CN116296073A - Tire transient instability processing method, device and storage medium - Google Patents
Tire transient instability processing method, device and storage medium Download PDFInfo
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Abstract
The application provides a method, a device and a storage medium for processing transient instability of a tire, which relate to the technical field of tire vibration analysis and comprise the steps of obtaining running condition data of the tire, wherein the running condition data comprise rolling angular speed, vertical load and dynamic unbalance eccentric moment; inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, wherein the transient dynamics model is used for reflecting the corresponding relation between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold value; and when the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value, judging the transient instability of the tire. According to the method and the device, according to the real-time multiple running condition data of the tire, the dynamic unbalance eccentric moment threshold value of the transient instability of the tire is obtained through the transient dynamics model, the influence of the running condition and the vertical load of the tire on the transient dynamics behavior of the tire is fully considered, the threshold value determining result is more accurate, and the safety and the stability of the vehicle can be remarkably improved.
Description
Technical Field
The present disclosure relates to the field of tire vibration analysis technologies, and in particular, to a method and an apparatus for processing transient instability of a tire, and a storage medium.
Background
With the improvement of living standard, users put higher demands on vehicle dynamics. In the service process of the vehicle, the phenomenon of unbalanced tire movement may occur due to uneven tire mass distribution, rim mounting errors, deformation and the like. The tire dynamic unbalance accelerates the tire abrasion, reduces the service life of the tire, and the excitation of the tire dynamic unbalance can induce the shimmy of the front wheel and the steering wheel of the vehicle, thereby influencing the running safety and the driving experience of the vehicle. Therefore, the method and the device are very important to the improvement of the running stability and safety of the vehicle by exploring the transient dynamic behavior of the tire induced by the dynamic unbalance of the tire and determining whether the tire has the potential risk of transient instability.
In order to monitor whether a tire is in a dynamic balance state, a related art proposes a tire dynamic balance monitoring scheme: and when the vibration amplitude of the tire is detected to be larger than a set threshold value, transmitting a tire unbalance signal.
However, the tire dynamic balance monitoring scheme cannot fully reflect the transient instability characteristics of the tire under different running conditions, and has the problem of low accuracy.
Disclosure of Invention
The application provides a method, a device and a storage medium for processing tire transient instability, which are used for solving the problem of low accuracy in determining the tire transient instability.
In a first aspect, the present application provides a method for handling transient instability of a tire, including: acquiring driving condition data of the tire, wherein the driving condition data comprise rolling angular speed, vertical load and dynamic unbalance eccentric moment; inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, wherein the transient dynamics model is used for reflecting the corresponding relation between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold value; and when the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value, judging the transient instability of the tire.
Optionally, inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, including: inputting the rolling angular velocity and the vertical load into a transient dynamics model, and calibrating the value of dynamic unbalance eccentric moment in the transient dynamics model to be 0 to obtain the swing angle modal angular frequency of the tire; and determining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the swing angle modal angular frequency and the transient dynamics model.
Optionally, the rolling angular velocity and the vertical load are input into a transient dynamics model, and the value of the dynamic unbalance eccentric moment in the transient dynamics model is calibrated to be 0, so as to obtain the swing angle modal angular frequency of the tire, which comprises the following steps: building a Jacobian matrix of the tire under a driving condition according to the transient dynamics model; obtaining a dynamic system characteristic equation of the tire under no external excitation according to the Jacobian matrix; and solving a characteristic equation, and determining the absolute value of the minimum non-zero imaginary characteristic value in the solving result as the swing angle modal angular frequency.
Optionally, determining a dynamic imbalance eccentric moment threshold of the tire transient instability according to the swing angle modal angular frequency and the transient dynamics model includes: constructing a complex variable function based on the swing angle modal angular frequency; inputting the complex variable function and the conjugate function of the complex variable function into a transient dynamics model to obtain a slow-variation power flow equation of the tire system; and obtaining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the slow dynamic force flow equation.
Optionally, obtaining a dynamic imbalance eccentric moment threshold value of the tire transient instability according to the slow dynamic force flow equation includes: according to the slow dynamic force flow equation, based on a nonlinear dynamics bifurcation theory, a balance point equation of the tire system and a periodic solution characteristic equation of the tire system under dynamic unbalance excitation are obtained; and solving a characteristic equation according to the balance point equation and the period to obtain an eccentric moment threshold value of the transient instability of the tire.
