CN115729159A - Control method of human body model transmitting device for simulating motor vehicle pedestrian protection - Google Patents
Control method of human body model transmitting device for simulating motor vehicle pedestrian protection Download PDFInfo
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Abstract
The application provides a control method of a human body model transmitting device for simulating motor vehicle pedestrian protection, which comprises the following steps: s1, acquiring emission quality and emission speed; s2, substituting the transmitting quality and the transmitting speed into the two-dimensional interpolation curve function corresponding to each adjusting module to obtain adjusting coefficients corresponding to each adjusting module respectively; the two-dimensional interpolation curve function is an interpolation function of an adjusting coefficient, the transmitting quality and the transmitting speed; s3, setting the RMC controller with the adjustment coefficients determined in step s2 such that the RMC controller adaptively outputs a servo valve control signal. According to the control method, the closed-loop control adjusting coefficient of the hydraulic cylinder controller is not fixed and is different from that of the human body models and different transmitting speeds, so that the closed-loop control effect of the RMC controller is better, and the more accurate result of simulating motor vehicle pedestrian impact can be obtained.
Description
Technical Field
The application relates to the technical field of motor vehicle pedestrian protection, in particular to a control method of a human body model transmitting device for simulating motor vehicle pedestrian protection.
Background
The safety of the automobile is not only embodied in the protection of passengers in the automobile, but also embodied in the protection of pedestrians outside the automobile. Therefore, a great deal of research is carried out at home and abroad on a human body model transmitting device for simulating the protection of motor vehicles and pedestrians, namely, the human body model transmitting device for simulating the protection of motor vehicles and pedestrians impacts parts such as an automobile engine cover and an automobile bumper by transmitting a human body model (comprising a head model and a leg model), so as to judge the injury index to the human body model, wherein, a hydraulic cylinder is adopted to provide power when the human body model is transmitted, the transmitting process of the hydraulic cylinder is generally divided into an acceleration stage, a deceleration stage, a reverse acceleration stage and a return end point stage, in the transmitting process, the hydraulic cylinder is controlled by closed-loop control, in the prior art, the closed-loop control regulating coefficient of a hydraulic cylinder controller is mostly fixed and invariable, the same regulating coefficient is adopted for different human body models and different transmitting speeds, so that the control on a piston rod of the hydraulic cylinder is not accurate enough, and the result of simulating the impact of motor vehicles and pedestrians is not accurate enough. Therefore, the application provides a control method of the human body model transmitting device for simulating the pedestrian protection of the motor vehicle.
Disclosure of Invention
The application aims to solve the problems and provide a control method of a human body model transmitting device for simulating motor vehicle pedestrian protection.
The application provides a control method of a human body model transmitting device for simulating pedestrian protection of a motor vehicle, wherein the transmitting device is driven by a hydraulic cylinder; a guide pushing frame is arranged at the end part of a piston rod of the hydraulic cylinder; the human body model is launched from the launching device under the pushing of the guide pushing frame and impacts on the experiment table top; the hydraulic cylinder is controlled by a servo valve; the control signal of the servo valve is output by the RMC controller; the RMC controller is provided with six adjusting modules which are respectively a speed feedforward module, an acceleration feedforward module, a proportion module, a differentiation module and an integration module; each adjusting module is configured with an adjusting coefficient; the adjusting coefficients of the adjusting modules correspond to two-dimensional interpolation curve functions related to transmitting quality and transmitting speed; the transmission mass is a mass of the phantom; the launching speed is the speed when the human body model is separated from the guide pushing frame; the control method comprises the following steps:
s1, acquiring emission quality and emission speed;
s2, substituting the transmitting quality and the transmitting speed into the two-dimensional interpolation curve function corresponding to each adjusting module to obtain adjusting coefficients corresponding to each adjusting module respectively; the two-dimensional interpolation curve function is an interpolation function of an adjusting coefficient, the transmitting quality and the transmitting speed;
s3, setting the RMC controller by using the adjusting coefficient determined in the step s2, so that the RMC controller adaptively outputs a servo valve control signal;
the two-dimensional interpolation curve function of each adjusting module is determined according to the following steps:
s100, carrying out a launching experiment on the human body model at a set launching speed to obtain a first actual displacement curve, a first theoretical displacement curve, a first actual speed curve and a first theoretical speed curve; in each emission experiment, the adjusting module is provided with a set adjusting coefficient; the first actual displacement curve is a curve of displacement of the end part of the piston rod of the hydraulic cylinder and time in the launching experiment; the first actual speed curve is a curve of the speed of the end part of the piston rod of the hydraulic cylinder in the launching experiment and the time; the first theoretical displacement curve is a curve of displacement and time of the end part of the piston rod of the hydraulic cylinder designed in the launching experiment; the first theoretical speed curve is a curve of the speed of the end part of the piston rod of the hydraulic cylinder and the time, which is designed in the launching experiment;
s200, determining a deviation value of the first actual displacement curve and the first theoretical displacement curve to obtain a first deviation value;
s300, determining a deviation value of the first actual speed curve and the first theoretical speed curve to obtain a second deviation value;
s400, calculating a composite deviation value of the first deviation value and the second deviation value;
s500, changing the set adjusting coefficient, and repeating the steps s100-s400 to obtain a plurality of composite deviation values;
s600, determining the set adjusting coefficient adopted by the emission experiment with the minimum composite deviation value as an ideal adjusting coefficient to obtain an ideal interpolation value (m) 0 ，v 0 ，p 0 ) Wherein m is 0 Is the quality of the phantom, v 0 To set the transmission speed, p 0 Setting an ideal adjusting coefficient of the transmitting speed for the current adjusting module corresponding to the current human body model;
s700, changing the human body model and/or setting the transmitting speed, and repeating the steps s100-s600 to obtain an interpolation sequence, wherein the interpolation sequence comprises a plurality of ideal interpolation values; different mannequins have different masses;
s800, fitting all ideal interpolation values in the interpolation sequence to obtain a two-dimensional interpolation curve function of the adjusting coefficient of the adjusting module with respect to the transmitting quality and the transmitting speed, wherein in one ideal interpolation: the quality of the human body model corresponds to the emission quality in the two-dimensional interpolation curve function, the emission speed corresponds to the emission speed in the two-dimensional interpolation curve function, and the ideal regulating coefficient corresponds to the regulating coefficient in the two-dimensional interpolation curve function.
