CN-119502917-B - Method for calculating tire core height change during steering by master pin inward inclination and master pin backward inclination

CN119502917BCN 119502917 BCN119502917 BCN 119502917BCN-119502917-B

Abstract

The invention discloses a method for calculating the tire core height change during steering by the main pin inclination and the main pin backward inclination, wherein the method for calculating the tire core height change during steering by the main pin inclination comprises the following steps of step 1, calculating the displacement of the tire core in the ground vertical direction during steering under the condition of the main pin inclination, step 2, calculating the tire core height change during steering, and step 3, calculating the tire core height change according to the displacement of the tire core in the ground vertical direction during steering under the condition of the main pin inclination and the displacement of the outer lower side of the tire in the ground vertical direction. The calculation method of the invention not only can help engineering technicians to understand deeply, but also can be applied to the development process of the automobile chassis, such as the calibration of the power assistance during the development of a steering power assistance system. In addition, the computational type programmable simulation system can be embedded into the whole vehicle dynamics simulation software, so that the simulation result is more accurate.

Inventors

WANG YAO
LIU YI
HE YANAN
HAO HAIYANG
Wu Gangyuan
HUANG LEI

Assignees

陕西法士特汽车传动集团有限责任公司

Dates

Publication Date: 20260505
Application Date: 20240920

Claims (8)

1. The method for calculating the tire core height change amount during steering by the inward tilting of the kingpin is characterized by comprising the following steps: step 1, calculating the displacement of the tire core in the ground vertical direction when steering under the condition of the inward inclination of a kingpin; The caster angle refers to the angle between the projection line and the vertical line of the horizontal plane, which is recorded as In the normal plane of the vehicle axial direction, the king pin offset is set as The offset distance of the main pin is the intersection point of the main pin and the ground and the tire core Distance between projection points on ground and setting tyre core Distance to the kingpin is Tyre core Perpendicular projection on the main pin is ; The rotation angle of the tire around the main pin during steering is recorded as When the radius of the tire is R, the tire core is turned The displacement in the ground vertical direction is as follows: Wherein, the , When the rotation angle is In the time-course of which the first and second contact surfaces, ; Step 2, calculating the displacement of the outer lower side of the tire in the vertical direction of the ground when the kingpin turns under the condition of inward inclination; let the tire width be W, the displacement of tire outside downside in ground vertical direction is: when the rotation angle is In the time-course of which the first and second contact surfaces, ; Step 3, calculating the height variation of the tire core according to the displacement of the tire core in the ground vertical direction during steering under the condition of inward inclination of the master pin and the displacement of the outer lower side of the tire in the ground vertical direction : 。
2. A system for calculating the variation of the height of the tire core during steering by the inward inclination of a kingpin, which is characterized by comprising the following modules: the displacement amount calculating module I is used for calculating the displacement amount of the tire core in the ground vertical direction when the main pin turns under the condition of inward inclination; The caster angle refers to the angle between the projection line and the vertical line of the horizontal plane, which is recorded as In the normal plane of the vehicle axial direction, the king pin offset is set as The offset distance of the main pin is the intersection point of the main pin and the ground and the tire core Distance between projection points on ground and setting tyre core Distance to the kingpin is Tyre core Perpendicular projection on the main pin is ; The rotation angle of the tire around the main pin during steering is recorded as When the radius of the tire is R, the tire core is turned The displacement in the ground vertical direction is as follows: Wherein, the , When the rotation angle is In the time-course of which the first and second contact surfaces, ; The displacement calculation module II is used for calculating the displacement of the outer lower side of the tire in the vertical direction of the ground when the main pin turns under the condition of inward inclination; let the tire width be W, the displacement of tire outside downside in ground vertical direction is: when the rotation angle is In the time-course of which the first and second contact surfaces, ; The height change amount calculation module is used for calculating the height change amount of the tire core according to the displacement amount of the tire core in the ground vertical direction and the displacement amount of the outer lower side of the tire in the ground vertical direction when the steering is performed under the condition of inward inclination of the master pin : 。
3. An electronic device, the electronic device comprising: a memory for storing executable instructions; a processor for implementing the method of claim 1 when executing the executable instructions or computer program stored in the memory.
4. A computer readable storage medium storing executable instructions or a computer program, which when executed by a processor implement the method of claim 1.
5. The method for calculating the tire core height change amount during steering by caster of the kingpin is characterized by comprising the following steps: step 1, calculating the displacement of the tire core in the ground vertical direction when steering under the condition of backward tilting of a master pin; the caster angle refers to the angle between the projection line and the vertical of the horizontal plane, which is the normal plane of the longitudinal direction of the vehicle, and is recorded as In the normal plane of the longitudinal direction of the vehicle, the king pin drag distance is set as The king pin drag distance is the intersection point of the king pin and the ground and the tire core Distance between projection points on ground and setting tyre core Distance to the kingpin is Tyre core Perpendicular projection on the main pin is ; The rotation angle of the tire around the main pin during steering is recorded as When the radius of the tire is R, the tire core is turned The displacement in the ground vertical direction is as follows: Wherein, the , When the rotation angle is In the time-course of which the first and second contact surfaces, ; Step 2, calculating the displacement of the outer lower side of the tire in the vertical direction of the ground when the kingpin turns under the condition of inward inclination; calculating the displacement of the point A in the ground vertical direction: ; Calculating the displacement of the point B in the ground vertical direction: Wherein, the ; Calculating the displacement of the outer lower side of the tire in the ground vertical direction: ; step 3, calculating the height variation of the tire core according to the displacement of the tire core in the ground vertical direction and the displacement of the outer lower side of the tire in the ground vertical direction during steering under the condition of backward tilting of the master pin : 。
6. The utility model provides a tire core height variation computing system when king pin retroverted turns to which specifically includes following module: The displacement amount calculating module I is used for calculating the displacement amount of the tire core in the ground vertical direction when the tire turns under the condition of backward tilting of the main pin; the caster angle refers to the angle between the projection line and the vertical of the horizontal plane, which is the normal plane of the longitudinal direction of the vehicle, and is recorded as In the normal plane of the longitudinal direction of the vehicle, the king pin drag distance is set as The king pin drag distance is the intersection point of the king pin and the ground and the tire core Distance between projection points on ground and setting tyre core Distance to the kingpin is Tyre core Perpendicular projection on the main pin is ; The rotation angle of the tire around the main pin during steering is recorded as When the radius of the tire is R, the tire core is turned The displacement in the ground vertical direction is as follows: Wherein, the , When the rotation angle is In the time-course of which the first and second contact surfaces, ; The displacement calculation module II is used for calculating the displacement of the outer lower side of the tire in the vertical direction of the ground when the main pin turns under the backward tilting condition; calculating the displacement of the point A in the ground vertical direction: ; Calculating the displacement of the point B in the ground vertical direction: Wherein, the ; Calculating the displacement of the outer lower side of the tire in the ground vertical direction: ; the height change amount calculation module is used for calculating the height change amount of the tire core according to the displacement amount of the tire core in the ground vertical direction and the displacement amount of the outer lower side of the tire in the ground vertical direction when the tire core turns under the condition of backward tilting of the master pin : 。
7. An electronic device, the electronic device comprising: a memory for storing executable instructions; a processor for implementing the method of claim 5 when executing the executable instructions or computer program stored in the memory.
8. A computer readable storage medium storing executable instructions or a computer program, which when executed by a processor implement the method of claim 5.

