DE102016201553B4 - Device and method for determining one or more inertia parameters of a body, in particular a motor vehicle - Google Patents

Abstract

Device (1) for determining one or more inertia parameters of a body (4) comprising a receiving platform (3) on which the body (4) can be positioned and a support (2) and three suspension devices (6) by means of which the receiving platform (3) 3) on the support (2) is attached, wherein each of the suspension devices (6) at a receiving point (7) is pivotally mounted on the receiving platform and at least one holding point (9) on the support (2) is pivotally mounted, wherein the receiving points (7) with each other and the holding points (9) are spaced apart and the device (1) further comprises at least one actuator (5a, 5b, 5c, 5d, 5e, 5f) by at least one length (L) between a breakpoint (9) and a receiving point (7) of one of the three suspension device (6) to change to effect a movement of the receiving platform (3) relative to the carrier (2), each suspension device (6) has two supporting cables or Traggu has, which are each attached to another breakpoint (9).

Description

The invention relates to a device for determining one or more inertia parameters of a body, in particular a motor vehicle or a motor vehicle component. The invention further relates to a method for determining the inertia parameters of a body, in particular a motor vehicle or a motor vehicle component.

In the context of this invention, the inertia parameters in relation to a Cartesian coordinate system essentially mean ten parameters which are given for a body, in particular any rigid body, by the mass, the position of the center of gravity in the three possible spatial coordinates, the three principal moments of inertia the three spatial directions as well as the three so-called Deviationsmomente, which describe the mutual influence of the three spatial directions with each other.

The purpose of the determination of these inertia parameters is z. For example, a need in the simulation of dynamic vehicle behavior in vehicle development as well as, for example, in the development of vehicle dynamics control, which are used in motor vehicles. The simulation models used for the development of the vehicle dynamics controller require as a basis the respective inertia parameters in order to be able to predict, for example, the particularly critical so-called rollover behavior of a motor vehicle. In addition, in general, the inertia parameters of any dynamically-moving body may be of interest.

From the JP 2012-078 317 A is a suspended on four ropes platform for carrying a load known. The load is attached to the platform. Each suspension cable is provided with a movement device, so probably with a winch and a load sensor. To determine the center of gravity of the load, the platform is set in vibration by means of the cable winches. The CN 202 433 151 U also deals with a focus determination.

From the US 2006 0 010 965 A1 It is known to initiate forces for vibration excitation via the cable suspension. The US 2003 0 230 137 A1 discloses three suspensions one of which is located in the front center, one in the back left and the other rear right.

The determination of inertia parameters of any body is therefore basically known in the prior art. In this case, however, the known methods or devices are usually of limited use and permit the determination of several inertial parameters partially only after corresponding modifications of the device and / or after complex alignment or fixing of the body to be measured on or on the device. For example, a defined rotational movement of the body for the determination of certain inertial parameters is required, which is difficult to realize, especially in a motor vehicle and makes a determination of the vehicle wheels and their exact positioning at a predetermined location required.

The object of the invention is to provide a device and a method with which the inertia parameters, in particular a plurality of the aforementioned inertia parameters of any body and preferably a motor vehicle by means of a structurally simplified device and with comparatively little effort in the positioning of the body on the device determined are.

According to the invention the object is achieved by a device having the features of claim 1 and by a method of independent claim 8.

It should be noted that the features listed in the following description as well as measures in any technically meaningful way can be combined with each other and show other embodiments of the invention. The description additionally characterizes and specifies the invention, in particular in connection with the figures.

The invention relates to a device for determining one or more inertia parameters of a body, in particular of a motor vehicle. The device has a receiving platform on which the body is positionable. Preferably, it is a rigid recording platform. The receiving platform preferably defines at least four positioning points arranged in a plane for positioning the motor vehicle wheels of a motor vehicle of at least four wheels on the receiving platform. For example, the receiving platform on two parallel plates or a substantially planar surface defining plate. Preferably, the receiving platform in a rest position, ie in a stationary state, substantially horizontally aligned with respect to the gravity field.

Furthermore, a carrier and three suspension devices are provided, by means of which the receiving platform is attached to the carrier hanging. The term carrier is to be interpreted broadly and means any supporting structure and includes, for example, a Building. On the one hand, each of the suspension devices at a receiving point on the receiving platform, preferably with one of its two outer ends, pivotally mounted. On the other hand, each of the suspension devices is pivotally mounted on at least one support point on the carrier, preferably with the other of its two outer ends. Preferably, the suspension device on or a pair of support cables or straps on. For example, there are wire ropes of metallic wire, such as steel wire to ropes made of synthetic fibers, such as aramid fibers or steel straps. The suspension cables are coated, for example, with a polyurethane sheath.