According to the technical scheme provided by some embodiments of the application, when any one of the adjusting modules performs the transmission experiment according to the steps s100-s500, the rest adjusting modules have set standard adjusting coefficients.
According to the technical solution provided by some embodiments of the present application, when any of the adjusting modules performs a transmission experiment according to steps s100-s500, the adjusting coefficients of the remaining adjusting modules are determined according to the following steps:
judging whether the adjusting module determines that a corresponding two-dimensional interpolation curve function exists according to the steps s100-s 800;
if so, calculating to obtain an adjusting coefficient of the adjusting module through the quality of the human body model, the set transmitting speed and the corresponding two-dimensional interpolation curve function;
if not, setting the adjusting coefficient of the adjusting module as a standard adjusting coefficient.
According to the technical scheme provided by some embodiments of the present application, when it is determined that all the adjustment modules have the corresponding two-dimensional interpolation curve function according to steps s100 to s800, steps s100 to s800 are repeated, and the two-dimensional interpolation curve function of each adjustment module is updated.
According to the technical solution provided by some embodiments of the present application, in step s200, determining a deviation value of the first actual displacement curve and the first theoretical displacement curve, and obtaining the first deviation value specifically includes the following steps:
s201, uniformly extracting N calculation points from the first actual displacement curve to obtain a first actual displacement calculation point set; n is a natural number greater than or equal to 100;
s202, uniformly extracting N calculation points from the first theoretical displacement curve to obtain a first theoretical displacement calculation point set;
s203, sequentially and correspondingly making differences between the calculation points in the first theoretical displacement calculation point set and the calculation points in the first actual displacement calculation point set to obtain a displacement difference value sequence;
s204, calculating the number of the first positive difference values according to the displacement difference value sequenceq1First positive mean difference valuew1The number of the first negative difference valuee1And the first negative difference mean valuet1；
s205, calculating the first deviation value according to the following formula (1)E1：
E1=r1*|q1-e1|+r2*w1+|r3*t1| （1）
Wherein, the first and the second end of the pipe are connected with each other,r1、r2、r3are all set weights.
According to the technical solution provided by some embodiments of the present application, in step s300, determining a deviation value of the first actual speed curve and the first theoretical speed curve, and obtaining a second deviation value specifically includes the following steps:
s301, uniformly extracting M calculation points from the first actual speed curve to obtain a first actual speed calculation point set; m is a natural number greater than or equal to 100;
s302, uniformly extracting M calculation points from the first theoretical velocity curve to obtain a first theoretical velocity calculation point set;
s303, sequentially and correspondingly subtracting the calculation points in the first theoretical speed calculation point set and the calculation points in the first actual speed calculation point set to obtain a speed difference value sequence;
s304, calculating the number of the second positive difference values according to the speed difference value sequenceq2Second positive mean differencew2The second negative difference value numbere2And the second negative difference mean valuet2；
s305, calculating the second deviation value according to the following formula (2)E2：
E2=r4*|q2-e2|+r5*w2+|r6*t2| （2）
Wherein the content of the first and second substances,r4、r5、r6are all set weights.
According to some embodiments of the present disclosure, a composite deviation value of the first deviation value and the second deviation value is calculated according to the following equation (3):
E=r7*E1+r8*E2 （3）
wherein the content of the first and second substances,Ein order to compound the deviation value,r7、r8are all set weights.
According to the technical scheme provided by some embodiments of the application, the method further comprises the following steps:
acquiring an output signal of the servo valve in real time under a closed loop static state of the servo valve;
obtaining the maximum value and the minimum value of the output signal of the servo valve;
averaging the maximum value and the minimum value of the output signal of the servo valve to obtain a zero value;
obtaining a dead zone value by subtracting the maximum value and the minimum value of the output signals of the servo valve;
and before the servo valve sends out a control signal, the servo valve control signal adaptively output by the RMC controller is simultaneously superposed with the zero value and the dead zone value and then sent out in real time.
Compared with the prior art, the beneficial effect of this application: the application can obtain the adjusting coefficient of each adjusting module by substituting the transmitting quality and the transmitting speed of the human body model into the two-dimensional interpolation curve function of each adjusting module, thereby the RMC controller can adaptively output servo valve control signals.
Drawings
FIG. 1 is a graph of displacement velocity during a designed firing process of a hydraulic cylinder;
FIG. 2 is a schematic diagram of the closed-loop control of the RMC controller in embodiment 1 of the present application;
fig. 3 is a flowchart of a control method of a human body model launching device for simulating pedestrian protection of a motor vehicle according to embodiment 1 of the present application;
FIG. 4 is a flow chart of determining a two-dimensional interpolation curve function of the adjustment module in embodiment 1 of the present application;
fig. 5 is a schematic structural diagram of a server provided in embodiment 4 of the present application.
The text labels in the figures are represented as:
400. a server side; 401. a Central Processing Unit (CPU); 402. read Only Memory (ROM); 403. random Access Memory (RAM); 404. a bus; 405. an input/output (I/O) interface; 406. an input section; 407. an output section; 408. a storage section; 409. a communication section; 410. a driver; 411. a removable media.
