CN115824482A - Six-component testing device for accurately measuring tire force under vehicle running condition and working method - Google Patents
Six-component testing device for accurately measuring tire force under vehicle running condition and working method Download PDFInfo
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Abstract
The invention discloses a six-component testing device for accurately measuring the tire force under the running condition of a vehicle and a working method thereof, wherein the six-component testing device comprises: a wheel edge system and an angular displacement measuring device. The wheel edge system comprises a tire assembly, a signal acquisition device, a tire six-component force sensor, a connecting shaft, a brake disc and an upright post; the signal acquisition device is arranged between the wheel assembly and the tire six-component force sensor; the angular displacement measuring device is installed between stand and connecting axle, and its inside is mainly provided with: the device comprises a laser source, a fixed grating, a rotary grating, a photosensitive element and a photosensitive sensor. The invention adopts an integrated connecting shaft as a connecting piece, provides an integrated information acquisition device and an angular displacement measuring device, lightens the mass of a wheel assembly, and avoids the problems of overlarge unsprung mass and increased wheel track; meanwhile, the tire rotation angle is accurately measured, and the actual six-component force of the tire is obtained by combining the tire rotation angle information and the six-component force information of the tire, so that the six-component force measurement accuracy is improved.
Description
Technical Field
The invention relates to the technical field of vehicle testing, in particular to a six-component testing device for accurately measuring the tire force under the running condition of a vehicle and a working method of the device.
Background
The external load borne by the vehicle comes from the interaction between the tires and the ground, and the generated tire force is the most important external force borne by the vehicle under the running conditions of acceleration, braking, steering and the like; aiming at the measurement of longitudinal force, transverse force, vertical force, rolling moment, torque and yawing moment (six-component force for short), the six-component tire testing device becomes indispensable core engineering equipment for the research and development of automobile detection and road test systems; the motion state of the vehicle at any moment can be obtained by combining the six-component tire force and the automobile dynamic model, so that the accurate six-component tire force is obtained in real time, and the method has important guiding significance on tire dynamic characteristic parameter evaluation, vehicle suspension characteristic dynamic measurement, vehicle dynamic system test research and vehicle steering control stability analysis.
Among electric vehicles, a distributed drive vehicle using a hub motor as a drive mode becomes a current development hotspot due to a flexible steering control effect and strong power performance of the distributed drive vehicle; the wheel hub motor is used as a driving mode, vehicle state feedback information such as rotating speed, torque and the like of each wheel can be obtained in real time more accurately and conveniently, controllability of the distributed driving vehicle is improved, various complex driving modes can be realized, but higher requirements are provided for vehicle steering stability control and power performance control, the traditional mechanical transmission device is omitted for the distributed driving vehicle, and the problem of steering discordance is more prominent as the vehicle speed is increased and the road adhesion condition is worsened and the tire lateral force is closer to the saturation limit; therefore, in order to solve the problems, an accurate six-component tire force is obtained, a six-component testing device for accurately measuring the tire force under the vehicle running condition is provided, and the six-component testing device becomes a key point for improving the steering stability control.
The prior art helps to improve the measurement accuracy of the six-component sensor of the tire, but still has certain deficiencies and limitations, which mainly appear as follows:
(1) The acting force transmission path of the existing tire six-component testing device mainly comprises the following steps: although the ground-carcass-modified rim-rim adjusting flange-elastomer-hub adjusting flange-hub has improved adaptation degree with different wheels, the use of two adapters simultaneously increases the unnecessary wheel space between rim and hub (as in patent CN 202010806004.4), which will result in: 1) Steering envelope variation: interference can be caused when steering and a suspension are compressed; 2) Increase of kingpin offset: the increase of the offset distance of the kingpin can cause the problems of poor stability under working conditions such as braking or uneven road surfaces and the like, shortened service life caused by the increase of the load of a hub bearing and the like; 3) Suspension system changes: changing the wheel track affects the suspension geometry and reduces the vertical and roll stiffness of the suspension system.
(2) The existing signal acquisition device and the data transmission device of the tire six-component sensor are divided into two parts and are arranged on a tire, the overall mass of a wheel edge system is additionally increased, the driving condition characteristics of a vehicle, such as steering and direction stability, are greatly influenced, and the tire force information acquired after the tire six-component sensor is arranged is different from the actual tire force; and the wheel assembly has the characteristic of small installation space, and the assembly difficulty of the signal acquisition device and the data transmission device and the wheel assembly is increased due to the complicated mechanical structure and the wide size of the signal acquisition device and the data transmission device.
(3) Because the six-component tire force measuring device rotates along with the wheel, the measured tire force is a value under a wheel coordinate system, and the force applied in practice is under a vehicle body coordinate system and is irrelevant to the rotation of the wheel, the forces under different coordinate systems need to be solved, but the existing structure mostly adopts a photoelectric encoder to be connected with a six-component tire force sensor, and the connection mode has the following limitations: 1) In order to ensure the coaxiality and the parallelism, the encoder is fixed on the elastic body through a fastening bolt and an intermediate connecting device, and unknown lateral prestress is introduced to cause settlement errors; 2) When the six-component tire sensor rotates along with the wheel, the encoder generates output change and generates deflection deviation; 3) The fixed end of the encoder is fixedly connected with the wheel steering knuckle (for example, the invention patent CN 201810385143.7), but the method is limited by the installation space and the vehicle body structure.
