A method for processing force control signals

Abstract

The present invention relates to a method for processing a force control signal, which solves the problem of converting a road load spectrum signal into a force control signal that can be used by a four-column platform, thereby improving the safety of the test. The processing method includes inputting the road load spectrum signal into a load spectrum pruning module for pruning; inputting the pruned signal into a four-column safety correction module for correction; inputting the corrected signal into a four-column force control correction module for correction; and finally, outputting a four-column force control signal to directly control the vertical up and down movement of the four actuator cylinders. The method for processing the force control signal of the present invention can prune and correct the road load spectrum signal before the road simulation test, thereby ensuring that the four columns can coordinately use force to control the movement of the four actuator cylinders in the entire road working condition, thereby preventing frequent over-limit phenomena during actual tests, improving the test safety and the service life of the four-column platform, and accelerating the test progress.

Description

Technical Field

[0001] The invention belongs to the technical field of chassis testing, and in particular relates to a method for processing a force control signal. Background Art

[0002] As users demand greater ride comfort, more and more vehicles are being equipped with air suspension. This necessitates road testing during the air suspension development phase to assess its vibration damping performance. However, conducting tests on actual roads requires resources such as a proving ground and testers, making this difficult to adapt to the current tight testing landscape. Therefore, during the development process, four-column load spectrum tests on air suspensions are typically conducted, using a four-column platform to simulate actual road conditions and test conditions.

[0003] The four-post load spectrum test for air suspension involves securing a simulated vehicle assembly (e.g., a pulley) equipped with air suspension to the four actuators of a four-post platform. The road's Z-axis load spectrum is fed into the test controller in real time. Through force control, the thrust of the four actuators is adjusted to the target load, simulating vertical up-and-down motion under road conditions. Because the road load spectrum signal cannot be directly used to control the four-post platform's force, a series of processing steps are required to improve test safety. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for processing force control signals, which solves the problem of converting road load spectrum signals into force control signals that can be used by a four-column platform through a series of transformations, thereby improving test safety.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A method for processing a force control signal comprises the following steps:

[0007] A. Input the road load spectrum signal into the load spectrum pruning module for pruning;

[0008] B. The signal after pruning is input into the four-column safety correction module for correction processing;

[0009] C. The corrected signal is input to the four-column force control correction module for correction processing;

[0010] D. The four-column force control correction module outputs four-column force control signals to the four actuator cylinders, directly controlling the vertical up and down movement of the four actuator cylinders.

[0011] Furthermore, in step A, the road load spectrum signal includes original road load spectrum signals of four wheels.

[0012] Furthermore, in step A, the pruning process is as follows:

[0013] A1. Assume that the total number of sampling points of the original road load spectrum signals of the four wheels is N, and the original road load spectra of the left front, right front, left rear, and right rear wheels are f1(i), f2(i), f3(i), and f4(i), where i = 1, 2, 3…N;

[0014] A2. Assume the current sampling point (i = 2, 3 ... N), and calculate the rate of change k between the current sampling point and the previous sampling point i|i-1 And the rate of change k between the current sampling point and the next sampling point i|i+1 :

[0015] k i|i-1 =|f j (i)-f j (i-1)|(j=1,2,3,4)

[0016] k i|i+1 =|f j (i)-f j (i+1)|(j=1,2,3,4)

[0017] Determine k i|i-1 and k i|i+1 Is it higher than the load change rate threshold k at the same time? imax If so, the load value of the current sampling point is replaced by the average of the load values ​​of the previous sampling point and the next sampling point, that is:

[0018]

[0019] If it is lower than the load change rate threshold, the load value of the current sampling point is maintained unchanged;

[0020] A3. After all sampling points (i=2,3…N) are calculated, the pruning module output curves g1(i), g2(i), g3(i), g4(i) are generated after load spectrum pruning, i=1,2,3…N.

[0021] Furthermore, in step A1, if the sampling period is 1 ms, the total sampling time is N ms.

[0022] Furthermore, in step A3, the load value of the sampling point (i=1) is maintained unchanged.