Detailed Description
The following detailed description of the present application is given for the purpose of enabling those skilled in the art to better understand the technical solutions of the present application, and the description in this section is only exemplary and explanatory, and should not be taken as limiting the scope of the present application in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
Example 1
The present embodiment provides a control method for a human body model launching device for simulating pedestrian protection of a motor vehicle, which is suitable for a human body model launching device for simulating pedestrian protection of a motor vehicle in the prior art, for example, the human body model launching device for simulating pedestrian protection of a motor vehicle can be a motor vehicle pedestrian protection launching device in "research on motor vehicle pedestrian protection launching device" published in 2022 nd of automotive engineering (volume 44). The launching device is driven by a high-speed hydraulic cylinder, and the hydraulic cylinder adopts a position control mode to prevent overshoot at high speed. The launching process of the hydraulic cylinder is divided into four stages of a forward accelerating stage, a forward decelerating stage, a backward accelerating stage and a returning starting point, wherein the accelerating stage is uniform accelerating motion, the decelerating stage is uniform decelerating motion, and the same accelerating stroke and the same decelerating stroke can be adopted for different launching speeds. The end part of a piston rod of the hydraulic cylinder is provided with a guide pushing frame, when a launching experiment is carried out, the hydraulic cylinder is controlled to sequentially execute four stages of a launching process, in a forward accelerating stage, the piston rod of the hydraulic cylinder pushes the human body model to move forwards in an uniform accelerating manner through the guide pushing frame, when the speed reaches the maximum, the human body model and the piston rod end part are separated through the guide pushing frame due to inertia, and then the human body model is impacted on an experiment table board after being launched by the launching device, so that the impact experiment of the human body model on the experiment table board is completed. Wherein, the launched human body model is of a lower leg type, an upper leg type, a head type of children, a head type of adults and the like.
Fig. 1 is a displacement velocity curve chart, namely an ideal displacement curve chart and an ideal velocity curve chart, of a designed hydraulic cylinder in the launching process, wherein L1 is a displacement curve; l2 is a speed curve; vmax is the maximum speed of the end of the piston rod of the hydraulic cylinder; t1 is the time for accelerating the end part of the piston rod of the hydraulic cylinder to the maximum speed, namely the acceleration time; t2 is the time from the maximum speed to the zero speed at the end part of the piston rod of the hydraulic cylinder, namely the deceleration time; s1, a displacement value when the end part of a piston rod of the hydraulic cylinder accelerates to the maximum speed, namely an acceleration stroke; s2 is a displacement value at the time of stop, i.e., a deceleration stroke. When the maximum speed Vmax is reached, the corresponding displacement point is recorded as an ejection point S1, the piston rod of the hydraulic cylinder starts to decelerate rapidly from the point, and the piston rod decelerates to a corresponding maximum displacement point S2 when the piston rod stops, wherein the ejection point S1 and the maximum displacement point S2 are experimental set parameters.
The hydraulic cylinder is controlled by a servo valve; the control signal of the servo valve is output by the RMC controller; the RMC controller is a motion controller developed and manufactured by the Delta computer systems of America, and particularly adopts an RMC70 series Ethernet single-shaft motion controller in the application; the RMC controller adopts closed-loop control, and fig. 2 is a closed-loop control schematic diagram of the RMC controller, wherein the RMC controller is provided with six adjusting modules which are respectively a speed feedforward module, an acceleration feedforward module, a proportional module, a differential module and an integral module; each adjusting module is configured with an adjusting coefficient; the speed feedforward module is configured to adjust the acceleration of the vehicle to a target acceleration, and the acceleration feedforward module is configured to adjust the acceleration of the vehicle to a target acceleration.
The adjusting coefficients of the adjusting modules correspond to two-dimensional interpolation curve functions related to the transmitting quality and the transmitting speed; the transmission quality is the quality of the transmitted human body model; the launching speed is the speed when the human body model is separated from the guide pushing frame.
The flowchart of the control method of the mannequin launching device for simulating pedestrian protection of the motor vehicle provided by the embodiment is shown in fig. 3, and the control method comprises the following steps:
and s1, acquiring the transmission quality and the transmission speed.
The mannequin emission device for simulating motor vehicle pedestrian protection is configured with a human-computer interface, and when emission experiments are carried out, an operator sets emission parameters through the human-computer interface, wherein the emission parameters at least comprise final impact speed, emission mass, horizontal flight distance, acceleration travel and deceleration travel, the final impact speed refers to the speed when the mannequin impacts with an experiment table top, the emission mass refers to the mass of the mannequin, and the horizontal flight distance refers to the horizontal flight distance between the mannequin separated from a guide pushing frame and the experiment table top when the mannequin impacts with the experiment table top; the acceleration comprises the acceleration when a piston rod of the hydraulic cylinder performs uniform acceleration linear motion and the acceleration when the piston rod performs uniform deceleration linear motion; the acceleration stroke refers to the displacement of the end part of the piston rod of the hydraulic cylinder which makes uniform acceleration linear motion; the deceleration stroke refers to the displacement of the end part of the piston rod of the hydraulic cylinder doing uniform deceleration linear motion.
The transmitting quality can be obtained by reading the set transmitting parameters; a kinematic model is stored in the emission control software system, and the emission speed can be calculated by inputting each emission parameter into the kinematic model, wherein the emission speed is the target emission speed.
The kinematic model has different expression formulas according to different emission conditions, for example, according to an emission condition of a fixed horizontal flight distance, and is shown as formula (4):
in the formula (I), the compound is shown in the specification,uin order to determine the firing speed of the hydraulic cylinder,vfor the purpose of the final impact velocity,dis the free horizontal flight distance of the phantom, gIs the acceleration of gravity. Wherein the firing speed of the hydraulic cylinderuEqual to the maximum velocity Vmax of the end of the piston rod of the hydraulic cylinder in fig. 1; horizontal flight distance of the mannequindIs a fixed value.
And s2, substituting the transmitting quality and the transmitting speed into the two-dimensional interpolation curve function corresponding to each adjusting module to obtain adjusting coefficients corresponding to each adjusting module.
