CN117313345A - Spindle head load extraction method, device, equipment and storage medium - Google Patents
Spindle head load extraction method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of automobile road noise simulation, and discloses a method, a device, equipment and a storage medium for extracting axle head load, wherein the method comprises the following steps: performing vibration acceleration test on each steering knuckle to obtain a response signal matrix and a reference signal matrix; calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix; singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle; and acquiring a transfer function matrix, and calculating based on the transfer function matrix and a reference spectrum response matrix of each steering knuckle to obtain the axle head load of each wheel. The method solves the problems that the extracted shaft head load cannot be directly applied, form conversion is needed, the efficiency is low and the accuracy is poor, the extracted shaft head load is in a frequency domain load form, can be directly used for road noise simulation, and improves the efficiency and the accuracy.
Description
Technical Field
The invention relates to the technical field of automobile road noise simulation, in particular to a method, a device, equipment and a storage medium for extracting axle head load.
Background
Noise radiated into the vehicle from vibrations of the body structure caused by road irregularities and interactions between the vehicle suspension/tire systems is collectively referred to as road noise. Particularly for new energy vehicles, road noise is particularly obvious due to lack of masking effect of engine noise, and NVH performance of the whole vehicle is seriously affected. The road noise NVH simulation analysis of the whole vehicle based on Spindle head force (Spindle Load) loading is a common road noise simulation development means. The extraction of the axle head load is the premise and difficulty of developing the road noise performance of the whole vehicle by applying the road noise simulation analysis method. However, the Spindle head Load obtained by extraction at present cannot be directly used for simulation analysis of noise NVH of the whole vehicle based on Spindle head force (Spindle Load), form conversion is needed, the Spindle head Load obtained by extraction is converted into a frequency domain form, and the efficiency and the accuracy are low.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for extracting spindle head load, and aims to solve the technical problems that the spindle head load extracted in the prior art cannot be directly applied, form conversion is required, the efficiency is low and the accuracy is poor.
In order to achieve the above object, the present invention provides a method for extracting a shaft head load, the method comprising the steps of:
performing vibration acceleration test on each knuckle to obtain a response signal matrix and a reference signal matrix, wherein each knuckle is respectively connected with a corresponding wheel;
calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix;
singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle;
and acquiring a transfer function matrix, and calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load of each wheel.
Optionally, the singular value decomposition is performed on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle, including:
singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a singular value matrix;
obtaining a self-power spectrum according to the singular value matrix;
determining a target reference matrix based on the self-power spectrum;
calculating according to the target reference matrix and the response signal matrix to obtain a reference frequency spectrum;
and calculating according to the reference frequency spectrum to obtain a reference frequency spectrum response matrix of each steering knuckle.
Optionally, the obtaining a transfer function matrix, and calculating based on the transfer function matrix and the reference spectrum response matrix of each knuckle to obtain the axle head load of each wheel, including:
performing simulation analysis on a preset whole vehicle model to obtain a transfer function matrix;
calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load component of each wheel;
and calculating according to the axle head load components of each wheel to obtain the axle head load of each wheel.
Optionally, the performing simulation analysis on the preset whole vehicle model to obtain a transfer function matrix includes:
acquiring a preset whole vehicle model, wherein the preset whole vehicle model is a whole vehicle model without tires;
calculating a vibration transfer function from a spindle head force loading point of each wheel to a vibration acceleration measuring point of a corresponding steering knuckle according to the preset whole vehicle model;
and simulating according to the vibration transfer function to obtain a transfer function matrix of each vehicle.
Optionally, the vibration acceleration test is performed on each knuckle to obtain a response signal matrix and a reference signal matrix, including:
vibration acceleration testing is carried out on vibration acceleration measuring points of all steering knuckles to obtain measuring point acceleration signals, wherein the number of the vibration acceleration measuring points of all the steering knuckles is multiple;
and determining a response signal matrix and a reference signal matrix according to the measuring point acceleration signals.
Optionally, the determining a response signal matrix and a reference signal matrix according to the measurement point acceleration signal includes:
performing validity check on the measuring point acceleration signal to obtain a check result;
determining target measuring points of all steering knuckles according to the checking result and the vibration acceleration measuring points of all steering knuckles;
determining response signals according to the target measuring points of the steering knuckles;
obtaining a response signal matrix according to the response signal;
determining a reference point of each knuckle according to the target measuring point of each knuckle;
and determining a reference signal according to the reference point, and determining a reference signal matrix according to the reference signal.
