Suspension decoupling optimization method, device and operating machinery

Abstract

The present invention relates to the technical field of suspension decoupling, and provides a suspension decoupling optimization method, device and operating machinery, the method comprising: determining the modal sequence and modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system; iteratively determining the modes and modal decoupling rates in the six-degree-of-freedom direction based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence; and optimizing the installation position and dynamic stiffness of each suspension unit based on the target optimization function, the installation position range of each suspension unit and the dynamic stiffness frequency function when the modal frequency in the six-degree-of-freedom direction meets the constraint condition. The present invention can further improve the accuracy of suspension decoupling optimization.

Description

Technical Field

[0001] The present invention relates to the technical field of suspension decoupling, and in particular to a suspension decoupling optimization method, device and operating machinery. Background Art

[0002] The suspension system of the working machine has two functions. The first is to fix and support the powertrain, limit the position of the powertrain during operation, and prevent collision with other components. The second is to isolate the vibration, transfer the vibration of the internal combustion engine to the working machine body as little as possible, and improve the sound and vibration performance level of the working machine. If the vibration isolation performance of the powertrain is to be improved, solving the frequency distribution and vibration coupling problems of the rigid body mode of the powertrain is the core.

[0003] At present, most methods are based on establishing a 6-DOF vibration model of the suspension system, taking the modes and modal decoupling rates of the system in 6 directions as optimization targets, taking the suspension dynamic stiffness, installation position, installation angle and other parameters as design variables, and using optimization algorithms to automatically obtain a set of optimal suspension dynamic stiffness, installation position, installation angle and other parameter combinations. However, since the nonlinear variation of the dynamic stiffness of the hydraulic suspension system with frequency is large, the above method cannot optimize the suspension decoupling of the hydraulic suspension system. For the rubber suspension system with a smaller nonlinear variation of the dynamic stiffness with frequency, the optimization error of the suspension decoupling is large. Summary of the invention

[0004] The present invention provides a suspension decoupling optimization method, device and operating machine, which are used to solve the defects in the prior art that the suspension decoupling optimization of the hydraulic suspension system cannot be performed and the suspension decoupling optimization of the rubber suspension system has errors.

[0005] The present invention provides a suspension decoupling optimization method, comprising:

[0006] Based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, the modal sequence and the modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction are determined; the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in the direction of each elastic principal axis;

[0007] Based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence, iteratively determine the modes and modal decoupling rates in the six degrees of freedom directions; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency;

[0008] When the modal frequencies in the six degrees of freedom directions meet the constraints, the installation position and dynamic stiffness of each suspension unit are subjected to suspension decoupling optimization based on the target optimization function, the installation position range of each suspension unit and the dynamic stiffness frequency function.

[0009] According to a suspension decoupling optimization method provided by the present invention, the iterative determination of the modes and modal decoupling rates in six degrees of freedom directions based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence includes:

[0010] Dynamic stiffness range determination step: determining the current dynamic stiffness range of each suspension unit in each main axis direction based on the dynamic stiffness frequency function and the current modal frequency range; the current modal frequency range includes the current modal frequency;

[0011] Mode determination step: based on a preset frequency interval, the current modal frequency range is divided into equal intervals, and the system stiffness matrix sequence is calculated with the dynamic stiffness corresponding to the frequency of each interval point, and the corresponding mode sequence and modal decoupling rate sequence are determined based on the system stiffness matrix sequence;

[0012] Frequency determination step: determining a current maximum modal frequency and a current minimum modal frequency based on the modal sequence and the modal decoupling rate sequence;

[0013] Iteration step: if the difference between the current maximum modal frequency and the current minimum modal frequency is greater than or equal to a preset value, the mode determination step and the frequency determination step are repeatedly executed; if the difference between the current maximum modal frequency and the current minimum modal frequency is less than a preset value, the target mode and the target modal decoupling rate are determined based on the corresponding modal sequence and modal decoupling sequence.

[0014] According to a suspension decoupling optimization method provided by the present invention, the dynamic stiffness range of each suspension unit in each main axis direction is determined based on the dynamic stiffness frequency function and the current modal frequency range, including:

[0015] Based on the dynamic stiffness frequency function and the current modal frequency range, determining the current dynamic stiffness of each suspension unit at different modal frequencies in each elastic principal axis direction;

[0016] Based on the current dynamic stiffness of each suspension unit at different modal frequencies in each elastic principal axis direction, the dynamic stiffness range of each suspension unit in each principal axis direction is determined.