Disclosure of Invention
In view of the above, the invention aims to provide a six-component testing device for accurately measuring the tire force under the running condition of a vehicle and a working method thereof, wherein the device can reduce the mass of a wheel assembly and avoid the problems of overlarge unsprung mass and increased wheel track; meanwhile, the tire rotation angle can be accurately measured, and six-component measurement accuracy is improved.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention relates to a six-component testing device for accurately measuring the tire force under the running condition of a vehicle, which is characterized by comprising: a wheel edge system and an angular displacement measuring device; the wheel edge system sequentially comprises a tire assembly, a signal acquisition device, a tire six-component force sensor, a connecting shaft, a brake disc and an upright post; the signal acquisition device is fixedly arranged between the wheel assembly and the tire six-component force sensor; the connecting shaft is respectively connected with the tire six-component force sensor, the brake disc and the angular displacement measuring device;
the connecting shaft comprises a first connecting disc, an intermediate shaft, a second connecting disc and a rotating shaft end; the first connecting disc is fixedly connected with the tire six-component force sensor; the second connecting disc is connected with the brake disc through a bolt;
the rotary shaft end penetrates through the upright column and is fixedly connected with a mounting sleeve in the angular displacement measuring device so as to realize synchronous rotation of the mounting sleeve and the connecting shaft, and the angular displacement measuring device is provided with a laser source, a fixed grating, a rotary grating, a photosensitive element, a photosensitive sensor and a PCB (printed circuit board); wherein the laser source, the fixed grating, the photosensitive sensor and the PCB are connected on a shell of the relatively fixed angular displacement measuring device, the rotary grating and the photosensitive element are connected on a relatively rotating mounting sleeve,
when the wheel rotates, the rotary grating, the photosensitive element and the mounting sleeve in the angular displacement measuring device rotate along with the wheel.
Further, the angular displacement measuring device is an integrated structure and is arranged between the upright post and the connecting shaft; a plurality of bolt connecting holes are respectively formed in two sides of the outer end face of the front shell of the device, a plurality of corresponding connecting holes are formed in the surface of the upright post, and the bolt connecting holes correspond to the corresponding connecting holes one by one and are fastened through bolts; the mounting sleeve is provided with a plurality of initial angle positioning holes, the connecting shaft is provided with a plurality of corresponding positioning connecting holes, and the initial angle positioning holes are in one-to-one corresponding connection with the positioning connecting holes.
Furthermore, a first positioning shaft shoulder and a second positioning shaft shoulder are arranged in the center of the mounting sleeve, and the first shaft shoulder is used for positioning the bearing; a plurality of shaft shoulder positioning holes are formed in the circumferential center of the second positioning shaft shoulder, a plurality of shaft shoulder connecting holes are formed in the inner circumference of the rotating grating, and the shaft shoulder positioning holes are connected with the shaft shoulder connecting holes in a one-to-one corresponding mode; the outer circumference of the rotary grating is divided into a first light measuring area, a second light measuring area, a third light measuring area and a fourth light measuring area, and the four light measuring areas are respectively provided with a first photosensitive element, a second photosensitive element, a third photosensitive element and a fourth photosensitive element.
Further, a light source mounting seat is arranged inside the front shell of the angular displacement measuring device, and the laser source is mounted on the light source mounting seat; the lens and the fixed grating are arranged right in front of the laser source and correspond to the rotary grating; the front end of the PCB is provided with a plurality of photosensitive sensors which receive light intensity signals transmitted by the laser source through the lens, the fixed grating and the rotary grating; the inner circumference of the PCB is provided with a plurality of fixing holes which are connected with a positioning pin shaft arranged in the rear shell of the device.
Furthermore, the connecting shaft is an integrally formed part and comprises a first connecting disc, an intermediate shaft, a second connecting disc and a rotating shaft end which are sequentially formed and manufactured; the upright post is connected with the rotary shaft end in an interference fit manner through a bearing; the second connecting disc is connected with the brake disc through a bolt; the first connecting disc is connected with the tire six-component force sensor.
Further, the six-component force sensor of the tire is arranged in an inner ring and an outer ring, and the inner ring is connected with the first connecting disc; the outer ring is connected with the signal acquisition device.
Further, the signal acquisition device is an integrated structure, and comprises: the device comprises a shell, a cover plate and a signal acquisition card; the casing is integrated into one piece finished piece, includes: the tire assembly comprises a boss, a flange plate and a positioning block, wherein a plurality of first connecting holes are formed in the inner circumference of the outer side of the boss at equal intervals, a plurality of mounting holes are formed in the center of the circumference of a rim of the tire assembly, and the plurality of first connecting holes and the plurality of mounting holes are correspondingly arranged and connected through bolts; the flange plate is provided with a plurality of second connecting holes which are arranged at equal intervals, and the outer ring corresponds to the second connecting holes and is connected with the second connecting holes through bolts.