Optionally, the validity checking of the measurement point acceleration signal is performed to obtain a checking result, including:
calculating according to the measuring point acceleration signals to obtain the mean square value of the measuring point acceleration in all directions;
determining the acceleration trend and the mean square error of the measuring point according to the mean square value of the measuring point in each direction;
and obtaining an inspection result according to the acceleration trend of the measuring point and the mean square error.
In addition, to achieve the above object, the present invention also proposes a spindle head load extraction device, including:
the test module is used for testing the vibration acceleration of each steering knuckle to obtain a response signal matrix and a reference signal matrix, wherein each steering knuckle is respectively connected with a corresponding wheel;
the calculation module is used for calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix;
the decomposition module is used for carrying out singular value decomposition on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle;
the acquisition module is used for acquiring a transfer function matrix, and calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load of each wheel.
In addition, in order to achieve the above object, the present invention also proposes a gudgeon load extraction apparatus comprising: the system comprises a memory, a processor, and a gudgeon load extraction program stored on the memory and operable on the processor, the gudgeon load extraction program configured to implement the steps of the gudgeon load extraction method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a stub shaft load extraction program which, when executed by a processor, implements the steps of the stub shaft load extraction method as described above.
According to the invention, a response signal matrix and a reference signal matrix are obtained by carrying out vibration acceleration test on each steering knuckle; calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix; singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle; and acquiring a transfer function matrix, and calculating based on the transfer function matrix and a reference spectrum response matrix of each steering knuckle to obtain the axle head load of each wheel. According to the mode, the multi-reference cross power spectrum response matrix is calculated according to the response signal matrix and the reference signal matrix obtained through vibration acceleration test, and the spindle head load of each wheel is obtained through decomposing the multi-reference cross power spectrum response matrix and calculating, so that the problems that the extracted spindle head load cannot be directly applied, is required to be converted in form and is low in efficiency and poor in accuracy are solved, the extracted spindle head load is in a frequency domain load form, can be directly used for road noise simulation, and efficiency and accuracy are improved.
Drawings
FIG. 1 is a schematic structural diagram of a gudgeon load extraction apparatus of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the method for extracting the axle head load of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the method for extracting the axle head load of the present invention;
FIG. 4 is a schematic diagram of the position of the point of the Splindle and the vibration measuring point in an embodiment of the method for extracting the load of the shaft head;
fig. 5 is a block diagram of a first embodiment of the gudgeon load extraction apparatus of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a spindle nose load extraction device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the axle head load extraction apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the axle load extraction apparatus, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a spindle nose load extraction program may be included in the memory 1005 as one type of storage medium.
In the gudgeon load extraction apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the gudgeon load extraction apparatus of the present invention may be disposed in the gudgeon load extraction apparatus, where the gudgeon load extraction apparatus invokes the gudgeon load extraction program stored in the memory 1005 by the processor 1001, and executes the gudgeon load extraction method provided by the embodiment of the present invention.
The embodiment of the invention provides a method for extracting shaft head load, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for extracting shaft head load.
In this embodiment, the method for extracting the load of the spindle nose includes the following steps:
step S10: and carrying out vibration acceleration test on each steering knuckle to obtain a response signal matrix and a reference signal matrix, wherein each steering knuckle is respectively connected with a corresponding wheel.
It should be noted that, the execution body of the present embodiment is a spindle head load extraction device, and may be other devices that can implement the same or similar functions, which is not limited in this embodiment, and the present embodiment is described by taking the spindle head load extraction device as an example.
It is understood that the knuckle is one of important parts in a steering axle of an automobile, and can make the automobile stably run and sensitively transmit a running direction. The knuckle is used for transmitting and bearing the front load of the automobile, and supporting and driving the front wheel to rotate around the kingpin so as to steer the automobile. In the running state of the automobile, the automobile bears variable impact load, and each steering knuckle is connected with a corresponding wheel.
In a specific implementation, when the vibration acceleration test of each wheel steering knuckle is performed, in order to eliminate the influence of engine excitation on test signals and ensure sufficient broadband random road surface excitation, a standard rough asphalt road surface or an equivalent rough road surface with a local height difference of about 10mm should be selected, and the embodiment is not particularly limited.