Furthermore, the device has at least one actuator for changing at least one length between a breakpoint and a pickup point of one of the three suspension devices in order to bring about a movement of the receiving platform relative to the carrier. The inventive design a comparatively simple design construction is provided to enable a body, in particular the motor vehicle in a predetermined movement. Due to the suspended suspension, it is possible, for example, to dispense with joints which are subject to friction and play and, above all, structurally complex joints, such as spherical joints.

The predetermined movement is preferably used for measuring a kinematic variable associated with the movement of the receiving platform by means of one or more sensors in order to determine at least one inertia parameter of the group mentioned in the introduction from the measured measured values.

According to the invention, each suspension means comprises a pair, i. two suspension ropes or straps, each attached to a different stopping point and secured in a common receiving point on the receiving platform so that each suspension device forms a bifilar pendulum.

The actuator is, for example, a linearly operating drive. The actuator is integrated, for example, between the receiving platform and the suspension or in a multi-part suspension. In order to simplify its wiring, it is preferably arranged on the carrier side, preferably between the carrier and the suspension device. For example, it is an electromotive actuator.

Preferably, the at least one actuator is in each case an electromotive winch, wherein a change in length between a breakpoint and a receiving point of the associated suspension device is caused by winding and unwinding, for example, the support rope or strap.

To achieve a stable rest position of the receiving platform, the receiving points are arranged in a triangle. Preferably, the breakpoints, at three breakpoints, arranged in a triangle, with more than three breakpoints on a rectangle.

Preferably, the receiving points are provided outside of the covered by the body footprint on the receiving platform.

According to a preferred embodiment, at least one actuator is provided for each suspension device in order to be able to realize different directions of movement of the receiving platform by operating, possibly simultaneous operation of the actuators. More preferably, six actuators are provided, for example, each suspension device has two suspension ropes or straps and there are two, each associated with a support cable or strap associated actuators.

Preferably, at least three force sensors, also called force transducers, assigned to the three suspension devices are provided. For example, it is a spring force or Piezokraftaufnehmer. Preferably, six force sensors are provided. The force sensor is preferably arranged in each case in the force course acting on the suspension device. For example, the force sensor is integrated in the suspension device.

The device according to the invention finds use in one of the previously described embodiments for determining one or more inertia parameters of a motor vehicle or of a motor vehicle component.

The invention further relates to the arrangement of a device in one of the previously described embodiments and a motor vehicle as a body, wherein a receiving point of a receiving means is arranged so that it is arranged in a plane defined by a longitudinal axis and a vertical axis of the motor vehicle. Preferably, the holding points of the remaining two receiving device are each arranged on a parallel to the longitudinal axis of the vehicle.

The invention further provides a method for determining one or more inertia parameters of a body, in particular a motor vehicle, comprising the following steps:
Providing a receiving platform and a carrier and three suspension devices by means of which the receiving platform is attached to the carrier hanging, wherein each of the suspension devices is pivotally mounted at a receiving point on the receiving platform and at least one holding point on the carrier pivotally movable is fastened, wherein the receiving points with each other and the breakpoints are spaced apart and the device further comprises at least one actuator to change at least one length between breakpoint and receiving point of the three suspension means, each suspension means comprises two support cables or straps, each at a other breakpoint are attached. The method further comprises a step of providing at least one kinematic magnitude sensor associated with one of the movement of the receiving platform, for example, a force gradient of the bearing force acting on one of the suspension devices.

In a subsequent step, the body is positioned on the receiving platform.

In a subsequent step, the receiving platform is moved in at least one first direction by means of at least one shortening or lengthening of one of the suspension devices or at least parts thereof, preferably by two actuators, for example by an electric motor.

Simultaneously with the initiation of the movement by the actuator or in the course of a decay movement after the initiation of the movement by the actuator, the measurement values are acquired by means of the at least one sensor. Subsequently, at least one inertia parameter from the detected measured values, for example one of the three spatial coordinates of the center of gravity, one of the three main moments of inertia with respect to the respective three spatial directions of one of the three so-called Deviation moments, or combinations thereof, determined. Preferably, at least one height of a center of gravity of the body, in particular a motor vehicle, above the receiving platform is determined from the detected measured values.

Preferably, a periodic movement of the receiving platform is effected by the actuator (s). For example, the periodic movement is achieved by a sinusoidal operation of the actuator, for example, the periodic winding and unwinding of a winch as an actuator. In order to avoid inaccuracies in the determination of the inertia parameter (s) due to a hysteresis behavior of the sprung suspension in a motor vehicle, for example, a pulsed operation of the actuator is interposed or sinusoidal operation is "modulated" to sinusoidal operation as compared to sinusoidal operation.