Each adjusting module corresponds to a two-dimensional interpolation curve function, the two-dimensional interpolation curve function has two variables which are respectively the transmitting quality and the transmitting speed, and when the transmitting quality and the transmitting speed are determined, the only adjusting coefficient corresponding to the transmitting quality and the transmitting speed can be obtained. After the transmission quality and the transmission speed of the human body model are obtained, the transmission quality and the transmission speed are substituted into the two-dimensional interpolation curve function corresponding to each adjusting module of the RMC controller, so as to obtain the adjusting coefficients corresponding to each adjusting module.
s3, setting the RMC controller with the adjustment coefficients determined in step s2 such that the RMC controller adaptively outputs a servo valve control signal.
And (3) setting each adjusting module of the RMC controller as the adjusting coefficient determined in the step s2, and carrying out closed-loop control on the position and the speed of the piston rod of the hydraulic cylinder by the RMC controller in the process of launching the manikin.
Referring to fig. 2, the closed-loop control steps of the RMC controller are as follows:
acquiring a feedforward speed value output by a speed feedforward module, a feedforward acceleration value output by an acceleration feedforward module, a feedforward jerk value output by a jerk feedforward module, a proportional value output by a proportional module, a differential value output by a differential module and an integral value output by an integral module;
and summing the feedforward speed value, the feedforward acceleration value, the feedforward jerk value, the proportional value, the differential value and the integral value to obtain the servo valve emission control signal.
The feedforward speed value is obtained by performing speed feedforward adjustment on a real-time target speed; the feedforward acceleration value is obtained by performing acceleration feedforward adjustment on the real-time target acceleration; the feedforward jerk value is obtained by performing jerk feedforward adjustment on a real-time target jerk; the proportional value is obtained by adjusting the proportional parameters of the position errors of the real-time target displacement and the real-time actual displacement; the differential value is obtained by carrying out differential parameter adjustment on the speed error of the real-time target speed and the real-time actual speed; the integral value is obtained by performing integral parameter adjustment on the position error of the real-time target displacement and the real-time actual displacement.
The real-time target acceleration and the real-time target jerk are directly obtained through transmitting parameters set on a human-computer interface, and the real-time target displacement and the real-time target speed are respectively obtained through a drawn target curve; as shown in fig. 1, the target curve includes a displacement curve and a speed curve, and the target curve can be obtained by setting emission parameters on a human-computer interface; specifically, a piston rod of the hydraulic cylinder performs uniform acceleration linear motion first and then performs uniform deceleration linear motion from zero speed, acceleration stroke, deceleration stroke and maximum speed (namely launching speed) are known, so that a displacement curve and a speed curve can be easily obtained, and the real-time target displacement and the real-time target speed can be obtained through the displacement curve and the speed curve; the real-time actual displacement and the real-time actual speed are respectively obtained in real time through a sensor, a displacement sensor is used for obtaining the real-time actual displacement, a speed sensor is used for obtaining the real-time actual speed, the displacement sensor adopts an RH series hysteresis expansion displacement sensor of the American MTS company, the speed sensor adopts a German OPEX JT-S1000 correlation type photoelectric sensor, and the response time of the sensor is less than 0.5ms.
Specifically, summing the feed-forward velocity value, the feed-forward acceleration value, the feed-forward jerk value, the proportional value, the differential value, and the integral value specifically includes:
summing the proportional value and the differential value to obtain a proportional-differential adjustment value;
carrying out output filtering on the proportional-derivative regulating value;
summing the output filtered proportional derivative value with the feed-forward speed value, the feed-forward acceleration value, the feed-forward jerk value, and the feed-forward integration value.
Referring to fig. 4, fig. 4 is a flowchart for determining two-dimensional interpolation curve functions of the adjustment modules, where the two-dimensional interpolation curve functions of each of the adjustment modules are determined through multiple launch experiments before formal launch experiments are performed, and it should be noted that, regardless of the launch experiments performed for determining the two-dimensional interpolation curve functions or the so-called formal launch experiments, the launch processes and the launch principles are the same, except that the launch experiments performed when determining the two-dimensional interpolation curve functions only require launching the human body model, and do not require striking the experiment platform, and the formal launch experiments require striking the human body model onto the experiment platform after launching and detecting the impact results.
The two-dimensional interpolation curve function of each adjusting module needs to be confirmed one by one, multiple emission experiments need to be carried out for determining the two-dimensional interpolation curve function of each adjusting module, and the two-dimensional interpolation curve function of each adjusting module is determined according to the following steps:
s100, carrying out a transmission experiment on the human body model at a set transmission speed to obtain a first actual displacement curve, a first theoretical displacement curve, a first actual speed curve and a first theoretical speed curve; in each emission experiment, the adjusting module is provided with a set adjusting coefficient; the first actual displacement curve is a curve of displacement of the end part of the piston rod of the hydraulic cylinder in the launching experiment and time; the first actual speed curve is a curve of the speed of the end part of the piston rod of the hydraulic cylinder in the launching experiment and the time; the first theoretical displacement curve is a curve of displacement and time of the end part of the piston rod of the hydraulic cylinder designed in the launching experiment; the first theoretical speed curve is a curve of the speed of the end part of the piston rod of the hydraulic cylinder and the time, which is designed in the launching experiment.
Selecting any one of a lower leg type, an upper leg type, a child head type and an adult head type, and detachably mounting the manikin on the guide pushing frame; setting the transmission speed as an artificial set value, and selecting data of the set transmission speed as close as possible to the transmission speed in the formal transmission experiment, for example, setting the value range of the transmission speed as follows: 30-80km/h; and setting other emission parameters by referring to the emission parameters of the formal emission experiment, obtaining a first theoretical displacement curve and a first theoretical speed curve of the piston rod movement through the kinematic model, and obtaining a first actual displacement curve and a first actual speed curve in real time through the displacement sensor and the speed sensor during the emission experiment.
