CN204101270U - Flow container vehicle liquid-solid bidirectional coupled real time modelling testing table - Google Patents
Flow container vehicle liquid-solid bidirectional coupled real time modelling testing table Download PDFInfo
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- CN204101270U CN204101270U CN201420509328.1U CN201420509328U CN204101270U CN 204101270 U CN204101270 U CN 204101270U CN 201420509328 U CN201420509328 U CN 201420509328U CN 204101270 U CN204101270 U CN 204101270U
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Abstract
The utility model discloses a kind of flow container vehicle liquid-solid bidirectional coupled real time modelling testing table, can be used for liquid-solid bidirectional coupled characteristic research and the exploitation of flow container vehicle control strategy; This testing table to form than flow container motion platform assembly, flow container vehicle real-time simulation platform, man-machine interaction debug platform, pilot control device and driver's visual system by contracting; Contracting for simulating flow container motion, controls its motion by 6-dof motion platform controller than flow container motion platform assembly; Flow container vehicle real-time simulation platform is used for carrying out in real time flow container vehicle dynamic response and calculates, contracts and changing than the similarity between flow container and actual flow container dynamics, carrying out signals collecting and motion control to contracting than flow container motion platform; This testing table comes motion and the dynamics of simulated solution tank car than the real-time information interaction of flow container and vehicle dynamic model by contracting, really realize liquid-solid bidirectional coupled and the real-time simulation of liquid and car body in flow container vehicle.
Description
Technical field
The utility model relates to a kind of bidirectional coupled real time modelling test unit of flow container vehicle, for the liquid-research of car body bidirectional coupled characteristic of flow container vehicle and the exploitation of flow container Vehicle Stability Control Strategy and checking.
Background technology
Along with China is to the expansion year by year of chemical products demand, the freight volume of transport by road liquid chemical product constantly rises.According to statistics, annual transport liquid chemical products were at about 200,000,000 tons in recent years, and wherein 80% is transported by road.Because pot liquid rocks the impact that intercouples with vehicle movement, easily Cross deformation and the rollover accidents such as folding, shimmy occur keeping away in barrier motion process, the more general commerial vehicle of whole vehicle stability of flow container vehicle is more complicated.Therefore, Study of Liquid and vehicle bidirectional coupled characteristic each other, consider that liquid sloshing feature development has the stability control strategy of pin to be the important research direction of improving flow container vehicle stability.
The research of current liquid to the impact of tank body and motion morphology thereof does not also have ripe theoretical analysis and computing method, the mode of simple employing flow container vehicle dynamics simulation is difficult to the flow container vehicle dynamics characteristics obtaining pin-point accuracy, and actual tank truck danger is high simultaneously, for providing flow container vehicle liquid-solid bidirectional coupled test figure more accurately, and provide real-time development platform and verification platform for control strategy, best selection adopts to reflect liquid and car body bidirectional coupled characteristic, the flow container vehicle testing table of the operation of actual flow container vehicle can be simulated again in real time simultaneously.
The flow container testing table adopted at present both at home and abroad great majority research is all the form adopting single excitation, cannot show the complicated flow container that commerial vehicle causes due to the complicacy of road conditions and driver-operated complicacy and body Structure multifreedom motion in actual travel process and move.
Domestic application for a patent for invention publication No. is CN102288348A, denomination of invention: a kind of liquid tank dynamic testing test stand, and the applying date is on July 20th, 2011, and application number is 201110202742.9, and application people is Shandong Jiaotong University.A kind of testing table that can be used for liquid tank dynamic testing is described in this patent document, by adopting the flow container testing table with bottom guide track, achieve the simulation that combinational acting and the road roughness of flow container vehicle are impacted, and adopt pressure transducer analyze flow container stressed, utilize graphical analysis liquid movement characteristic, for tank body light-weight design, improve safety and reliability.But the apparatus and method realizing liquid-car body bidirectional coupled and flow container vehicle real time modelling are not provided.
There is no in foreign patent and carry out for flow container vehicle feature the testing table studied.
Intercoupling between liquid and car body is serious, Real-road Driving Cycle is complicated, ignore liquid-solid bidirectional coupled characteristic and adopt the characteristic of the mode of unidirectional couplings to flow container vehicle to study, accurately can not reflect the dynamics of flow container vehicle, response under hydrodynamics response ratio actual complex operating mode simultaneously under single operating mode is simply many, simple employing simply encourages to be carried out research association to the characteristic of liquid result is too simplified, these are all to the research of the liquid sloshing characteristic of flow container vehicle under actual condition and flow container vehicle dynamics characteristics with always have very large restriction.In addition, the dynamics of flow container vehicle has a great difference than general commercial car, if ignore liquid sloshing characteristic in the exploitation of control algolithm, control method can be caused inaccurate, even cause contrary control effects, danger is very large.