[0023] Furthermore, in step B, the correction process is as follows:

[0024] B1, input pruning module output curve g1(i), g2(i), g3(i), g4(i) in the four-column safety correction module, i=1,2,3…N;

[0025] B2. Assume the current sampling point (i=1,2…N). Calculate the current sampling point and sort g1(i), g2(i), g3(i), g4(i) in descending order to obtain g max1 (i),g max2 (i),g max3 (i),g max4 (i), and calculate the average value g ave (i)

[0026]

[0027] B3. Calculate g max2 (i),g max3 (i) and g ave (i) The deviation value of |g max2 (i)-g ave (i)| and |g max3 (i)-g ave (i)|, take the smaller one and get the corresponding g maxj (i)(j=2,3) is used as the reference value, i.e. g maxj (i)(j=2,3) remains unchanged;

[0028] B4, if g max3 (i) As a reference value, first determine g max1 (i) Whether correction is required, if

[0029] g max1 (i)-g max3 (i)-g max =Δg max1 (i)<0

[0030] Then g max1 (i) Remain unchanged, if

[0031] g max1 (i)-g max3 (i)-g max =Δg max1 (i)>0

[0032] Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i);

[0033] Then judge g max4 (i) Whether correction is required, if

[0034] g max1 (i)-g max4 (i)-g max =Δg max4(i)<0

[0035] Then g max4 (i) remains unchanged; if

[0036] g max1 (i)-g max4 (i)-g max =Δg max4 (i)>0

[0037] Then g max4 (i) Replaced with the corrected value g max4 (i)-Δg max4 (i);

[0038] Finally, judge g max2 (i) Whether correction is required, if

[0039] g max2 (i)-g max4 (i)-g max =Δg max2 (i)<0

[0040] Then g max2 (i) Remain unchanged, if

[0041] g max2 (i)-g max4 (i)-g max =Δg max2 (i)>0

[0042] Then g max2 (i) Replaced with the corrected value g max2 (i)-Δg max2 (i);

[0043] B5, if g max2 (i) As a reference value, first determine g max4 (i) Whether correction is required, if

[0044] g max2 (i)-g max4 (i)-g max =Δg max4 (i)<0

[0045] Then g max4 (i) Remain unchanged.

[0046] g max2 (i)-g max4 (i)-g max =Δg max4 (i)>0

[0047] Then g max4(i) Replaced with the corrected value g max4 (i)-Δg max4 (i);

[0048] Then judge g max1 (i) Whether correction is required, if

[0049] g max1 (i)-g max4 (i)-g max =Δg max1 (i)<0

[0050] Then g max1 (i) remains unchanged; if

[0051] g max1 (i)-g max4 (i)-g max =Δg max1 (i)>0

[0052] Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i);

[0053] Finally, judge g max3 (i) Whether correction is required, if

[0054] g max1 (i)-g max3 (i)-g max =Δg max3 (i)<0

[0055] Then g max3 (i) remains unchanged; if

[0056] g max1 (i)-g max3 (i)-g max =Δg max3 (i)>0

[0057] Then g max3 (i) Replaced with the corrected value g max3 (i)-Δg max3 (i);

[0058] B6. Calculate all sampling points (i=1, 2…N) to generate the output curves p1(i), p2(i), p3(i), p4(i), i=1, 2, 3…N of the four-column safety correction module.

[0059] Furthermore, in step C, the correction process is as follows:

[0060] C1. Fix the simulated assembly of the test vehicle on a four-column platform. The four-column force control correction module inputs the four-column safety correction module output curves p1(i), p2(i), p3(i), p4(i), i=1, 2, 3...N;

[0061] C2, the sine sweep curve group x sin (i) (i = 1, 2, 3 ... N) is input to the four-column force control correction module, and the force sensor feedback curve group y on the four actuators is read. sin (i) (i=1,2,3…N), for the sine sweep frequency curve group x sin (i) and force sensor feedback curve group y sin (i) After Fourier transform, obtain the transfer function group H(ω):

[0062]

[0063]

[0064]