[0017] According to a suspension decoupling optimization method provided by the present invention, the modal sequence and modal decoupling rate sequence of the suspension system in six degrees of freedom directions are determined based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, including:

[0018] Determining a stiffness matrix sequence corresponding to the suspension system based on an initial dynamic stiffness range of the suspension system;

[0019] Based on the mass matrix and the stiffness matrix sequence, the modal sequence and the modal decoupling rate sequence of the suspension system in six degrees of freedom are determined.

[0020] According to a suspension decoupling optimization method provided by the present invention, the mass matrix is ​​determined based on the mass of the supporting components in the suspension system, and the moment of inertia and product of inertia of the supporting components in the six-degree-of-freedom directions; the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit in the direction of each elastic principal axis, the displacement transformation matrix of each suspension unit, and the projection transformation matrix of each suspension unit.

[0021] According to a suspension decoupling optimization method provided by the present invention, the dynamic stiffness frequency function is determined based on the following steps:

[0022] Determine the initial dynamic stiffness frequency function with unknown coefficients;

[0023] Based on the historical dynamic stiffness frequency curve, fitting the initial dynamic stiffness frequency function, and determining the variance of the fitted initial dynamic stiffness frequency function;

[0024] When the variance is less than the preset variance, the initial dynamic stiffness frequency function after the corresponding fitting is used as the dynamic stiffness frequency function.

[0025] The present invention also provides a suspension decoupling optimization device, comprising:

[0026] A first determination unit is used to determine a modal sequence and a modal decoupling rate sequence of the suspension system in six degrees of freedom directions based on a mass matrix of the suspension system and a stiffness matrix sequence corresponding to an initial dynamic stiffness range of the suspension system, wherein the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in each elastic principal axis direction;

[0027] A second determination unit is used to iteratively determine the modes and modal decoupling rates in six degrees of freedom directions based on a dynamic stiffness frequency function, the modal sequence, and the modal decoupling rate sequence; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency;

[0028] The suspension decoupling unit is used to optimize the installation position and dynamic stiffness of each suspension unit based on the target optimization function, the installation position range of each suspension unit and the dynamic stiffness frequency function when the modal frequency in the six-degree-of-freedom direction meets the constraint conditions.

[0029] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned suspension decoupling optimization methods when executing the computer program.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned suspension decoupling optimization methods are implemented.

[0031] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any one of the above suspension decoupling optimization methods are implemented.

[0032] The suspension decoupling optimization method, device and operating machine provided by the present invention combine the dynamic stiffness frequency function used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency, as well as the modal sequence and the modal decoupling rate sequence to determine the target mode and the target modal decoupling rate, so that the target mode and the target modal decoupling rate obtained by solving can be more accurate, and then the suspension decoupling optimization can be more accurately performed based on the target optimization function, avoiding the problem of errors caused by ignoring the nonlinear change of the suspension dynamic stiffness with frequency in the traditional method. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic diagram of the flow of the suspension decoupling optimization method provided by the present invention;

[0035] Figure 2 It is a schematic diagram of a dynamic stiffness frequency curve provided by the present invention;

[0036] Figure 3 It is a schematic flow chart of the target optimization method provided by the present invention;

[0037] Figure 4 It is a flow chart of a method for obtaining modes and modal decoupling rates in each degree of freedom direction provided by the present invention;

[0038] Figure 5 It is a structural schematic diagram of the suspension decoupling optimization device provided by the present invention;

[0039] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] At present, most methods establish a 6-DOF vibration model of the suspension system, take the modes and modal decoupling rates of the system in 6 directions as optimization targets, take parameters such as suspension dynamic stiffness, installation position, installation angle as design variables, and use optimization algorithms to automatically obtain a set of optimal suspension dynamic stiffness, installation position, installation angle and other parameter combinations. However, the above method does not consider the nonlinear change of suspension dynamic stiffness with frequency, that is, the value of suspension dynamic stiffness is the same at each frequency. Since the nonlinear change amplitude of the dynamic stiffness of the hydraulic suspension system with frequency is large, the above method cannot perform suspension decoupling optimization on the hydraulic suspension system. For the rubber suspension system with a smaller nonlinear change amplitude of dynamic stiffness with frequency, the optimization error of suspension decoupling is large.

[0042] To this end, the present invention provides a suspension decoupling optimization method. Figure 1 is a flow chart of the suspension decoupling optimization method provided by the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0043] Step 110, based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, determine the modal sequence and modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction, and the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in the direction of each elastic principal axis.