Optionally, the transient dynamics model is built according to the following formula:
F y ＝d 1 F z0 α+d 1 F z0 α 3 formula III
Wherein m is 0 Representing the total mass of the tire, y representing the lateral displacement of the tire, θ representing the angle of oscillation of the tire about the kingpin axis, b representing the lateral distance of the center of mass of the tire from the kingpin axis, c 1 Represents the lateral damping, k, of the frame of the vehicle in which the tyre is located 1 Representing the lateral rigidity of the frame of the vehicle in which the tire is located, F y Represents the lateral force of the tire, d 1 And d 2 Is the fitting parameter of the tyre mechanics formula, F z0 Represents the vertical load of the tire, α represents the cornering angle, J represents the moment of inertia of the tire assembly about its kingpin, c 2 Representing the equivalent angular damping, k, of the tire assembly about its kingpin 2 Representing the equivalent angular stiffness of the tyre assembly about its kingpin, M Z Represents the tire aligning moment, M Z ＝F y n, n represents the pneumatic trailing distance of the tire, M u Representing the component of the dynamic unbalance moment of the tyre around the centre of the kingpin, M u ＝M t sin(Ωt)，M t Representing the dynamic unbalance eccentric force distance of the tyre, M t ＝m 0 r x r y Ω 2 ，r x Is the dynamic unbalance longitudinal eccentricity of the tyre, r y Is the lateral eccentricity of the dynamic unbalance of the tire, omega represents the rolling angular velocity of the tire, and t represents the time; the transient dynamics constraint relationship between θ and α is:
where σ represents the relaxed length of the tire, v represents the vehicle speed, v=Ω r, and r represents the radius of the tire.
Optionally, after determining the transient instability of the tire, the method further includes: and sending out an early warning signal for representing the transient instability of the tire.
In a second aspect, the present application provides a tire transient destabilization treatment device comprising: the acquisition module is used for acquiring running condition data of the tire, wherein the running condition data comprise rolling angular speed, vertical load and dynamic unbalance eccentric moment; the input module is used for inputting the rolling angular speed and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, and the transient dynamics model is used for reflecting the corresponding relation between the rolling angular speed and the vertical load and the dynamic unbalance eccentric moment threshold value; and the determining module is used for determining the transient instability of the tire when the dynamic unbalance eccentric moment is greater than or equal to the dynamic unbalance eccentric moment threshold value.
In a third aspect, the present application provides an electronic device, comprising: a memory, a processor; a memory for storing program instructions; a processor for invoking program instructions to perform the method of handling tire transient instability as provided in any of the above first aspects.
In a fourth aspect, the present application provides a computer readable storage medium having stored therein computer executable instructions which, when executed by a processor, are adapted to carry out a method of handling transient destabilization of a tyre according to any one of the first aspects described above.
In a fifth aspect, the present application provides a computer program product comprising a computer program; when the computer program is executed, the method for handling transient instability of a tire as provided in the first aspect is implemented.
According to the method, the device and the storage medium for processing the transient instability of the tire, the driving working condition data of the tire are obtained, and the driving working condition data comprise the rolling angular speed, the vertical load and the dynamic unbalance eccentric moment; inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, wherein the transient dynamics model is used for reflecting the corresponding relation between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold value; and when the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value, judging the transient instability of the tire. According to the method and the device, according to the real-time multiple running condition data of the tire, the dynamic unbalance eccentric moment threshold value of the transient instability of the tire is obtained through the transient dynamics model, the influence of the running condition and the vertical load of the tire on the transient dynamics behavior of the tire is fully considered, the determination result of the threshold value is more accurate, and the safety and the stability of the vehicle are obviously improved.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a flow chart of a method for handling transient instability of a tire according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a tire dynamics model under dynamic imbalance excitation provided in an embodiment of the present application;
FIG. 4 is a schematic view of transient dynamic bifurcation characteristics and instability boundaries of a tire according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a tire transient destabilization treatment device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application. As shown in fig. 1, the application scenario involves a signal acquisition unit 101, an electronic control unit 102 and a notification unit 103.
The signal acquisition unit 101 is used for acquiring various running condition parameters of the tire. The signal acquisition unit 101 may comprise one or more sensors, which may be arranged in the vicinity of the tyre or in other locations where the desired parameters can be acquired. In the same vehicle, different tires may be provided with one or more signal acquisition units 101, respectively. The signal acquisition unit 101 may further include a signal processing unit, where the signal processing unit is configured to perform operation or correction processing on one or more acquired parameters, and there may also be multiple signal processing units.
The electronic control unit 102 is configured to determine whether the tire is in a unstable state according to various parameters of the tire. By way of example, the electronic control unit 102 may be a vehicle electronic control unit (Electronic Control Unit, ECU for short). The electronic control unit 102 is capable of receiving parameters output from the signal acquisition unit 101 and has the capability of performing certain arithmetic processing on these parameters.