Further, the vibration acceleration test is performed on each knuckle to obtain a response signal matrix and a reference signal matrix, including: vibration acceleration testing is carried out on vibration acceleration measuring points of all steering knuckles to obtain measuring point acceleration signals, wherein the number of the vibration acceleration measuring points of all the steering knuckles is multiple; and determining a response signal matrix and a reference signal matrix according to the measuring point acceleration signals.
It should be noted that, a plurality of vibration acceleration measuring points, for example, 5, 6, 7, etc. may be provided on each knuckle, and this embodiment is not particularly limited, and this embodiment is described by taking 5 vibration acceleration measuring points per knuckle as an example.
In a specific implementation, vibration acceleration testing is carried out on vibration acceleration measuring points of all steering knuckles to obtain measuring point acceleration signals, and the method specifically comprises the following steps: the test condition is set as a 60km/h constant-speed running condition, 5 groups of data are tested, the test mode is set as a static mode, the tracking mode is a tracking time, the average rate is 2avg/s, the average type is a linear type, the analysis bandwidth is 1024Hz, the resolution is 1Hz, the spectral line number is 512, and the embodiment is not particularly limited. In the test, 5 vibration acceleration measuring points are arranged on each knuckle, the measuring points are required to be far away from the axle head force loading point as far as possible, and are arranged at positions with larger knuckle rigidity and easy arrangement, and any 4 vibration measuring points are required to be ensured to be out of plane. And photographing and recording the arrangement positions of the vibration measuring points of each steering knuckle, and performing CAE transfer function simulation analysis to define the positions of the measuring points according to the recorded positions and performing simulation calculation of transfer functions. All the measurement points of each knuckle need to be measured simultaneously. Thus, if the number of channels is sufficient, four knuckles can be measured simultaneously; if the number of the channels is insufficient, completing each round of one group in four batches; or a group of front wheels and a group of rear wheels are completed in two batches.
Further, the determining a response signal matrix and a reference signal matrix according to the measuring point acceleration signal comprises: performing validity check on the measuring point acceleration signal to obtain a check result; determining target measuring points of all steering knuckles according to the checking result and the vibration acceleration measuring points of all steering knuckles; determining response signals according to the target measuring points of the steering knuckles; obtaining a response signal matrix according to the response signal; determining a reference point of each knuckle according to the target measuring point of each knuckle; and determining a reference signal according to the reference point, and determining a reference signal matrix according to the reference signal.
It should be noted that, according to the inspection result, for each knuckle, a set of time domain data having 4 effective vibration measuring points (i.e., target measuring points) is selected from 5 vibration measuring points, wherein each measuring point has X, Y, Z vibration directions, i.e., 12 response signals, recorded as [ X ] 1 ,...,X 12 ] T I.e. the response signal matrix.
It will be appreciated that 1 measurement point is selected from the 4 vibration measurement points selected for each knuckle, respectively, as a reference point. I.e. a total of 4 reference points, each reference point having X, Y, Z vibration directions, i.e. a total of 12 reference signals, recorded asI.e. the reference signal matrix.
Further, the validity checking of the measuring point acceleration signal is performed to obtain a checking result, including: calculating according to the measuring point acceleration signals to obtain the mean square value of the measuring point acceleration in all directions; determining the acceleration trend and the mean square error of the measuring point according to the mean square value of the measuring point in each direction; and obtaining an inspection result according to the acceleration trend of the measuring point and the mean square error.
The method comprises the steps of calculating according to measuring point acceleration signals to obtain mean square values of measuring point acceleration in all directions, comparing the level and the magnitude trend of the mean square values of the 5 measuring point acceleration of a single-side wheel in all directions to determine whether the preset measuring point acceleration trend is met, wherein the preset measuring point acceleration trend is the normal measuring point acceleration trend, namely that the Z-direction mean square value is larger than the X-direction mean square value and larger than the Y-direction mean square value, and picking out measuring points with abnormal trend and abnormal mean square value level.