[0065] C3. Perform Fourier transform on the target output signal group p0(i) to obtain the four-pillar safety correction module output function group P(ω) and use it as the target output function group. Calculate the initial input function group X0(ω) and perform inverse Fourier transform to obtain the initial input signal group x0(i):

[0066]

[0067]

[0068]

[0069] C4. Drive the four actuators with x0(i), read the force sensor feedback on the four actuators, obtain the output signal group p1(i), calculate the error group Δp1(i) between p1(i) and p0(i), perform Fourier transform, calculate the input function group correction value, and perform inverse Fourier transform on the input signal group correction value:

[0070] Δp1(i)=p0(i)-p1(i)

[0071]

[0072]

[0073] C5. Modify the input signal group to obtain the modified input signal group x1(i):

[0074] x1(i)=x0(i)+Δx1(i);

[0075] C6, repeat steps C4 and C5, with x j (i) (j=1,2,…) drives the four actuators and repeats the iteration until p j The error group Δp between (i) and p0(i) j (i)(j=2,3,…) is less than a certain acceptable error group, and the final corrected input signal group x is obtained. j (i), that is, the output curves of the four-column force control correction module are x1(i), x2(i), x3(i), x4(i), i=1, 2, 3…N.

[0076] Furthermore, in step C2, the sinusoidal sweep frequency curve group includes the left front wheel, right front wheel, left rear wheel, and right rear wheel, all of which are the same curve.

[0077] Furthermore, in step C2, the force sensor feedback curve groups on the four actuators include the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel.

[0078] Furthermore, in step C3, the target output signal group p0(i) is a four-pillar safety correction module output signal group, including p1(i), p2(i), p3(i), p4(i), i=1, 2, 3...N.

[0079] Compared with the prior art, the present invention has the following beneficial effects:

[0080] The force control signal processing method of the present invention can prune and correct the road load spectrum signal before the road simulation test, ensuring that the four columns can coordinately use force to control the movement of the four actuators during the entire road working condition, preventing frequent over-limit phenomena during actual tests, improving test safety and the service life of the four-column platform, and accelerating the test progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0082] Figure 1 Flowchart of the method for processing force control signals of the present invention. DETAILED DESCRIPTION

[0083] The present invention will be further described below in conjunction with embodiment:

[0084] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0085] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0086] like Figure 1 As shown, the force control signal processing method of the present invention inputs the road load spectrum signal into the load spectrum pruning module. After pruning, it is input into the four-column safety correction module. After correction, it is input into the four-column force control correction module. Finally, the four-column force control signal is output to directly control the vertical movement of the four actuators. The road load spectrum signal includes the original road load spectrum signals of the four wheels.

[0087] The load spectrum pruning module is used to smooth the sampling points with large peaks. The process of load spectrum pruning is as follows:

[0088] 1. Assume that the total number of sampling points of the original road load spectrum signals of the four wheels is N, and the original road load spectra of the left front, right front, left rear, and right rear wheels are f1(i), f2(i), f3(i), f4(i), i = 1, 2, 3…N.

[0089] 2. Set the current sampling point (i = 2, 3 ... N), and calculate the rate of change k between the current sampling point and the previous sampling point i|i-1 And the rate of change k between the current sampling point and the next sampling point i|i+1 :

[0090] k i|i-1 =|f j (i)-f j (i-1)|(j=1,2,3,4)

[0091] k i|i+1 =|f j (i)-f j (i+1)|(j=1,2,3,4);

[0092] Determine k i|i-1 and k i|i+1 Is it higher than the load change rate threshold k at the same time? imaxIf so, the load value of the current sampling point is replaced by the average of the load values ​​of the previous sampling point and the next sampling point, that is:

[0093]

[0094] If it is lower than the load change rate threshold, the load value of the current sampling point remains unchanged.

[0095] 3. After all sampling points (i = 2, 3...N) are calculated, the pruning module output curves g1(i), g2(i), g3(i), g4(i) after load spectrum pruning are generated, i = 1, 2, 3...N.