Furthermore, a plurality of fifth connecting holes are formed in the positioning block, a plurality of equidistant third connecting holes are formed in the inner circumference of the inner side of the boss, a plurality of first fixing holes are formed in the inner circumference of the cover plate, a plurality of second fixing holes are formed in the outer circumference of the cover plate, the first fixing holes and the third connecting holes are in one-to-one correspondence and are connected through bolts, the second fixing holes and the fifth connecting holes are in one-to-one correspondence and are connected, and the positioning block is also used for positioning the signal acquisition card.
Furthermore, the signal acquisition card is provided with a plurality of positioning installation grooves and a plurality of fixed butt joint holes on the outer circumference, the plurality of positioning installation grooves correspond to the plurality of positioning blocks, the outer circumference of the inner side of the boss is provided with a plurality of fourth connecting holes, and the plurality of fixed butt joint holes are connected with the plurality of fourth connecting holes in a one-to-one correspondence manner; the signal acquisition card is also provided with a wireless transmission module, a signal amplification module, a signal acquisition module, an acquired signal processing module and a battery module.
Based on the structure, the invention adopts a working method of the tire six-component force testing device suitable for the distributed driving vehicle, and the working method is carried out according to the following steps:
step S1: the upper computer sets the tire six-component force testing device to be in a working mode, sends a control instruction to the wireless transmission module and monitors a return signal in real time;
step S2: a signal amplification module, a signal acquisition module, an acquired signal processing module and a battery module in the signal acquisition device receive an instruction of an upper computer to start working;
and step S3: during running of the wheel, the transmission path of the tire force is as follows: the wheel assembly is connected with the signal acquisition device, a flange on the signal acquisition device is connected with an outer ring of the tire six-component force sensor, an inner ring of the tire six-component force sensor is connected with the connecting shaft, and the inner ring of the tire six-component force sensor is connected with the connecting shaft and is in a fixed mode, so that an elastic strain beam between the inner ring and the outer ring of the tire six-component force sensor deforms when the tire runs;
and step S4: a six-path Wheatstone bridge formed by strain gauges adhered to the strain beam generates voltage signals, and the voltage signals are amplified, filtered and subjected to inter-dimensional decoupling processing through a signal amplification module, a signal acquisition module and a signal acquisition processing module to obtain accurate six-component force signals of the tire;
step S5: when the wheel rotates, the angular displacement measuring device connected between the upright post and the connecting shaft rotates along with the wheel, wherein four light areas of the rotating grating are respectively defined as 0-90 degrees, 90-180 degrees, 180-270 degrees and 270-360 degrees and respectively correspond to four photosensitive elements, light of the laser source is converted into light in a single direction after passing through the fixed grating and then is projected onto the rotating grating and the photosensitive elements, and the rotating angle of the tire at the moment can be measured by combining the light intensity of the single light received by the photosensitive elements and passing through the rotating grating;
step S6: and (4) transmitting the processed tire six-component force signal to an upper computer for collection and analysis through a wireless transmission module and a tire corner signal measured by an angular displacement measuring device, and returning to the step s1 to wait for the next collection task.
Compared with the prior art, the invention has the following beneficial effects:
(1) The integrated connecting shaft is used as a connecting piece and is directly connected with the tire six-component force sensor, so that the use of connecting adapters is effectively reduced, the problem of increased wheel track caused by the connection of multiple adapters of the existing sensor testing device is solved, and the original running performance and the suspension performance of a vehicle are ensured; meanwhile, the signal acquisition device is arranged in the wheel side system, and the data transmission device is arranged outside the wheel side system, so that the additional mass of the wheel side system is reduced, and the influence of the assembled tire six-component force testing device and the assembled tire assembly on the steering and control stability of the vehicle is avoided; meanwhile, the data transmission device is not required to be connected with the signal acquisition device, so that the assembly complexity is reduced, the structure of the tire six-component force testing device is simplified, and the tire six-component force testing precision is improved.
(2) The angular displacement measuring device is arranged between the connecting shaft and the upright post, and is not required to be arranged on a six-component sensor of the tire, so that the influence of unknown lateral pre-tightening force on the six-component sensor of the tire caused by bolt connection is eliminated, and the six-component rotational decoupling precision of the tire is improved; meanwhile, an initial angle positioning hole is formed in a mounting sleeve of the angular displacement measuring device, and the wheel coordinate system and the tire six-component force sensor coordinate system can be accurately determined to be in a superposed state only by being connected with a positioning connecting hole formed in a connecting shaft, so that an accumulated error caused by inaccurate initial angle measurement is eliminated.