It can be understood that the mean square values of the corresponding measuring points of the left and right wheels are basically symmetrical, and the difference of the mean square values is 0.5m/s 2 If the mean square value of the corresponding measuring point is not satisfied, the mean square value level abnormality of the measuring point can be determined, the abnormal measuring point needs to be removed, the mean square value of the corresponding measuring point is compared through a plurality of groups of repeatability tests, and the difference is 0.5m/s 2 Thereby further excluding abnormal samples.
In the specific implementation, frequency domain signal observation is also needed, whether an abnormal peak value caused by alternating current frequency exists at 50Hz is mainly inspected, and an abnormal measuring point determined by measuring point acceleration trend, mean square value of the measuring point and frequency domain signal observation is taken as an inspection result.
Step S20: and calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix.
The cross power spectrum is also called a cross spectrum, which is obtained by spectrum calculation and is obtained by multiplying the spectrum of one signal by the conjugate of the spectrum of the other signal, and the result is a complex form, and has amplitude and phase signals, and the phase at any frequency is the phase difference of the two signals. If the cross-spectrum is averaged linearly, then the uncorrelated components of the two signals will be weakened and the phase shift will be indicative of a time shift (phase shift versus time shift), so that the cross-spectrum can be used to detect and determine the delay of the signal transfer.
In a specific implementation, a Fast Fourier Transform (FFT) is performed on the response signal matrix and the reference signal matrix, and a multi-reference cross-power spectrum calculation is performed, as shown in equation 1 below:
in the formula (1) of the present invention,x is a multi-reference cross-power spectrum i (f) In response to the signal matrix, X j * (f) For the reference signal matrix, i represents what number of response signals i=1,..12, j represents what number of reference signals j=1,..12.
The multi-reference cross power spectrum is expressed in a matrix form, namely a multi-reference cross power spectrum response matrix, and the following formula 2 is shown:
in the formula (2) of the present invention,for multi-reference cross-power spectral response matrix, X 1 To X 12 Respectively represent 12 response signals, X 1 * To X 12 * Respectively 12 reference signals, k=1, 2,3,4, respectively represent the multi-reference cross power spectrum matrices of the front left, front right, rear left, rear right knuckles.
Step S30: and performing singular value decomposition on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle.
It should be noted that, the principal component analysis is performed on the multi-reference power cross spectrum response matrix to obtain principal components of the vibration response of each knuckle, that is, the reference spectrum response matrix of each knuckle.
It will be appreciated that principal component analysis is a common method of data analysis. The original data is transformed into a group of representations with linear independence of each dimension through linear transformation, and the method can be used for extracting main characteristic components of the data and is commonly used for dimension reduction of high-dimension data. The essence is that the original feature is linearly changed and mapped into the low-dimensional space under the condition of representing the original feature as well as possible. There is no fixed phase relationship between the response points when there are multiple partially correlated excitation sources in the system that are active. For example, the forces exerted on four suspensions by the road surface excitation of an automobile are typical partial correlation excitation, the degree of correlation depends on the characteristics of the road surface, and multi-reference power cross-spectrum analysis is adopted for accurately solving the axial head force and reflecting the road noise problem. Since the multi-reference power cross-spectrum is not directly applicable to the inverse matrix analysis, the multi-reference power cross-spectrum must be decoupled. The multiple reference problem is decoupled to several independent single reference cases, each describing a part of the response, from which the total response can be linearly superimposed. These single-reference response data can be used as input data for the inverse matrix analysis.
Further, the singular value decomposition is performed on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle, including: singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a singular value matrix; obtaining a self-power spectrum according to the singular value matrix; determining a target reference matrix based on the self-power spectrum; calculating according to the target reference matrix and the response signal matrix to obtain a reference frequency spectrum; and calculating according to the reference frequency spectrum to obtain a reference frequency spectrum response matrix of each steering knuckle.
It should be noted that, taking the principal component decomposition of the multi-reference cross power spectrum matrix obtained by calculating the vibration acceleration response of a certain steering knuckle as an example, singular value decomposition (SVD: singular value decomposition) is performed on the obtained multi-reference cross power spectrum response matrix, as shown in the following formula 3:
in the case of the method of 3,for multi-reference cross-power spectral response matrix, X 1 To X 12 Respectively represent 12 response signals, X 1 * To X 12 * Respectively representing 12 reference signals, wherein U is a left singular matrix, V is a right singular matrix, and E is a singular value matrix.