[0044] Specifically, the suspension system may include a supporting component (such as an engine or a cockpit), and a plurality of suspension units. The generalized coordinate system of the suspension system is established with the center of mass of the supporting component as the coordinate origin, the vertical direction as the Z direction, the forward direction as the X direction, and the horizontal lateral direction as the Y direction. At the same time, a local coordinate system of the suspension system is established, and the directions of the local coordinate axes are u, v, and w, corresponding to the directions of the elastic principal axes of the suspension. Among them, the differential equation of the undamped free vibration of the suspension system can be expressed as:

[0045]

[0046] Where [M] is the mass matrix of the suspension system, [K] is the stiffness matrix sequence of the suspension system, is the generalized acceleration vector of the suspension system, and {Q} is the generalized displacement vector of the suspension system.

[0047] After obtaining the mass matrix [M] and the initial dynamic stiffness matrix [K], by solving the matrix [M] -1 The eigenvalue and eigenvector of [K] give the circular frequency ω of the suspension system k and vibration mode Suspension system mode Wherein k represents the order of the mode or vibration shape, and k=1~6.

[0048] When the suspension system vibrates in the kth mode, the percentage of the energy allocated in the ith generalized coordinate direction in the total energy, that is, the degree of modal decoupling in the ith generalized coordinate direction, is:

[0049]

[0050] Take the maximum value of energy decoupling in the i-th generalized coordinate direction max(dig ik ) is the modal decoupling rate in the i-th generalized coordinate direction, and max(dig ik ) corresponds to a k value, so the k-th mode is the main vibration mode in the ith generalized coordinate direction, and then the modal sequence and modal decoupling rate sequence of each suspension unit in the suspension system in the generalized coordinate direction can be obtained.

[0051] Step 120, iteratively determine the modes and modal decoupling rates in the six degrees of freedom directions based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency.

[0052] Specifically, the prior art does not consider the nonlinear variation of the suspension dynamic stiffness with frequency, that is, the dynamic stiffness K of the suspension in each elastic principal axis direction. ui , K vi , K wi takes the same value at all frequencies. However, if Figure 2 As shown, the nonlinear variation of the dynamic stiffness of the hydraulic suspension system with frequency is large, so the existing technology cannot optimize the suspension decoupling of the hydraulic suspension system. The nonlinear variation of the dynamic stiffness of the rubber suspension system with frequency is small, which leads to a large optimization error of the suspension decoupling or even a serious deviation from the true value.

[0053] In this regard, the embodiments of the present invention combine the dynamic stiffness frequency function used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency, as well as the modal sequence and the modal decoupling rate sequence to determine the target mode and the target modal decoupling rate, so that the target mode and the target modal decoupling rate obtained by solving can be more accurate and close to the true value, avoiding the problem of errors caused by ignoring the nonlinear change of the suspension dynamic stiffness with frequency in the traditional method.

[0054] Step 130 : When the modal frequencies in the six degrees of freedom directions satisfy the constraints, the installation positions and dynamic stiffness of each suspension unit of the suspension system are subjected to suspension decoupling optimization based on the target optimization function, the installation positions of each suspension unit of the suspension system, and the dynamic stiffness frequency function.

[0055] Specifically, with the goal of maximizing the modal decoupling rate in each direction, a target optimization function can be created, and when the modal frequencies in the six-degree-of-freedom directions meet the constraints, the installation positions of each suspension unit and the dynamic stiffness frequency function are used as design variables to maximize the modal decoupling rate in each direction, indicating that the corresponding suspension unit installation positions and dynamic stiffness frequency functions are optimal at this time.

[0056] The installation position of the suspension unit may include the position coordinates of the suspension unit and the installation angle of the suspension unit.

[0057] Among them, the target optimization function is created as:

[0058]

[0059] Where Eper j is the modal decoupling rate of the system in the jth direction, a j is the weight coefficient, d represents the design variable, and s represents the constraint condition.

[0060] The design variables include the following parameters:

[0061] Dynamic stiffness frequency function k of the suspension system iu (f), k iv (f), k iw The coefficient of (f) The upper and lower limits of the dynamic stiffness frequency function are constrained by the upper and lower limits of the coefficient.

[0062] That is to satisfy:

[0063] Coordinate x of the suspension unit in the generalized coordinate system i ,y i 、z i , and constrain the upper and lower limits of the position coordinates.

