CN-121977733-A - Six-component force measurement method and system based on suspension strain and bench loading

CN121977733ACN 121977733 ACN121977733 ACN 121977733ACN-121977733-A

Abstract

The application relates to a six-component force measuring method based on suspension strain and bench loading, which comprises the following steps of selecting at least six strain measuring points on different mechanical components of a vehicle suspension system based on mechanical transmission characteristics of the mechanical components on loads in different directions, responding to longitudinal force, transverse force, vertical force, torque around an X axis, torque around a Y axis and torque around a Z axis borne by a wheel grounding point respectively, arranging measuring devices on the strain measuring points to obtain strain data of the strain measuring points, and installing the vehicle on a test bench and applying longitudinal force, transverse force, vertical force, torque around the X axis and torque around the Y axis to the wheel grounding point sequentially. The method replaces the special wheel center six-component sensor which is necessary to be relied on and has high cost in the traditional method, thereby fundamentally avoiding the expense of purchasing, customizing and maintaining the expensive sensor, avoiding the risk of easy damage of the sensor in long-term road test and realizing revolutionary reduction of the cost of test hardware.

Inventors

ZHANG WENMENG
HU SHU
LI HUAPING
WAN JUNTAO
MA LEITING
LI LIANG
CHAI SHUJUN
DU WEIKE
SHAO MINGMING
LUO QI
ZHENG WEIDONG
MA WANZHENG

Assignees

东风汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260106

Claims (10)

1. The six-component force measuring method based on suspension strain and bench loading is characterized by comprising the following steps of: Selecting at least six strain measuring points on different mechanical components of a vehicle suspension system based on mechanical transmission characteristics of the mechanical components for loads in different directions, respectively responding to longitudinal force, transverse force, vertical force, torque around an X axis, torque around a Y axis and torque around a Z axis born by a wheel grounding point, and arranging a measuring device on the strain measuring points to acquire strain data of the strain measuring points; The method comprises the steps of mounting the vehicle on a test bench, and sequentially applying loads in at least six single directions including longitudinal force, transverse force, vertical force, torque around an X axis, torque around a Y axis and torque around a Z axis to a wheel grounding point, wherein when each load is applied, load data directly measured by the test bench and test strain data of each strain measuring point measured by the measuring device are synchronously recorded; Based on load data and test strain data obtained under each unidirectional load, calculating a load-strain relation matrix representing the corresponding relation between six component forces of a tire grounding point and the strain of at least six strain measuring points; The method comprises the steps of keeping the arrangement of a measuring device unchanged, enabling the vehicle to run on an actual road surface, carrying out inversion calculation through a load-strain relation matrix based on road strain time domain data of each strain measuring point acquired by the measuring device so as to acquire six-component time domain data of a tire grounding point when the vehicle runs on the actual road surface, and acquiring the six-component time domain data of a vehicle wheel center through conversion based on the acquired six-component time domain data.
2. The six component measurement method based on suspension strain and stage loading of claim 1, wherein the six strain measurement points comprise: a first measurement point disposed on the lower swing arm that is responsive to the longitudinal force; a second measurement point disposed on the lower swing arm that is responsive to the lateral force; a third measurement point disposed on the knuckle that is responsive to the vertical force; A fourth measurement point disposed on the knuckle that is responsive to torque about the X-axis; a fifth measurement point disposed on the knuckle that is responsive to torque about the Y-axis; and a sixth measuring point which is arranged on the steering pull rod and is responsive to torque around the Z axis.
3. The six component measurement method based on suspension strain and stage loading of claim 1, wherein the test stage is a K & C test stage.
4. The six component measurement method based on suspension strain and stage loading of claim 1, wherein the measurement device is a resistive strain gauge.
5. The six component measurement method based on suspension strain and carriage loading of claim 1 wherein the test carriage controls the load in the other direction to be zero or to maintain a constant initial preload state when a unidirectional load is applied to the wheel ground point.
6. The six component measurement method based on suspension strain and stage loading according to claim 1, wherein the load-strain relation matrix is obtained by: Based on load data and test strain data obtained under each unidirectional load, an equation set is established: ; Wherein, the For testing strain data vectors, G is the load data vector; the system of equations is solved to obtain a load-strain relationship matrix.
7. The six-component force measuring method based on suspension strain and bench loading according to claim 1, wherein the obtaining the six-component force time domain data at the center of the wheel of the vehicle based on the obtained six-component force time domain data comprises the following steps: The longitudinal force, the transverse force, the vertical force and the torque around the Z axis at the wheel center are respectively equal to the corresponding loads at the grounding point of the tire; the torque about the X axis at the center of the wheel is equal to the lateral force at the tire footprint multiplied by the tire rolling radius; the torque around the Y-axis at the center of the wheel is equal to the longitudinal force at the tire footprint multiplied by the tire rolling radius.
8. A test system based on the six component measurement method based on suspension strain and stage loading of claim 1, comprising: the test module is configured to sequentially apply loads in at least six single directions including longitudinal force, transverse force, vertical force, torque around an X axis, torque around a Y axis and torque around a Z axis to a wheel grounding point, and synchronously record load data directly measured by the test bench when each load is applied; a data acquisition module, which is arranged on different mechanical components of a vehicle suspension system and is configured to acquire strain data of each strain measuring point; the processing module is connected with the testing module and the data acquisition module and is configured to calculate a load-strain relation matrix representing the corresponding relation between six component forces of the tire grounding point and strain of the at least six strain measuring points based on load data and test strain data acquired under each unidirectional load, perform inversion calculation through the load-strain relation matrix based on road strain time domain data of each strain measuring point acquired by the measuring device so as to acquire six component force time domain data of the tire grounding point when a vehicle runs on an actual road surface, and acquire six component force time domain data of the wheel center of the vehicle through conversion based on the acquired six component force time domain data.
9. An electronic device comprising a memory and at least one processor, the memory having instructions stored therein, the at least one processor invoking the instructions in the memory to cause the electronic device to perform the six component measurement method of claim 1 based on suspension strain and stage loading.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the six component measurement method based on suspension strain and stage loading of claim 1.

