CN116296073A - Tire transient instability processing method, device and storage medium - Google Patents

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

Processing method, device and storage medium for tire transient instability

technical field

The present application relates to the technical field of tire vibration analysis, in particular to a processing method, device and storage medium for tire transient instability.

Background technique

With the improvement of living standards, users have put forward higher requirements for vehicle dynamic performance. During the service process of the vehicle, tire dynamic imbalance may occur due to uneven distribution of tire mass, rim installation error and deformation. Tire dynamic imbalance will accelerate tire wear and reduce tire service life, and tire dynamic imbalance excitation may induce vehicle front wheel shimmy and steering wheel vibration, thereby affecting vehicle driving safety and driving experience. Therefore, it is extremely important to improve the stability and safety of vehicles by exploring the transient dynamic behavior of tires induced by tire dynamic imbalance and clarifying whether there is a potential risk of transient instability in tires.

In order to monitor whether the tire is in a dynamic balance state, a related technology proposes a tire dynamic balance monitoring solution: when the vibration amplitude of the tire is detected to be greater than a set threshold, a tire imbalance signal is sent.

However, the above-mentioned tire dynamic balance monitoring scheme cannot fully reflect the transient instability characteristics of tires under different driving conditions, and there is a problem of low accuracy.

Contents of the invention

The present application provides a tire transient instability processing method, device and storage medium to solve the problem of low accuracy in determining the tire transient instability.

In the first aspect, the present application provides a method for processing the transient instability of a tire, which includes: acquiring tire driving condition data, the driving condition data including rolling angular velocity, vertical load and dynamic unbalanced eccentric moment; combining rolling angular velocity and The vertical load is input into the transient dynamic model to obtain the dynamic unbalance eccentric moment threshold of the tire transient instability. The transient dynamic model is used to reflect the corresponding relationship between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold; When the dynamic unbalanced eccentric moment is greater than or equal to the threshold value of the dynamic unbalanced eccentric moment, it is determined that the tire is transiently unstable.

Optionally, input the rolling angular velocity and vertical load into the transient dynamic model to obtain the dynamic unbalance eccentric moment threshold value of the tire transient instability, including: input the rolling angular velocity and vertical load into the transient dynamic model, and calibrate The value of the dynamic unbalance eccentric moment in the transient dynamic model is 0, and the modal angular frequency of the tire's swing angle is obtained; according to the modal angular frequency of the swing angle and the transient dynamic model, the dynamic instability of the tire's transient instability is determined Balance eccentric moment threshold.

Optionally, input the rolling angular velocity and vertical load into the transient dynamics model, and calibrate the value of the dynamic unbalanced eccentric moment in the transient dynamics model to 0 to obtain the modal angular frequency of the tire's swing angle, including: according to Transient dynamic model, constructing the Jacobian matrix of the tire under driving conditions; according to the Jacobian matrix, the characteristic equation of the dynamic system of the tire without external excitation is obtained; to solve the characteristic equation, the smallest non-zero virtual The absolute value of the eigenvalue of the section is determined as the modal angular frequency of the pendulum angle.

Optionally, according to the modal angular frequency of the swing angle and the transient dynamic model, determine the dynamic unbalance eccentric moment threshold of the tire transient instability, including: constructing a complex variable function based on the modal angular frequency of the swing angle; The function and the conjugate function of the complex variable function are input into the transient dynamics model to obtain the slowly changing power flow equation of the tire system; according to the slowly changing power flow equation, the dynamic unbalance eccentric moment threshold of the tire transient instability is obtained.

Optionally, according to the slowly changing dynamic flow equation, the dynamic unbalance eccentric moment threshold of the tire transient instability is obtained, including: according to the slowly changing dynamic flow equation, based on the nonlinear dynamic bifurcation theory, the equilibrium point equation of the tire system is obtained, And the periodic solution characteristic equation of the tire system under dynamic unbalance excitation; according to the equilibrium point equation and the periodic solution characteristic equation, the eccentric moment threshold of the tire transient instability is obtained.