For example, in one embodiment, by selectively and simultaneously activating, possibly opposing, in particular out of phase activating, at least one selection of actuators a movement of the receiving plate relative to the carrier initiated, the rolling movement of the motor vehicle relative to its longitudinal axis and / or pitching relative to its transverse axis and / or a yawing motion relative to its vertical axis and / or an at least approximately translational movement in the direction of the longitudinal axis and / or an approximately translational movement in the direction of the transverse axis and / or an at least approximately translatory movement in the direction of the vertical axis.

Further advantageous embodiments of the invention are disclosed in the subclaims and the following description of the figures. Show it:

1 a perspective view of an arrangement of a motor vehicle as a body and a device according to the invention 1 ;

2 a view of the arrangement 1 ;

3 a detailed perspective view of the device 1 out 1 ;

4 a tabular representation to illustrate the selective activation of the actuators in carrying out the method according to the invention on a motor vehicle as a body.

In the different figures, the same parts are provided with the same reference numerals, which is why these are usually described only once.

1 shows an arrangement of a motor vehicle 4 and a device according to the invention 1 for determining one or more inertia parameters of the motor vehicle 4 ,

The device 1 has a recording platform 3 on, hanging from a carrier 2 is attached. On the carrier 2 are six electromotive winches 5a . 5b . 5c . 5d . 5e . 5f each attached as an actuator at the same height. On the not shown drums of the electric motor winches 5a . 5b . 5c . 5d . 5e . 5f in each case a support cable is wound, wherein the point of contact between the running or run-up support cable and the cable drum each have a carrier-side breakpoint 9 defined as the upper attachment point for each support cable. Pairs of suspension ropes each end in a common pick-up point 7 , which is the recording platform side 3 Defined attachment point. The breakpoints 9 and the pickup point 7 Each bifilar pendulum are thus arranged in a rest position to each other in a triangle. Each designed as a bifilar pendulum pair of support cables defines a suspension 6 so that has three suspension devices 6 resulting in two ropes, with the suspension 6 each between two spaced stops 9 up to a common pick-up point 7 extends. Each suspension device 6 is in addition to the flexibility that results from the used suspension rope, pivotally in the breakpoints 9 and the pickup point 7 stored. The breakpoints 9 each suspension device 6 Define a line that is orthogonal or parallel to those through the breakpoints 9 the other suspension devices 6 defined lines are and are arranged in a common plane on a rectangle, like the 1 is removable.

The recording platform 3 is one-sided, so preferably designed tapered front, where at the top of the pickup point 7 the suspension device 6 concerning the electromotive winches 5a and 5b is arranged. The tapered end of the receiving platform 3 opposite end of the reception platform 3 is executed in a straight line, with the receiving points at the corners 7 the other suspension devices 6 are arranged. In the drawing plane of the figures right are the suspension 6 with the suspension cables and the electromotive winches 5e and 5f arranged. In the drawing plane of the figures are left suspension devices 6 with the suspension cables and the electromotive winches 5c and 5d arranged. So are the three recording points 7 arranged in a triangle. On the through the recording platform 3 defined plane is a vehicle 4 arranged. This vehicle 4 defined by its in each case by the center of gravity extending longitudinal axis X, transverse axis Y and vertical axis Z a Cartesian coordinate system.

The device according to the invention 1 not only serves one by the different actuators 5a . 5b . 5c . 5d . 5e . 5f initiated at least approximately translational movement of the recording platform 3 and the motor vehicle 4 along the direction predetermined by the longitudinal axis X, transverse axis Y or vertical axis Z but also a rolling movement about the longitudinal axis X or a yawing movement about the vertical axis Z or a tilting movement about the transverse axis Y. For this purpose, the receiving point 7 one of the winds 5a and 5b . 5c and 5d such as 5e and 5f associated suspension devices 6 arranged so that it is arranged in a plane defined by the longitudinal axis X and a vertical axis Z of the motor vehicle plane.

The movement is done by selectively and simultaneously activating all or some actuators 5a . 5b . 5c . 5d . 5e . 5f in the form of winding or unwinding of the associated supporting cable of the three suspension devices 6 causes. In one embodiment, winding and unwinding the respective winch takes place in a periodic sequence 5a . 5b . 5c . 5d . 5e . 5f a periodic movement of the receiving platform 3 causes.

On the basis of in 4 Table 1 shows the selection in the simultaneous activation of the winds 5a . 5b . 5c . 5d . 5e . 5f for the purpose of achieving a desired direction and type of movement of the recording platform 3 and thus of the motor vehicle 4 be clarified by + and - an opposite or opposite phase activation of the respective actuators 5a . 5b . 5c . 5d . 5e . 5f and by the symbol "0" no activation of the relevant actuator of the six actuators 5a . 5b . 5c . 5d . 5e . 5f is meant.

