Bench test method, medium and electronic equipment for air suspension system

Abstract

The present invention discloses a bench test method, medium and electronic equipment for an air suspension system, which belongs to the field of automobile manufacturing and detection technology. In response to the air suspension system test control program, the test bench controller sends the corresponding test condition cylinder load force target value to the four actuator cylinders for vertical actuation, and the test bench controller sends the simulated vehicle environment signal to the air suspension controller; the test bench controller collects all signals of the sensor group and the actual values ​​of the load force and displacement of the four actuator cylinders, and calculates the corresponding working condition test data according to all signals of the sensor group and the actual values ​​of the load force and displacement of the four actuator cylinders. This patent uses a vehicle simulation assembly to replace the actual vehicle sprung system and unsprung system, eliminating the participation of the actual vehicle and solving the problem of insufficient real vehicle resources. Other vehicle electronic control systems are replaced by virtual models, which is convenient for rapid modification during the iterative development of the vehicle.

Description

Technical Field

[0001] The invention discloses a bench test method, a medium and electronic equipment for an air suspension system, and belongs to the technical field of automobile manufacturing detection. Background Art

[0002] With the development of automobile chassis electronic control systems, more and more vehicles are equipped with air suspension systems. Road simulation tests are required during the development phase of the air suspension system to determine the vibration reduction performance of the suspension. Before mass production of the air suspension system, multi-physics in-the-loop bench tests are required. The current method is to install the actual vehicle on a four-post platform for bench testing, but the current vehicle development cycle is short, resulting in insufficient actual vehicle resources and unable to support actual vehicle testing on a four-post platform; in addition, the current development iteration speed of the vehicle electronic control system is faster, resulting in the inability to be reflected on the actual vehicle at the same time. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the current vehicle development cycle is short, resulting in insufficient real vehicle resources and unable to support real vehicle testing on a four-post platform; in addition, the current vehicle electronic control system development iteration speed is faster, resulting in the problem that it cannot be reflected on the real vehicle at the same time. A bench test method, medium and electronic equipment for an air suspension system are proposed.

[0004] The technical solution of the present invention is as follows:

[0005] According to a first aspect of an embodiment of the present invention, a bench test method for an air suspension system is provided, which is applied to a bench test system for an air suspension system, wherein the bench test system for the air suspension system comprises a vehicle simulation assembly arranged on a four-post platform, wherein the vehicle simulation assembly comprises: a sprung simulation assembly, an air suspension system and a sensor group, wherein an air suspension controller is arranged on the sprung simulation assembly, wherein the air suspension controller, the four-post platform, the air suspension system and the sensor group are electrically connected to the test bench controller respectively, and comprises:

[0006] In response to the air suspension system test control program, the test bench controller sends the corresponding test condition cylinder load force target value to the four actuators for vertical actuation, and the test bench controller sends the simulated vehicle environment signal to the air suspension controller;

[0007] The test bench controller collects all signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders, and calculates corresponding working condition test data based on all signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders.

[0008] Preferably, the test bench controller includes: a performance evaluation module, a driver control and vehicle dynamics module, a road simulation module and a test bench control module, the test bench control module is electrically connected to four actuators and four actuators respectively, the road simulation module is electrically connected to the driver control and vehicle dynamics module, the driver control and vehicle dynamics module is electrically connected to the air suspension controller, and the performance evaluation module is electrically connected to the air suspension controller and the sensor group respectively.

[0009] Preferably, the air suspension controller is used to send the air suspension working state and working current to the performance evaluation module, and the performance evaluation module is used to evaluate the air suspension controller according to the sensor group signal and the air suspension working state and working current sent by the air suspension controller. The driver control and vehicle dynamics module is used to send the vehicle control and dynamics data to the air suspension controller. The road simulation module is used to send the offline vehicle speed signal to the driver control and vehicle dynamics module, and it is also used to send the four-wheel load spectrum signal to the test bench control module. The test bench control module is used to obtain the actuator cylinder load force target value based on the four-wheel original load spectrum signal after a signal conditioning calculation process such as pruning and correction, and send it to the four actuator cylinders.