(3) In order to improve the continuity of the angle signal output by the angular displacement measuring device, a fixed grating and a rotating grating are combined, the light intensity after passing through the two gratings is measured by a photosensitive sensor, the rotation angle of the grating at the moment, namely the rotation angle of the tire, is calculated by applying the Malus law, the signal can be directly and continuously output in an analog quantity mode, and the accuracy of the angular displacement measurement is improved; the device has the advantages of simple structure, small volume, low manufacturing cost and the like.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
fig. 1 is a schematic overall structure diagram of a six-component force testing device for a tire in an embodiment of the invention;
FIG. 2 is an exploded view of the overall structure of a six-component tire testing apparatus according to an embodiment of the present invention;
FIG. 3 is an exploded view of an angular displacement measuring device in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of a subdivision of an angular displacement measuring device in an embodiment of the invention;
FIG. 5 is an exploded view of a signal acquisition device according to an embodiment of the present invention;
FIG. 6 is a schematic view of a subdivided structure of a connecting shaft according to an embodiment of the present invention;
FIGS. 7, 8 are partial views of FIG. 6;
in the figure: 1-a wheel-rim system; 2-an angular displacement measuring device; 10-a tire assembly; 11-a signal acquisition device; 12-tire six component force sensor; 13-a connecting shaft; 14-a brake disc; 15-upright post; 20-angular displacement measuring device front shell; 21-a laser source; 22-determining a grating; 23-a bearing; 24-mounting the sleeve; 25-rotating the grating; 26-a light sensitive element; 27-a light sensitive sensor; 28-a PCB board; 29-rear cover of angular displacement measuring device; 10a mounting hole; 11 a-a housing; 11 b-a cover plate; 11 c-a signal acquisition card; 11a 1-boss; 11a 2-flange; 11a 3-locating block; 11a11 — first connection hole; 11a 12-third connection hole; 11a 13-fourth connection hole; 11a 21-second connection hole; 11b 1-first fixing hole; 11b 2-second fixing hole; 11a 31-fifth connection hole; 12 a-an inner ring; 12 b-outer ring; 13 a-positioning attachment hole; 13 b-a first splice tray; 13c — the middle shaft; 13 d-second land; 13 e-rotating shaft end; 15 a-corresponding connection hole; 20 a-bolt connection hole; 24 a-initial angle locating hole; 24 b-a first shoulder; 24 c-a second locating shoulder; 24 d-shaft shoulder positioning holes; 25 a-shoulder attachment hole; 25b1 — a first photometric area; 25b 2-a second photometric area; 25b 3-a third photometric area; 25b 4-a fourth photometric area; 25c 1-a first photosensitive element; 25c 2-a second photosensitive element; 25c 3-a third photosensitive element; 25c 4-fourth photosensitive element; 28 a-fixing hole; 29 a-positioning pin.
Detailed Description
The invention is further explained by the following embodiments in conjunction with the drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
As shown in fig. 1, 2 and 3, the present embodiment provides a six-component testing apparatus for accurately measuring a tire force under a driving condition of a vehicle, including: a wheel edge system 1 and an angular displacement measuring device 2.
The wheel edge system comprises a tire assembly 10, a signal acquisition device 11, a tire six-component force sensor 12, a connecting shaft 13, a brake disc 14 and an upright post 15; the signal acquisition device 11 is installed between the wheel assembly 10 and the tire six-component force sensor 12; the connecting shaft is respectively connected with the tire six-component force sensor 12, the brake disc 14 and the angular displacement measuring device 2; wherein the angular displacement measurement device includes: the angular displacement measuring device comprises an angular displacement measuring device front shell 20, a laser source 21, a fixed grating 22, a bearing 23, a mounting sleeve 24, a rotating grating 25, a photosensitive element 26, a photosensitive sensor 27, a PCB 28, an angular displacement measuring device rear cover 29, a lens and a bearing gasket.
As shown in fig. 4, the angular displacement measuring device 2 is designed as an integrated structure, has improved anti-interference capability, and is installed between the upright post 15 and the connecting shaft 13; two connecting devices are respectively arranged on two sides of the outer end face of the front shell 20 of the angular displacement measuring device, two bolt connecting holes 20a are respectively arranged above the two connecting devices, two corresponding connecting holes 15a are respectively arranged on two sides of the surface of the upright post 15, the bolt connecting holes 20a correspond to the corresponding connecting holes 15a in a one-to-one mode and are fastened through bolts, the fixed end of the angular displacement measuring device 2 is tightly connected with the upright post 15, the angular displacement measuring device is guaranteed to rotate along with a wheel edge system, and meanwhile, the lateral pre-tightening force of a traditional connecting mode on a six-component sensor of a tire is eliminated; three initial angle positioning holes 24a are formed in the circumferential direction of the mounting sleeve 24, the connecting shaft 13 is provided with three corresponding positioning connecting holes 13a, the mounting sleeve 24 is sleeved on the connecting shaft 13, the initial angle positioning holes 24a and the positioning connecting holes 13a are in one-to-one correspondence and fastened through bolts, so that the angular displacement measuring device 2 rotates along with the connecting shaft 13, and the connection can ensure that the initial test angle is zero when the six-component tire force 12 coordinate system is coincident with the vehicle body coordinate system.