[0096] The four-column safety correction module is used to prevent instability of the simulated assembly of the test vehicle when the four cylinders move simultaneously. When the four cylinders move simultaneously, the difference between the force values ​​of the four cylinders cannot exceed the threshold value g max .

[0097] The four-column safety correction process is as follows:

[0098] 1. The four-column safety correction module inputs the pruning module output curves g1(i), g2(i), g3(i), g4(i), i=1,2,3…N.

[0099] 2. Assume the current sampling point (i=1,2…N), calculate the current sampling point, sort g1(i), g2(i), g3(i), g4(i) in descending order to get g max1 (i),g max2 (i),g max3 (i),g max4 (i), and calculate the average value g ave (i)

[0100]

[0101] 3. Calculate g max2 (i),g max3 (i) and g ave (i) The deviation value of |g max2 (i)-g ave (i)| and |g max3 (i)-g ave (i)|, take the smaller one and get the corresponding g maxj (i)(j=2,3) is used as the reference value, i.e. g maxj (i)(j=2,3) remains unchanged.

[0102] 4. If g max3 (i) As a reference value, first determine g max1(i) Whether correction is required, if

[0103] g max1 (i)-g max3 (i)-g max =Δg max1 (i)<0

[0104] Then g max1 (i) Remain unchanged.

[0105] g max1 (i)-g max3 (i)-g max =Δg max1 (i)>0

[0106] Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i).

[0107] Then judge g max4 (i) Whether correction is required, if

[0108] g max1 (i)-g max4 (i)-g max =Δg max4 (i)<0

[0109] Then g max4 (i) Remain unchanged.

[0110] g max1 (i)-g max4 (i)-g max =Δg max4 (i)>0

[0111] Then g max4 (i) Replaced with the corrected value g max4 (i)-Δg max4 (i).

[0112] Finally, judge g max2 (i) Whether correction is required, if

[0113] g max2 (i)-g max4 (i)-g max =Δg max2 (i)<0

[0114] Then g max2 (i) Remain unchanged.

[0115] g max2 (i)-g max4 (i)-gmax =Δg max2 (i)>0

[0116] Then g max2 (i) Replaced with the corrected value g max2 (i)-Δg max2 (i).

[0117] 5. If g max2 (i) As a reference value, first determine g max4 (i) Whether correction is required, if

[0118] g max2 (i)-g max4 (i)-g max =Δg max4 (i)<0

[0119] Then g max4 (i) Remain unchanged.

[0120] g max2 (i)-g max4 (i)-g max =Δg max4 (i)>0

[0121] Then g max4 (i) Replaced with the corrected value g max4 (i)-Δg max4 (i).

[0122] Then judge g max1 (i) Whether correction is required, if

[0123] g max1 (i)-g max4 (i)-g max =Δg max1 (i)<0

[0124] Then g max1 (i) Remain unchanged.

[0125] g max1 (i)-g max4 (i)-g max =Δg max1 (i)>0

[0126] Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i).

[0127] Finally, judge g max3 (i) Whether correction is required, if

[0128] g max1 (i)-g max3 (i)-g max =Δg max3 (i)<0

[0129] Then g max3 (i) Remain unchanged.

[0130] g max1 (i)-g max3 (i)-g max =Δg max3 (i)>0

[0131] Then g max3 (i) Replaced with the corrected value g max3 (i)-Δg max3 (i).

[0132] 6. After all sampling points (i=1,2…N) are calculated, the output curves of the four-column safety correction module p1(i), p2(i), p3(i), p4(i), i=1,2,3…N are generated.

[0133] The four-column force control correction process is as follows:

[0134] 1. Fix the simulated assembly of the test vehicle on a four-post platform. The input of the four-post force control correction module is the output curve of the four-post safety correction module p1(i), p2(i), p3(i), p4(i), where i = 1, 2, 3...N.