Obtaining a singular value matrix, wherein the singular value matrix is represented by the following formula 4:
in formula 4, [ E ]] 12×12 Representing a 12 x 12 matrix of singular values, σ i I=1, 12, satisfies σ 1 ＞σ 2 ＞…σ 12 . The virtual reference spectra are uncorrelated with each other.
Calculating according to the self-power spectrum of the virtual reference spectrum to obtain a corresponding virtual reference spectrumThe target reference matrix is obtained.
Calculating a reference spectrum of the response according to the multi-reference cross-power spectrum response matrix and the virtual reference spectrum, as shown in the following formula 5:
in formula 5, X' i,j For the reference spectrum to be used,representing a virtual reference spectrum, +.>Representing the conjugate of the virtual reference spectrum,represents the multiple reference cross-power spectral response matrix row i, column j element i=1.
The recalculated reference spectral response matrix for the knuckle is as follows:
in equation 6, A is the reference spectral response matrix of the knuckle, X' i,j For the reference spectrum, i=1,..12 represents the sequence numbers of the 12 knuckle response signals, respectively, j=1, …,12 represents the sequence numbers of the 12 virtual reference spectra, respectively. Thus, for a determined i, X' i,j (j=1,.,. 12) is expressed as a principal component decomposition result of the knuckle ith response signal, and satisfies X '' i,1 ＞X' i,2 ＞…＞X' i,12 . For a determined j, X' i,j (i=1, …, 12) virtual reference spectrum for 12 response signals of the steering knuckleSince there are 12 virtual reference spectra, i.e. here 12 principal component components, the virtual reference spectral response column vector of (a) is one principal component. The principal components are independent of each other, the virtual reference spectrums in the principal components have consistent phase relation, and the more the principal component is located, the larger the component is occupied (the smaller the corresponding j is). Each principal component response column vector can be used for subsequent inverse matrix operations to solve for the gudgeon force load.
Step S40: and acquiring a transfer function matrix, and calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load of each wheel.
According to an inverse matrix method, main components of the frequency domain load of each wheel spindle head are solved according to main components of the vibration response of each steering knuckle of each wheel, vector summation is carried out on results of the main components of the frequency domain load of each wheel spindle head, and final frequency domain load of each spindle head is output.
It can be understood that the obtained axle head force loads are mutually decoupled, the excitation characteristics of the road noise axle head of the whole vehicle can be correctly reflected, the axle head loads are in a frequency domain load form, and the method can be directly used for the simulation analysis of the road noise NVH based on the axle head force loading.
According to the method, vibration acceleration tests are conducted on all steering knuckles, so that a response signal matrix and a reference signal matrix are obtained; calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix; singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle; and acquiring a transfer function matrix, and calculating based on the transfer function matrix and a reference spectrum response matrix of each steering knuckle to obtain the axle head load of each wheel. According to the mode, the multi-reference cross power spectrum response matrix is calculated according to the response signal matrix and the reference signal matrix obtained through vibration acceleration test, and the spindle head load of each wheel is obtained through decomposing the multi-reference cross power spectrum response matrix and calculating, so that the problems that the extracted spindle head load cannot be directly applied, is required to be converted in form and is low in efficiency and poor in accuracy are solved, the extracted spindle head load is in a frequency domain load form, can be directly used for road noise simulation, and efficiency and accuracy are improved.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the method for extracting a gudgeon load according to the present invention.
Based on the first embodiment, the step S40 in the method for extracting the axle head load according to the present embodiment includes:
step S401: and performing simulation analysis on a preset whole vehicle model to obtain a transfer function matrix.
The preset whole vehicle model is a whole vehicle model without tires, and the whole vehicle model without tires is used for carrying out transfer function simulation analysis to obtain a wheel center transfer function matrix.
Further, the performing simulation analysis on the preset whole vehicle model to obtain a transfer function matrix includes: acquiring a preset whole vehicle model, wherein the preset whole vehicle model is a whole vehicle model without tires; calculating a vibration transfer function from a spindle head force loading point of each wheel to a vibration acceleration measuring point of a corresponding steering knuckle according to the preset whole vehicle model; and simulating according to the vibration transfer function to obtain a transfer function matrix of each vehicle.