The notification unit 103 is configured to present a result of determination of whether the tire is unstable. The notification unit 103 is capable of receiving the control signals output by the electronic control unit 102 and presenting different results according to different control signals. For example, the notification unit 103 may be provided with a display screen capable of displaying information of tire instability or no instability. The notification unit 103 may also be configured to include an indicator light that is in an off state when the tire is not unstable, and blinks when the tire is unstable. The notification unit 103 mainly prompts the user to pay attention to the dynamic unbalance of the tire in time so as to perform corresponding correction processing.
During running of the vehicle, the tire is in a running condition, and the signal acquisition unit 101 periodically acquires various parameters of the tire and outputs the parameters to the electronic control unit 102. The electronic control unit 102 receives these parameters, performs a certain arithmetic processing on these parameters, determines whether or not there is a dynamic unbalance of the tire based on the result of the arithmetic processing, and then outputs the determination result to the notification unit 103. The notification unit 103 presents the determination result, especially when the tire is determined to be unstable.
Based on the above, the application provides a method for processing transient instability of a tire, which comprises the steps of establishing a tire dynamics model considering dynamic unbalance excitation, calculating the tire swing angle modal angular frequency by using a system jacobian matrix by taking the tire rolling angular speed and the vertical load as input quantities, and solving the system slow-varying power flow under the resonance frequency by using the tire rolling angular speed and the vertical load as input quantities by using a complex variable-average method, so as to obtain a system balance point equation and a characteristic equation, and further obtain the transient instability condition of the tire based on a nonlinear dynamics bifurcation theory. When the real-time parameters of the tire exceed the transient instability condition of the tire, the dynamic unbalance correction prompt of the tire is carried out, so that the stable and safe running of the automobile is ensured.
The following describes in detail a method for handling transient instability of a tire provided in the present application with reference to an application scenario and specific embodiments.
Fig. 2 is a flow chart of a method for handling transient instability of a tire according to an embodiment of the present application. As shown in fig. 2, the processing method includes:
s201: and acquiring driving condition data of the tire, wherein the driving condition data comprises rolling angular speed, vertical load and dynamic unbalance eccentric moment.
The driving condition data of the tire can be acquired by the signal acquisition unit and output to the electronic control unit, and the electronic control unit acquires the driving condition data of the tire from the signal acquisition unit. For example, the rolling angular velocity of the tire may be collected by a wheel speed sensor (simply referred to as a wheel speed sensor), which may be mounted on a wheel or in a final drive or transmission.
The rolling angular velocity of the tire may be determined according to the running velocity of the vehicle and the tire radius, specifically, the ratio of the running velocity of the vehicle to the tire radius is determined as the rolling angular velocity of the tire, wherein the running velocity of the vehicle may be acquired by using an automobile velocity sensor.
The signal acquisition unit can periodically acquire the driving condition data of the tire, and the acquisition period can be adjusted according to the actual application scene; the step of acquiring the driving condition data of the tire may also be triggered in response to the input detection instruction, and for example, the user may input a detection instruction for detecting the stability of the tire to the electronic control unit, and the electronic control unit may send a signal acquisition instruction to the signal acquisition unit in response to the detection instruction, so as to control the signal acquisition unit to acquire the driving condition data once or continuously for multiple times.
S202: and inputting the rolling angular speed and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, wherein the transient dynamics model is used for reflecting the corresponding relation between the rolling angular speed and the vertical load and the dynamic unbalance eccentric moment threshold value.
The dynamic unbalance eccentric moment threshold value refers to a dynamic unbalance eccentric moment boundary value of tire instability, namely if the real-time dynamic unbalance eccentric moment of the tire exceeds the dynamic unbalance eccentric moment threshold value, the tire is in an unstable state, and if the real-time dynamic unbalance eccentric moment of the tire does not exceed the dynamic unbalance eccentric moment threshold value, the tire is in a stable motion state.
The transient dynamics model can perform certain operation processing on the input rolling angular speed and vertical load, and output a dynamic unbalance eccentric moment threshold value. In a specific embodiment, a tire dynamics model is created using the front left wheel of a vehicle as an example. FIG. 3 is a schematic view of a tire dynamics model under dynamic unbalance excitation provided in an embodiment of the present application. As shown in fig. 3, the dynamic model comprises a tire 301, a tire kingpin center 302, and a frame 303, and mainly comprises two degrees of freedom of lateral movement of the tire and swinging of the tire about its kingpin.