[0010] Preferably, the sensor group includes: a driver's acceleration sensor, 4 suspension acceleration sensors, 4 body acceleration sensors and 4 body height sensors, the 4 body acceleration sensors and 4 body height sensors are all installed on the left front, right front, left rear and right rear suspension suspensions; the driver's acceleration sensor is installed on the driver's floor of the sprung simulation assembly; the 4 suspension acceleration sensors are respectively installed at the wheel center positions of the 4 wheels.

[0011] Preferably, the test conditions include: a bouncing condition, a rolling condition and a pitching condition.

[0012] Preferably, when the test working condition is a bouncing working condition, the corresponding working condition test data is calculated based on all signals of the sensor group and actual load force values ​​and displacement actual value signals of the four actuator cylinders, including:

[0013] Obtaining 4 body acceleration data of bouncing conditions, 4 suspension acceleration data of bouncing conditions, 4 body height data of bouncing conditions, 4 actuator cylinder displacements of bouncing conditions and acceleration at the driver of the bouncing condition respectively;

[0014] According to the 4 bouncing condition vehicle body acceleration data, the 4 bouncing condition suspension acceleration data, the 4 bouncing condition vehicle body height data, and the 4 bouncing condition actuating cylinder displacements, a bouncing condition time domain curve group is obtained with the bouncing condition time as the abscissa, and the 4 bouncing condition vehicle body accelerations, the 4 bouncing condition suspension accelerations, the 4 bouncing condition vehicle body heights, and the 4 bouncing condition actuating cylinder displacements as the ordinates;

[0015] According to the acceleration at the driver's side of the bouncing condition, longitudinal, lateral and vertical bouncing condition acceleration curves in the time domain with the acceleration at the driver's side of the bouncing condition as the ordinate are obtained; and according to the longitudinal, lateral and vertical bouncing condition acceleration curves in the time domain with the acceleration at the driver's side of the bouncing condition as the ordinate are obtained a three-phase weighted acceleration root mean square value of the acceleration at the driver's side of the bouncing condition;

[0016] A first transfer function group of the bouncing condition is obtained by performing Fourier transform on a bouncing condition time domain curve group with the bouncing condition time as the horizontal coordinate, and the four bouncing condition vehicle body accelerations and the four bouncing condition suspension accelerations as the vertical coordinates; a second transfer function group of the bouncing condition is obtained by performing Fourier transform on a bouncing condition time domain curve group with the bouncing condition time as the horizontal coordinate, and the four bouncing condition vehicle body heights and the four bouncing condition actuator cylinder displacements as the vertical coordinates;

[0017] Obtain the vibration starting angular frequency of the bouncing condition, the vibration ending angular frequency of the bouncing condition, and the weighted coefficient curve for improving the amplitude-frequency characteristic of the bouncing condition; and obtain the total improvement coefficient group of the weighted amplitude-frequency characteristic of the bouncing condition corresponding to the first transfer function group of the bouncing condition through formula (1) according to the vibration starting angular frequency of the bouncing condition, the vibration ending angular frequency of the bouncing condition, the amplitude-frequency characteristic improvement weighted coefficient curve of the bouncing condition, and the first transfer function group of the bouncing condition;

[0018]

[0019] Where: ω1 is the starting angular frequency of the vibration under the bouncing condition, ω2 is the ending angular frequency of the vibration under the bouncing condition, C ai.1 (ω) is the weighted coefficient curve for improving the amplitude-frequency characteristics of the bouncing condition, M ai.1 (ω) is the first transfer function group of the bouncing condition, K ai.1 It is the total improvement coefficient group of the weighted amplitude-frequency characteristics of the bouncing condition corresponding to the first transfer function group of the bouncing condition.