It should be noted that, the transfer function simulation analysis from the wheel Spindle point (i.e. the virtual center point of the hub bearing, i.e. the Spindle head force loading point) to the real vehicle vibration test point of the steering knuckle is performed by using the whole vehicle model without the tire to replace the real vehicle transfer function test, so that the influence of the nonlinear factor of the tire in the real vehicle transfer function test is avoided, the problem that the wheel Spindle point cannot be excited is avoided, and the feasibility of obtaining the transfer function data is ensured.
In a specific implementation, a whole vehicle model without tires is used for calculating the vibration transfer function from each degree of freedom (X, Y, Z, RX, RY, RZ) of each wheel Splindle point to the vibration acceleration measuring point (4 selected measuring points, namely target measuring points) of the steering knuckle, and the position definition of the vibration measuring point is carried out according to the marking position in the test, wherein the Splindle point is a virtual center point of a hub bearing, namely a spindle head force loading point. There are 6 degrees of freedom per Splindle point, 4 response points per knuckle, 3 directions per response point, and then 12×6=72 transfer functions. The single wheel transfer function matrix obtained by simulation is represented by the following formula 7:
as shown in FIG. 4, FIG. 4 is a schematic diagram of positions of a spline point and a vibration measuring point, each knuckle includes 5 vibration measuring points and a spline point, the spline point is located at a virtual center point of a hub bearing, the 5 vibration measuring points are arranged at positions with larger rigidity and easy arrangement of the knuckle, any 4 vibration measuring points are not coplanar, the spline point is a wheel center point, and is a transmission function simulation excitation point, also a spindle head force loading point, and the vibration measuring point is a real vehicle vibration acceleration measuring point, also is a transmission function simulation response point.
Step S402: and calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each steering knuckle to obtain the axle head load component of each wheel.
The load of the wheel axle head of the bicycle is expressed in a matrix form, and the expression is [ F ]] 6×1 ＝[F 1 F 2 … F 6 ] T The axle head force load component and transfer function matrixThe relationship with the main component of the steering knuckle vibration response (i.e., the reference spectral response matrix of the steering knuckle) is as follows equations 8 and 9:
[A] 12×j ＝[T] 12×6 ·[F] 6×j (8)
In formulas 8 and 9, j=1,..12 represents a j-th principal component, [ a ]] 12×j Namely the j-th column vector of the knuckle virtual reference spectrum response matrix, [ F ]] 6×j For the corresponding j-th set of gudgeon load components. Transfer matrix [ T ]] 12×6 Solving generalized inverse matrix, reversely solving shaft head load component [ F ]] 6×j . The 12 groups of virtual reference spectrum response column vectors of the steering knuckle are adopted, and the obtained axle head load components are also 12 groups.
Step S403: and calculating according to the axle head load components of each wheel to obtain the axle head load of each wheel.
By the load component of each shaft head [ F ]] 6×j (j=1,., 12) independent of each other, summing the axle head load component vectors to obtain the wheel axle head load [ F] 6×1 ＝[F 1 F 2 … F 6 ] T 1,2, … are respectively X, Y, Z, RX, RY, RZ 6 degrees of freedom directions, and the axle head load of the wheel is as follows formula 10:
in the concrete implementation, as the main component (j is smaller) component with larger proportion at the front is larger, in order to reduce the calculated amount, in the actual axle head load component extraction, only the axle head load components of the front 4-6 groups can be properly considered, the response of each point of the knuckle is reversely calculated by combining the calculated axle head load force and the 'wheel center' transfer function matrix, and compared with the actual test response result, when the error of the response is satisfied with a certain requirement, the number of the first main components considered at the moment is the number of the main components actually considered.
In the embodiment, a transfer function matrix is obtained by carrying out simulation analysis on a preset whole vehicle model; calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load component of each wheel; and calculating according to the axle head load components of each wheel to obtain the axle head load of each wheel. Through the mode, the whole vehicle model without the tire is simulated to obtain the transfer function matrix, and the axle head load components of each wheel are calculated according to the reference frequency spectrum response matrix of each steering knuckle of the transfer function matrix, so that the axle head load of each wheel is obtained, the influence of the nonlinear factors of the tire in the real vehicle transfer function test is avoided, the feasibility of acquiring the transfer function data is ensured, and the axle head load extraction efficiency and accuracy are improved.
Referring to fig. 5, fig. 5 is a block diagram showing the construction of a first embodiment of the gudgeon load extraction device of the present invention.