Description

Six-component force measurement method and system based on suspension strain and bench loading Technical Field The invention relates to the technical field of automobile testing, in particular to a six-component force measuring method and system based on suspension strain and bench loading. Background Six component forces (including longitudinal force Fx, lateral force Fy, vertical force Fz, torque Mx about X axis, torque My about Y axis, torque Mz about Z axis) at the center of the wheel (center of the wheel) are key load inputs for evaluating vehicle handling stability, ride comfort, and component fatigue durability during vehicle development. The acquisition of accurate road load spectrum is important for chassis design, simulation calibration and reliability verification. Currently, the main mode for acquiring the six-component force data of the wheel center is to use a six-component force sensor of the wheel. The sensor is usually mounted directly between the hub and the rim, and is capable of directly measuring and outputting a high-precision six-component signal. The wheel six-component force sensor is high in price, complex in installation and easy to damage in the long-period acquisition process, and special wheel hub and rim adapters are required to be manufactured for the wheel center six-component force data acquisition of different vehicle types, so that the cost is high, the period is long, and the universality is poor. In order to overcome the defects, chinese patent CN115906633a discloses a wheel center six-component force prediction method and device based on knuckle strain, and a storage medium, wherein strain data is acquired through strain gauges arranged on a knuckle, and a multi-layer perceptron (MLP) neural network model is constructed by using the wheel center six-component force data acquired in advance as a training label, so that six component force is predicted through strain; Although this solution reduces the long-term dependence on the sensor, it is essentially unable to get rid of the use of expensive wheel hexacomponent sensors for data acquisition in the initial stage to obtain the strain-hexacomponent paired samples necessary for training the neural network, which not only does not fundamentally solve the high cost problem of the sensor, but also the accuracy and generalization ability of the prediction model thereof are severely dependent on the quality and completeness of the initial acquired data, and the mobility and engineering convenience of the model are limited. Therefore, a new method for indirectly measuring six component force of the wheel center, which can thoroughly get rid of the dependence on the six component force sensor of the wheel, has lower cost and stronger universality and is convenient to implement, is urgently needed in the field. Disclosure of Invention The application provides a six-component force measuring method and system based on suspension strain and bench loading, which are used for solving the problems. In a first aspect, an embodiment of the present application provides a six-component force measurement method based on suspension strain and gantry loading, including the steps of: Selecting at least six strain measuring points on different mechanical components of a vehicle suspension system based on mechanical transmission characteristics of the mechanical components for loads in different directions, respectively responding to longitudinal force, transverse force, vertical force, torque around an X axis, torque around a Y axis and torque around a Z axis born by a wheel grounding point, and arranging a measuring device on the strain measuring points to acquire strain data of the strain measuring points; The method comprises the steps of mounting the vehicle on a test bench, and sequentially applying loads in at least six single directions including longitudinal force, transverse force, vertical force, torque around an X axis, torque around a Y axis and torque around a Z axis to a wheel grounding point, wherein when each load is applied, load data directly measured by the test bench and test strain data of each strain measuring point measured by the measuring device are synchronously recorded; Based on load data and test strain data obtained under each unidirectional load, calculating a load-strain relation matrix representing the corresponding relation between six component forces of a tire grounding point and the strain of at least six strain measuring points; The method comprises the steps of keeping the arrangement of a measuring device unchanged, enabling the vehicle to run on an actual road surface, carrying out inversion calculation through a load-strain relation matrix based on road strain time domain data of each strain measuring point acquired by the measuring device so as to acquire six-component time domain data of a tire grounding point when the vehicle runs on the actual road surface, and acquiring the six-component time dom