Thus, the transient dynamics model may be built according to the following formulas (formulas one to four):
F y ＝d 1 F z0 α+d 1 F z0 α 3 formula III
Wherein m is 0 Representing the total mass of the tire, y representing the lateral displacement of the tire, θ representing the angle of oscillation of the tire about the kingpin axis, b representing the lateral distance of the center of mass of the tire from the kingpin axis, c 1 Represents the lateral damping, k, of the frame of the vehicle in which the tyre is located 1 Representing the lateral rigidity of the frame of the vehicle in which the tire is located, F y Represents the lateral force of the tire, d 1 And d 2 Is the fitting parameter of the tyre mechanics formula, F z0 Represents the vertical load of the tire, α represents the cornering angle, J represents the moment of inertia of the tire assembly about its kingpin, c 2 Representing the equivalent angular damping, k, of the tire assembly about its kingpin 2 Representing the equivalent angular stiffness of the tyre assembly about its kingpin, M Z Represents the tire aligning moment, M Z ＝F y n, n represents the pneumatic trailing distance of the tire, M u Representing the component of the dynamic unbalance moment of the tyre around the centre of the kingpin, M u ＝M t sin(Ωt)，M t Representing the dynamic unbalance eccentric force distance of the tyre, M t ＝m o r x r y Ω 2 ，r x Is the dynamic unbalance longitudinal eccentricity of the tyre, r y Is the lateral eccentricity of the dynamic unbalance of the tire, omega represents the rolling angular velocity of the tire, and t represents the time; the transient dynamics constraint relationship between θ and α is:
where σ represents the relaxed length of the tire, v represents the vehicle speed, v=Ω r, and r represents the radius of the tire.
In other embodiments, other transient dynamics models reflecting the roll angular velocity and vertical load versus dynamic imbalance eccentric moment threshold may also be employed.
S203: and when the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value, judging the transient instability of the tire.
After the dynamic unbalance eccentric moment threshold value is obtained by using the step S202, the real-time dynamic unbalance eccentric moment of the tire under the running working condition obtained by the step S201 is compared with the dynamic unbalance eccentric moment threshold value. If the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value as a comparison result, determining that the tire is in an unstable state at the moment, and having potential safety hazards.
Optionally, after determining the transient instability of the tire, it may further include: and sending out an early warning signal for representing the transient instability of the tire. The early warning signal may be presented on the visual device or may be presented as a flashing light on, without limitation. Optionally, the early warning signal may also be an issued early warning signal for correcting the transient instability of the tire.
According to the embodiment of the application, the driving working condition data of the tire are obtained, wherein the driving working condition data comprise the rolling angular speed, the vertical load and the dynamic unbalance eccentric moment; inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, wherein the transient dynamics model is used for reflecting the corresponding relation between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold value; and when the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value, judging the transient instability of the tire. According to the method and the device, according to the real-time multiple running condition data of the tire, the dynamic unbalance eccentric moment threshold value of the transient instability of the tire is obtained through the transient dynamics model, the influence of the running condition and the vertical load of the tire on the transient dynamics behavior of the tire is fully considered, the determination result of the threshold value is more accurate, and the safety and the stability of the vehicle can be remarkably improved.
On the basis of the above embodiment, optionally, inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, including: inputting the rolling angular velocity and the vertical load into a transient dynamics model, and calibrating the value of dynamic unbalance eccentric moment in the transient dynamics model to be 0 to obtain the swing angle modal angular frequency of the tire; and determining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the swing angle modal angular frequency and the transient dynamics model.
Optionally, the rolling angular velocity and the vertical load are input into a transient dynamics model, and the value of the dynamic unbalance eccentric moment in the transient dynamics model is calibrated to be 0, so as to obtain the swing angle modal angular frequency of the tire, which comprises the following steps: building a Jacobian matrix of the tire under a driving condition according to the transient dynamics model; obtaining a dynamic system characteristic equation of the tire under no external excitation according to the Jacobian matrix; and solving a characteristic equation, and determining the absolute value of the minimum non-zero imaginary characteristic value in the solving result as the swing angle modal angular frequency.
Taking a transient dynamics model established according to a formula I-a formula IV as an example, building a Jacobian matrix of the tire under a running condition according to the transient dynamics model, wherein the Jacobian matrix comprises: introducing variables into formulas one to four
Converting the differential equation set of the tire dynamics system shown in the formula I to the formula IV into a state matrix:
the state matrix is biased with respect to x:
wherein [ U ]] i×j The jacobian matrix is represented, i, j represent the sequence numbers, i, j=1, 2.
According to a state matrix shown in a formula six, solving a Jacobian matrix U of the state matrix of the tire under the driving condition, and substituting U into the following formula:
det|u- λi|=0, equation seven
Where λ represents a characteristic value related to tire performance, and I represents an identity matrix. According to a seventh formula, the characteristic equation of the tire dynamics system of the tire without external excitation is obtained as follows:
β 5 λ 5 +β 4 λ 4 +β 3 λ 3 +β 2 λ 2 +β 1 λ+β 0 =0. Equation eight
Wherein beta is 0 ～β 5 Representing the characteristic value of the tire dynamics system. The system characteristic value can be obtained by solving the formula eight, and in the solving result, the absolute value of the imaginary part of the complex characteristic value is the two modal angular frequencies omega of the tire dynamics system aiming at the characteristic value of the non-zero imaginary part 1 And omega 2 Since the tire swing angle frequency is small relative to the lateral movement frequency thereof, the swing angle modal angular frequency of the tire is determined as ω s ＝min(ω 1 ，ω 2 )。
Optionally, determining a dynamic imbalance eccentric moment threshold of the tire transient instability according to the swing angle modal angular frequency and the transient dynamics model includes: constructing a complex variable function based on the swing angle modal angular frequency; inputting the complex variable function and the conjugate function of the complex variable function into a transient dynamics model to obtain a slow-variation power flow equation of the tire system; and obtaining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the slow dynamic force flow equation.