[0020] Preferably, when the test working condition is a roll working condition, the corresponding working condition test data is calculated based on all signals of the sensor group and actual load force values ​​and displacement actual value signals of the four actuator cylinders, including:

[0021] Respectively obtain the three-phase weighted acceleration root mean square value of the acceleration at the driver of the roll condition, the first transfer function group of the roll condition, the second transfer function group of the roll condition and the total improvement coefficient group of the weighted amplitude-frequency characteristics of the roll condition corresponding to the first transfer function group of the roll condition;

[0022] Obtain the height difference between the front and rear axles, and calculate the body roll angle according to formula (2):

[0023]

[0024] Where: h bf (t) is the height difference between the left and right sides of the front axle, h bb (t) is the height difference between the left and right sides of the rear axle, B is the left and right wheelbase, and Φ(t) is the roll angle of the vehicle body.

[0025] Preferably, when the test working condition is a pitch working condition, the corresponding working condition test data is obtained by calculating according to all signals of the sensor group and actual load force values ​​and displacement actual value signals of the four actuator cylinders, including:

[0026] Respectively obtain the three-phase weighted acceleration root mean square value of the acceleration at the driver of the pitch working condition, the first transfer function group of the pitch working condition, the second transfer function group of the pitch working condition and the total improvement coefficient group of the weighted amplitude-frequency characteristics of the pitch working condition corresponding to the first transfer function group of the pitch working condition;

[0027] Obtain the height difference between the left front and left rear vehicle body and the height difference between the right front and right rear vehicle body, and obtain the vehicle body pitch angle according to formula (3):

[0028]

[0029] Where: h bl (t) is the height difference between the left front and left rear vehicle body, h br (t) is the height difference between the right front and right rear vehicle body, L is the wheelbase, and Ψ(t) is the vehicle body pitch angle.

[0030] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the bench test method of an air suspension system are implemented.

[0031] An electronic device comprising: at least one processor; and

[0032] a memory communicatively connected to the at least one processor; wherein,

[0033] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the steps of the above-mentioned bench test method for an air suspension system when executing the instructions.

[0034] The beneficial effects of the present invention are:

[0035] This patent provides a bench test method, medium and electronic equipment for an air suspension system, which uses a vehicle simulation assembly to replace the actual vehicle's sprung system and unsprung system, eliminating the need for actual vehicle participation and solving the problem of insufficient actual vehicle resources. Other vehicle electronic control systems (such as powertrain, braking, steering system, etc.) are replaced by virtual models, which facilitates rapid modification during the iteration of vehicle development.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a structural schematic diagram of a bench test system for an air suspension system according to an exemplary embodiment;

[0038] Figure 2 The diagram is a schematic diagram of electrical connections of a bench test system for an air suspension system according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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.

[0040] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Embodiment 1

[0043] Figure 1-2 This is a bench test method of an air suspension system according to an exemplary embodiment, which is applied to a bench test system of an air suspension system. Therefore, the bench test system of the air suspension system is first introduced, including: a four-post platform, a vehicle simulation assembly, an air suspension controller, and a test bench controller. The vehicle simulation assembly includes a sprung simulation assembly, an air suspension system, and a sensor group.

[0044] The sprung simulation assembly simulates the actual vehicle body structure through a series of steel plate fixtures. Before the test, the vehicle simulation assembly needs to be transported to the KC test bench, and the number and position of the counterweights on the sprung simulation assembly are adjusted to make the vehicle parameters such as the front and rear axle loads and the center of mass height of the vehicle simulation assembly as consistent as possible with the vehicle parameters of the actual vehicle. The vehicle simulation assembly is then transported to the four-wheel alignment test bench to make the four-wheel alignment parameters as consistent as possible with the parameters of the actual vehicle.

[0045] The air suspension system includes front and rear suspension, front and rear control arms and front and rear stabilizer bars, four wheels, air compressor, solenoid valve, left front airbag, right front airbag, left rear airbag, right rear airbag, air tank, and continuous damping shock absorber. All of them are real vehicle components and are installed according to the spatial position of the real vehicle.

[0046] The sensor group includes left front, right front, left rear and right rear body acceleration sensors and left front, right front, left rear and right rear body height sensors. These eight sensors are installed on the left front, right front, left rear and right rear suspension suspensions; the driver's acceleration sensor is installed on the driver's floor of the sprung simulation assembly; the left front, right front, left rear and right rear suspension acceleration sensors are installed at the wheel center positions of the four wheels.