Optionally, the transient dynamics model is established according to the following formula:

F _y ＝d ₁ F _z0 α+d ₁ F _z0 α ³ , Formula 3

Among them, m ₀ represents the mass of the tire assembly, y represents the lateral displacement of the tire, θ represents the swing angle of the tire around the kingpin axis, b represents the lateral distance from the center of mass of the tire to the kingpin axis, and c ₁ represents the vehicle position of the tire The frame lateral damping, k ₁ represents the frame lateral stiffness of the vehicle where the tire is located, F _y represents the tire lateral force, d ₁ and d ₂ are the fitting parameters of the tire mechanics formula, F _z0 represents the vertical load of the tire, α represents the side slip angle, J represents the moment of inertia of the tire assembly around its kingpin, _c2 represents the equivalent angular damping of the tire assembly around its kingpin, _k2 represents the equivalent angular stiffness of the tire assembly around its kingpin , M _Z represents the tire righting moment, M _Z =F _y n, n represents the tire aerodynamic trail, M _u represents the component of the tire dynamic unbalanced moment around the kingpin center, M _u =M _t sin(Ωt), M _t Indicates tire dynamic imbalance eccentric moment, M _t ＝m ₀ r _{x ry} Ω ² , r _x is tire dynamic imbalance longitudinal eccentricity, _ry is tire dynamic imbalance lateral eccentricity, Ω indicates tire rolling angular velocity, t represents time; the transient dynamic constraint relationship between θ and α is:

Among them, σ represents the slack length of the tire, v represents the vehicle speed, v=Ωr, and r represents the radius of the tire.

Optionally, after determining the transient instability of the tire, the method further includes: issuing an early warning signal for characterizing the transient instability of the tire.

In the second aspect, the present application provides a processing device for transient instability of tires, including: an acquisition module for acquiring tire driving condition data, the driving condition data including rolling angular velocity, vertical load and dynamic unbalance eccentric moment ; The input module is used to input the rolling angular velocity and vertical load into the transient dynamic model to obtain the dynamic unbalance eccentric moment threshold value of the tire transient instability, and the transient dynamic model is used to reflect the rolling angular velocity and vertical load and dynamic The corresponding relation of the unbalanced eccentric moment threshold; the determination module is used to determine the transient instability of the tire when the dynamic unbalanced eccentric moment is greater than or equal to the dynamic unbalanced eccentric moment threshold.

In a third aspect, the present application provides an electronic device, including: a memory, a processor; a memory, used to store program instructions; and a processor, used to call program instructions to execute any one of the above-mentioned first aspects. The treatment method of tire transient instability.

In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement any one of the above-mentioned first aspects. The treatment method of tire transient instability.

In a fifth aspect, the present application provides a computer program product, including a computer program; when the computer program is executed, the method for processing transient instability of tires as provided in the first aspect above is implemented.

The processing method, device and storage medium for tire transient instability provided in the present application obtain the tire driving condition data, the driving condition data includes rolling angular velocity, vertical load and dynamic unbalanced eccentric moment; the rolling angular velocity and vertical Input the transient dynamic model to the load to obtain the dynamic unbalance eccentric moment threshold of tire transient instability. The transient dynamic model is used to reflect the corresponding relationship between rolling angular velocity and vertical load and dynamic unbalance eccentric moment threshold; When the unbalanced eccentric moment is greater than or equal to the dynamic unbalanced eccentric moment threshold, it is determined that the tire is transiently unstable. Based on multiple real-time driving condition data of the tire, this application obtains the dynamic unbalance eccentric moment threshold value of the tire transient instability through the transient dynamic model, fully considering the tire driving condition and vertical load on the transient dynamic behavior of the tire The influence of the threshold value is more accurate, and the safety and stability of the vehicle are significantly improved.

Description of drawings

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 diagram of an application scenario provided by an embodiment of the present application;

Fig. 2 is a schematic flow chart of the processing method for tire transient instability provided by the embodiment of the present application;

FIG. 3 is a schematic diagram of a tire dynamics model under dynamic unbalance excitation provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of the transient dynamic bifurcation characteristics and instability boundary of the tire provided by the embodiment of the present application;

Fig. 5 is a schematic structural diagram of a processing device for tire transient instability provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

By means of the above drawings, specific embodiments of the present application have been shown, which will be described in more detail hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the application in any way, but to illustrate the concept of the application for those skilled in the art by referring to specific embodiments.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

FIG. 1 is a schematic diagram of an application scenario provided by 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 collection unit 101 is used to collect various driving condition parameters of the tire. The signal collection unit 101 may include one or more sensors, and the sensors may be set near the tire, or at other positions where required parameters can be collected. In the same vehicle, one or more signal acquisition units 101 may be respectively provided for different tires. The signal acquisition unit 101 may also include a signal processing unit, which is used for calculating or correcting one or more collected parameters, and there may be more than one signal processing unit.