When determining the two-dimensional interpolation curve function of any adjusting module, before a transmission experiment is performed, an adjusting coefficient needs to be configured for the adjusting module, and the value range of the adjusting coefficient is set to be greater than 0 and less than 1, preferably 0.3-0.7.
The adjusting coefficients of the other five adjusting modules can be set as standard adjusting coefficients, and the value of the standard adjusting coefficients is 0.5.
And s200, determining a deviation value of the first actual displacement curve and the first theoretical displacement curve to obtain a first deviation value. The method specifically comprises the following steps:
s201, uniformly extracting N calculation points from the first actual displacement curve to obtain a first actual displacement calculation point set; n is a natural number of 100 or more. The first actual displacement calculation point set comprises N points, wherein the value of N is preferably 200, and the time intervals between two adjacent calculation points are the same.
And s202, uniformly extracting N calculation points from the first theoretical displacement curve to obtain a first theoretical displacement calculation point set. The first theoretical displacement calculation point set also includes N points, the time intervals between two adjacent calculation points are the same, and the extraction time of each calculation point corresponds to the extraction time of the calculation point in step s 201.
And s203, sequentially and correspondingly subtracting the calculation points in the first theoretical displacement calculation point set and the calculation points in the first actual displacement calculation point set to obtain a displacement difference value sequence. Specifically, the displacement values of the points with the same extraction time in the two point sets are subtracted, where the displacement value of the calculation point in the first theoretical displacement calculation point set is subtracted by the displacement value of the calculation point in the first actual displacement calculation point set, or the displacement value of the calculation point in the first actual displacement calculation point set is subtracted by the displacement value of the calculation point in the first theoretical displacement calculation point set, so as to obtain a displacement difference value sequence, where the displacement difference value sequence includes N displacement difference values.
s204, calculating the number of the first positive difference values according to the displacement difference value sequenceq1First positive mean of differencew1The number of the first negative difference valuee1And the mean value of the first negative difference valuet1。
According to experience, the first theoretical displacement curve and the first actual displacement curve of the guide pushing frame at the end part of the piston rod of the hydraulic cylinder are generally two curves with a cross point, so that the displacement difference value of two point sets corresponding to the first theoretical displacement curve and the first actual displacement curve has positive and negative, the positive and negative of the displacement difference value of the calculation points at the left side and the right side of the cross point of the first theoretical displacement curve and the first actual displacement curve are opposite, the number of the positive displacement difference values is counted, and the counted number is counted as the number of the first positive difference valuesq1Counting the number of negative displacement difference values and recording the number as the first negative difference valuee1Averaging all the positive displacement difference values to obtain a first positive difference value average valuew1Averaging all negative displacement difference values to obtain a first negative difference value mean valuet1。
s205, calculating the first deviation value according to the following formula (1)E1：
E1=r1*|q1-e1|+r2*w1+|r3*t1| （1）
Wherein the content of the first and second substances,r1、r2、r3are all the weights which are set, and the weight is,r1、r2、r3are all numbers greater than 0 and less than 1, andr1+r2+r3= 1(ii) a In a preferred embodiment of the method of the invention,r1equal to the value of 0.5, or,r2equal to the value of 0.25, is,r3equal to 0.25.
Number of first positive differencesq1Number of difference from first negativee1The absolute value of the difference reflects the distribution position of the intersection of the first theoretical displacement curve and the first actual displacement curve, and the number of the first positive differencesq1Number of difference from first negativee1The larger the absolute value of the difference of (a), the more the first theoretical displacement curve and the first actual displacement curve are illustratedThe more the intersection deviates from the middle of the curve, the closer to the two ends of the curve, the more the two curves are, the first end is the end of each of the two curves relatively close to the intersection, and the second end is the end of each of the two curves relatively far from the intersection.
Mean value of first positive differencew1And the first negative difference mean valuet1The deviation degrees of the first theoretical displacement curve and the first actual displacement curve on both sides of the intersection point are reflected respectively.
And s300, determining a deviation value of the first actual speed curve and the first theoretical speed curve to obtain a second deviation value. The method specifically comprises the following steps:
s301, uniformly extracting M calculation points from the first actual speed curve to obtain a first actual speed calculation point set; m is a natural number of 100 or more. The first set of actual speed calculation points comprises M points, wherein the value of M is preferably 200, and the time intervals between two adjacent calculation points are the same.
And s302, uniformly extracting M calculation points from the first theoretical speed curve to obtain a first theoretical speed calculation point set. The first theoretical velocity calculation point set also includes M points, the time intervals between two adjacent calculation points are the same, and the extraction time of each calculation point corresponds to the extraction time of the calculation point in step s301 one to one.
And s303, sequentially and correspondingly subtracting the calculation points in the first theoretical speed calculation point set and the calculation points in the first actual speed calculation point set to obtain a speed difference value sequence. Specifically, the speed values of the points with the same extraction time in the two point sets are subtracted, where the speed value of the calculation point in the first theoretical speed calculation point set is subtracted by the speed value of the calculation point in the first actual speed calculation point set, or the speed value of the calculation point in the first actual speed calculation point set is subtracted by the speed value of the calculation point in the first theoretical speed calculation point set, so as to obtain a speed difference value sequence, where the speed difference value sequence includes M speed difference values.
s304, calculating a second positive difference value according to the speed difference value sequenceNumber ofq2Second positive mean differencew2The number of the second negative difference valuee2And the second negative difference mean valuet2。
According to the experience, the first theoretical speed curve and the first actual speed curve of the guide pushing frame at the end part of the piston rod of the hydraulic cylinder are generally two curves with a cross point, so the speed difference value of two point sets corresponding to the two curves has positive and negative, the positive and negative of the speed difference value of the left and right calculation points of the cross point of the first theoretical speed curve and the first actual speed curve are opposite, the speed difference value is counted into a positive number and is recorded as a second positive difference value numberq2Counting the number with negative speed difference and recording the number as the second negative differencee2Averaging all the positive speed differences to obtain a second positive average valuew2Averaging all negative speed differences to obtain a second negative difference mean valuet2。
s305, calculating the second deviation value according to the following formula (2)E2：
E2=r4*|q2-e2|+r5*w2+|r6*t2| （2）
Wherein the content of the first and second substances,r4、r5、r6are all the weights that are set, and,r4、r5、r6are all numbers greater than 0 and less than 1, andr4+r5+r6= 1(ii) a In a preferred embodiment of the method of the invention,r4equal to the value of 0.5, or,r5is equal to the value of 0.25,r6equal to 0.25.