[0047] The air suspension controller controls the movement of the air spring and continuous damping shock absorber, and is a real vehicle component.

[0048] The four-post platform includes left front, right front, left rear, right rear actuator cylinders, a tray and an anti-slip mechanism. Each actuator cylinder is connected to a tray and moves with the actuator cylinder. The tray is used to support the four wheels but is not fixedly connected. The four actuator cylinders are used to drive the four wheels to move vertically. Each tray is equipped with an anti-slip mechanism. When the movement amplitude of the four wheels does not exceed the threshold and the displacement difference between the four wheels does not exceed the threshold (when the four-post platform has no faults), the anti-slip mechanism and the wheel remain in a relaxed state. Once the movement amplitude of any of the four wheels exceeds the threshold or the displacement difference between the four wheels exceeds the threshold (when the four-post platform fails), the four actuator cylinders immediately stop actuating, and the anti-slip mechanism tightens the wheels to keep the vehicle simulation assembly stable and prevent it from falling.

[0049] The test bench controller uses a HIL simulator and is the central control center of the entire test bench. It supplies power to the air compressor, solenoid valve, and air spring controller. It controls the movement of the four actuator cylinders of the four-column platform in a force-controlled or displacement-controlled manner, and collects the values ​​of the force sensors and displacement sensors integrated on the four actuator cylinders. It reads the CAN signal sent by the air suspension controller and simulates the vehicle environment signal to send it to the air suspension controller. It collects the values ​​of the sensor group installed on the vehicle simulation assembly.

[0050] The air suspension system test control program is downloaded to the test bench controller, which includes the driver operation and vehicle dynamics module, the test bench control module, the performance evaluation module, and the road simulation module.

[0051] The air suspension controller is placed on the sprung simulation assembly. The driver operation and vehicle dynamics module sends the gear position, vehicle speed, steering wheel angle, steering wheel speed, longitudinal acceleration, lateral acceleration, yaw angular velocity, powertrain, and driving mode signals to CAN for use by the air suspension controller; the air suspension controller sends the air suspension working status and working current to the performance evaluation module for performance evaluation.

[0052] The road simulation module sends the four-wheel load spectrum signal to the test bench control module. The four-wheel load spectrum signal is an offline simulation signal, which can be obtained through the four-wheel load spectrum data of the actual road surface. It can also simulate the road vertical height spectrum in the driver control and vehicle dynamics module, and calculate the four-wheel load spectrum data of the road by the vehicle dynamics model. The road simulation module sends the offline vehicle speed signal to the driver control and vehicle dynamics module.

[0053] The test bench control module converts the original load spectrum signals of the four wheels into target load values ​​for the left front, right front, left rear, and right rear actuators after pruning and correction signal conditioning calculations and sends them to the left front, right front, left rear, and right rear actuators. When the four-column platform is fault-free, the push rods of the four actuators are controlled to move linearly in a force-controlled manner; when the four-column platform fails, the push rods of the four actuators are immediately stopped at the current position. The four actuators send the actual load force values ​​and displacement values ​​of the four actuators to the test bench control module for real-time detection of the test bench working status and signal conditioning operations such as pruning and correction by the test bench control module.

[0054] After the sensor group undergoes signal conditioning calculation processes such as filtering, the sensor group signal is sent to the performance evaluation module for performance evaluation.

[0055] The bench test system of the air suspension system has been introduced above. The bench test method of the air suspension system will be described in detail below:

[0056] In response to the air suspension system test control program, the test bench controller sends the corresponding test condition cylinder load force target value to the four actuator cylinders for vertical actuation. The test bench controller sends the simulated vehicle environment signal to the air suspension controller. The test conditions include: bouncing condition, roll condition and pitch condition.