The electronic control unit 102 is used to determine whether the tire is in an unstable state according to various parameters of the tire. Exemplarily, the electronic control unit 102 may be a vehicle electronic control unit (Electronic Control Unit, ECU for short). The electronic control unit 102 can receive the parameters output from the signal acquisition unit 101 and has the ability to perform certain calculations on these parameters.

The notification unit 103 is used to present the determination result of whether the tire is unstable. The notification unit 103 can receive the control signal output by the electronic control unit 102, and present different results according to different control signals. Exemplarily, the notification unit 103 may be configured to have a display screen capable of displaying information about whether the tire is unstable or not. The notification unit 103 can also be configured to include an indicator light, which is off when the tire is not unstable, and flashes when the tire is unstable. The function of the notification unit 103 is mainly to remind the user to pay attention to the dynamic imbalance of the tire in time, so as to perform corresponding correction processing.

When the vehicle is running and the tires are in the running state, the signal acquisition unit 101 periodically collects various parameters of the tires, and outputs these parameters to the electronic control unit 102 . The electronic control unit 102 receives these parameters, performs a certain calculation process on these parameters, and determines whether the tire has a dynamic imbalance according to the result of the calculation process, and then outputs the determination result to the notification unit 103 . The notification unit 103 presents the result of the determination, especially when tire instability is determined.

Based on the above, this application proposes a tire transient instability treatment method, by establishing a tire dynamics model considering the dynamic unbalance excitation, taking the tire rolling angular velocity and vertical load as input, and calculating the tire swing through the system Jacobian matrix The angular frequency of the angular mode, and secondly, using the tire rolling angular velocity and vertical load as input quantities, the slow-varying power flow of the system at the resonance frequency is solved by the complex variable-average method, so as to obtain the system equilibrium point equation and characteristic equation, and then based on Nonlinear dynamic bifurcation theory to obtain tire transient instability conditions. When the real-time parameters of the tire exceed the transient instability condition of the tire, a tire dynamic imbalance correction prompt will be given to ensure the smooth and safe operation of the car.

The method for handling the transient instability of tires provided by the present application will be described in detail below in combination with application scenarios and specific embodiments.

Fig. 2 is a schematic flowchart of a method for processing transient instability of a tire provided in an embodiment of the present application. As shown in Figure 2, the processing method includes:

S201: Obtain the driving condition data of the tire, the driving condition data includes rolling angular velocity, vertical load and dynamic unbalanced eccentric moment.

The tire driving condition data can be collected by the signal acquisition unit and output to the electronic control unit, and the electronic control unit obtains the tire driving condition data from the signal acquisition unit. Exemplarily, the rolling angular velocity of the tire can be collected by a wheel speed sensor (referred to as a wheel speed sensor), and the wheel speed sensor can be installed on the wheel, or in the final drive or the transmission.

Exemplarily, the rolling angular velocity of the tire can also be determined according to the driving speed of the vehicle and the radius of the tire. Specifically, the ratio of the driving speed of the vehicle to the radius of the tire is determined as the rolling angular velocity of the tire, wherein the driving speed of the vehicle can be determined using the collected by the speed 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 scenario; it can also trigger the step of acquiring the driving condition data of the tire in response to the input detection instruction, exemplary , the user can input a detection instruction for detecting tire stability to the electronic control unit, the electronic control unit responds to the detection instruction, and sends a signal collection instruction to the signal acquisition unit, and the control signal acquisition unit immediately performs one or consecutive driving condition data of acquisition.