[0135] 2. Group the sine sweep curve x sin (i) (i = 1, 2, 3 ... N) is input to the four-column force control correction module, and the force sensor feedback curve group y on the four actuators is read. sin (i) (i=1,2,3…N), for the sine sweep frequency curve group x sin (i) and force sensor feedback curve group y sin (i) After Fourier transform, obtain the transfer function group H(ω):

[0136]

[0137]

[0138]

[0139] 3. Perform Fourier transform on the target output signal group p0(i) to obtain the four-pillar safety correction module output function group P(ω) and use it as the target output function group. Calculate the initial input function group X0(ω) and perform inverse Fourier transform to obtain the initial input signal group x0(i):

[0140]

[0141]

[0142]

[0143] 4. Drive the four actuators with x0(i), read the force sensor feedback on the four actuators, obtain the output signal group p1(i), calculate the error group Δp1(i) between p1(i) and p0(i), perform Fourier transform and calculate the input function group correction value, and perform inverse Fourier transform on the input signal group correction value:

[0144] Δp1(i)=p0(i)-p1(i)

[0145]

[0146]

[0147] 5. Correct the input signal group to obtain the corrected input signal group x1(i):

[0148] x1(i)=x0(i)+Δx1(i)

[0149] 6. Repeat steps 4 and 5 to j (i) (j=1,2,…) drives the four actuators and repeats the iteration until p j The error group Δp between (i) and p0(i) j (i)(j=2,3,…) is less than a certain acceptable error group, and the final corrected input signal group x is obtained. j (i), that is, the output curves of the four-column force control correction module are x1(i), x2(i), x3(i), x4(i), i=1, 2, 3…N.

[0150] Example 1

[0151] A method for processing a force control signal comprises the following steps:

[0152] A. Inputting a road load spectrum signal into a load spectrum pruning module for pruning; wherein the road load spectrum signal includes original road load spectrum signals of four wheels;

[0153] B. The signal after pruning is input into the four-column safety correction module for correction processing;

[0154] C. The corrected signal is input to the four-column force control correction module for correction processing;

[0155] D. Finally, the four-column force control correction module outputs the four-column force control signal to the four actuator cylinders, directly controlling the vertical up and down movement of the four actuator cylinders.

[0156] Step A, the pruning process is as follows:

[0157] A1. Assume that the total number of sampling points of the original road load spectrum signals of the four wheels is N (that is, if the sampling period is 1 ms, the total sampling time is N ms). The original road load spectra of the left front, right front, left rear, and right rear wheels are f1(i), f2(i), f3(i), f4(i), where i = 1, 2, 3…N.

[0158] A2. Assume the current sampling point (i = 2, 3 ... N), and calculate the rate of change k between the current sampling point and the previous sampling point i|i-1 And the rate of change k between the current sampling point and the next sampling point i|i+1 :

[0159] k i|i-1 =|f j (i)-f j (i-1)|(j=1,2,3,4)

[0160] k i|i+1 =|f j (i)-f j (i+1)|(j=1,2,3,4)

[0161] Determine k i|i-1 and k i|i+1 Is it higher than the load change rate threshold k at the same time? imax If so, the load value of the current sampling point is replaced by the average of the load values ​​of the previous sampling point and the next sampling point, that is:

[0162]

[0163] If it is lower than the load change rate threshold, the load value of the current sampling point remains unchanged.

[0164] A3. After all sampling points (i=2,3…N) are calculated (keeping the load value of the sampling point at (i=1) unchanged), the pruning module output curves g1(i), g2(i), g3(i), g4(i) after load spectrum pruning are generated, i=1,2,3…N.

[0165] Step B, the correction process is:

[0166] B1. Input the pruning module output curve g1(i), g2(i), g3(i), g4(i), i=1,2,3…N in the four-column safety correction module.

[0167] B2. Assume the current sampling point (i=1,2…N). Calculate the current sampling point and sort g1(i), g2(i), g3(i), g4(i) in descending order to obtain g max1 (i),g max2 (i),g max3 (i),g max4 (i), and calculate the average value g ave (i)

[0168]

[0169] B3. Calculate g max2 (i),g max3 (i) and g ave (i) The deviation value of |g max2 (i)-g ave (i)| and |g max3 (i)-g ave (i)|, take the smaller one and get the corresponding g maxj (i)(j=2,3) is used as the reference value, i.e. g maxj (i)(j=2,3) remains unchanged.