Therefore, be necessary to develop can reflect liquid and car body bidirectional coupled characteristic, while can simulate again the flow container vehicle testing table of the operation of actual flow container vehicle in real time, for the research of bidirectional coupled characteristic liquid-solid between liquid and vehicle and the exploitation of flow container Vehicle Stability Control Strategy targetedly.
Summary of the invention
The purpose of this utility model be to develop a kind of effectively can reflect flow container vehicle liquid-vehicle bidirectional coupled characteristic and the test unit of the real time execution of actual flow container vehicle can be simulated, for the research of the liquid-solid bidirectional coupled characteristic of flow container vehicle and the exploitation of flow container vehicle control strategy.
For achieving the above object, the utility model realizes by following technical scheme:
A kind of flow container vehicle liquid-solid bidirectional coupled real time modelling testing table, comprises contracting than flow container motion platform assembly, flow container vehicle real-time simulation platform, man-machine interaction debug platform, pilot control device and driver's visual system.Contracting carries out real-time information interaction than between flow container motion platform assembly and flow container vehicle real-time simulation platform, realizes the bidirectional coupled real time modelling to flow container vehicle.Contract and comprise contracting than flow container, the liquid level gauge being installed on flow container inside and liquid-pressure pick-up, four three-dimensional force transducers and 6-dof motion platform assembly than flow container motion platform assembly, for real time modelling with measure the motion under real working condition of flow container and liquid and liquid sloshing to the impact of vehicle dynamics characteristics.Flow container vehicle real-time simulation platform comprises the soft and hardware environment, data acquisition equipment, 6-dof motion platform opertaing device and the flow container vehicle calculation procedure that runs in real time environment that realize real time execution, for real time modelling flow container vehicle movement, Real-time Collection liquid sloshing force and motion signal, control the motion of 6-dof motion platform in real time.
Flow container vehicle compute package described in technical scheme draws together flow container vehicle dynamic model, for similarity modular converter, actuator elongation conversion module, data timing acquisition module and the control signal timed sending module changed than data between flow container and full-scale flow container of contracting, flow container vehicle dynamic model wherein adopts the model considering the dynamic slosh of liquid, comprises liquid sloshing power/moment and transient state liquid centroid calculation module and the vehicle dynamic model based on Trucksim RT.
6-dof motion platform assembly described in technical scheme comprises 6-dof motion platform, for actuator motion provides the oil sources of fluid, separator and high-pressure oil pipe, 6-dof motion platform comprises a motion platform, a stationary platform, six actuator, the servo-valve of 12 actuator bearings and 12 control actuator oil pressure, this 6-dof motion platform has space six-freedom motion function, the longitudinal direction of vehicle body can be realized, side direction, vertical, roll, pitching, yaw degree of freedom, body movement state in Real-road Driving Cycle can be simulated.The opening and closing of servo-valve and the opening and closing of oil sources are controlled by 6-dof motion platform controller.
Contracting described in technical scheme is connected by the upper motion platform of four three-dimensional force transducers and 6-dof motion platform at four end pin places than flow container, 6-dof motion platform assembly is positioned on ground, is provided with liquid level gauge and liquid-pressure pick-up in flow container.Four three-dimensional force transducers are for measuring longitudinal, side direction, the vertical rolling power of flow container to car body, and the liquid level gauge in flow container and liquid-pressure pick-up are used for transient state liquid level position and hydraulic pressure in measurements and calculations tank.Contracting is respectively equipped with a liquid level gauge than the front head in flow container and rear head, contracting than the left side in the middle part of flow container and right side, for measuring free face shape and the height of liquid pot liquid in real time, and liquid-pressure pick-up is all housed on the inwall of front head, rear head, left tank skin and right tank skin, for measuring this fluid pressure in real time, aided solving transient state liquid level.
Man-machine interaction debug platform described in technical scheme comprises host computer main frame and is placed in control and the debugged program of the flow container vehicle calculation procedure in main frame, sends flow container vehicle calculation procedure for debugging with to real-time platform, and the reception process of data; Pilot control device comprises gas pedal, brake pedal and bearing circle.
Data acquisition equipment described in technical scheme comprises terminal box and data collecting card, above-mentioned liquid level gauge sensor, liquid-pressure pick-up, three-dimensional force transducer, brake pedal jaw opening sensor, gas pedal jaw opening sensor, steering wheel angle sensor are all connected with terminal box, and terminal box is connected with data collecting card.