[0064] That is to satisfy:

[0065] In addition, the angle α between the u, v, w axis of the suspension unit and the X, Y, Z axis of the global coordinate system is ui , β ui , γ ui , α vi , β vi , γ vi , α wi , βwi , γ wi , and the constraints include the following parameters:

[0066] Modal frequency fm of the suspension system in the 6-DOF direction j , and limit the modal frequencies in each direction according to the excitation source and working conditions.

[0067] That is to satisfy:

[0068] like Figure 3 As shown, according to the created target optimization function, design variables, and constraints, a genetic algorithm is used for optimization, and finally a set of optimal combinations of dynamic stiffness frequency function coefficients, suspension installation position coordinates, and suspension installation angles are automatically output.

[0069] The suspension decoupling optimization method provided by the embodiment of the present invention combines the dynamic stiffness frequency function used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency, as well as the modal sequence and the modal decoupling rate sequence, to determine the mode and modal decoupling rate of each degree of freedom, so that the modes and modal decoupling rates of each degree of freedom obtained by solution can be more accurate, and then the suspension decoupling optimization can be more accurately performed based on the target optimization function, avoiding the problem of errors caused by ignoring the nonlinear change of the suspension dynamic stiffness with frequency in the traditional method.

[0070] Based on the above embodiment, based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence, iteratively determining the mode and modal decoupling rate of each degree of freedom includes:

[0071] Dynamic stiffness range determination step: determining the current dynamic stiffness range of each suspension unit in each main axis direction based on the dynamic stiffness frequency function and the current modal frequency range; the current modal frequency range includes the current modal frequency;

[0072] Mode determination step: based on the preset frequency interval, the current modal frequency range is divided into equal intervals, and the system stiffness matrix sequence is calculated with the dynamic stiffness corresponding to each interval point, and the corresponding mode sequence and modal decoupling rate sequence are determined based on the system stiffness matrix sequence;

[0073] Frequency determination step: based on the modal sequence and the modal decoupling rate sequence, determine the current maximum modal frequency and the current minimum modal frequency;

[0074] Iteration step: if the difference between the current maximum modal frequency and the current minimum modal frequency is greater than or equal to a preset value, the modal determination step and the frequency determination step are repeatedly executed; if the difference between the current maximum modal frequency and the current minimum modal frequency is less than a preset value, the target mode and the target modal decoupling rate are determined based on the corresponding modal sequence and modal decoupling sequence.

[0075] Specifically, Figure 4 As shown, according to the dynamic stiffness frequency function, the dynamic stiffness function of each elastic principal axis direction of the i-th suspension can be obtained as K ui (f) K vi (f) K wi (f), taking the preset frequency interval as Δf, in the frequency range of each mode [f min , f max ] (that is, the current modal frequency range, including the current modal frequency), the values ​​of the suspension dynamic stiffness function corresponding to the independent variable frequency f are calculated in sequence from small to large, and then the corresponding system stiffness matrix sequence [K(f)] is calculated, and finally the corresponding modal sequence and modal decoupling rate sequence are calculated. According to the direction of the system coordinate system corresponding to the modal decoupling rate, the modes and modal decoupling rates in the sequence are rearranged and placed on the corresponding X, Y, Z axes and in the rotation direction around the X, Y, Z axes, and finally the modal sequence fm is obtained. j (f) and modal decoupling rate series Eper j (f), where j = 1 to 6, representing the directions of 6 degrees of freedom. The first current modal frequency may be a preset modal frequency range.

[0076] In the current modal frequency range [f min , f max ], calculate the modal sequence in the jth direction about the independent variable frequency f Calculate the minimum modal frequency in the sequence and the maximum modal frequency And as the new upper and lower limits of the frequency range of the independent variable f, that is, as the current modal frequency range, that is, According to the new current modal frequency range And the dynamic stiffness frequency function calculates the new modal sequence and the new current modal frequency range Iterate sequentially, and when the upper and lower limits of the frequency range obtained by the nth iteration meet When (that is, when the difference between the current maximum modal frequency and the current minimum modal frequency is less than the preset value), the iteration is terminated, where Δf end is a preset value, which can be a set accuracy parameter. At this time, the mode in the jth direction can be obtained. and modal decoupling rate in and are the modal sequence and modal decoupling rate sequence in the j-th direction obtained in the n-th iteration respectively.

[0077] Based on any of the above embodiments, based on the dynamic stiffness frequency function and the current modal frequency range, determining the current dynamic stiffness range of each suspension unit in each main axis direction includes:

[0078] Based on the dynamic stiffness frequency function and the current modal frequency range, determine the current dynamic stiffness of each suspension unit in different modes in each elastic principal axis direction;

[0079] Based on the current dynamic stiffness of each suspension unit at different modal frequencies in each elastic principal axis direction, the current dynamic stiffness range of each suspension unit in each principal axis direction is determined.