[0170] B4, if g max3 (i) As a reference value, first determine g max1 (i) Whether correction is required, if

[0171] g max1 (i)-g max3 (i)-g max =Δg max1 (i)<0

[0172] Then g max1 (i) Remain unchanged.

[0173] g max1 (i)-g max3 (i)-g max =Δg max1 (i)>0

[0174] Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i).

[0175] Then judge g max4 (i) Whether correction is required, if

[0176] g max1 (i)-g max4 (i)-g max =Δg max4(i)<0

[0177] Then g max4 (i) Remain unchanged.

[0178] g max1 (i)-g max4 (i)-g max =Δg max4 (i)>0

[0179] Then g max4 (i) Replaced with the corrected value g max4 (i)-Δg max4 (i).

[0180] Finally, judge g max2 (i) Whether correction is required, if

[0181] g max2 (i)-g max4 (i)-g max =Δg max2 (i)<0

[0182] Then g max2 (i) Remain unchanged.

[0183] g max2 (i)-g max4 (i)-g max =Δg max2 (i)>0

[0184] Then g max2 (i) Replaced with the corrected value g max2 (i)-Δg max2 (i).

[0185] B5, if g max2 (i) As a reference value, first determine g max4 (i) Whether correction is required, if

[0186] g max2 (i)-g max4 (i)-g max =Δg max4 (i)<0

[0187] Then g max4 (i) Remain unchanged.

[0188] g max2 (i)-g max4 (i)-g max =Δg max4 (i)>0

[0189] Then g max4(i) Replaced with the corrected value g max4 (i)-Δg max4 (i).

[0190] Then judge g max1 (i) Whether correction is required, if

[0191] g max1 (i)-g max4 (i)-g max =Δg max1 (i)<0

[0192] Then g max1 (i) Remain unchanged.

[0193] g max1 (i)-g max4 (i)-g max =Δg max1 (i)>0

[0194] Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i).

[0195] Finally, judge g max3 (i) Whether correction is required, if

[0196] g max1 (i)-g max3 (i)-g max =Δg max3 (i)<0

[0197] Then g max3 (i) Remain unchanged.

[0198] g max1 (i)-g max3 (i)-g max =Δg max3 (i)>0

[0199] Then g max3 (i) Replaced with the corrected value g max3 (i)-Δg max3 (i).

[0200] B6. Calculate all sampling points (i=1, 2…N) to generate the output curves p1(i), p2(i), p3(i), p4(i), i=1, 2, 3…N of the four-column safety correction module.

[0201] Step C, the correction process is:

[0202] C1. Fix the simulated assembly of the test vehicle on a four-post platform. The input of the four-post force control correction module is the output curve of the four-post safety correction module p1(i), p2(i), p3(i), p4(i), where i = 1, 2, 3...N.

[0203] C2, the sine sweep curve group x sin (i) (i = 1, 2, 3 ... N) (including the left front, right front, left rear, and right rear wheels, all of which are the same curve) is input to the four-column force control correction module, and the force sensor feedback curve group y on the four actuators is read. sin (i) (i = 1, 2, 3 ... N) (including the left front, right front, left rear, and right rear wheels), for the sinusoidal sweep frequency curve group x sin (i) and force sensor feedback curve group y sin (i) After Fourier transform, obtain the transfer function group H(ω):

[0204]

[0205]

[0206]

[0207] C3. Perform Fourier transform on the target output signal group p0(i) (i.e., the four-pillar safety correction module output signal group, including p1(i), p2(i), p3(i), p4(i), i = 1, 2, 3 ... N) to obtain the four-pillar safety correction module output function group P(ω) and use it as the target output function group. Calculate the initial input function group X0(ω), and perform inverse Fourier transform to obtain the initial input signal group x0(i):

[0208]

[0209]

[0210]

[0211] C4. Drive the four actuators with x0(i), read the force sensor feedback on the four actuators, obtain the output signal group p1(i), calculate the error group Δp1(i) between p1(i) and p0(i), perform Fourier transform, calculate the input function group correction value, and perform inverse Fourier transform on the input signal group correction value:

[0212] Δp1(i)=p0(i)-p1(i)

[0213]

[0214]

[0215] C5. Modify the input signal group to obtain the modified input signal group x1(i):

[0216] x1(i)=x0(i)+Δx1(i).