S202: Input the rolling angular velocity and vertical load into the transient dynamic model to obtain the dynamic unbalance eccentric moment threshold value of the tire transient instability, and the transient dynamic model is used to reflect the rolling angular velocity, vertical load and dynamic unbalance eccentric moment Correspondence to the threshold.

The dynamic unbalance eccentric moment threshold refers to the boundary value of the dynamic unbalance eccentric moment of tire instability, that is, if the real-time dynamic unbalance eccentric moment of the tire exceeds the dynamic unbalance eccentric moment threshold, it means that the tire is in an unstable state. If the real-time dynamic unbalance eccentric moment does not exceed the dynamic unbalance eccentric moment threshold, it indicates that the tire is in a stable motion state.

The transient dynamic model can perform certain calculations on the input rolling angular velocity and vertical load, and output the dynamic unbalance eccentric moment threshold. In a specific embodiment, taking the left front wheel of a vehicle as an example, a tire dynamics model is established. FIG. 3 is a schematic diagram of a tire dynamics model under dynamic unbalance excitation provided by an embodiment of the present application. As shown in FIG. 3 , the dynamic model includes a tire 301 , a tire kingpin center 302 , and a vehicle frame 303 . The dynamic model mainly includes two degrees of freedom of tire lateral movement and tire swing around its kingpin.

Therefore, the transient dynamic model can be established according to the following formulas (Formula 1-Formula 4):

F _y ＝d ₁ F _z0 α+d ₁ F _z0 α ³ , Formula 3

Among them, m ₀ represents the mass of the tire assembly, y represents the lateral displacement of the tire, θ represents the swing angle of the tire around the kingpin axis, b represents the lateral distance from the center of mass of the tire to the kingpin axis, and c ₁ represents the vehicle position of the tire The frame lateral damping, k ₁ represents the frame lateral stiffness of the vehicle where the tire is located, F _y represents the tire lateral force, d ₁ and d ₂ are the fitting parameters of the tire mechanics formula, F _z0 represents the vertical load of the tire, α represents the side slip angle, J represents the moment of inertia of the tire assembly around its kingpin, _c2 represents the equivalent angular damping of the tire assembly around its kingpin, _k2 represents the equivalent angular stiffness of the tire assembly around its kingpin , M _Z represents the tire righting moment, M _Z =F _y n, n represents the tire aerodynamic trail, M _u represents the component of the tire dynamic unbalanced moment around the kingpin center, M _u =M _t sin(Ωt), M _t Indicates tire dynamic unbalanced eccentric moment, M _t =m _o r _{x ry} Ω ² , r _x is tire dynamic unbalanced longitudinal eccentricity, _ry is tire dynamic unbalanced lateral eccentricity, Ω indicates tire rolling angular velocity, t represents time; the transient dynamic constraint relationship between θ and α is:

Among them, σ represents the slack length of the tire, v represents the vehicle speed, v=Ωr, and r represents the radius of the tire.

In other embodiments, other transient dynamic models for reflecting the corresponding relationship between the rolling angular velocity and the vertical load and the dynamic unbalance eccentric moment threshold may also be used.

S203: When the dynamic unbalanced eccentric moment is greater than or equal to the threshold value of the dynamic unbalanced eccentric moment, determine that the tire is transiently unstable.

After the dynamic unbalance eccentric moment threshold is obtained in S202, the real-time dynamic unbalance eccentric moment of the tire under the driving condition obtained in S201 is compared with the dynamic unbalance eccentric moment threshold. If the comparison result is that the dynamic unbalanced eccentric moment is greater than or equal to the threshold value of the dynamic unbalanced eccentric moment, it is determined that the tire is in an unstable state at this time and there is a potential safety hazard.

Optionally, after determining the transient instability of the tire, the method may further include: issuing an early warning signal for characterizing the transient instability of the tire. The warning signal may be presented on a visual device, or may be presented as a flashing light turned on, which is not limited here. Optionally, the early warning signal may also be an early warning signal issued to correct the transient instability of the tire.