Number of second positive differenceq2Number of negative difference from seconde2The absolute value of the difference reflects the distribution position of the intersection of the first theoretical velocity curve and the first actual velocity curve, and the number of the second positive differencesq2Number of negative difference from seconde2The larger the absolute value of the difference value of (a) is, the more the intersection point of the first theoretical velocity curve and the first actual velocity curve deviates from the middle of the curve, the closer the two ends of the curve are, the first end is taken as one end of each of the two curves relatively close to the intersection point, and the second end is taken as one end of each of the two curves relatively far from the intersection point, so that the opening formed between the second ends of the two curves is larger, that is, the larger the deviation degree of the first theoretical velocity curve and the first actual velocity curve is.
Second positive mean of differencew2And the second negative difference mean valuet2The degrees of deviation of the first theoretical velocity profile and the first actual velocity profile on both sides of the intersection point are reflected, respectively.
And s400, calculating a composite deviation value of the first deviation value and the second deviation value.
Specifically, the first deviation value is calculated according to the following formula (3)E1And a second deviation valueE2Composite deviation value ofE：
E=r7*E1+r8*E2 （3）
Wherein, the first and the second end of the pipe are connected with each other,Ein order to compound the deviation value of the target,r7、r8are all the weights that are set, and,r7、r8are all numbers greater than 0 and less than 1, andr7 +r8=1(ii) a In a preferred embodiment of the method of the invention,r7is equal to the value of 0.5,r8equal to 0.5.
s500, changing the set adjusting coefficient, and repeating the steps s100-s400 to obtain a plurality of composite deviation values.
Specifically, the set adjustment coefficient of the adjustment module currently confirming the two-dimensional interpolation curve function is changed, the value range of the modified set adjustment coefficient is still larger than 0 and smaller than 1, preferably 0.3-0.7, the adjustment coefficients of the other five adjustment modules are kept unchanged, the steps s100-s400 are repeated, a composite deviation value is obtained after the set adjustment coefficient is changed every time, and the set adjustment coefficient is changed at least 20 times to ensure accuracy.
It should be noted that, in this step, only the set adjustment coefficient is modified, and the human body model and the set transmission speed are not replaced.
s600, determining the set adjusting coefficient adopted by the emission experiment with the minimum composite deviation value as an ideal adjusting coefficient to obtain an ideal interpolation value (m) 0 ，v 0 ，p 0 ) Wherein m is 0 Is the quality of the phantom, v 0 To set the transmission speed, p 0 And setting an ideal adjusting coefficient of the transmitting speed corresponding to the current human body model for the current adjusting module.
Specifically, the magnitude of the plurality of composite deviation values obtained in step s500 are compared, the smallest composite deviation value is selected, andsetting adjustment coefficients adopted by the emission experiment corresponding to the minimum composite deviation value are taken as ideal adjustment coefficients, and an ideal interpolation value (m) is obtained at the same time 0 ，v 0 ，p 0 ）。
s700, changing the human body model and/or setting the transmitting speed, and repeating the steps s100-s600 to obtain an interpolation sequence, wherein the interpolation sequence comprises a plurality of ideal interpolation values; different manikins have different masses.
Specifically, only the human body model or only the set transmission speed may be changed, or both the human body model and the set transmission speed may be changed, and steps s100-s600 are repeated once to obtain an ideal interpolation, and finally obtain an interpolation sequence composed of a plurality of ideal interpolations.
s800, fitting all ideal interpolation values in the interpolation sequence to obtain a two-dimensional interpolation curve function of the adjusting coefficient of the adjusting module with respect to the transmitting quality and the transmitting speed, wherein in one ideal interpolation: the quality of the human body model corresponds to the transmitting quality in the two-dimensional interpolation curve function, the transmitting speed is set to correspond to the transmitting speed in the two-dimensional interpolation curve function, and the ideal regulating coefficient corresponds to the regulating coefficient in the two-dimensional interpolation curve function.
Preferably, when the two-dimensional interpolation curve function of one of the adjusting modules is determined, the adjusting coefficients of the remaining five adjusting modules may also be determined according to the following steps:
judging whether the adjusting module determines that a corresponding two-dimensional interpolation curve function exists according to the steps s100-s 800;
if so, calculating to obtain an adjusting coefficient of the adjusting module through the quality of the human body model, the set transmitting speed and the corresponding two-dimensional interpolation curve function;
if not, setting the adjusting coefficient of the adjusting module as a standard adjusting coefficient.
Specifically, when the steps s100 to s800 are adopted to determine the two-dimensional interpolation curve function of the speed feedforward module, the acceleration feedforward module, the jerk feedforward module, the proportion module, the differentiation module and the integration module need to be respectively judged to judge whether the corresponding two-dimensional interpolation curve function is determined, for example, when the acceleration feedforward module is judged to have the corresponding two-dimensional interpolation curve function, before a launch experiment is performed, the quality of a human body model to be used in the launch experiment and a set launch speed need to be substituted into the two-dimensional interpolation curve function to obtain an adjustment coefficient of the acceleration feedforward module, and the acceleration feedforward module is correspondingly set; and when the acceleration feedforward module is judged not to determine that the corresponding two-dimensional interpolation curve function exists, directly setting the adjusting coefficient of the acceleration feedforward module as the standard adjusting coefficient. By adopting the technical scheme, the determination of each two-dimensional interpolation curve function is more accurate, and the piston rod of the hydraulic cylinder is more accurately controlled.