[0057] The test bench controller collects all the signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders, and calculates the corresponding working condition test data based on all the signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders. The specific contents are as follows:

[0058] When the test condition is a bouncing condition, obtain 4 bouncing condition body acceleration data, 4 bouncing condition suspension acceleration data, 4 bouncing condition body height data, 4 bouncing condition actuator cylinder displacements and bouncing condition driver acceleration respectively;

[0059] According to the 4 bouncing condition body acceleration data, the 4 bouncing condition suspension acceleration data, the 4 bouncing condition body height data, and the 4 bouncing condition actuator cylinder displacements, a bouncing condition time domain curve group A is obtained with the bouncing condition time as the abscissa, and the 4 bouncing condition body accelerations, the 4 bouncing condition suspension accelerations, the 4 bouncing condition body heights, and the 4 bouncing condition actuator cylinder displacements as the ordinates. bi.1 (t), A si.1 (t), H bi.1 (t), H si.1 (t)(i=1, 2, 3, 4);

[0060]

[0061]

[0062]

[0063]

[0064] According to the acceleration of the driver at the bouncing condition, the time domain longitudinal, lateral and vertical bouncing condition acceleration curves a with the acceleration of the driver at the bouncing condition as the ordinate are obtained. dx.1 (t), a dy.1 (t), a dz.1 (t), obtaining a three-phase weighted root mean square value of the acceleration at the driver's position under the bouncing condition according to the time domain longitudinal, lateral and vertical bouncing condition acceleration curves with the acceleration at the driver's position under the bouncing condition as the ordinate;

[0065]

[0066] The first transfer function group M of the bouncing condition is obtained by Fourier transforming the bouncing condition time domain curve group with the bouncing condition time as the horizontal coordinate, the four bouncing condition body accelerations and the four bouncing condition suspension accelerations as the vertical coordinates. ai.1 (ω), the second transfer function group N of the bouncing condition is obtained by Fourier transforming the bouncing condition time domain curve group with the bouncing condition time as the horizontal coordinate, the four bouncing condition vehicle body heights and the four bouncing condition actuator cylinder displacements as the vertical coordinates. ai，1 (ω);

[0067]

[0068]

[0069] Obtain the vibration starting angular frequency of the bouncing condition, the vibration ending angular frequency of the bouncing condition, and the weighted coefficient curve for improving the amplitude-frequency characteristic of the bouncing condition; and obtain the total improvement coefficient group of the weighted amplitude-frequency characteristic of the bouncing condition corresponding to the first transfer function group of the bouncing condition through formula (1) according to the vibration starting angular frequency of the bouncing condition, the vibration ending angular frequency of the bouncing condition, the amplitude-frequency characteristic improvement weighted coefficient curve of the bouncing condition, and the first transfer function group of the bouncing condition;

[0070]

[0071] Where: ω1 is the starting angular frequency of the vibration under the bouncing condition, ω2 is the ending angular frequency of the vibration under the bouncing condition, C ai.1 (ω) is the weighted coefficient curve for improving the amplitude-frequency characteristics of the bouncing condition, M ai.1 (ω) is the first transfer function group of the bouncing condition, K ai.1 It is the total improvement coefficient group of the weighted amplitude-frequency characteristics of the bouncing condition corresponding to the first transfer function group of the bouncing condition.

[0072] When the test working condition is a roll working condition, the three-phase weighted acceleration root mean square value of the acceleration at the driver of the roll working condition, the first transfer function group of the roll working condition, the second transfer function group of the roll working condition and the total improvement coefficient group of the weighted amplitude-frequency characteristics of the roll working condition corresponding to the first transfer function group of the roll working condition are respectively obtained. The method of obtaining this roll working condition is consistent with the calculation method of the bouncing working condition, so it is not repeated here.

[0073] Obtain the height difference between the front and rear axles, and calculate the body roll angle according to formula (2):

[0074]

[0075] Where: h bf (t) is the height difference between the left and right sides of the front axle and h bf (t) = h b1.2 (t)-h b2.2 (t), h bb(t) is the height difference between the left and right sides of the rear axle and h bb (t) = h b3.2 (t)-h b4.2 (t), B is the left and right wheelbase, Φ(t) is the body roll angle.