The working method of flow container vehicle described in the utility model liquid-solid bidirectional coupled real time modelling testing table is:
I, flow container vehicle calculation procedure is sent to the software environment of flow container vehicle real-time simulation platform by man-machine interaction debug platform;
Ii, driver handles the accelerator pedal in pilot control device, brake pedal and bearing circle according to the operating mode of driver's visual system and needs;
Iii, the data timing acquisition module carried out in real time environment in the flow container vehicle calculation procedure of real-time operation carries out data acquisition to following signal: contract than the gas pedal opening amount signal of the force signal of the liquid level gauge signal in flow container, liquid-pressure pick-up signal, three-dimensional force transducer, pilot control device, brake pedal opening amount signal and steering wheel angle signal;
Iv, similarity modular converter, based on similarity criterion, receives the contracting that the collects force signal than liquid level of tank meter signal and liquid-pressure pick-up signal, three-dimensional force transducer, and is converted into the corresponding signal of full-scale flow container;
V, the liquid sloshing power/moment in flow container vehicle dynamic model and transient state liquid centroid calculation module receive the signal of the full-scale flow container that similarity modular converter sends, and calculate full-scale flow container to the rolling power/moment of car body and liquid transient state barycenter;
Vi, vehicle dynamic model based on Trucksim RT receives full-scale flow container to the gas pedal opening amount signal of the rolling power/moment of car body and liquid transient state barycenter and pilot control device, brake pedal opening amount signal and steering wheel angle signal, carry out flow container vehicle dynamic response to calculate, the motion state of spring carried mass when calculating liquid body wobble effects;
Vii, the motion state of the spring carried mass that similarity modular converter receiving liquid tank vehicle dynamic model calculates, is converted to the motion state of contracting than flow container;
Viii, the contracting that actuator elongation conversion module reception similarity modular converter calculates, than flow container motion state, is scaled the elongation control signal of six actuator, is sent to 6-dof motion platform controller;
Ix, 6-dof motion platform controller controls the switch of servo-valve and oil sources, control the oil pressure of oil sources and enter fluid amount and the oil pressure of each actuator cylinder body, the motion of actuator is controlled, realize the motion of flow container vehicle spring carried mass six direction, simulate and drive contracting to realize real working condition motion than flow container.
Application process is illustrated:
When carrying out liquid-solid bidirectional coupled specificity analysis, by force signal, liquid level signal and hydraulic pressure signal that liquid level gauge, liquid-pressure pick-up and four three-dimensional force transducer measurements obtain, can calculate liquid effects in flow container wind tunnel, analyze time of the dynamic changing process of Free Liquid Surface, the amplitude peak of slosh and generation, and the rationality of liquid realistic model or simplified model can be verified.
When carrying out the control strategy exploitation of flow container vehicle stabilization control (as rollover controls), by control strategy module integration in the middle of flow container vehicle dynamic model, with motion and the dynamics of contracting flow container vehicle actual in the interactive simulation of flow container motion platform assembly and flow container vehicle real-time simulation platform, the state utilizing the flow container force signal, fluid pressure signal and the dynamics of vehicle Analysis of response flow container vehicle rollover that gather to occur, the on-line debugging carrying out control program, carry out the hardware in loop real-time verification of reference flow container auto model.
Compared with prior art, the beneficial effects of the utility model:
1. the utility model adopts complicated flow container vehicle dynamic model and contracting to carry out real-time information interaction than flow container, Real-time Collection contracting is than the slosh of liquid pot liquid and it is to the effect of 6-dof motion platform, send to the flow container vehicle dynamic model of real time execution, and carry the motion of motion control contracting than flow container motion platform according to the spring that flow container vehicle dynamic model calculates in real time, achieve the Real-time hardware assemblage on-orbit to the liquid-solid bidirectional coupled dynamics of flow container vehicle, can more accurate coupling of reproducing liquid sloshing and vehicle movement truly, and carry out the exploitation of flow container Vehicle Stability Control Strategy targetedly.
2. adopt contracting carry out simulating than flow container and adopt similarity criterion to calculate the dynamic response of full-scale flow container, avoid the feature adopting Numerical modelling speed excessively slow, and reduce development cost and complicacy.
3. adopt 6-dof motion platform, the motion of six direction in actual travel process can be realized, thus more realistic simulation Vehicular turn, move the motion of flow container under line, acceleration, the even complex conditions of slowing down.
4. introduce driver's visual system and pilot control device, real operating mode and operation is adopted to handle vehicle, achieve people-Che closed-loop system, for the research of flow container vehicle liquid-solid coupled characteristic and relevant control algorithm exploitation provide more real simulated environment.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is further described:
Fig. 1 is the overall hardware composition diagram of flow container vehicle described in the utility model liquid-solid bidirectional coupled real time modelling testing table.