As shown in fig. 5, the device for extracting the axle head load according to the embodiment of the present invention includes:
the test module 10 is used for carrying out vibration acceleration test on each steering knuckle to obtain a response signal matrix and a reference signal matrix, wherein each steering knuckle is respectively connected with a corresponding wheel;
a calculation module 20, configured to calculate according to the response signal matrix and the reference signal matrix, to obtain a multi-reference cross power spectrum response matrix;
the decomposition module 30 is configured to perform singular value decomposition on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle;
and the obtaining module 40 is configured to obtain a transfer function matrix, and calculate the axle head load of each wheel based on the transfer function matrix and the reference spectrum response matrix of each knuckle.
According to the method, vibration acceleration tests are conducted on all steering knuckles, so that a response signal matrix and a reference signal matrix are obtained; calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix; singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle; and acquiring a transfer function matrix, and calculating based on the transfer function matrix and a reference spectrum response matrix of each steering knuckle to obtain the axle head load of each wheel. According to the mode, the multi-reference cross power spectrum response matrix is calculated according to the response signal matrix and the reference signal matrix obtained through vibration acceleration test, and the spindle head load of each wheel is obtained through decomposing the multi-reference cross power spectrum response matrix and calculating, so that the problems that the extracted spindle head load cannot be directly applied, is required to be converted in form and is low in efficiency and poor in accuracy are solved, the extracted spindle head load is in a frequency domain load form, can be directly used for road noise simulation, and efficiency and accuracy are improved.
In an embodiment, the decomposition module 30 is further configured to perform singular value decomposition on the multi-reference cross power spectrum response matrix to obtain a singular value matrix; obtaining a self-power spectrum according to the singular value matrix; determining a target reference matrix based on the self-power spectrum; calculating according to the target reference matrix and the response signal matrix to obtain a reference frequency spectrum; and calculating according to the reference frequency spectrum to obtain a reference frequency spectrum response matrix of each steering knuckle.
In an embodiment, the obtaining module 40 is further configured to perform a simulation analysis on a preset vehicle model to obtain a transfer function matrix; calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load component of each wheel; and calculating according to the axle head load components of each wheel to obtain the axle head load of each wheel.
In an embodiment, the obtaining module 40 is further configured to obtain a preset vehicle model, where the preset vehicle model is a vehicle model without tires; calculating a vibration transfer function from a spindle head force loading point of each wheel to a vibration acceleration measuring point of a corresponding steering knuckle according to the preset whole vehicle model; and simulating according to the vibration transfer function to obtain a transfer function matrix of each vehicle.
In an embodiment, the test module 10 is further configured to perform a vibration acceleration test on vibration acceleration measurement points of each knuckle to obtain measurement point acceleration signals, where the vibration acceleration measurement points of each knuckle are multiple; and determining a response signal matrix and a reference signal matrix according to the measuring point acceleration signals.
In an embodiment, the test module 10 is further configured to perform validity check on the measurement point acceleration signal to obtain a check result; determining target measuring points of all steering knuckles according to the checking result and the vibration acceleration measuring points of all steering knuckles; determining response signals according to the target measuring points of the steering knuckles; obtaining a response signal matrix according to the response signal; determining a reference point of each knuckle according to the target measuring point of each knuckle; and determining a reference signal according to the reference point, and determining a reference signal matrix according to the reference signal.
In an embodiment, the test module 10 is further configured to calculate, according to the measurement point acceleration signal, a mean square value of the measurement point acceleration in each direction; determining the acceleration trend and the mean square error of the measuring point according to the mean square value of the measuring point in each direction; and obtaining an inspection result according to the acceleration trend of the measuring point and the mean square error.
In addition, in order to achieve the above object, the present invention also proposes a gudgeon load extraction apparatus comprising: the system comprises a memory, a processor, and a gudgeon load extraction program stored on the memory and operable on the processor, the gudgeon load extraction program configured to implement the steps of the gudgeon load extraction method as described above.
The shaft head load extraction equipment adopts all the technical schemes of all the embodiments, so that the shaft head load extraction equipment at least has all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a spindle head load extraction program, and the spindle head load extraction program realizes the steps of the spindle head load extraction method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details which are not described in detail in the present embodiment may refer to the method for extracting the axle head load provided in any embodiment of the present invention, and are not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A method of extracting a shaft head load, the method comprising:
performing vibration acceleration test on each knuckle to obtain a response signal matrix and a reference signal matrix, wherein each knuckle is respectively connected with a corresponding wheel;
calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix;
singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle;
and acquiring a transfer function matrix, and calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load of each wheel.