[0076] When the test working condition is a pitch working condition, the three-phase weighted acceleration root mean square value of the acceleration at the driver in the pitch working condition, the first transfer function group of the pitch working condition, the second transfer function group of the pitch working condition and the total improvement coefficient group of the weighted amplitude-frequency characteristics of the pitch working condition corresponding to the first transfer function group of the pitch working condition are obtained respectively. The acquisition method of this pitch working condition is consistent with the calculation method of the bouncing working condition, so it is not repeated here.

[0077] Obtain the height difference between the left front and left rear vehicle body and the height difference between the right front and right rear vehicle body, and obtain the vehicle body pitch angle according to formula (3):

[0078]

[0079] Where: h bl (t) is the height difference between the left front and left rear vehicle body and h bl (t) = h b1.3 (t)-h b3.3 (t), h br (t) is the height difference between the right front and right rear vehicle body and h br (t) = h b2.3 (t)-h b4.3 (t), L is the wheelbase, Ψ(t) is the vehicle body pitch angle.

[0080] Embodiment 2

[0081] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the bench test method of the air suspension system are implemented.

[0082] Without loss of generality, computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer readable instruction data structures, program modules or other data. Computer storage media include RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storage technology, CD-ROM, DVD or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media are not limited to the above. The above-mentioned system memory and mass storage devices can be collectively referred to as memory.

[0083] Embodiment 3

[0084] An electronic device comprising: at least one processor; and

[0085] a memory communicatively connected to at least one processor; wherein,

[0086] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the steps of the bench test method of the air suspension system when executing the instructions.

[0087] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing of the terminal by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an execution program required for at least one function, etc.

[0088] The data storage area can store data created according to the use of the terminal, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0089] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0090] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0091] It should be understood by those skilled in the art that the above embodiments are only for the purpose of clearly illustrating the present invention, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above invention, and these changes or modifications are still within the scope of the present invention.