In the embodiment of the present application, by obtaining the driving condition data of the tire, the driving condition data includes rolling angular velocity, vertical load and dynamic unbalanced eccentric moment; inputting the rolling angular velocity and vertical load into the transient dynamics model to obtain the tire transient state The dynamic unbalance eccentric moment threshold of instability, the transient dynamics model is used to reflect the corresponding relationship between the rolling angular velocity and vertical load and the dynamic unbalance eccentric moment threshold; when the dynamic unbalance eccentric moment is greater than or equal to the dynamic unbalance eccentric moment threshold , it is determined that the tire is transiently unstable. The embodiment of the present application obtains the dynamic unbalance eccentric moment threshold value of the tire transient instability through the transient dynamics model based on multiple real-time driving condition data of the tire, and fully considers the impact of the tire driving condition and vertical load on the transient dynamic force of the tire. The impact of learning behavior, the determination of the threshold is more accurate, which can significantly improve the safety and stability of the vehicle.

On the basis of the above embodiments, optionally, input the rolling angular velocity and vertical load into the transient dynamic model to obtain the dynamic unbalance eccentric moment threshold value of the tire transient instability, including: inputting the rolling angular velocity and vertical load Transient dynamics model, and the value of the dynamic unbalanced eccentric moment in the transient dynamics model is calibrated to 0, and the swing angle modal angular frequency of the tire is obtained; according to the swing angle modal angular frequency and the transient dynamics model, determine Dynamic unbalance eccentric moment threshold for tire transient instability.

Optionally, input the rolling angular velocity and vertical load into the transient dynamics model, and calibrate the value of the dynamic unbalanced eccentric moment in the transient dynamics model to 0 to obtain the modal angular frequency of the tire's swing angle, including: according to Transient dynamic model, constructing the Jacobian matrix of the tire under driving conditions; according to the Jacobian matrix, the characteristic equation of the dynamic system of the tire without external excitation is obtained; to solve the characteristic equation, the smallest non-zero virtual The absolute value of the eigenvalue of the section is determined as the modal angular frequency of the pendulum angle.

将公式一～公式四所示的轮胎动力学系统微分方程组转化为状态矩阵：Taking the transient dynamic model established according to Formula 1 to Formula 4 as an example, according to the transient dynamic model, the Jacobian matrix of the tire under driving conditions is constructed, including: introducing variables into Formula 1 to Formula 4

Transform the differential equations of the tire dynamic system shown in Formula 1 to Formula 4 into a state matrix:

Find the partial derivative with respect to x of the state matrix:

Wherein, [U] _i×j represents the Jacobian matrix, i and j represent serial numbers, and i, j=1, 2, . . . , 5.

According to the state matrix shown in Formula 6, solve the Jacobian matrix U of the state matrix of the tire under driving conditions, and then substitute U into the following formula:

det|U-λI|=0, Formula 7

Among them, λ represents the eigenvalue related to tire performance, and I represents the identity matrix. According to formula 7, the characteristic equation of the tire dynamic system 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. formula eight

Among them, β ₀ to β ₅ represent the characteristic values of the tire dynamic system. By solving formula 8, the eigenvalues of the system can be obtained. In the solution results, for the eigenvalues of the non-zero imaginary part, the absolute value of the imaginary part of the complex eigenvalue is the two modal angular frequencies ω ₁ and ω ₂ of the tire dynamics system , since the frequency of the tire's swing angle is smaller than its lateral motion frequency, the modal frequency of the tire's swing angle is determined as ω _s =min(ω ₁ , ω ₂ ).

Optionally, according to the modal angular frequency of the swing angle and the transient dynamic model, determine the dynamic unbalance eccentric moment threshold of the tire transient instability, including: constructing a complex variable function based on the modal angular frequency of the swing angle; The function and the conjugate function of the complex variable function are input into the transient dynamics model to obtain the slowly changing power flow equation of the tire system; according to the slowly changing power flow equation, the dynamic unbalance eccentric moment threshold of the tire transient instability is obtained.

In order to analyze the dynamic bifurcation characteristics of the tire system under dynamic unbalance excitation, complex variables are introduced. Still taking the transient dynamic model established according to formulas 1 to 4 as an example, firstly, complex variables Φ ₁ to Φ ₃ are introduced, and complex variable functions are constructed based on the modal angular frequency of the swing angle, including: based on the modal parameter ω _s , constructing the following complex variables:

Among them, e is the natural exponent, i is the imaginary unit, and Ψ ₁ ~ Ψ ₃ represent complex variable functions.