To analyze the dynamic bifurcation characteristics of a tire under dynamic unbalance excitation, complex variables are introduced. Taking a transient dynamics model established according to a formula one to a formula four as an example, firstly, introducing a complex variable phi 1 ～Φ 3 Constructing a complex variable function based on the swing angle modal angular frequency, comprising: based on the modal parameter omega s The following complex variables were constructed:
wherein e is a natural exponent, i is an imaginary unit, ψ 1 ～Ψ 3 Representing a complex variable function.
Substituting the complex variable function and the conjugate function of the complex variable function into the transient dynamics model to obtain a slow-varying power flow equation of the tire system may include: obtaining a conjugate function of the complex variable function according to a formula nine:
wherein the upper right hand corner of each variable represents the conjugate.
Inputting the complex variable function and the conjugate function of the complex variable function into a transient dynamics model to obtain a slow-varying power flow equation of the tire system, which may include: substituting the complex variable shown in the formula nine and the conjugate variable of the complex variable shown in the formula ten into a transient dynamics model (formula one to formula four), and extracting
Coefficients, the slow varying power flow equation for the tire system is derived:
wherein, the liquid crystal display device comprises a liquid crystal display device,
k 0 ＝d 1 F z0 ，k 0 c ＝d 2 F z0 ；
wherein J is h ＝J-m 0 b 2 ，
Optionally, obtaining a dynamic imbalance eccentric moment threshold value of the tire transient instability according to the slow dynamic force flow equation includes: obtaining a slow dynamic force flow balance point equation of the tire system and a periodic solution characteristic equation of the tire system under dynamic unbalance excitation based on a nonlinear dynamics bifurcation theory according to the slow dynamic force flow equation; and solving a characteristic equation according to the balance point equation and the period to obtain an eccentric moment threshold value of the transient instability of the tire.
Taking a slow-varying power flow equation shown in an eleventh-thirteenth formula as an example, obtaining a slow-varying power flow balance point equation of the tire system according to the slow-varying power flow equation may include: order the
Substituting the formula eleven-thirteen to obtain a slow variable power flow balance point equation of the tire system:
ρ 3 Z 3 +ρ 2 Z 2 +ρ 1 z+ρ=0, formula fourteen
Wherein, Z= |phi 3 | 2 ，ρ 1 、ρ 2 And ρ 3 Is a coefficient related to the tire properties.
To study the stability of the tire system cycle solution under dynamic imbalance excitation, small perturbations are introduced near the equilibrium point. First, a disturbance function of the tire system in the vicinity of the balance point is established:
wherein phi is 10 ～Φ 30 Representing the solution balance point delta of each period 1 ～δ 3 Representing small perturbations near the solution equilibrium point for each period.
According to the slow dynamic force flow equation, obtaining a periodic solution characteristic equation of the tire system under dynamic unbalance excitation can comprise: substituting the disturbance function into a slowly-varying power flow equation shown in the formulas eleven-thirteen, and reserving a linear term to obtain a disturbance equation as follows:
the conjugation is taken, and after the conjugation, the periodic solution characteristic equation of the tire system under dynamic unbalance excitation can be obtained as follows:
ζ 1 μ 4 +ζ 2 μ 3 +ζ 3 μ 2 +ζ 4 μ+ζ 5 =0, nineteen equations
Wherein ζ 1 ～ζ 5 Is a parameter related to the tire property and the periodic solution, and μ represents a characteristic value of the periodic solution.
According to the balance point equation and the periodic solution characteristic equation, obtaining the eccentric moment threshold value of the transient instability of the tire comprises the following steps: the simultaneous equilibrium point equation and the periodic solution characteristic equation, namely the simultaneous formula fourteen and the formula nineteenth, can be solved:
taking M t1 And M t2 The value with the smallest median value is used as an off-center moment threshold value for transient instability of the tire.