2. The method of claim 1, wherein said performing singular value decomposition on said multi-reference cross power spectral response matrix to obtain a reference spectral response matrix for each steering knuckle comprises:
singular value decomposition is carried out on the multi-reference cross power spectrum response matrix to obtain a singular value matrix;
obtaining a self-power spectrum according to the singular value matrix;
determining a target reference matrix based on the self-power spectrum;
calculating according to the target reference matrix and the response signal matrix to obtain a reference frequency spectrum;
and calculating according to the reference frequency spectrum to obtain a reference frequency spectrum response matrix of each steering knuckle.
3. The method of claim 1, wherein the obtaining a transfer function matrix and calculating based on the transfer function matrix and the reference spectral response matrix for each knuckle to obtain the axle head load for each wheel comprises:
performing simulation analysis on a preset whole vehicle model to obtain a transfer function matrix;
calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load component of each wheel;
and calculating according to the axle head load components of each wheel to obtain the axle head load of each wheel.
4. A method according to claim 3, wherein the performing a simulation analysis on the predetermined vehicle model to obtain the transfer function matrix includes:
acquiring a preset whole vehicle model, wherein the preset whole vehicle model is a whole vehicle model without tires;
calculating a vibration transfer function from a spindle head force loading point of each wheel to a vibration acceleration measuring point of a corresponding steering knuckle according to the preset whole vehicle model;
and simulating according to the vibration transfer function to obtain a transfer function matrix of each vehicle.
5. The method of claim 1, wherein said performing a vibration acceleration test on each knuckle results in a response signal matrix and a reference signal matrix, comprising:
vibration acceleration testing is carried out on vibration acceleration measuring points of all steering knuckles to obtain measuring point acceleration signals, wherein the number of the vibration acceleration measuring points of all the steering knuckles is multiple;
and determining a response signal matrix and a reference signal matrix according to the measuring point acceleration signals.
6. The method of claim 5, wherein said determining a response signal matrix and a reference signal matrix from said site acceleration signal comprises:
performing validity check on the measuring point acceleration signal to obtain a check result;
determining target measuring points of all steering knuckles according to the checking result and the vibration acceleration measuring points of all steering knuckles;
determining response signals according to the target measuring points of the steering knuckles;
obtaining a response signal matrix according to the response signal;
determining a reference point of each knuckle according to the target measuring point of each knuckle;
and determining a reference signal according to the reference point, and determining a reference signal matrix according to the reference signal.
7. The method of claim 6, wherein the validity check of the site acceleration signal results in a check result comprising:
calculating according to the measuring point acceleration signals to obtain the mean square value of the measuring point acceleration in all directions;
determining the acceleration trend and the mean square error of the measuring point according to the mean square value of the measuring point in each direction;
and obtaining an inspection result according to the acceleration trend of the measuring point and the mean square error.
8. The utility model provides a spindle nose load extraction element, its characterized in that, spindle nose load extraction element includes:
the test module is used for testing the vibration acceleration of each steering knuckle to obtain a response signal matrix and a reference signal matrix, wherein each steering knuckle is respectively connected with a corresponding wheel;
the calculation module is used for calculating according to the response signal matrix and the reference signal matrix to obtain a multi-reference cross power spectrum response matrix;
the decomposition module is used for carrying out singular value decomposition on the multi-reference cross power spectrum response matrix to obtain a reference spectrum response matrix of each steering knuckle;
the acquisition module is used for acquiring a transfer function matrix, and calculating based on the transfer function matrix and the reference frequency spectrum response matrix of each knuckle to obtain the axle head load of each wheel.
9. A gudgeon load extraction apparatus, characterized in that it comprises: a memory, a processor, and a stub shaft load extraction program stored on the memory and operable on the processor, the stub shaft load extraction program configured to implement the stub shaft load extraction method of any one of claims 1 to 7.
10. A storage medium having stored thereon a stub shaft load extraction program which when executed by a processor implements the stub shaft load extraction method of any one of claims 1 to 7.
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