In this embodiment, the center of the mounting sleeve 24 is provided with a first positioning shoulder 24b and a second positioning shoulder 24c, the first positioning shoulder 24b is used for positioning the bearing 23, and the front shell 20 of the angular displacement measuring device and the bearing 23 are connected in an interference fit manner; the bearing 23 and the first positioning shaft shoulder 24b of the mounting sleeve 24 are also connected in an interference fit manner, so that the casing of the angular displacement measuring device is kept stationary while the mounting sleeve 24 rotates along with the connecting shaft 13; the circumference of the second positioning shaft shoulder 24c is provided with four shaft shoulder positioning holes 24d, the inner circumference of the rotating grating 25 is provided with four shaft shoulder connecting holes 25a, and the shaft shoulder positioning holes 24d are correspondingly connected with the shaft shoulder connecting holes 25a one by one; the outer circumference of the rotary grating 25 is divided into a first light measuring area 25b1, a second light measuring area 25b2, a third light measuring area 25b3 and a fourth light measuring area 25b4, and the four light measuring areas are respectively provided with a first photosensitive element 25c1, a second photosensitive element 25c2, a third photosensitive element 25c3 and a fourth photosensitive element 25c4.
In the present embodiment, the laser source 21 is mounted on a light source mounting seat 20a provided inside the front shell 20 of the angular displacement measuring device; two photosensitive sensors 27 are arranged at the front end of the PCB 28, and the photosensitive sensors 27 receive light intensity signals transmitted by the laser source 21 through the lens, the fixed grating 22 and the rotating grating 25; the inner circumference of the PCB 28 is provided with four fixing holes 28a, and the four fixing holes 28a are connected with a positioning pin 29a arranged inside the rear casing 29 of the angular displacement measuring device, so that the PCB 28 and the rear casing 29 are relatively static.
The rotating grating 25 is equally provided with four three light measuring areas in the circumferential direction, namely a first light measuring area, a second light measuring area, a third light measuring area and a fourth light measuring area in sequence, wherein the first light measuring area and the third light measuring area are horizontal gratings, and the second light measuring area and the fourth light measuring area are vertical gratings.
The tire six-component force sensor is manufactured by KISTLER of Switzerland, and is of Type 9266A1; the photosensitive element is a photoresistor GL5501 manufactured by CRYSTAL AND STEREOSCOPY CORPORATION; the photosensitive sensor was a digital photosensitive sensor HLALS026AC-K1 from Chiba and Rich technologies.
In this embodiment, the working principle of the angular displacement measuring device is as follows: under the running working condition of a vehicle, a rotating grating 25 in the angular displacement measuring device 2 rotates together with the connecting shaft 13, a first light measuring area and a third light measuring area which are arranged on the rotating grating 25 are horizontal gratings, a second light measuring area and a fourth light measuring area are vertical gratings, the corresponding measuring angles of the first light measuring area to the fourth light measuring area are 0-360 degrees, and photosensitive elements arranged on the rotating grating are used for measuring light intensity signals of the laser source 21 passing through the horizontally arranged fixed grating 22; for example, when the first photosensitive element 25c1 detects the light intensity signal, at this time, the rotation angle of the tire is in the range of 0 ° to 90 °, the laser source 21 passes through the horizontal grating 22 and the first light measuring region 25b1 horizontally disposed, at this time, the light transmission amount is the largest, according to malus' law, at this time, the rotation angle is 0 °, when the tire assembly 10 rotates to 90 °, the light transmission amount is 0, and then the tire rotation by 90 ° can be measured; when the tire continues to rotate, the second photosensitive element 25c2 obtains a light intensity signal, the second light measuring area 25b2 rotates from a vertical state to a horizontal state, and the measuring steps are repeated; and accumulating the rotation angle recorded in the previous step and the angle at the moment by the buffer until the tire rotates 360 degrees, resetting the buffer, and measuring the angle again from the first light measuring area by the angular displacement measuring device.
As shown in fig. 5 and 6, the connecting shaft 13 is an integrally formed part, and includes a first connecting disc 13b, an intermediate shaft 13c, a second connecting disc 13d and a rotating shaft end 13e which are formed and manufactured in sequence; the upright post 15 is connected with the rotating shaft end 13e in an interference fit manner through a bearing; the second connecting plate 13d is connected with the brake disc 14 through bolts; the first land 13b is connected to the tire six component force sensor 12.