Fig. 2 is the axonometric projection graph of contracting described in the utility model than the general structure of flow container motion platform assembly.
Fig. 3 is the side view of contracting described in the utility model than the general structure of flow container motion platform assembly.
Fig. 4 is the installation site schematic diagram of 6-dof motion platform actuator bearing described in the utility model.
Fig. 5 is the connection diagram of three-dimensional force transducer described in the utility model.
Fig. 6 is actuator configurations schematic diagram described in the utility model.
Fig. 7 is flow container vehicle described in the utility model liquid-solid bidirectional coupled real time modelling experimental bench system method of work schematic diagram.
In figure: contract than flow container motion platform assembly; II, flow container vehicle real-time simulation platform; III, interpersonal interactive debug platform; IV, pilot control device; V, driver's visual system; 1, flow container is compared in contracting; 2, liquid level gauge; 3, liquid-pressure pick-up; 4, three-dimensional force transducer; 5,6-dof motion platform; 6, oil sources; 7, separator; 8,6-dof motion platform controller; 9, terminal box; 10, data collecting card; 11, industrial computer; 12, bearing circle; 13, brake pedal; 14, gas pedal; 15, servo-valve; 16, stationary platform; 17, actuator; 18, actuator bearing; 19, motion platform; 20, flow container tray; 21, the capping of flow container liquid outlet; 22, three-dimensional force transducer connecting hole; 23, actuator ball pivot; 24, actuator cylinder body; 25, actuator pistons; 26, actuator pistons bar; 27, flow container vehicle calculation procedure; 28, flow container vehicle dynamic model; 29, similarity conversion module; 30, actuator lengthening variable module; 31, data timing acquisition module; 32, control signal timed sending module; 33, liquid sloshing power/moment and liquid transient state centroid calculation module; 34, based on the vehicle dynamic model of Trucksim RT.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail.
Consult Fig. 1, flow container vehicle described in the utility model liquid-solid bidirectional coupled real time modelling testing table comprises contracting than flow container motion platform assembly I, flow container vehicle real-time simulation platform II, man-machine interaction debug platform III, pilot control device IV and driver's visual system V.
Contracting comprises contracting than flow container 1, the liquid level gauge 2 being installed on flow container inside, liquid-pressure pick-up 3, four three-dimensional force transducers 4 and 6-dof motion platform assembly than flow container motion platform assembly I, 6-dof motion platform assembly comprises 6-dof motion platform 5, the oil sources 6 providing fluid for 6-dof motion platform motion, separator 7 and high-pressure oil pipe, for real time modelling and measurement flow container and the motion of liquid under real working condition.The hardware of flow container vehicle real-time simulation platform II comprises the industrial computer 11 of data acquisition equipment, 6-dof motion platform opertaing device and real time environment operation, data acquisition equipment comprises terminal box 9 and data collecting card 10,6-dof motion platform opertaing device refers to 6-dof motion platform controller 8, software section comprises the flow container vehicle calculation procedure of real-time software environment and real time execution, for real time execution flow container auto model, carries out data acquisition and controls in real time the motion of 6-dof motion platform.Flow container vehicle real-time simulation platform II adopts LabVIEW RT as the bottom software environment of real-time simulation, and adopts the PXI cabinet of NI company as the hardware environment (industrial computer 11) running LabVIEW RT.PXI cabinet computing velocity is enough fast, can complete the task of real-time simulated animation, be inserted with data collecting card 10, and coupling has corresponding terminal box 9 in PXI cabinet simultaneously.The hardware of man-machine interaction debug platform III mainly refers to host computer main frame, software section comprises control and the debugged program of the flow container vehicle calculation procedure be placed in main frame, for debugging and send to real-time platform the reception process of flow container vehicle calculation procedure and data.Pilot control device IV comprises bearing circle 12, brake pedal 13 and gas pedal 14.Driver's visual system V comprises the display screen of the current what comes into a driver's at display driver visual angle, adopt the ANIMATOR function that business software Trucksim carries, according to the current vehicle operating status that flow container vehicle dynamic model calculates, generate driver front what comes into a driver's during vehicle movement.