[0217] C6, repeat steps C4 and C5, with x j (i) (j=1,2,…) drives the four actuators and repeats the iteration until p j The error group Δp between (i) and p0(i) j (i)(j=2,3,…) is less than a certain acceptable error group, and the final corrected input signal group x is obtained. j (i), that is, the output curves of the four-column force control correction module are x1(i), x2(i), x3(i), x4(i), i=1, 2, 3…N.

[0218] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for processing a force control signal, characterized in that: The following steps are involved: A. Input the road load spectrum signal into the load spectrum pruning module for pruning; B. The signal after pruning is input into the four-column safety correction module for correction processing; The correction process is: B1, input pruning module output curve g1(i), g2(i), g3(i), g4(i) in the four-column safety correction module, i=1,2,3…N; B2. Assume the current sampling point (i=1,2…N). Calculate the current sampling point and sort g1(i), g2(i), g3(i), g4(i) in descending order to obtain g max1 (i),g max2 (i),g max3 (i),g max4 (i), and calculate the average value g ave (i) B3. Calculate g max2 (i),g max3 (i) and g ave (i) The deviation value of |g max2 (i)-g ave (i)| and |g max3 (i)-g ave (i)|, take the smaller one and get the corresponding g maxj (i)(j=2,3) is used as the reference value, i.e. g maxj (i)(j=2,3) remains unchanged; B4, if g max3 (i) As a reference value, first determine g max1 (i) Whether correction is required, if g max1 (i)-g max3 (i)-g max =Δg max1 (i)<0 Then g max1 (i) Remain unchanged, if g max1 (i)-g max3 (i)-g max =Δg max1 (i)>0 Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i); Then judge g max4 (i) Whether correction is required, if g max1 (i)-g max4 (i)-g max =Δg max4 (i)<0 Then g max4 (i) Remain unchanged, if g max1 (i)-g max4 (i)-g max =Δg max4 (i)>0 Then g max4 (i) Replaced with the corrected value g max4 (i)-Δg max4 (i); Finally, judge g max2 (i) Whether correction is required, if g max2 (i)-g max4 (i)-g max =Δg max2 (i)<0 Then g max2 (i) Remain unchanged, if g max2 (i)-g max4 (i)-g max =Δg max2 (i)>0 Then g max2 (i) Replaced with the corrected value g max2 (i)-Δg max2 (i); B5, if g max2 (i) As a reference value, first determine g max4 (i) Whether correction is required, if g max2 (i)-g max4 (i)-g max =Δg max4 (i)<0 Then g max4 (i) Remain unchanged, if g max2 (i)-g max4 (i)-g max =Δg max4 (i)>0 Then g max4 (i) Replaced with the corrected value g max4 (i)-Δg max4 (i); Then judge g max1 (i) Whether correction is required, if g max1 (i)-g max4 (i)-g max =Δg max1 (i)<0 Then g max1 (i) remains unchanged; if g max1 (i)-g max4 (i)-g max =Δg max1 (i)>0 Then g max1 (i) Replaced with the corrected value g max1 (i)-Δg max1 (i); Finally, judge g max3 (i) Whether correction is required, if g max1 (i)-g max3 (i)-g max =Δg max3 (i)<0 Then g max3 (i) remains unchanged; if g max1 (i)-g max3 (i)-g max =Δg max3 (i)>0 Then g max3 (i) Replaced with the corrected value g max3 (i)-Δg max3 (i); B6. Calculate all sampling points (i = 1, 2 ... N) to generate the output curves of the four-column safety correction module p1(i), p2(i), p3(i), p4(i), i = 1, 2, 3 ... N; C. The corrected signal is input to the four-column force control correction module for correction processing; D. The four-column force control correction module outputs four-column force control signals to the four actuator cylinders, directly controlling the vertical up and down movement of the four actuator cylinders.