Description

Method for calculating tire core height change during steering by master pin inward inclination and master pin backward inclination Technical Field The invention belongs to the technical field of vehicle measurement, and relates to a method for calculating tire core height change during steering by master pin internal inclination and master pin backward inclination. Background The main pin inner inclination angle and the main pin back inclination angle have important influences on steering performance, operability and safety of the vehicle, and are also necessary adjustment parameters when the vehicle performs four-wheel positioning. The tire rotates around the kingpin during steering, and the tire tends to move toward the ground due to the inward or backward tilting of the kingpin. However, since the ground does not truly collapse to satisfy the movement of the tire, the relative displacement of the tire and the ground does not disappear, and the relative displacement is reflected in the upward displacement of the tire under the reaction force of the ground. There are few specific calculations regarding this displacement, and there are some related calculations in some journal articles, but not precise enough. Qualitative descriptions are given in classical books such as automobile theory, but specific deduction descriptions are not given. Therefore, in order to accurately calibrate the automobile power assistance during the development of the automobile steering power assistance system, and help engineering technicians develop the automobile chassis, a quantitative and more accurate calculation mode of the caster angle and the caster angle is needed to be researched. Disclosure of Invention The invention aims to provide a method for calculating the tire core height change of a main pin during inward tilting and backward tilting of the main pin during steering, so as to solve the problem that the result of a calculation formula in the prior art is not accurate enough. The method provides a calculation mode of displacement variation of the tire core in the direction vertical to the ground when the tire rotates for a certain angle under the condition of inward tilting of the main pin and backward tilting of the main pin, is used for explaining the height variation of the tire core relative to the ground, and can be used for calibrating power assistance during development of a power steering system. In order to achieve the above purpose, the invention adopts the following technical scheme: In a first aspect, the present invention provides a method for calculating a variation in the height of a tire core when a kingpin is tilted inward during steering, comprising the steps of: step 1, calculating the displacement of the tire core in the ground vertical direction when steering under the condition of the inward inclination of a kingpin; The caster angle refers to the angle between the projection line and the vertical line of the horizontal plane, which is recorded as In the normal plane of the vehicle axial direction, the king pin offset is set asThe offset distance of the main pin is the intersection point of the main pin and the ground and the tire coreDistance between projection points on ground and setting tyre coreDistance to the kingpin isTyre corePerpendicular projection on the main pin is; The rotation angle of the tire around the main pin during steering is recorded asWhen the radius of the tire is R, the tire core is turnedThe displacement in the ground vertical direction is as follows: Wherein, the , When the rotation angle isIn the time-course of which the first and second contact surfaces, ; Step 2, calculating the displacement of the outer lower side of the tire in the vertical direction of the ground when the kingpin turns under the condition of inward inclination; let the tire width be W, the displacement of tire outside downside in ground vertical direction is: when the rotation angle is In the time-course of which the first and second contact surfaces,; And 3, calculating the height variation of the tire core according to the displacement of the tire core in the ground vertical direction and the displacement of the outer lower side of the tire in the ground vertical direction when the kingpin is turned inwards. Further, in step 3, the height variation of the tire coreThe calculation formula of (2) is as follows: 。 in a second aspect, the present invention provides a tire core height variation amount calculation system for a kingpin camber at the time of steering, comprising: the displacement amount calculating module I is used for calculating the displacement amount of the tire core in the ground vertical direction when the main pin turns under the condition of inward inclination; The displacement calculation module II is used for calculating the displacement of the outer lower side of the tire in the vertical direction of the ground when the main pin turns under the condition of inward inclin