Substituting the complex variable function and the conjugate function of the complex variable function into the transient dynamic model to obtain the slowly changing power flow equation of the tire system, which may include: according to formula 9, the conjugate function of the complex variable function is obtained:

Among them, the * in the upper right corner of each variable indicates conjugation.

系数，得到轮胎系统的慢变动力流方程：Input the complex variable function and the conjugate function of the complex variable function into the transient dynamics model to obtain the slowly changing power flow equation of the tire system, which may include: combining the complex variable shown in formula 9 and the complex variable shown in formula 10 The yoke variable is substituted into the transient dynamic model (formula 1 to formula 4), and the extraction

Coefficients, the slowly changing dynamic flow equation of the tire system is obtained:

k₀＝d₁F_z0，k₀ ^c＝d₂F_z0；in,

k ₀ =d ₁ F _z0 , k ₀ ^c =d ₂ F _z0 ;

Among them, J _h =Jm ₀ b ² ,

Optionally, according to the slowly changing power flow equation, the dynamic unbalance eccentric moment threshold of the tire transient instability is obtained, including: according to the slowly changing power flow equation, based on the nonlinear dynamic bifurcation theory, the slowly changing power flow of the tire system is obtained The balance point equation and the periodic solution characteristic equation of the tire system under dynamic unbalance excitation; according to the balance point equation and the periodic solution characteristic equation, the eccentric moment threshold of the tire transient instability is obtained.

代入公式十一～十三，得到轮胎系统的慢变动力流平衡点方程：Taking the slow-varying power-flow equation shown in formulas 11-13 as an example, according to the slow-changing power-flow equation, the slowly-changing power-flow equilibrium point equation of the tire system can be obtained, which can include:

Substituting formulas 11 to 13, the equation of the slowly changing power flow equilibrium point of the tire system is obtained:

ρ ₃ Z ³ +ρ ₂ Z ² +ρ ₁ Z+ρ=0, Formula 14

Wherein, Z=|Φ ₃ | ² , ρ ₁ , ρ ₂ and ρ ₃ are coefficients related to tire properties.

In order to study the stability of the periodic solution of the tire system under the excitation of dynamic imbalance, a small disturbance is introduced near the equilibrium point. First, establish the disturbance function of the tire system near the equilibrium point:

Among them, Φ ₁₀ to Φ ₃₀ represent the unbalanced points of each period, and δ ₁ to δ ₃ represent small disturbances near the unbalanced points of each period.

According to the slow-varying power-flow equation, the periodic solution characteristic equation of the tire system under the excitation of dynamic unbalance can be obtained, which may include: substituting the disturbance function into the slowly-varying power-flow equation shown in formulas 11-13, and retaining the linear term, we can get The perturbation equation is as follows:

Taking the conjugate of the above formula, the characteristic equation of the periodic solution of the tire system under dynamic imbalance excitation can be obtained as follows:

ζ ₁ μ ⁴ + ζ ₂ μ ³ + ζ ₃ μ ² + ζ ₄ μ + ζ ₅ = 0, Formula 19

Among them, ζ ₁ ~ ζ ₅ are the parameters related to the tire properties and the periodic solution, and μ represents the eigenvalue of the periodic solution.

According to the balance point equation and the periodic solution characteristic equation, the eccentric moment threshold of the tire transient instability is obtained, including: simultaneous balance point equation and periodic solution characteristic equation, that is, simultaneous formula 14 and formula 19, which can be solved as follows:

The minimum value of M _t1 and M _t2 is taken as the eccentric moment threshold of tire transient instability.

In a specific embodiment, the rolling angular velocity and vertical load of the tire are respectively taken as:

Ω=57.14rad/s, _Fz0 =4700N. The various calibration parameters in the transient dynamic model of the tire are m ₀ =15kg, J=0.48kg·m ² , c ₁ =220N·s/m, c ₂ =68N·m·s/rad, k ₁ = 150000 N/m, k ₂ =25000 N/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 above transient dynamic model, the eccentric moment thresholds of tire transient instability can be obtained: M _t1 =11.22N·m, M _t2 =12.94N·m.