Contracting is connected by high-pressure oil pipe with separator 7 than the oil sources 6 of flow container motion platform assembly I, and oil pipe pipeline is divided into six tunnels by separator, leads to six actuator 17 respectively.Actuator cylinder body 24 is communicated with high-pressure oil pipe by servo-valve 15.The 6-dof motion platform controller 8 of flow container vehicle real-time simulation platform II and be all connected with control line between servo-valve 15 and oil sources 6, so just can control the opening and closing of servo-valve and the opening and closing of oil sources with 6-dof motion platform controller, thus control the oil inlet quantity of actuator cylinder body, also just control the motion of 6-dof motion platform.Contract than the liquid level gauge sensor 2 of flow container motion platform assembly I, liquid-pressure pick-up 3 and three-dimensional force transducer 4, the rotary angle transmitter of the bearing circle 12 in pilot control device IV, the pedal jaw opening sensor of brake pedal 13 are all connected by signal wire with terminal box 9 with the pedal jaw opening sensor of gas pedal 14, terminal box 9 is connected with data collecting card 10, carries out data acquisition.Based on IP protocol between the main frame of man-machine interaction debug platform III and the industrial computer (PXI cabinet) 11 of flow container vehicle real-time simulation platform II, connected by netting twine.
Consult Fig. 2,3,4,5,6, contracting described in the utility model comprises than the 6-dof motion platform 5 of flow container motion platform assembly I servo-valve 15, stationary platform (lower platform) 16, six actuator 17,12 actuator bearings 18, the motion platform (upper mounting plate) 19 that six control the opening and closing of actuator oil pipe.6-dof motion platform 5 has space six-freedom motion function, can realize longitudinal, the side direction of vehicle body, vertical, inclination, pitching, yaw degree of freedom, can simulate the body movement state in Real-road Driving Cycle.Actuator 17 is made up of the actuator ball pivot 23 be connected with lower platform bearing, actuator cylinder body 24, actuator pistons 25, actuator pistons bar 26, the actuator ball pivot 23 that is connected with upper mounting plate bearing.Stationary platform 16 is fixedly mounted on mattess.Six actuator bearings 18 are fixedly mounted on the upper surface of stationary platform 16, and other six actuator bearings 18 are fixedly mounted on the lower surface of motion platform 19.Actuator bearing 18 respectively on equilateral triangle three limit of upper and lower plane, and between two apart from equal.Lower end actuator ball pivot 23 and six bearings 18 ball-joint in stationary platform of six actuator 17, upper end actuator ball pivot 23 and six actuator bearings 18 ball-joint on motion platform lower plane of actuator, go up motion platform 19 like this and just supported by six actuator.Contract to be fixed with the upper motion platform 19 of 6-dof motion platform 5 by four three-dimensional force transducers 4 at four end pin places than flow container 1 and be connected, four three-dimensional force transducers 4 lay respectively at and contract than below four corners of flow container and between motion platform 19.There are 4 connecting holes 22 upper surface (force side) of three-dimensional force transducer, to be fixed than the flow container tray 20 of flow container with contracting by bolt and to be connected, there are 4 connecting holes the lower surface of three-dimensional force transducer, to be fixed with motion platform 19 by bolt and to be connected, so just achieve contracting than the associated movement of flow container 1 with 6-dof motion platform 5.Four three-dimensional force transducers are for measuring contracting than flow container at longitudinal, side direction, the vertical acting force of four corner points to motion platform.Contracting is elliptical cylinder-shape than flow container, is all provided with flow container tray 20, makes its curved surface appearance be converted into plane, be convenient to be fixed with three-dimensional force transducer 4 be connected when its four end angles are in production.Contracting adopts elliptic cylindrical shape than flow container 1, and the top of front end is provided with inlet and flow container inlet capping 21, is convenient to change liquid filling amount.Contract and be respectively provided with a liquid level gauge 2 than the front end of flow container, rear end, middle left side and right side, for measuring the transient state Free Liquid Surface position of this point, liquid level gauge adopts floating magneto strictive sensor.Contract, than the front head of flow container and rear head inside surface, 12 pressure resistance type liquid-pressure pick-ups 3 are respectively installed.Contract and be separately installed with 30 (5 row 6 arrange) pressure resistance type liquid-pressure pick-ups 3 than the left side of the cylinder wall inside of flow container and right side, these pressure resistance type liquid-pressure pick-ups are used for the fluid pressure measuring in real time this some place, pressure resistance type liquid-pressure pick-up be fixed on the pressure tapping of contracting than on flow container and be connected.Contract than the manufacture of flow container employing clear perspex material, thick 13mm, is convenient to the visual of internal liquid motion.For eliminating effect of boundary layer during liquid motion, contracting is of a size of long 2.2m, sectional area 0.8m than flow container
2.