[0080] Specifically, according to the dynamic stiffness frequency function and the current modal frequency range, the current dynamic stiffness K of each suspension unit in each elastic principal axis direction can be determined: ui (f) K vi (f) K wi (f) Then, according to the current dynamic stiffness of each suspension unit at different modal frequencies in each elastic principal axis direction, the dynamic stiffness range of each suspension unit in each principal axis direction can be obtained.

[0081] Based on any of the above embodiments, based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, determining the modal sequence and modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction includes:

[0082] Based on the initial dynamic stiffness range of the suspension system, determine the stiffness matrix sequence corresponding to the suspension system;

[0083] Based on the mass matrix and stiffness matrix sequence, the modal sequence and modal decoupling rate sequence of the suspension system in the six degrees of freedom direction are determined.

[0084] Specifically, according to the initial dynamic stiffness range, the stiffness matrix sequence [K] corresponding to the suspension system can be determined. After obtaining the mass matrix [M] and the stiffness matrix sequence [K], the circular frequency ω of the suspension system can be obtained by solving the eigenvalues ​​and eigenvectors of the matrix [M]-1[K]: k and vibration mode Suspension system mode Wherein k represents the order of the mode or vibration shape, and k=1~6.

[0085] When the suspension system vibrates in the kth mode, the percentage of the energy allocated in the ith generalized coordinate direction in the total energy, that is, the degree of modal decoupling in the ith generalized coordinate direction, is:

[0086]

[0087] Take the maximum value of energy decoupling in the i-th generalized coordinate direction max(dig ik ) is the modal decoupling rate in the i-th generalized coordinate direction, and max(dig ik) corresponds to a k value, so the k-th mode is the main vibration mode in the ith generalized coordinate direction, and then the modal sequence and modal decoupling rate sequence of each suspension unit in the suspension system in the generalized coordinate direction can be obtained.

[0088] Based on any of the above embodiments, the mass matrix is ​​determined based on the mass of the supporting components in the suspension system, and the moment of inertia and product of inertia of the supporting components in the six degrees of freedom directions; the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit in the direction of each elastic principal axis, the displacement transformation matrix of each suspension unit, and the projection transformation matrix of each suspension unit.

[0089] Specifically, the mass matrix [M] can be determined based on the following formula:

[0090]

[0091] Where m is the mass of the supporting component (such as the engine or cockpit), J xx , J yy , J zz are the moments of inertia of the supporting components around the coordinate axes X, Y, and Z of the generalized coordinate system (i.e., the six-degree-of-freedom directions), J xy , J yz , J xz are the inertia products of the supporting components in the generalized coordinate system, respectively. The above parameters can be measured in the three-dimensional model of the supporting components.

[0092] The dynamic stiffness of each suspension unit in the local coordinate system of the suspension system (i.e., the direction of each elastic principal axis) [K i ]for:

[0093]

[0094] In the formula, K ui , K vi , K wi are the dynamic stiffness of the i-th suspension in the u, v, and w axes respectively.

[0095] The displacement transformation matrix of the suspension unit leaving the local equilibrium position of the suspension under the system's small vibration amplitude [E i ]for:

[0096]

[0097] In the formula, x i ,y i 、z i are the coordinates of the i-th suspension in the generalized reference system of the suspension system.

[0098] The displacement vector of the suspension unit is converted to the elastic principal axis direction of the local coordinate system of the suspension system. The projection transformation matrix of each suspension unit [Bi ]for:

[0099]

[0100] In the formula, α ui , β ui , γ ui , α vi , β vi , γ vi , α wi , β wi , γ wi They are the angles between the u, v, w axes of the ith suspension and the X, Y, Z axes of the global coordinate system.

[0101] Then, combined with the law of conservation of energy, the stiffness matrix sequence [K] of the suspension system is obtained as:

[0102]

[0103] Based on any of the above embodiments, the dynamic stiffness frequency function is determined based on the following steps:

[0104] Determine the initial dynamic stiffness frequency function with unknown coefficients;

[0105] Based on the historical dynamic stiffness frequency curve, the initial dynamic stiffness frequency function is fitted, and the variance of the fitted initial dynamic stiffness frequency function is determined;

[0106] When the variance is less than the preset variance, the initial dynamic stiffness frequency function after the corresponding fitting is used as the dynamic stiffness frequency function.