FIG. 4 is a schematic diagram of the transient dynamic bifurcation characteristics and the instability boundary of the tire provided by the embodiment of the present application, showing the results of the system cycle solution bifurcation characteristics. The abscissa axis M _t (N·m) of the coordinate axes shown in the figure represents the eccentric moment, and the ordinate axis θ (rad) represents the swing angle of the tire around the kingpin axis. As shown in Figure 4, between the two boundaries of _Mt1 and _Mt2 , there are saddle node bifurcation and Hopper bifurcation phenomena in the tire system. At this time, there is a dangerous amplitude jump phenomenon in the tire dynamic system, which makes the tire After receiving a large external disturbance, the amplitude of tire rotation will increase sharply, which will bring serious hidden dangers to the driving safety of the car. Therefore, the smaller value of the system dynamics bifurcation point M _t1 is taken as the eccentricity of the transient instability of the tire Torque threshold.

The above-mentioned embodiments have described in detail the processing method for tire transient instability provided in the present application. The following will specifically explain the processing device, electronic equipment, storage medium and program product for tire transient instability provided in the embodiments of the present application.

Fig. 5 is a schematic structural diagram of a processing device for transient tire instability provided by an embodiment of the present application. As shown in Figure 5, the processing device 500 includes:

The obtaining module 501 is used to obtain the driving condition data of the tire, the driving condition data includes rolling angular velocity, vertical load and dynamic unbalance eccentric moment;

The input module 502 is used to input the rolling angular velocity and vertical load into the transient dynamic model to obtain the dynamic unbalance eccentric moment threshold value of the tire transient instability, and the transient dynamic model is used to reflect the relationship between the rolling angular velocity and the vertical load and the dynamic Corresponding relationship of unbalanced eccentric moment threshold;

A determining module 503, configured to determine the transient instability of the tire when the dynamic unbalance eccentric torque is greater than or equal to the threshold value of the dynamic unbalance eccentric torque.

Optionally, the input module 502 can be used to: input the rolling angular velocity and the vertical load into the transient dynamics model, and calibrate the value of the dynamic unbalance eccentric moment in the transient dynamics model to be 0 to obtain the swing angle model of the tire State angular frequency; according to the swing angle modal angular frequency and the transient dynamic model, determine the dynamic unbalance eccentric moment threshold of the tire transient instability.

Optionally, the input module 502 includes a first determination module, and the first determination module can be used to: construct the Jacobian matrix of the tire under driving conditions according to the transient dynamic model; The characteristic equation of the dynamical system under excitation; solve the characteristic equation, and determine the absolute value of the smallest non-zero imaginary part eigenvalue in the solution result as the pendulum angle modal angular frequency.

Optionally, the input module 502 includes a second determination module, and the second determination module can be used to: construct a complex variable function based on the modal angular frequency of the swing angle; input the complex variable function and the conjugate function of the complex variable function into the transient dynamics The slowly changing dynamic flow equation of the tire system is obtained by using the physical model; according to the slowly varying dynamic flow equation, the dynamic unbalance eccentric moment threshold of the tire transient instability is obtained.

Optionally, the second determination module can also be used to: obtain the slow-varying power-flow equilibrium point equation of the tire system based on the slowly-changing power-flow equation and the nonlinear dynamic bifurcation theory, and the tire system under dynamic imbalance excitation Periodically solve the characteristic equation; according to the equilibrium point equation and the periodical solution characteristic equation, the eccentric moment threshold of the tire transient instability is obtained.

Optionally, the transient dynamics model is established according to the following formula:

F _y ＝d ₁ F _z0 α+d ₁ F _z0 α ³ , Formula 3

Among them, m ₀ represents the mass of the tire assembly, y represents the lateral displacement of the tire, θ represents the swing angle of the tire around the kingpin axis, b represents the lateral distance from the center of mass of the tire to the kingpin axis, and c ₁ represents the vehicle position of the tire The frame lateral damping, k ₁ represents the frame lateral stiffness of the vehicle where the tire is located, F _y represents the tire lateral force, d ₁ and d ₂ are the fitting parameters of the tire mechanics formula, F _z0 represents the vertical load of the tire, α represents the side slip angle, J represents the moment of inertia of the tire assembly around its kingpin, _c2 represents the equivalent angular damping of the tire assembly around its kingpin, _k2 represents the equivalent angular stiffness of the tire assembly around its kingpin , M _Z represents the tire righting moment, M _Z =F _y n, n represents the tire aerodynamic trail, M _u represents the component of the tire dynamic unbalanced moment around the kingpin center, M _u =M _t sin(Ωt), M _t Indicates tire dynamic imbalance eccentric moment, M _t ＝m ₀ r _{x ry} Ω ² , r _x is tire dynamic imbalance longitudinal eccentricity, _ry is tire dynamic imbalance lateral eccentricity, Ω indicates tire rolling angular velocity, t represents time; the transient dynamic constraint relationship between θ and α is:

Among them, σ represents the slack length of the tire, v represents the vehicle speed, v=Ωr, and r represents the radius of the tire.

Optionally, the processing device 500 also includes an early warning module. The early warning module can be used to: issue an early warning signal for characterizing the transient instability of the tire after determining the transient instability of the tire, or issue a correction signal for the transient instability of the tire. early warning signs.

The device provided by the embodiment of the present application can be used to implement the above-mentioned method for processing the transient instability of the tire, and its implementation method and technical effect are similar, and will not be repeated here.

FIG. 6 is a schematic structural diagram of an electronic device provided by 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 .

Among them, the memory 602 and the communication interface 603 are connected to the processor 601 through the system bus 604 and complete mutual communication, the memory 602 is used to store computer execution instructions, the communication interface 603 is used to communicate with other devices, and the processor 601 is used to execute The computer executes instructions to implement the solution of the tire transient instability processing method in the above method embodiment.

Specifically, the processor 601 may include one or more processing units. For example, the processor 601 may be a CPU, or a digital signal processing (Digital Signal Processing, DSP for short), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short). )wait. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in conjunction with the application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

Memory 602 may be used to store program instructions. The memory 602 may include an area for storing programs and an area for storing data. Wherein, the storage program area can store an operating system, at least one application program required by a function (such as a sound playing function, etc.) and the like. The storage data area can store data (such as audio data, etc.) created during the use of the electronic device 600 . In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, Universal Flash Storage (UFS for short), and the like. The processor 601 executes various functional applications and data processing of the electronic device 600 by executing program instructions stored in the memory 602 .

The communication interface 603 can provide wireless communication solutions including 2G/3G/4G/16G applied on the electronic device 600 . The communication interface 603 can receive electromagnetic waves through the antenna, filter and amplify the received electromagnetic waves, and send them to the modem processor for demodulation. The communication interface 603 can also amplify the signal modulated by the modem processor, convert it into electromagnetic wave and radiate it through the antenna. In some embodiments, at least part of the functional modules of the communication interface 603 may be set in the processor 601 . In some embodiments, at least part of the functional modules of the communication interface 603 and at least part of the modules of the processor 601 may be set in the same device.

The system bus 604 may be a Peripheral Component Interconnect (PCI for short) bus or an Extended Industry Standard Architecture (EISA for short) bus or the like. The system bus 604 can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

It should be noted that, for the number of memory 602 and processor 601, the embodiment of the present application does not limit it, which may be one or more, and FIG. 6 uses one as an example to illustrate; memory 602 and processor 601 Wired or wireless connections can be made in various ways, for example, through a bus connection. In practical applications, the electronic device 600 may be various forms of computers or mobile terminals. Wherein, computers are, for example, laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, etc.; mobile terminals are, for example, personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices.

The electronic device in this embodiment can be used to implement the technical solutions in the above method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the processing of the tire transient instability in the above-mentioned method embodiments Method scheme.

The embodiment of the present application also provides a computer program product, including a computer program; when the computer program is executed, the solution of the method for handling the transient instability of the tire as in the above method embodiment is realized.

Other embodiments of the present application will be readily 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 modification, use or adaptation of the application, these modifications, uses or adaptations follow the general principles of the application and include common knowledge or conventional technical means in the technical field not disclosed in the application . The specification and examples are to be considered exemplary only, with a true scope and spirit of the application indicated by the following claims.

It should be understood that the present application is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and various modifications and changes may be made 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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