Consult Fig. 7, flow container vehicle calculation procedure 27 comprises flow container vehicle dynamic model 28, for similarity modular converter 29, actuator elongation conversion module 30, data timing acquisition module 31, the control signal timed sending module 32 changed than data between flow container and full-scale flow container of contracting.Described flow container vehicle dynamic model 28 adopts the model considering the dynamic slosh of liquid, comprises liquid sloshing power/moment and transient state liquid centroid calculation module 33 and the vehicle dynamic model 34 based on Trucksim RT software.Liquid sloshing power/moment and transient state liquid centroid calculation module 33 calculate longitudinal, the side direction of current time liquid to car body according to four three-dimensional force transducer force signals of the full-scale flow container obtained through similarity modular converter and shake power and inclination, pitching slosh torque, according to the liquid level signal of full-scale flow container and the transient state liquid barycenter of fluid pressure Signal estimation current time.Similarity modular converter 29, based on hydromechanical similarity criterion, is consider together with ratio than the contracting of flow container with contracting.The contracting of contracting than flow container than ratio, to contract than the measurement value sensor between flow container and full-scale flow container and motion state conversion proportion be all based on certain similarity criterion.Similarity criterion is determined based on following principle: (1) geometric similarity: contract more equal than the ratio of the length between flow container with full-scale flow container; (2) kinematic similitude: contracting maintains same ratio than the velocity magnitude of respective point in the movement velocity size of each point in flow container and full-scale flow container; (3) dynamic similarity; Contracting maintains same ratio relation than the acting force at flow container and full-scale flow container respective point place, adopts reynolds analogue criterion here; (4) initially, boundary condition is similar: starting condition and the boundary condition of motion, power aspect also meet above similarity relation.
The working method of described flow container vehicle liquid-solid bidirectional coupled real time modelling testing table is:
I, flow container vehicle calculation procedure 27 is sent to the industrial computer 11 of real time execution by man-machine interaction debug platform III;
Ii, driver handles the bearing circle 12 in pilot control device, brake pedal 13 and accelerator pedal 14 according to the operating mode of driver's visual system V and needs;
Iii, the data timing acquisition module 31 in the flow container vehicle calculation procedure 27 of real-time operation carries out data acquisition to following signal: contract than the angular signal of the force signal 4 of the liquid level gauge signal 2 in flow container, liquid-pressure pick-up signal 3, three-dimensional force transducer, the opening amount signal of the gas pedal 14 of pilot control device, the opening amount signal of brake pedal 13 and bearing circle 12;
Iv, similarity modular converter 29 receives the contracting that the collects force signal than liquid level of tank meter signal and liquid-pressure pick-up signal, three-dimensional force transducer, and is converted into the corresponding signal of full-scale flow container;
V, liquid sloshing power/moment in flow container vehicle dynamic model 28 and transient state liquid centroid calculation module 33 receive the signal of the full-scale flow container that similarity modular converter 29 sends, and calculate full-scale flow container to the rolling power/moment of car body and liquid transient state barycenter;
Vi, vehicle dynamic model 34 based on Trucksim RT receives full-scale flow container to the gas pedal opening amount signal of the rolling power/moment of car body and liquid transient state barycenter and pilot control device, brake pedal opening amount signal and steering wheel angle signal, carry out flow container vehicle dynamic response to calculate, the motion state of spring carried mass when calculating liquid body wobble effects;
Vii, the motion state of the spring carried mass that similarity modular converter 29 receiving liquid tank vehicle dynamic model calculates, is converted to the motion state of contracting than flow container;
Viii, actuator elongation conversion module 30 receives contracting that similarity modular converter calculates than the motion state of flow container, this motion state is scaled the elongation control signal of six actuator, sends to 6-dof motion platform controller 8;
Ix, 6-dof motion platform controller 8 controls the switch of oil sources 6 and servo-valve 15, controls the motion of actuator, realizes the motion of flow container vehicle spring carried mass six direction, simulates and drives contracting to realize real working condition motion than flow container 1.
Application process is illustrated:
When carrying out liquid-solid bidirectional coupled specificity analysis, contracting is carried out to the hardware-in-loop simulation test of actual condition than flow container, by liquid level gauge 2, liquid-pressure pick-up 3, four three-dimensional force transducers 4 and data acquisition system (DAS) measurement obtain the force signal of flow container, liquid level signal and hydraulic pressure signal, and the data collected are stored to host computer, these data can be utilized to calculate liquid effects in the wind tunnel of flow container, analyze the dynamic changing process of Free Liquid Surface, the amplitude peak of slosh and the time of generation, also can be used for the rationality verifying liquid realistic model or simplified model.