2. The method for processing a force control signal according to claim 1, wherein: In step A, the road load spectrum signal includes original road load spectrum signals of four wheels.

3. The method for processing a force control signal according to claim 1, wherein: Step A, the pruning process is as follows: A1. Assume that the total number of sampling points of the original road load spectrum signals of the four wheels is N, and the original road load spectra of the left front, right front, left rear, and right rear wheels are f1(i), f2(i), f3(i), and f4(i), where i = 1, 2, 3…N; A2. Assume the current sampling point (i = 2, 3 ... N), and calculate the rate of change k between the current sampling point and the previous sampling point i|i-1 And the rate of change k between the current sampling point and the next sampling point i|i+1 : k i|i-1 =|f j (i)-f j (i-1)|(j=1,2,3,4) k i|i+1 =|f j (i)-f j (i+1)|(j=1,2,3,4) Determine k i|i-1 and k i|i+1 Is it higher than the load change rate threshold k at the same time? imax If so, the load value of the current sampling point is replaced by the average of the load values ​​of the previous sampling point and the next sampling point, that is: If it is lower than the load change rate threshold, the load value of the current sampling point is maintained unchanged; A3. After all sampling points (i=2,3…N) are calculated, the pruning module output curves g1(i), g2(i), g3(i), g4(i) are generated after load spectrum pruning, i=1,2,3…N.

4. The method for processing a force control signal according to claim 3, wherein: In step A1, if the sampling period is 1 ms, the total sampling time is N ms.

5. The method for processing a force control signal according to claim 3, wherein: Step A3: Maintain the load value of the sampling point (i=1) unchanged.

6. The method for processing a force control signal according to claim 1, characterized in that: Step C, the correction process is: C1. Fix the simulated assembly of the test vehicle on a four-column platform. The four-column force control correction module inputs the four-column safety correction module output curves p1(i), p2(i), p3(i), p4(i), i=1, 2, 3...N; C2, the sine sweep curve group x sin (i) (i = 1, 2, 3 ... N) is input to the four-column force control correction module, and the force sensor feedback curve group y on the four actuators is read. sin (i) (i=1,2,3…N), for the sine sweep frequency curve group x sin (i) and force sensor feedback curve group y sin (i) After Fourier transform, obtain the transfer function group H(ω): C3. Perform Fourier transform on the target output signal group p0(i) to obtain the four-pillar safety correction module output function group P(ω) and use it as the target output function group. Calculate the initial input function group X0(ω) and perform inverse Fourier transform to obtain the initial input signal group x0(i): C4. Drive the four actuators with x0(i), read the force sensor feedback on the four actuators, obtain the output signal group p1(i), calculate the error group Δp1(i) between p1(i) and p0(i), perform Fourier transform, calculate the input function group correction value, and perform inverse Fourier transform on the input signal group correction value: Δp1(i)=p0(i)-p1(i) C5. Modify the input signal group to obtain the modified input signal group x1(i): x1(i)=x0(i)+Δx1(i); C6, repeat steps C4 and C5, with x j (i) (j=1,2,…) drives the four actuators and repeats the iteration until p j The error group Δp between (i) and p0(i) j (i)(j=2,3,…) is less than a certain acceptable error group, and the final corrected input signal group x is obtained. j (i), that is, the output curves of the four-column force control correction module are x1(i), x2(i), x3(i), x4(i), i=1, 2, 3…N.

7. The method for processing a force control signal according to claim 6, wherein: In step C2, the sinusoidal sweep frequency curve group includes the left front wheel, right front wheel, left rear wheel, and right rear wheel, all of which are the same curve.

8. The method for processing a force control signal according to claim 6, wherein: In step C2, the force sensor feedback curve groups on the four actuators include the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel.

9. The method for processing a force control signal according to claim 6, wherein: In step C3, the target output signal group p0(i) is a four-column safety correction module output signal group, including p1(i), p2(i), p3(i), p4(i), i=1, 2, 3...N.

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