When moving serve in each suspension rope of the suspension 6 integrated and arranged in the associated force curve force sensors 8th the determination of the associated moments of inertia, which are determined by an evaluation unit, not shown, according to conventional mechanical and dynamic calculation principles.

To further clarify the arrangement according to the invention is in 2 a supervision shown, whereas the 3 only in perspective view a part of the device 1 shows.

LIST OF REFERENCE NUMBERS

1

 contraption

2

 carrier

3

 receiving platform

4

 Body, in particular motor vehicle

5a

 Actuator, in particular winch

5b

 Actuator, in particular winch

5c

 Actuator, in particular winch

5d

 Actuator, in particular winch

5e

 Actuator, in particular winch

5f

 Actuator, in particular winch

6

 Pair of suspension ropes as suspension device

7

 pick up point

8th

 Sensor, in particular force sensor

X

 longitudinal axis

Y

 transverse axis

Z

 vertical axis

L

 length

Claims (10)

Contraption ( 1 ) for determining one or more inertia parameters of a body ( 4 ), which is a recording platform ( 3 ), on which the body ( 4 ) is positionable and a carrier ( 2 ) and three suspension devices ( 6 ), by means of which the receiving platform ( 3 ) on the carrier ( 2 ) is suspended, wherein each of the suspension devices ( 6 ) at a pickup point ( 7 ) is pivotally mounted on the receiving platform and at least a breakpoint ( 9 ) on the carrier ( 2 ) is pivotally mounted, wherein the receiving points ( 7 ) and the breakpoints ( 9 ) and the device ( 1 ) at least one actuator ( 5a . 5b . 5c . 5d . 5e . 5f ) by at least one length (L) between a breakpoint ( 9 ) and a pickup point ( 7 ) one of the three suspension devices ( 6 ) to change a movement of the recording platform ( 3 ) relative to the carrier ( 2 ), each suspension device ( 6 ) has two suspension ropes or straps, each at a different breakpoint ( 9 ) are attached. Contraption ( 1 ) according to claim 1, wherein the actuator ( 5a . 5b . 5c . 5d . 5e . 5f ) is an electromotive wind. Contraption ( 1 ) according to claim 1 or 2, wherein the receiving points ( 7 ) are arranged in a triangle. Contraption ( 1 ) according to one of the preceding claims, wherein for each suspension device ( 6 ) at least one actuator ( 5a . 5b . 5c . 5d . 5e . 5f ) is available. Contraption ( 1 ) according to one of the preceding claims, wherein in each case a carrying cable or a carrying belt each have an actuator ( 5a . 5b . 5c . 5d . 5e . 5f ) having. Contraption ( 1 ) according to one of the preceding claims, with six force sensors associated with the three suspension devices ( 8th ) Arrangement of a device ( 1 ) according to one of the preceding claims and a motor vehicle ( 4 ) as a body, wherein one of the receiving points ( 7 ) is arranged in a plane through a longitudinal axis (X) and a vertical axis (Z) of the motor vehicle ( 4 ) is spanned. Method for determining one or more inertia parameters of a body ( 4 ) with the steps: providing a recording platform ( 3 ) and a carrier ( 2 ) and three suspension devices ( 6 ), by means of which the receiving platform ( 3 ) on the carrier ( 2 ) is suspended, wherein each of the suspension devices ( 6 ) at a pickup point ( 7 ) on the receiving platform ( 3 ) is pivotally mounted and at least one breakpoint ( 9 ) on the carrier ( 2 ) is pivotally mounted, wherein the receiving points ( 7 ) and the breakpoints ( 9 ) and the device ( 1 ) at least one actuator ( 5a . 5b . 5c . 5d . 5e . 5f ) by at least one length (L) between breakpoint ( 9 ) and pickup point ( 7 ) one of the three suspension devices ( 6 ), each suspension device ( 6 ) has two suspension ropes or straps, each at a different breakpoint ( 9 ) are attached; Providing at least one sensor ( 8th ) for measuring a kinematic quantity corresponding to a movement of the receiving platform ( 3 ) assigned; Positioning the body ( 4 ) on the receiving platform ( 3 ); Moving the recording platform ( 3 ) in at least a first direction by means of at least one actuator ( 5a . 5b . 5c . 5d . 5e . 5f ); Acquisition of measured values by means of the sensor ( 8th ); Determining the at least one inertia parameter from the detected measured values. Method according to the preceding claim, characterized by the actuator or actuators ( 5a . 5b . 5c . 5d . 5e . 5f ) a periodic movement of the receiving platform ( 3 ) is effected. Method according to one of the two preceding claims, wherein from the detected measured values at least one height of a center of gravity of the body ( 4 ) above the receiving platform ( 3 ) is determined as one of the parameters of inertia.

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