In the present embodiment, the tire six-component force sensor 12 is arranged in an inner ring and an outer ring, and the inner ring 12a is connected to the first connecting disc 13 b; the outer ring 12b is connected with the signal acquisition device 11; the signal acquisition device 11 is the integrated form structure, and signal acquisition device 11 includes: a shell 11a, a cover plate 11b and a signal acquisition card 11c; the casing is integrated into one piece finished piece, includes: the tire assembly comprises a boss 11a1, a flange plate 11a2 and a positioning block 11a3, wherein four first connecting holes 11a11 are arranged on the inner circumference of the outer side of the boss 11a1 at equal intervals, four mounting holes 10a are arranged in the center of the circumference of a rim of the tire assembly 10, and a plurality of first connecting holes 11a11 and a plurality of mounting holes 10a are correspondingly arranged and connected through bolts; the flange plate 11a2 is provided with a plurality of second connecting holes 11a21 which are arranged at equal intervals, and the outer ring 12b corresponds to the second connecting holes 11a21 and is connected with the second connecting holes by bolts.
In this embodiment, the positioning block 11a3 is provided with a plurality of fifth connecting holes 11a31, the inner circumference of the inner side of the boss 11a1 is provided with four equally spaced third connecting holes 11a12, the inner circumference of the cover plate 11b is provided with four first fixing holes 11b1, the outer circumference of the cover plate 11b is provided with four second fixing holes 11b2, the four first fixing holes 11b1 and the four third connecting holes 11a12 are in one-to-one correspondence and connected by bolts, the four second fixing holes 11b2 and the four fifth connecting holes 11a31 are in one-to-one correspondence, and the positioning block 11a3 is also used for positioning the signal acquisition card 11c.
In this embodiment, the signal acquisition card 11c is provided with four positioning installation grooves 11c1 and four fixed docking holes 11c2 on the outer circumference, the four positioning installation grooves 11c1 and the four positioning blocks 11a3 are correspondingly inserted, matched and positioned, the outer circumference of the inner side of the boss 11a1 is provided with four fourth connection holes 11a13, and the four fixed docking holes 11c2 are correspondingly connected with the four fourth connection holes 11a13 one by one; the signal acquisition card 11c is also provided with a wireless transmission module, a signal amplification module, a signal acquisition module, an acquired signal processing module and a battery module, wherein the signal amplification module adopts a single-power AD623 instrument program control amplifier to amplify six components of the tire respectively, the amplification factor is 1.5 to 1000 times adjustable, the module adopts a 12V direct current power supply to supply power and is powered by the battery module, the AD623 instrument amplifier can carry out filtering processing on signals, the interference of noise signals on weak voltage signals is effectively reduced, effective signals after filtering amplification are sent to the signal acquisition module, and the normal operation of signal acquisition is ensured; the signal acquisition module adopts a 16-bit and 8-channel synchronous sampling AD7606 analog-to-digital converter, the sampling rate of each channel can reach 200KHz, the signal acquisition module has 40dB anti-aliasing inhibition characteristic, a digital filter is arranged in the signal acquisition module, the voltage acquisition signal is further processed, real information is restored, the module adopts a 5V direct current power supply for supplying power, the acquisition of the output voltage of each electric bridge of the tire six-component sensor is realized, and the acquired analog quantity signals are converted into digital signals; the signal wireless transmission module uses an ATK-ESP8266 serial port module, is small in size and easy to install, transmits digital signals acquired by the signal acquisition module to the wireless signal receiving device and transmits the digital signals to an upper computer, and is also used for receiving signal instructions of the upper computer and controlling the lower computer; the battery module includes: the device comprises a residual electric quantity monitoring module and a power supply module, wherein the power supply module is powered by a 12V lithium battery, the residual electric quantity monitoring module adopts a MAX2788 chip and is used for monitoring the residual electric quantity of the whole battery pack, and an alarm signal can be generated when the electric quantity is insufficient.
By combining the above embodiments, the present embodiment further provides a use method of the six-component testing apparatus for accurately measuring the tire force under the vehicle running condition, specifically including the following steps:
step S1: the upper computer sets the tire six-component force testing device to be in a working mode, sends a control instruction to the wireless transmission module and monitors a return signal in real time;
step S2: a signal amplification module, a signal acquisition module, an acquired signal processing module and a battery module in the signal acquisition device receive an instruction of an upper computer to start working;
and step S3: when the wheel is in operation, the transmission path of the tire force is as follows: the wheel assembly 10 to the signal acquisition device 11, the flange on the signal acquisition device 11 to the outer ring 12b of the six-component tire force sensor, the inner ring 12a of the six-component tire force sensor to the connecting shaft 13 are randomly transmitted to the vehicle body, the inner ring of the six-component tire force sensor is connected with the connecting shaft, and in a fixed mode, an elastic strain beam between the inner ring and the outer ring of the six-component tire force sensor deforms when the tire runs;
and step S4: a six-path Wheatstone bridge formed by strain gauges adhered to the strain beam generates voltage signals, and the voltage signals are amplified, filtered and subjected to inter-dimensional decoupling processing through a signal amplification module, a signal acquisition module and a signal acquisition processing module to obtain accurate six-component force signals of the tire;
step S5: when the wheel rotates, the angular displacement measuring device connected between the upright post and the connecting shaft rotates along with the wheel, wherein four light areas of the rotating grid are respectively defined as 0-90 degrees, 90-180 degrees, 180-270 degrees, 270-360 degrees and respectively correspond to four photosensitive elements; the light of the laser source is converted into light in a single direction after passing through the fixed grating and then is projected onto the rotary grating and the photosensitive element, and the rotating angle of the tire can be measured by combining the light intensity of the single light received by the photosensitive sensor and passing through the rotary grating;
step S6: and (4) transmitting the processed tire six-component force signal to an upper computer for collection and analysis through a wireless transmission module and a tire corner signal measured by an angular displacement measuring device, and returning to the step s1 to wait for the next collection task.