Further, when all the adjusting modules determine that the corresponding two-dimensional interpolation curve functions exist according to the steps s100 to s800, repeating the steps s100 to s800, and updating the two-dimensional interpolation curve functions of each adjusting module.
Specifically, when it is determined that the six adjustment modules all determine the corresponding two-dimensional interpolation curve functions, the steps s100-s800 may be repeated, that is, after the six two-dimensional interpolation curve functions are determined in the first round, at least one round of determination is performed, in this process, when the two-dimensional interpolation curve function of any one adjustment module is determined, the adjustment coefficients of the remaining five adjustment modules are all set according to the two-dimensional interpolation curve function determined in the previous round, that is, the remaining five adjustment modules are not set to the standard adjustment coefficients.
By adopting the technical scheme, the two-dimensional interpolation curve function of each adjusting module can be further optimized, and the piston rod of the hydraulic cylinder can be controlled more accurately.
Further, the control method of the human body model transmitting device for simulating the pedestrian protection of the motor vehicle further comprises the following steps:
acquiring an output signal of the servo valve in real time under a closed loop static state of the servo valve;
obtaining the maximum value and the minimum value of the output signal of the servo valve;
averaging the maximum value and the minimum value of the output signal of the servo valve to obtain a zero value;
obtaining a dead zone value by calculating the difference between the maximum value and the minimum value of the output signal of the servo valve;
and before the servo valve sends out a control signal, the servo valve control signal adaptively output by the RMC controller is simultaneously superposed with the zero value and the dead zone value and then sent out in real time.
The output signal of the servo valve only has a voltage signal representing the flow, the output signal is obtained in real time in a closed loop static state of the servo valve, values of all output signals obtained before the moment are compared at regular intervals to obtain the maximum value and the minimum value of the output signal, the average value of the maximum value and the minimum value of the output signal is obtained to obtain a zero value, the difference value of the maximum value and the minimum value is obtained to obtain a dead zone value, the zero value and the dead zone value are respectively superposed on control signals which are not sent yet, and it needs to be noted that the control signals of the servo valve are also voltage signals.
After the servo valve is used for a period of time, the zero point can drift, certain influence is generated on control precision, and by adopting the technical scheme, the servo valve can be correspondingly compensated, so that the control precision is favorably improved.
Example 2
This embodiment provides an electronic device, which includes:
a memory, a processor, and a computer program stored on the memory and executable on the processor;
the computer program, when executed by the processor, carries out the steps of the method of controlling a mannequin emitting device simulating pedestrian protection of a motor vehicle as described in embodiment 1.
Example 3
The present embodiment provides a computer-readable storage medium on which a control program of a mannequin transmission device simulating pedestrian protection of a motor vehicle is stored, which when executed by a processor implements the steps of the control method of the mannequin transmission device simulating pedestrian protection of a motor vehicle as described in embodiment 1.
Example 4
The present embodiment provides a server 400, as shown in fig. 5, the server 400 includes a Central Processing Unit (CPU) 401 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage section into a Random Access Memory (RAM) 403. In the RAM403, various programs and data necessary for system operation are also stored. The CPU401, ROM402, and RAM403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
The following components are connected to the I/O interface 405: an input portion 406 including a keyboard, a mouse, and the like; an output section 407 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. Drives are also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as needed, so that a computer program read out therefrom is mounted in the storage section 408 as needed.
In particular, according to an embodiment of the present invention, the process described above with reference to embodiment 1 may be implemented as a computer software program. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method described in embodiment 1. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409 and/or installed from the removable medium 411.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present invention, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are no specific structures which are objectively limitless due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes can be made without departing from the principle of the present invention, and the technical features mentioned above can be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its teachings or may be resorted to without departing from the scope of the invention as set forth in the claims that follow.
Claims (8)
1. A control method of a human body model launching device for simulating motor vehicle pedestrian protection is characterized in that the launching device is driven by a hydraulic cylinder; a guide pushing frame is arranged at the end part of a piston rod of the hydraulic cylinder; the human body model is launched from the launching device under the pushing of the guide pushing frame and impacts on the experiment table top; the hydraulic cylinder is controlled by a servo valve; the control signal of the servo valve is output by the RMC controller; the RMC controller is provided with six adjusting modules which are respectively a speed feedforward module, an acceleration feedforward module, a proportion module, a differentiation module and an integration module; each adjusting module is configured with an adjusting coefficient; the adjusting coefficients of the adjusting modules correspond to two-dimensional interpolation curve functions related to transmitting quality and transmitting speed; the transmission mass is the mass of the human body model; the launching speed is the speed when the human body model is separated from the guide pushing frame; the control method comprises the following steps:
s1, acquiring emission quality and emission speed;
s2, substituting the transmitting quality and the transmitting speed into the two-dimensional interpolation curve function corresponding to each adjusting module to obtain adjusting coefficients corresponding to each adjusting module;
s3, setting the RMC controller with the adjustment coefficients determined in step s2, such that the RMC controller adaptively outputs a servo valve control signal;
the two-dimensional interpolation curve function of each adjusting module is determined according to the following steps:
s100, carrying out a launching experiment on the human body model at a set launching speed to obtain a first actual displacement curve, a first theoretical displacement curve, a first actual speed curve and a first theoretical speed curve; in each emission experiment, the adjusting module is provided with a set adjusting coefficient; the first actual displacement curve is a curve of displacement of the end part of the piston rod of the hydraulic cylinder and time in the launching experiment; the first actual speed curve is a curve of the speed of the end part of the piston rod of the hydraulic cylinder in the launching experiment and the time; the first theoretical displacement curve is a curve of displacement and time of the end part of the piston rod of the hydraulic cylinder designed in the launching experiment; the first theoretical speed curve is a curve of the speed of the end part of the piston rod of the hydraulic cylinder and the time, which is designed in the launching experiment;
s200, determining a deviation value of the first actual displacement curve and the first theoretical displacement curve to obtain a first deviation value;
s300, determining a deviation value of the first actual speed curve and the first theoretical speed curve to obtain a second deviation value;
s400, calculating a composite deviation value of the first deviation value and the second deviation value;
s500, changing the set adjusting coefficient, and repeating the steps s100-s400 to obtain a plurality of composite deviation values;
s600, determining the set adjustment coefficient adopted by the emission experiment with the minimum composite deviation value as an ideal adjustment coefficient to obtain an ideal interpolation value (m) 0 ，v 0 ，p 0 ) Wherein m is 0 Is the quality of the phantom, v 0 To set the transmission speed, p 0 Setting an ideal adjusting coefficient of the transmitting speed for the current adjusting module corresponding to the current human body model;
s700, changing the human body model and/or setting the transmitting speed, and repeating the steps s100-s600 to obtain an interpolation sequence, wherein the interpolation sequence comprises a plurality of ideal interpolation values; different mannequins have different masses;
s800, fitting all ideal interpolation values in the interpolation sequence to obtain a two-dimensional interpolation curve function of the adjusting coefficient of the adjusting module with respect to the transmitting quality and the transmitting speed, wherein in one ideal interpolation: the quality of the human body model corresponds to the transmitting quality in the two-dimensional interpolation curve function, the transmitting speed is set to correspond to the transmitting speed in the two-dimensional interpolation curve function, and the ideal regulating coefficient corresponds to the regulating coefficient in the two-dimensional interpolation curve function.
2. The control method of the mannequin device for simulating pedestrian protection of a motor vehicle according to claim 1, wherein when any one of the adjusting modules performs the transmission test according to the steps s100-s500, the rest of the adjusting modules have set standard adjusting coefficients.
3. The control method of the mannequin device for simulating pedestrian protection of a motor vehicle according to claim 1, wherein when any one of the adjusting modules performs the transmission test according to steps s100-s500, the adjusting coefficients of the rest of the adjusting modules are determined according to the following steps:
judging whether the adjusting module determines that a corresponding two-dimensional interpolation curve function exists according to the steps s100-s 800;
if so, calculating to obtain an adjusting coefficient of the adjusting module through the quality of the human body model, the set transmitting speed and the corresponding two-dimensional interpolation curve function;
if not, setting the adjusting coefficient of the adjusting module as a standard adjusting coefficient.
4. The method as claimed in claim 3, wherein when it is determined that there is a corresponding two-dimensional interpolation curve function for all the adjustment modules according to steps s100-s800, repeating steps s100-s800, and updating the two-dimensional interpolation curve function for each adjustment module.
5. The method as claimed in claim 1, wherein the step s200 of determining the deviation of the first actual displacement curve from the first theoretical displacement curve to obtain the first deviation specifically comprises the steps of:
s201, uniformly extracting N calculation points from the first actual displacement curve to obtain a first actual displacement calculation point set; n is a natural number greater than or equal to 100;
s202, uniformly extracting N calculation points from the first theoretical displacement curve to obtain a first theoretical displacement calculation point set;
s203, sequentially and correspondingly making differences between the calculation points in the first theoretical displacement calculation point set and the calculation points in the first actual displacement calculation point set to obtain a displacement difference value sequence;
s204, calculating the number of the first positive difference values according to the displacement difference value sequenceq1First positive mean of differencew1The number of the first negative differencee1And the mean value of the first negative difference valuet1；
s205, calculating the first deviation value according to the following formula (1)E1：
E1=r1*|q1-e1|+r2*w1+|r3*t1| （1）
Wherein, the first and the second end of the pipe are connected with each other,r1、r2、r3are all set weights.
6. The method as claimed in claim 5, wherein the step s300 of determining a deviation between the first actual speed profile and the first theoretical speed profile to obtain a second deviation comprises the steps of:
s301, uniformly extracting M calculation points from the first actual speed curve to obtain a first actual speed calculation point set; m is a natural number greater than or equal to 100;
s302, uniformly extracting M calculation points from the first theoretical velocity curve to obtain a first theoretical velocity calculation point set;
s303, sequentially and correspondingly subtracting the calculation points in the first theoretical velocity calculation point set and the calculation points in the first actual velocity calculation point set to obtain a velocity difference value sequence;
s304, calculating the second positive difference value number according to the speed difference value sequenceq2Second positive mean differencew2The second negative difference value numbere2And a second negative difference mean valuet2；
s305, calculating the second deviation value according to the following formula (2)E2：
E2=r4*|q2-e2|+r5*w2+|r6*t2| （2）
Wherein the content of the first and second substances,r4、r5、r6are all set weights.
7. The control method of the mannequin device for simulating pedestrian protection of a motor vehicle according to claim 6, wherein the composite deviation value of the first deviation value and the second deviation value is calculated according to the following formula (3):
E=r7*E1+r8*E2 （3）
wherein the content of the first and second substances,Ein order to compound the deviation value,r7、r8are all set weights.
8. The method for controlling a mannequin launcher device simulating pedestrian protection for a motor vehicle according to claim 1, further comprising the steps of:
acquiring an output signal of the servo valve in real time in a closed loop static state of the servo valve;
obtaining the maximum value and the minimum value of the output signal of the servo valve;
averaging the maximum value and the minimum value of the output signal of the servo valve to obtain a zero value;
obtaining a dead zone value by subtracting the maximum value and the minimum value of the output signals of the servo valve;
and before the servo valve sends out a control signal, the servo valve control signal adaptively output by the RMC controller is simultaneously superposed with the zero value and the dead zone value and then sent out in real time.
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