In a specific embodiment, the rolling angular velocity and the vertical load of the tyre are taken separately:
Ω＝57.14rad/s，F z0 =4700N. Each calibration parameter in the transient dynamics model of the tire is m 0 ＝15kg，J＝0.48kg·m 2 ，c 1 ＝220N·s/m，c 2 ＝68N·m·s/rad，k 1 ＝150000N/m，k 2 ＝25000N/m，n＝0.05m，b＝0.2m，σ＝0.6m，r＝0.35m，d 1 ＝-9.01rad -1 ，d 2 ＝171.02rad -3 . Based on the transient dynamics model, the eccentric moment threshold value of the transient instability of the tire can be obtained as follows: m is M t1 ＝11.22N·m，M t2 ＝12.94N·m。
Fig. 4 is a schematic diagram of transient dynamics bifurcation characteristics and instability boundaries of a tire provided in an embodiment of the present application, and shows the result of periodic bifurcation characteristics of the system. The abscissa axis M of the coordinate axes shown in the figure t (n·m) represents the eccentric moment, and the ordinate axis θ (rad) represents the pivot angle of the tire about the kingpin axis. As shown in FIG. 4, at M t1 And M t2 Between the two boundaries, the tire system has saddle-joint bifurcation and hopout bifurcation, and at the moment, the tire dynamics system has dangerous amplitude jump phenomenon, so that the tire rotation amplitude is greatly increased after the tire is subjected to larger external disturbance, thereby bringing serious hidden danger to the running safety of the automobile, and therefore, taking the smaller value M of the system dynamics bifurcation point t1 As an off-center moment threshold for tire transient instability.
The foregoing embodiments provide a detailed description of a method for handling tire transient instability provided in the present application, and a processing apparatus, an electronic device, a storage medium, and a program product for handling tire transient instability provided in the embodiments of the present application will be specifically explained below.
Fig. 5 is a schematic structural diagram of a device for handling transient instability of a tire according to an embodiment of the present application. As shown in fig. 5, the processing apparatus 500 includes:
the acquiring module 501 is configured to acquire driving condition data of a tire, where the driving condition data includes a rolling angular velocity, a vertical load, and a dynamic unbalance eccentric moment;
the input module 502 is configured to input a rolling angular velocity and a vertical load into a transient dynamics model, to obtain a dynamic unbalance eccentric moment threshold value of tire transient instability, where the transient dynamics model is configured to reflect a correspondence between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold value;
a determining module 503, configured to determine that the tire is transient and unstable when the dynamic unbalanced eccentric moment is greater than or equal to the dynamic unbalanced eccentric moment threshold value.
Alternatively, the input module 502 may be configured to: inputting the rolling angular velocity and the vertical load into a transient dynamics model, and calibrating the value of dynamic unbalance eccentric moment in the transient dynamics model to be 0 to obtain the swing angle modal angular frequency of the tire; and determining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the swing angle modal angular frequency and the transient dynamics model.
Optionally, the input module 502 includes a first determination module, which may be configured to: building a Jacobian matrix of the tire under a driving condition according to the transient dynamics model; obtaining a dynamic system characteristic equation of the tire under no external excitation according to the Jacobian matrix; and solving a characteristic equation, and determining the absolute value of the minimum non-zero imaginary characteristic value in the solving result as the swing angle modal angular frequency.
Optionally, the input module 502 includes a second determination module that may be configured to: constructing a complex variable function based on the swing angle modal angular frequency; inputting the complex variable function and the conjugate function of the complex variable function into a transient dynamics model to obtain a slow-variation power flow equation of the tire system; and obtaining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the slow dynamic force flow equation.
Optionally, the second determining module may be further configured to: obtaining a slow dynamic force flow balance point equation of the tire system and a periodic solution characteristic equation of the tire system under dynamic unbalance excitation based on a nonlinear dynamics bifurcation theory according to the slow dynamic force flow equation; and solving a characteristic equation according to the balance point equation and the period to obtain an eccentric moment threshold value of the transient instability of the tire.
Optionally, the transient dynamics model is built according to the following formula:
F y ＝d 1 F z0 α+d 1 F z0 α 3 formula III
Wherein m is 0 Representing the total mass of the tire, y representing the lateral displacement of the tire, θ representing the angle of oscillation of the tire about the kingpin axis, b representing the lateral distance of the center of mass of the tire from the kingpin axis, c 1 Represents the lateral damping, k, of the frame of the vehicle in which the tyre is located 1 Representing the lateral rigidity of the frame of the vehicle in which the tire is located, F y Represents the lateral force of the tire, d 1 And d 2 Is the fitting parameter of the tyre mechanics formula, F z0 Represents the vertical load of the tire, α represents the cornering angle, J represents the moment of inertia of the tire assembly about its kingpin, c 2 Representing the equivalent angular damping, k, of the tire assembly about its kingpin 2 Representing the equivalent angular stiffness of the tyre assembly about its kingpin, M Z Represents the tire aligning moment, M Z ＝F y n, n represents the pneumatic trailing distance of the tire, M u Representing the component of the dynamic unbalance moment of the tyre around the centre of the kingpin, M u ＝M t sin(Ωt)，M t Representing the dynamic unbalance eccentric force distance of the tyre, M t ＝m 0 r x r y Ω 2 ，r x Is the dynamic unbalance longitudinal eccentricity of the tyre, r y Is the lateral eccentricity of the dynamic unbalance of the tire, omega represents the rolling angular velocity of the tire, and t represents the time; the transient dynamics constraint relationship between θ and α is:
where σ represents the relaxed length of the tire, v represents the vehicle speed, v=Ω r, and r represents the radius of the tire.