The above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (10)
1. A six component force testing device for accurately measuring the tire force under the running condition of a vehicle is characterized by comprising: a wheel edge system (1) and an angular displacement measuring device (2); the wheel edge system sequentially comprises a tire assembly (10), a signal acquisition device (11), a tire six-component force sensor (12), a connecting shaft (13), a brake disc (14) and an upright post (15); the signal acquisition device (11) is fixedly arranged between the wheel assembly (10) and the tire six-component force sensor (12); the connecting shaft (13) is respectively connected with the tire six-component force sensor (12), the brake disc (14) and the angular displacement measuring device (2);
the connecting shaft (13) comprises a first connecting disc (13 b), an intermediate shaft (13 c), a second connecting disc (13 d) and a rotating shaft end (13 e); the first connecting disc (13 b) is fixedly connected with the tire six-component force sensor (12); the second connecting plate (13 d) is connected with the brake disc (14) through bolts;
a rotary shaft end (13 e) penetrates through the upright post (15) and is fixedly connected with a mounting sleeve (24) in the angular displacement measuring device (2) so as to realize synchronous rotation of the mounting sleeve (24) and the connecting shaft (13), and the angular displacement measuring device (2) is provided with a laser source (21), a fixed grating (22), a rotary grating (25), a photosensitive element (26), a photosensitive sensor (27) and a PCB (28); wherein, the laser source 21, the fixed grating 22, the photosensitive sensor 27 and the PCB board 28 are connected on the shell of the relatively fixed angular displacement measuring device 2, and the rotary grating 25 and the photosensitive element 26 are connected on the relatively rotary mounting sleeve 24;
when the wheel rotates, a rotating grating (25), a photosensitive element (26) and a mounting sleeve (24) in the angular displacement measuring device rotate along with the wheel.
2. The six-component testing device for accurately measuring the tire force under the running condition of the vehicle according to claim 1, wherein a plurality of bolt connecting holes (20 a) are respectively formed in two sides of the outer end face of a front shell of the angular displacement measuring device, a plurality of corresponding connecting holes (15 a) are formed in the surface of the upright column, and the bolt connecting holes correspond to the corresponding connecting holes one by one and are fastened through bolts; the mounting sleeve is provided with a plurality of initial angle positioning holes (24 a), the connecting shaft is provided with a plurality of corresponding positioning connecting holes (13 a), the mounting sleeve (24) is sleeved on the connecting shaft (13), and the initial angle positioning holes are in one-to-one corresponding connection with the positioning connecting holes.
3. The six-component testing device for realizing accurate measurement of tire force in vehicle driving conditions according to claim 1, wherein a first positioning shoulder (24 b) and a second positioning shoulder (24 c) are arranged at the center of the mounting sleeve, and the first positioning shoulder is used for positioning a bearing (23); the center of the circumference of the second positioning shaft shoulder is provided with a plurality of shaft shoulder positioning holes (24 d), the inner circumference of the rotating grating is provided with a plurality of shaft shoulder connecting holes (25 a), and the shaft shoulder positioning holes are connected with the shaft shoulder connecting holes in a one-to-one correspondence mode.
4. The six-component testing device for realizing accurate measurement of tire force under running condition of vehicle according to claim 1, wherein a light source mounting seat (20 a) is arranged inside a front shell of the angular displacement measuring device, and the laser source (21) is mounted on the light source mounting seat; the lens and the fixed grating (22) are arranged right in front of the laser source and correspond to the rotary grating (25); the front end of the PCB is provided with a plurality of photosensitive sensors (27), and the photosensitive sensors receive light intensity signals transmitted by the laser source through the lens, the fixed grating and the rotary grating; the inner circumference of the PCB (28) is provided with a plurality of fixing holes (28 a), and the fixing holes are connected with positioning pin shafts (29 a) arranged in the rear shell of the device, so that the PCB and the rear shell are relatively static.
5. The six-component testing device for accurately measuring the tire force under the driving condition of the vehicle according to claim 1, wherein the outer circumference of the rotating grating is divided into a first light measuring area (25 b 1), a second light measuring area (25 b 2), a third light measuring area (25 b 3) and a fourth light measuring area (25 b 4), the four light measuring areas are respectively provided with a first photosensitive element (25 c 1), a second photosensitive element (25 c 2), a third photosensitive element (25 c 3) and a fourth photosensitive element (25 c 4), the first light measuring area and the third light measuring area are horizontal gratings, and the second light measuring area and the fourth light measuring area are vertical gratings.
