of first threaded holes (310) on each upper connection plate (32) is 8.
9. A user-associated fuel cell weight saddle six-component force measurement method using a user-associated fuel cell weight saddle six-component force measurement system as claimed in any one of claims 1-8, comprising the steps of:
in the driving process of the tractor and the trailer, signals of all full-bridge circuits in each measuring unit module are respectively collected, wherein the full-bridge circuits comprise: the X-direction stress sheet is connected with the first full bridge circuit, the Y-direction stress sheet is connected with the second full bridge circuit, and the Z-direction stress sheet is connected with the third full bridge circuit;
according to the coupling relation between the full-bridge circuit signals and the stress in each direction, solving the longitudinal force along the X direction, the lateral force along the Y direction and the vertical force along the Z direction, which are applied to each measuring unit module;
and calculating the moment of the saddle around the upper main pin shaft mounting hole according to the longitudinal force, the lateral force and the vertical force of all the measuring unit modules and the positions of the saddle on the connecting plate base.
10. The method of claim 9, wherein before the step of solving the longitudinal force in the X direction, the lateral force in the Y direction, and the vertical force in the Z direction of each measurement unit module according to the decoupling relationship between the full-bridge circuit signal and the forces in the directions, the method further comprises:
constructing a coupling equation between a longitudinal force along the X direction and each full-bridge circuit signal, wherein the longitudinal force is applied to any measuring unit module, and a coefficient in the coupling equation is undetermined;
applying a longitudinal force to the measurement cell module a plurality of times;
measuring strain signals of each full-bridge circuit to each longitudinal force;
substituting the longitudinal force applied each time and the measured signals into the coupling equation to obtain a plurality of loss function equations;
and solving each undetermined coefficient through minimizing the loss function to form a complete decoupling equation.
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