Optionally, the processing device 500 further includes an early warning module, where the early warning module may be configured to: after the tire transient instability is judged, an early warning signal for representing the tire transient instability is sent out, or an early warning signal for correcting the tire transient instability is sent out.
The device provided in the embodiment of the present application may be used to execute the method for processing transient instability of a tire, and its implementation manner and technical effects are similar, and are not described herein again.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 600 includes: a processor 601, a memory 602, a communication interface 603 and a system bus 604.
The memory 602 and the communication interface 603 are connected to the processor 601 through the system bus 604 and complete communication with each other, the memory 602 is used for storing computer execution instructions, the communication interface 603 is used for communicating with other devices, and the processor 601 is used for executing the computer execution instructions to execute the scheme of the tire transient instability processing method according to the method embodiment.
In particular, the processor 601 may include one or more processing units, such as: the processor 601 may be a CPU, digital signal processing (Digital Signal Processing, abbreviated as DSP), application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
Memory 602 may be used to store program instructions. The memory 602 may include a stored program area and a stored data area. The storage program area may store an application program (such as a sound playing function, etc.) required for at least one function of the operating system, and the like. The storage data area may store data created during use of the electronic device 600 (e.g., audio data, etc.), and so on. In addition, the memory 602 may include high-speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, universal flash memory (Universal Flash Storage, abbreviated UFS), and the like. The processor 601 performs various functional applications and data processing of the electronic device 600 by executing program instructions stored in the memory 602.
The communication interface 603 may provide a solution for wireless communication, including 2G/3G/4G/16G, as applied to the electronic device 600. The communication interface 603 may receive electromagnetic waves from an antenna, filter, amplify, and the like the received electromagnetic waves, and transmit the electromagnetic waves to a modem processor for demodulation. The communication interface 603 may also amplify the signal modulated by the modem processor, and convert the signal into electromagnetic waves through an antenna to radiate. In some embodiments, at least some of the functional modules of the communication interface 603 may be provided in the processor 601. In some embodiments, at least some of the functional modules of the communication interface 603 may be provided in the same device as at least some of the modules of the processor 601.
The system bus 604 may be a Peripheral Component Interconnect (PCI) bus, an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The system bus 604 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
It should be noted that, the number of the memory 602 and the number of the processors 601 are not limited in this embodiment, and may be one or more, and fig. 6 illustrates one example; the memory 602 and the processor 601 may be connected by various means, such as wired or wireless, for example, via a bus. In practice, the electronic device 600 may be a computer or a mobile terminal in various forms. Examples of the computer include a laptop computer, a desktop computer, a workstation, a server, a blade server, and a mainframe computer; mobile terminals are, for example, personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices.
The electronic device of the present embodiment may be used to execute the technical solution in the foregoing method embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The embodiment of the application also provides a computer readable storage medium, wherein computer executable instructions are stored in the computer readable storage medium, and the computer executable instructions are used for realizing the scheme of the method for processing the tire transient instability in the method embodiment when being executed by a processor.
The embodiment also provides a computer program product, which comprises a computer program; when executed, the computer program implements aspects of a method for handling tire transient destabilization as in the method embodiments described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of handling transient instability of a tire, comprising:
acquiring driving condition data of a tire, wherein the driving condition data comprises rolling angular speed, vertical load and dynamic unbalance eccentric moment;
inputting the rolling angular velocity and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of tire transient instability, wherein the transient dynamics model is used for reflecting the corresponding relation between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold value;
and when the dynamic unbalance eccentric moment is larger than or equal to the dynamic unbalance eccentric moment threshold value, judging the transient instability of the tire.
2. The method of claim 1, wherein said inputting the rolling angular velocity and the vertical load into a transient dynamics model yields a dynamic imbalance eccentric moment threshold for tire transient instability, comprising:
inputting the rolling angular velocity and the vertical load into a transient dynamics model, and calibrating a dynamic unbalance eccentric moment value in the transient dynamics model to be 0 to obtain the swing angle modal angular frequency of the tire;
and determining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the swing angle modal angular frequency and the transient dynamics model.