[0107] Specifically, a polynomial of the initial dynamic stiffness frequency function in the direction of the elastic principal axis of the i-th suspension is established, and the polynomial contains undetermined coefficients:

[0108] k i (f) = c0 + c1*f + c2*f 2 +…+c n *f n

[0109] In the formula, c n is the constant coefficient to be determined, and f is the frequency independent variable.

[0110] Select a frequency range [f min , f max ], starting from n = 1, the least squares method is used to fit the polynomial and the corresponding constant coefficients c0, c1, ..., c n , calculate the variance θ1 of the fitted function, and take a preset variance according to the accuracy requirement like Then the fitted dynamic stiffness frequency function meets the requirements, otherwise, n=2, 3, 4, etc. are taken in sequence for fitting, and finally a dynamic stiffness frequency function that meets the requirements is obtained.

[0111] The suspension decoupling optimization device provided by the present invention is described below. The suspension decoupling optimization device described below and the suspension decoupling optimization method described above can be referred to each other.

[0112] Based on any of the above embodiments, the present invention further provides a suspension decoupling optimization device, such as Figure 5 As shown, the device comprises:

[0113] A first determining unit 510 is used to determine a modal sequence and a modal decoupling rate sequence of the suspension system in six degrees of freedom directions based on a mass matrix of the suspension system and a stiffness matrix sequence corresponding to an initial dynamic stiffness range of the suspension system, wherein the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in each elastic principal axis direction;

[0114] A second determination unit 520 is used to iteratively determine the modes and modal decoupling rates of six degrees of freedom based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency;

[0115] The suspension decoupling unit 530 is used to optimize the installation position and dynamic stiffness of each suspension unit based on the target optimization function, the installation position of each suspension unit and the dynamic stiffness frequency function when the modal frequency in the six-degree-of-freedom direction meets the constraint conditions.

[0116] Based on any of the foregoing embodiments, the second determining unit 520 includes:

[0117] A dynamic stiffness range determination unit, used to determine the current dynamic stiffness range of each suspension unit in each main axis direction based on the dynamic stiffness frequency function and the current modal frequency range; the current modal frequency range includes the current modal frequency;

[0118] A mode determination unit, configured to divide the current modal frequency range into equal intervals based on a preset frequency interval, calculate a system stiffness matrix sequence with the dynamic stiffness corresponding to each interval point, and determine a corresponding mode sequence and a modal decoupling rate sequence based on the system stiffness matrix sequence;

[0119] A frequency determination unit, configured to determine a current maximum modal frequency and a current minimum modal frequency based on the modal sequence and the modal decoupling rate sequence;

[0120] An iteration unit is used for repeatedly executing the steps in the mode determination unit and the frequency determination unit if the difference between the current maximum modal frequency and the current minimum modal frequency is greater than or equal to a preset value; and for determining the target mode and the target modal decoupling rate based on the corresponding modal sequence and modal decoupling sequence if the difference between the current maximum modal frequency and the current minimum modal frequency is less than a preset value.

[0121] Based on any of the above embodiments, the current range determining unit includes:

[0122] A dynamic stiffness determination unit, configured to determine the current dynamic stiffness of each suspension unit in different modes in each elastic principal axis direction based on the dynamic stiffness frequency function and the current modal frequency range;

[0123] The modal frequency range determination unit is used to determine the dynamic stiffness range of each suspension unit in each principal axis direction based on the current dynamic stiffness of different modes of each suspension unit in each elastic principal axis direction.

[0124] Based on any of the foregoing embodiments, the first determining unit 510 includes:

[0125] A parameter determination unit, configured to determine a stiffness matrix sequence corresponding to the suspension system based on an initial dynamic stiffness range of the suspension system;

[0126] The second calculation unit is used to determine the modal sequence and modal decoupling rate sequence of the suspension system in six degrees of freedom directions based on the mass matrix and the stiffness matrix sequence.

[0127] Based on any of the above embodiments, the mass matrix is ​​determined based on the mass of the supporting components in the suspension system, and the moment of inertia and product of inertia of the supporting components in the six degrees of freedom directions; the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit in the direction of each elastic principal axis, the displacement transformation matrix of each suspension unit, and the projection transformation matrix of each suspension unit.

[0128] Based on any of the above embodiments, the device further includes:

[0129] An initial undetermined coefficient function determination unit is used to determine an initial dynamic stiffness frequency function containing undetermined coefficients;

[0130] A function fitting unit, used for fitting the initial dynamic stiffness frequency function based on the historical dynamic stiffness frequency curve, and determining the variance of the initial dynamic stiffness frequency function after fitting;

[0131] The dynamic stiffness function determining unit is used to use the initial dynamic stiffness frequency function after fitting as the dynamic stiffness frequency function when the variance is less than a preset variance.