When carrying out the control strategy exploitation of flow container vehicle stabilization control (as rollover controls), by control strategy module integration in the middle of flow container vehicle dynamic model 28, with the contracting motion of flow container vehicle actual in the interactive simulation of flow container motion platform assembly I and flow container vehicle real-time simulation platform II and dynamics, the state utilizing the flow container force signal of collection, fluid pressure signal and dynamics of vehicle Analysis of response flow container vehicle rollover to occur, the on-line debugging carrying out flow container intact stability control program, carry out the hardware in loop real-time verification of reference model.
Above discussion is only preferred embodiment of the present utility model, and being to explain and illustrating, is not the restriction to the utility model itself.The utility model is not limited to specific embodiment disclosed herein, and is determined by claim below.In addition, the record relevant with specific embodiment in the description above can not be interpreted as the restriction of the definition to the term used in scope of the present utility model or claim.Other different embodiment various of disclosed embodiment and various different distortion it will be apparent to those skilled in the art that.But all do not deviate from the utility model basic conception these embodiments, change and distortion be all in the scope of claims.
Claims (10)
1. a flow container vehicle liquid-solid bidirectional coupled real time modelling testing table, it is characterized in that comprising contracting than flow container motion platform assembly, flow container vehicle real-time simulation platform, man-machine interaction debug platform, pilot control device and driver's visual system, contract and carry out information interaction in real time than between flow container motion platform assembly and flow container vehicle real-time simulation platform;
Contract and comprise contracting than flow container, the liquid level gauge being installed on flow container inside and liquid-pressure pick-up, four three-dimensional force transducers and 6-dof motion platform assembly than flow container motion platform assembly, for real time modelling with measure the motion under real working condition of flow container and liquid and liquid sloshing to the impact of vehicle;
Flow container vehicle real-time simulation platform comprises the soft and hardware environment, data acquisition equipment, 6-dof motion platform opertaing device and the flow container vehicle calculation procedure that runs in real time environment that realize real time execution, for real time modelling flow container vehicle movement, Real-time Collection liquid sloshing force and motion signal, control the motion of 6-dof motion platform in real time;
Flow container vehicle compute package draw together consider the dynamic slosh of liquid flow container vehicle dynamic model, for similarity modular converter, actuator elongation conversion module, data timing acquisition module and the control signal timed sending module changed than data between flow container and full-scale flow container of contracting.
2. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, it is characterized in that described contracting is connected by the upper motion platform of four three-dimensional force transducers and 6-dof motion platform assembly at four end pin places than flow container, 6-dof motion platform assembly is positioned on ground, is provided with liquid level gauge and liquid-pressure pick-up in flow container; Four three-dimensional force transducers are for measuring longitudinal, side direction, the vertical rolling power of flow container to car body, and the liquid level gauge in flow container and liquid-pressure pick-up are used for transient state liquid level position and hydraulic pressure in measurements and calculations tank.
3. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, it is characterized in that described 6-dof motion platform assembly comprises 6-dof motion platform, for actuator motion provides the oil sources of fluid, separator and high-pressure oil pipe, 6-dof motion platform comprises a motion platform, a stationary platform, six actuator, the servo-valve of 12 actuator bearings and 12 control actuator oil pressure, this 6-dof motion platform has space six-freedom motion function, the longitudinal direction of vehicle body can be realized, side direction, vertical, roll, pitching, yaw degree of freedom, body movement state in Real-road Driving Cycle can be simulated, the opening and closing of servo-valve and the opening and closing of oil sources are controlled by 6-dof motion platform controller.
4. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, it is characterized in that described contracting is respectively equipped with a liquid level gauge than the front head in flow container and rear head, contracting than the left side in the middle part of flow container and right side, for measuring free face shape and the height of liquid pot liquid in real time, and liquid-pressure pick-up is all housed on the inwall of front head, rear head, left tank skin and right tank skin, for measuring this fluid pressure in real time, aided solving transient state liquid level.
5. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, it is characterized in that described data acquisition equipment comprises terminal box and data collecting card, above-mentioned liquid level gauge sensor, liquid-pressure pick-up, three-dimensional force transducer, brake pedal jaw opening sensor, gas pedal jaw opening sensor, steering wheel angle sensor are all connected with terminal box, and terminal box is connected with data collecting card.
6. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, it is characterized in that described man-machine interaction debug platform comprises host computer main frame and is placed in control and the debugged program of the flow container vehicle calculation procedure in main frame, flow container vehicle calculation procedure is sent for debugging with to real-time platform, and the reception process of data.
7. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, is characterized in that described pilot control device comprises gas pedal, brake pedal and bearing circle.
8. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, is characterized in that the working method of this testing table is:
I, flow container vehicle calculation procedure is sent in the software environment of flow container vehicle real-time simulation platform by man-machine interaction debug platform;
Ii, driver handles the gas pedal in pilot control device, brake pedal and bearing circle according to the operating mode of driver's visual system and needs;
Iii, the data timing acquisition module carried out in real time environment in the flow container vehicle calculation procedure of real-time operation carries out data acquisition to following signal: contract than the gas pedal opening amount signal of the force signal of the liquid level gauge signal in flow container, liquid-pressure pick-up signal, three-dimensional force transducer, pilot control device, brake pedal opening amount signal and steering wheel angle signal;
Iv, similarity modular converter, based on similarity criterion, receives the contracting that the collects force signal than liquid level of tank meter signal and liquid-pressure pick-up signal, three-dimensional force transducer, and is converted into the corresponding signal of full-scale flow container;
V, the liquid sloshing power/moment in flow container vehicle dynamic model and transient state liquid centroid calculation module receive the signal of the full-scale flow container that similarity modular converter sends, and calculate full-scale flow container to the rolling power/moment of car body and liquid transient state barycenter;
Vi, vehicle dynamic model based on Trucksim RT receives full-scale flow container to the gas pedal opening amount signal of the rolling power/moment of car body and liquid transient state barycenter and pilot control device, brake pedal opening amount signal and steering wheel angle signal, carry out flow container vehicle dynamic response to calculate, the motion state of spring carried mass when calculating liquid body wobble effects;
Vii, the motion state of the spring carried mass that similarity modular converter receiving liquid tank vehicle dynamic model calculates, is converted to the motion state of contracting than flow container;
Viii, this motion state, than the motion state of flow container, is scaled the elongation control signal of six actuator, sends to 6-dof motion platform controller by the contracting that actuator elongation conversion module reception similarity modular converter calculates;
Ix, 6-dof motion platform controller controls the switch of servo-valve and oil sources, control the oil pressure of oil sources and enter fluid amount and the oil pressure of each actuator cylinder body, the motion of actuator is controlled, realize the motion of flow container vehicle spring carried mass six direction, simulate and drive contracting to realize real working condition motion than flow container.
9. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, when it is characterized in that carrying out liquid-solid bidirectional coupled specificity analysis, by force signal, liquid level signal and hydraulic pressure signal that liquid level gauge, liquid-pressure pick-up and four three-dimensional force transducer measurements obtain, can calculate liquid effects in flow container wind tunnel, analyze time of the dynamic changing process of Free Liquid Surface, the amplitude peak of slosh and generation, and the rationality of liquid realistic model or simplified model can be verified.
10. flow container vehicle liquid-solid bidirectional coupled real time modelling testing table as claimed in claim 1, when it is characterized in that the control strategy exploitation carrying out flow container vehicle stabilization control (as rollover controls), by control strategy module integration in the middle of flow container vehicle dynamic model, with motion and the dynamics of contracting flow container vehicle actual in the interactive simulation of flow container motion platform assembly and flow container vehicle real-time simulation platform, utilize the flow container force signal gathered, the state that fluid pressure signal and dynamics of vehicle Analysis of response flow container vehicle rollover will occur, carry out the on-line debugging of control program, carry out the hardware in loop real-time verification with reference to flow container auto model.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104180984A (en) * | 2014-09-04 | 2014-12-03 | 吉林大学 | Fluid-solid two-way coupling real-time simulation test bench for tank truck |
| CN104614187A (en) * | 2015-01-20 | 2015-05-13 | 天津大学 | Virtual vehicle-based real driving cycle test device and method |
| CN117054266A (en) * | 2023-10-12 | 2023-11-14 | 禧天龙科技发展有限公司 | Fatigue test method |
-
2014
- 2014-09-04 CN CN201420509328.1U patent/CN204101270U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104180984A (en) * | 2014-09-04 | 2014-12-03 | 吉林大学 | Fluid-solid two-way coupling real-time simulation test bench for tank truck |
| CN104180984B (en) * | 2014-09-04 | 2016-08-24 | 吉林大学 | Flow container vehicle liquid-solid bidirectional coupled real-time Simulation testing stand |
| CN104614187A (en) * | 2015-01-20 | 2015-05-13 | 天津大学 | Virtual vehicle-based real driving cycle test device and method |
| CN104614187B (en) * | 2015-01-20 | 2017-05-31 | 天津大学 | A kind of true driving cycle test device and method based on virtual vehicle |
| CN117054266A (en) * | 2023-10-12 | 2023-11-14 | 禧天龙科技发展有限公司 | Fatigue test method |
| CN117054266B (en) * | 2023-10-12 | 2024-01-23 | 禧天龙科技发展有限公司 | Fatigue test method |
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