3. A processing method according to claim 2, wherein said inputting the rolling angular velocity and the vertical load into a transient dynamics model and calibrating a value of a dynamic unbalance eccentric moment in the transient dynamics model to be 0, obtaining a swing angle modal angular frequency of a tire, comprises:
building a Jacobian matrix of the tire under the driving working condition according to the transient dynamics model;
obtaining a dynamic system characteristic equation of the tire under no external excitation according to the Jacobian matrix;
and solving the characteristic equation, and determining the absolute value of the characteristic value of the minimum non-zero imaginary part in the solving result as the swing angle modal angular frequency.
4. The method of processing of claim 2, wherein said determining a dynamic imbalance off-center moment threshold for tire transient instability based on said pivot angle modal angular frequency and said transient dynamics model comprises:
constructing a complex variable function based on the swing angle modal angular frequency;
inputting the complex variable function and the conjugate function of the complex variable function into the transient dynamics model to obtain a slow-variation power flow equation of the tire system;
and obtaining a dynamic unbalance eccentric moment threshold value of the transient instability of the tire according to the slow-change power flow equation.
5. The method according to claim 4, wherein said deriving a dynamic imbalance decenter moment threshold for tire transient instability from said slow varying power flow equation comprises:
according to the slow-variation power flow equation, based on a nonlinear dynamics bifurcation theory, a slow-variation power flow balance point equation of the tire system and a periodic solution characteristic equation of the tire system under dynamic unbalance excitation are obtained;
and solving a characteristic equation according to the balance point equation and the period to obtain the eccentric moment threshold value of the transient instability of the tire.
6. The process of any one of claims 1 to 5, wherein the transient dynamics model is built according to the following formula:
F y ＝d 1 F z0 α+d 1 F z0 α 3 formula III
Wherein m is 0 Representing the total mass of the tire, y representing the lateral displacement of the tire, θ representing the angle of oscillation of the tire about the kingpin axis, b representing the lateral distance of the center of mass of the tire from the kingpin axis, c 1 Represents the lateral damping, k, of the frame of the vehicle in which the tyre is located 1 Representing the lateral rigidity of the frame of the vehicle in which the tire is located, F y Represents the lateral force of the tire, d 1 And d 2 Is the fitting parameter of the tyre mechanics formula, F z0 Represents the vertical load of the tire, α represents the cornering angle, J represents the moment of inertia of the tire assembly about its kingpin, c 2 Representing the equivalent angular damping, k, of the tire assembly about its kingpin 2 Representing the equivalent angular stiffness of the tyre assembly about its kingpin, M Z Represents the tire aligning moment, M Z ＝F y n, n represents the pneumatic trailing distance of the tire, M u Representing the component of the dynamic unbalance moment of the tyre around the centre of the kingpin, M u ＝M t sin(Ωt)，M t Representing the dynamic unbalance eccentric force distance of the tyre, M t ＝m 0 r x r y Ω 2 ，r x Is the dynamic unbalance longitudinal eccentricity of the tyre, r y Is the lateral eccentricity of the dynamic unbalance of the tire, omega represents the rolling angular velocity of the tire, and t represents the time; the transient dynamics constraint relationship between θ and α is:
where σ represents the relaxed length of the tire, v represents the vehicle speed, v=Ω r, and r represents the radius of the tire.
7. The method according to any one of claims 1 to 5, characterized by further comprising, after determining the transient instability of the tire: and sending out an early warning signal for representing the transient instability of the tire.
8. A tire transient destabilization treatment device, comprising:
the acquisition module is used for acquiring driving condition data of the tire, wherein the driving condition data comprises rolling angular speed, vertical load and dynamic unbalance eccentric moment;
the input module is used for inputting the rolling angular speed and the vertical load into a transient dynamics model to obtain a dynamic unbalance eccentric moment threshold value of the tire transient instability, and the transient dynamics model is used for reflecting the corresponding relation between the rolling angular speed and the vertical load and the dynamic unbalance eccentric moment threshold value;
and the determining module is used for determining the transient instability of the tire when the dynamic unbalanced eccentric moment is greater than or equal to the dynamic unbalanced eccentric moment threshold value.
9. An electronic device, comprising: a memory, a processor;
the memory is used for storing program instructions;
the processor for invoking the program instructions to perform the method of handling tire transient instability as defined in any of claims 1-7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of handling transient instability of a tyre according to any one of claims 1 to 7.
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| CN116878737A (en) * | 2023-09-08 | 2023-10-13 | 山东骏程金属科技有限公司 | Hub dynamic balance detection method and detection device |
| CN116878737B (en) * | 2023-09-08 | 2023-12-01 | 山东骏程金属科技有限公司 | Hub dynamic balance detection method and detection device |
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