[0132] Based on any of the above embodiments, the present invention further provides a working machine, comprising: a suspension decoupling optimization device as described in any of the above embodiments.

[0133] Here, the operating machinery may be an engineering machinery such as a crane, an excavator, a pile driver, or an engineering vehicle such as a aerial platform, a fire truck, a mixer truck, etc., and the embodiment of the present invention does not specifically limit this. Since the embodiment of the present invention combines the dynamic stiffness frequency function used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency, as well as the modal sequence and the modal decoupling rate sequence, the modes and modal decoupling rates in each degree of freedom direction are determined, so that the modes and modal decoupling rates in each degree of freedom direction obtained by solving can be more accurate, and then the suspension decoupling optimization of the operating machinery can be more accurately performed based on the target optimization function, avoiding the problem of errors caused by ignoring the nonlinear change of the suspension dynamic stiffness with frequency in the traditional method.

[0134] Figure 6 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 6 As shown, the electronic device may include: a processor (processor) 610, a communication interface (CommunicationsInterface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630 to execute the suspension decoupling optimization method, which includes: based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, determining the modal sequence and modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction, wherein the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in the direction of each elastic principal axis; based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence, iteratively determining the modes and modal decoupling rates in the six-degree-of-freedom directions; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency; when the modal frequencies in the six-degree-of-freedom direction meet the constraint conditions, the installation position and dynamic stiffness of each suspension unit are subjected to suspension decoupling optimization based on the target optimization function, the installation position range of each suspension unit and the dynamic stiffness frequency function.

[0135] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0136] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the suspension decoupling optimization method provided by the above methods, the method including: based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, determining the modal sequence and modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction, the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in the direction of each elastic principal axis; based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence, iteratively determining the mode and modal decoupling rate in the six-degree-of-freedom direction; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency; when the modal frequency in the six-degree-of-freedom direction meets the constraint condition, based on the target optimization function, the installation position range of each suspension unit and the dynamic stiffness frequency function, the installation position and dynamic stiffness of each suspension unit are subjected to suspension decoupling optimization.

[0137] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the above-mentioned suspension decoupling optimization method, the method comprising: determining the modal sequence and modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, wherein the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in the direction of each elastic principal axis; iteratively determining the mode and modal decoupling rate in the six-degree-of-freedom direction based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency; when the modal frequency in the six-degree-of-freedom direction meets the constraint conditions, the installation position and dynamic stiffness of each suspension unit are subjected to suspension decoupling optimization based on the target optimization function, the installation position range of each suspension unit and the dynamic stiffness frequency function.

[0138] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0139] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A suspension decoupling optimization method, characterized in that: include: Based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system, the modal sequence and the modal decoupling rate sequence of the suspension system in the six-degree-of-freedom direction are determined; the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in the direction of each elastic principal axis; Based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence, iteratively determining the modes and modal decoupling rates in the six-degree-of-freedom directions; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency; When the modal frequencies in the six-degree-of-freedom directions meet the constraint conditions, the installation positions and dynamic stiffness of each suspension unit are subjected to suspension decoupling optimization based on the target optimization function, the installation positions of each suspension unit and the dynamic stiffness frequency function; The iterative determination of the modes and modal decoupling rates in six degrees of freedom directions based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence comprises: Dynamic stiffness range determination step: determining the current dynamic stiffness range of each suspension unit in each main axis direction based on the dynamic stiffness frequency function and the current modal frequency range; the current modal frequency range includes the current modal frequency; Mode determination step: based on a preset frequency interval, the current modal frequency range is divided into equal intervals, and the system stiffness matrix sequence is calculated with the dynamic stiffness corresponding to the frequency of each interval point, and the corresponding mode sequence and modal decoupling rate sequence are determined based on the system stiffness matrix sequence; Frequency determination step: determining a current maximum modal frequency and a current minimum modal frequency based on the modal sequence and the modal decoupling rate sequence; Iteration step: if the difference between the current maximum modal frequency and the current minimum modal frequency is greater than or equal to a preset value, the mode determination step and the frequency determination step are repeatedly executed; if the difference between the current maximum modal frequency and the current minimum modal frequency is less than a preset value, the target mode and the target modal decoupling rate are determined based on the corresponding modal sequence and modal decoupling sequence.