6. The six-component testing device for realizing accurate measurement of the tire force under the running condition of the vehicle according to claim 5, wherein the six-component sensor of the tire is arranged in an inner ring and an outer ring, and the inner ring (12 a) is connected with the first connecting disc (13 b); the outer ring (12 b) is connected with the signal acquisition device (11).
7. The six-component testing device for realizing accurate measurement of tire force in vehicle driving conditions according to claim 6, wherein the signal acquisition device (11) is an integrated structure comprising: the device comprises a shell (11 a), a cover plate (11 b) and a signal acquisition card (11 c); the casing is integrated into one piece finished piece, includes: the tyre assembly comprises a boss (11 a 1), a flange plate (11 a 2) and a positioning block (11 a 3), wherein a plurality of first connecting holes (11 a 11) are formed in the inner circumference of the outer side of the boss at equal intervals, a plurality of mounting holes are formed in the circumferential center of a rim of the tyre assembly, and the first connecting holes and the mounting holes are correspondingly arranged and connected through bolts; the flange plate is provided with a plurality of second connecting holes (11 a 21) which are arranged at equal intervals, and the outer ring corresponds to the second connecting holes and is connected with the second connecting holes through bolts.
8. The six-component testing device for accurately measuring the tire force under the driving condition of the vehicle according to claim 7, wherein a plurality of fifth connecting holes (11 a 31) are formed in the positioning block (11 a 3), a plurality of equally spaced third connecting holes (11 a 12) are formed in the inner circumference of the inner side of the boss, a plurality of first fixing holes (11 b 1) are formed in the inner circumference of the cover plate, a plurality of second fixing holes (11 b 2) are formed in the outer circumference of the cover plate, the plurality of first fixing holes correspond to the plurality of third connecting holes one to one and are connected through bolts, the plurality of second fixing holes correspond to the plurality of fifth connecting holes one to one, and the positioning block is also used for positioning the signal acquisition card.
9. The six-component testing device for realizing accurate measurement of the tire force under the driving condition of the vehicle according to claim 8, wherein the signal acquisition card is provided with a plurality of positioning installation grooves (11 c 1) and a plurality of fixed butt joint holes (11 c 2) on the outer circumference, the plurality of positioning installation grooves correspond to the plurality of positioning blocks, the outer circumference of the inner side of the boss is provided with a plurality of fourth connecting holes (11 a 13), and the plurality of fixed butt joint holes are connected with the plurality of fourth connecting holes in a one-to-one correspondence manner; the signal acquisition card is also provided with a wireless transmission module, a signal amplification module, a signal acquisition module, an acquired signal processing module and a battery module.
10. The working method of the six-component testing device for accurately measuring the tire force under the running condition of the vehicle is characterized in that: comprising the use of a device for six component force testing of a tyre according to any one of claims 1 to 9, and carried out according to the following steps:
step S1: the upper computer sets the tire six-component force testing device to be in a working mode, sends a control instruction to the wireless transmission module and monitors a return signal in real time;
step S2: a signal amplification module, a signal acquisition module, an acquired signal processing module and a battery module in the signal acquisition device receive an instruction of an upper computer to start working;
and step S3: when the wheel is in operation, the transmission path of the tire force is as follows: the wheel assembly is connected with the signal acquisition device, a flange on the signal acquisition device is connected with an outer ring of the tire six-component force sensor, an inner ring of the tire six-component force sensor is connected with the connecting shaft, and the inner ring of the tire six-component force sensor is connected with the connecting shaft and is in a fixed mode, so that an elastic strain beam between the inner ring and the outer ring of the tire six-component force sensor deforms when the tire runs;
and step S4: a six-way Wheatstone bridge consisting of strain gauges adhered to the strain beams generates voltage signals, and the voltage signals are amplified, filtered and subjected to inter-dimensional decoupling processing through a signal amplification module, a signal acquisition module and a signal acquisition processing module to obtain accurate six-component force signals of the tire;
step S5: when the wheel rotates, the angular displacement measuring device connected between the upright post and the connecting shaft rotates along with the wheel, wherein four light areas of the rotating grid are respectively defined as 0-90 degrees, 90-180 degrees, 180-270 degrees, 270-360 degrees and respectively correspond to four photosensitive elements; the light of the laser source is converted into light in a single direction after passing through the fixed grating and then is projected onto the rotating grating and the photosensitive element, and the rotation angle of the tire at the moment can be obtained by combining the light intensity obtained by the single light received by the photosensitive sensor through the rotating grating and applying the Malus law;
step S6: and (4) transmitting the processed tire six-component force signal to an upper computer for collection and analysis through a wireless transmission module and a tire corner signal measured by an angular displacement measuring device, and returning to the step s1 to wait for the next collection task.
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