2. The suspension decoupling optimization method according to claim 1, characterized in that: Determining the dynamic stiffness range of each suspension unit in each main axis direction based on the dynamic stiffness frequency function and the current modal frequency range includes: Based on the dynamic stiffness frequency function and the current modal frequency range, determining the current dynamic stiffness of each suspension unit at different modal frequencies in each elastic principal axis direction; Based on the current dynamic stiffness of each suspension unit at different modal frequencies in each elastic principal axis direction, the dynamic stiffness range of each suspension unit in each principal axis direction is determined.

3. The suspension decoupling optimization method according to any one of claims 1 to 2, characterized in that: The method of determining the modal sequence and modal decoupling rate sequence of the suspension system in six degrees of freedom directions based on the mass matrix of the suspension system and the stiffness matrix sequence corresponding to the initial dynamic stiffness range of the suspension system includes: Determining a stiffness matrix sequence corresponding to the suspension system based on an initial dynamic stiffness range of the suspension system; Based on the mass matrix and the stiffness matrix sequence, the modal sequence and the modal decoupling rate sequence of the suspension system in six degrees of freedom are determined.

4. The suspension decoupling optimization method according to any one of claims 1 to 2, characterized in that: The mass matrix is ​​determined based on the mass of the supporting components in the suspension system, and the moment of inertia and product of inertia of the supporting components in the six degrees of freedom directions; the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit in the direction of each elastic principal axis, the displacement transformation matrix of each suspension unit, and the projection transformation matrix of each suspension unit.

5. The suspension decoupling optimization method according to any one of claims 1 to 2, characterized in that: The dynamic stiffness frequency function is determined based on the following steps: Determine the initial dynamic stiffness frequency function with unknown coefficients; Based on the historical dynamic stiffness frequency curve, fitting the initial dynamic stiffness frequency function, and determining the variance of the fitted initial dynamic stiffness frequency function; When the variance is less than the preset variance, the initial dynamic stiffness frequency function after the corresponding fitting is used as the dynamic stiffness frequency function.

6. A suspension decoupling optimization device, characterized in that: include: A first determination unit is used to determine a modal sequence and a modal decoupling rate sequence of the suspension system in six degrees of freedom directions based on a mass matrix of the suspension system and a stiffness matrix sequence corresponding to an initial dynamic stiffness range of the suspension system, wherein the stiffness matrix sequence is determined based on the dynamic stiffness of each suspension unit of the suspension system in each elastic principal axis direction; A second determination unit is used to iteratively determine the modes and modal decoupling rates in six degrees of freedom directions based on a dynamic stiffness frequency function, the modal sequence, and the modal decoupling rate sequence; the dynamic stiffness frequency function is used to characterize the nonlinear relationship between the dynamic stiffness of each modal frequency and the corresponding modal frequency; A suspension decoupling unit, used for performing suspension decoupling optimization on the installation position and dynamic stiffness of each suspension unit based on the target optimization function, the installation position of each suspension unit and the dynamic stiffness frequency function when the modal frequency in the six-degree-of-freedom direction meets the constraint condition; The iterative determination of the modes and modal decoupling rates in six degrees of freedom directions based on the dynamic stiffness frequency function, the modal sequence and the modal decoupling rate sequence comprises: Dynamic stiffness range determination step: determining the current dynamic stiffness range of each suspension unit in each main axis direction based on the dynamic stiffness frequency function and the current modal frequency range; the current modal frequency range includes the current modal frequency; Mode determination step: based on a preset frequency interval, the current modal frequency range is divided into equal intervals, and the system stiffness matrix sequence is calculated with the dynamic stiffness corresponding to the frequency of each interval point, and the corresponding mode sequence and modal decoupling rate sequence are determined based on the system stiffness matrix sequence; Frequency determination step: determining a current maximum modal frequency and a current minimum modal frequency based on the modal sequence and the modal decoupling rate sequence; Iteration step: if the difference between the current maximum modal frequency and the current minimum modal frequency is greater than or equal to a preset value, the mode determination step and the frequency determination step are repeatedly executed; if the difference between the current maximum modal frequency and the current minimum modal frequency is less than a preset value, the target mode and the target modal decoupling rate are determined based on the corresponding modal sequence and modal decoupling sequence.

7. A working machine, characterized in that: include: The suspension decoupling optimization device as claimed in claim 6.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the suspension decoupling optimization method according to any one of claims 1 to 5 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the suspension decoupling optimization method according to any one of claims 1 to 5 are implemented.

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