[0092] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A bench test method for an air suspension system, applied to a bench test system for an air suspension system, the bench test system for an air suspension system comprising a vehicle simulation assembly arranged on a four-column platform, the vehicle simulation assembly comprising: The sprung simulation assembly, the air suspension system and the sensor group, wherein the sprung simulation assembly is provided with an air suspension controller, and the air suspension controller, the four-post platform, the air suspension system and the sensor group are electrically connected to the test bench controller respectively, and are characterized by comprising: In response to the air suspension system test control program, the test bench controller sends the corresponding test condition cylinder load force target value to the four actuators for vertical actuation, and the test bench controller sends the simulated vehicle environment signal to the air suspension controller; The test bench controller collects all signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders, and calculates and obtains corresponding working condition test data according to all signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders; The test bench controller includes: a performance evaluation module, a driver control and vehicle dynamics module, a road simulation module and a test bench control module, the test bench control module is electrically connected to four actuators and four actuators respectively, the road simulation module is electrically connected to the driver control and vehicle dynamics module, the driver control and vehicle dynamics module is electrically connected to the air suspension controller, and the performance evaluation module is electrically connected to the air suspension controller and the sensor group respectively; The air suspension controller is used to send the working state and working current of the air suspension to the performance evaluation module, and the performance evaluation module is used to evaluate the air suspension controller according to the sensor group signal and the working state and working current of the air suspension sent by the air suspension controller. The driver control and vehicle dynamics module is used to send the vehicle control and dynamics data to the air suspension controller. The road simulation module is used to send the offline vehicle speed signal to the driver control and vehicle dynamics module, and it is also used to send the four-wheel load spectrum signal to the test bench control module. The test bench control module is used to obtain the target value of the load force of the actuator cylinder according to the original load spectrum signal of the four wheels after the calculation process of pruning and correction signal conditioning, and send it to the four actuator cylinders; The sensor group includes: a driver's acceleration sensor, four suspension acceleration sensors, four body acceleration sensors and four body height sensors, the four body acceleration sensors and the four body height sensors are all installed on the left front, right front, left rear and right rear suspension upper suspensions; the driver's acceleration sensor is installed on the driver's floor of the sprung simulation assembly; the four suspension acceleration sensors are respectively installed at the wheel center positions of the four wheels; The test conditions include: bouncing condition, rolling condition and pitching condition; When the test condition is a bouncing condition, the corresponding test data is calculated based on all the signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders, including: Obtaining 4 body acceleration data of bouncing conditions, 4 suspension acceleration data of bouncing conditions, 4 body height data of bouncing conditions, 4 actuator cylinder displacements of bouncing conditions and acceleration at the driver of the bouncing condition respectively; According to the 4 bouncing condition vehicle body acceleration data, the 4 bouncing condition suspension acceleration data, the 4 bouncing condition vehicle body height data, and the 4 bouncing condition actuating cylinder displacements, a bouncing condition time domain curve group is obtained with the bouncing condition time as the abscissa, and the 4 bouncing condition vehicle body accelerations, the 4 bouncing condition suspension accelerations, the 4 bouncing condition vehicle body heights, and the 4 bouncing condition actuating cylinder displacements as the ordinates; According to the acceleration at the driver's side of the bouncing condition, longitudinal, lateral and vertical bouncing condition acceleration curves in the time domain with the acceleration at the driver's side of the bouncing condition as the ordinate are obtained; and according to the longitudinal, lateral and vertical bouncing condition acceleration curves in the time domain with the acceleration at the driver's side of the bouncing condition as the ordinate are obtained a three-phase weighted acceleration root mean square value of the acceleration at the driver's side of the bouncing condition; A first transfer function group of the bouncing condition is obtained by performing Fourier transform on a bouncing condition time domain curve group with the bouncing condition time as the horizontal coordinate, and the four bouncing condition vehicle body accelerations and the four bouncing condition suspension accelerations as the vertical coordinates; a second transfer function group of the bouncing condition is obtained by performing Fourier transform on a bouncing condition time domain curve group with the bouncing condition time as the horizontal coordinate, and the four bouncing condition vehicle body heights and the four bouncing condition actuator cylinder displacements as the vertical coordinates; Obtain the vibration starting angular frequency of the bouncing condition, the vibration ending angular frequency of the bouncing condition, and the weighted coefficient curve for improving the amplitude-frequency characteristic of the bouncing condition; obtain the total improvement coefficient group of the weighted amplitude-frequency characteristic of the bouncing condition corresponding to the first transfer function group of the bouncing condition through formula (1) according to the vibration starting angular frequency of the bouncing condition, the vibration ending angular frequency of the bouncing condition, the amplitude-frequency characteristic improvement weighted coefficient curve of the bouncing condition, and the first transfer function group of the bouncing condition; （1） in: is the starting angular frequency of the vibration under the bouncing condition, is the vibration termination angular frequency of the bouncing condition, To improve the weighted coefficient curve of the amplitude-frequency characteristics of the bouncing condition, is the first transfer function group of the bouncing condition, It is the total improvement coefficient group of the weighted amplitude-frequency characteristics of the bouncing condition corresponding to the first transfer function group of the bouncing condition.

2. A bench test method for an air suspension system according to claim 1, characterized in that: When the test condition is a roll condition, the corresponding test data is calculated based on all the signals of the sensor group and the actual load force and displacement signals of the four actuator cylinders, including: Respectively obtain the three-phase weighted acceleration root mean square value of the acceleration at the driver of the roll condition, the first transfer function group of the roll condition, the second transfer function group of the roll condition and the total improvement coefficient group of the weighted amplitude-frequency characteristics of the roll condition corresponding to the first transfer function group of the roll condition; Obtain the height difference between the front and rear axles, and calculate the body roll angle according to formula (2): （2） in: is the height difference between the left and right sides of the front axle, is the height difference between the left and right sides of the rear axle, B is the left and right wheelbase, is the body roll angle.

3. A bench test method for an air suspension system according to claim 1, characterized in that: When the test working condition is a pitch working condition, the corresponding working condition test data is calculated based on all the signals of the sensor group and the actual value signals of the load force and displacement of the four actuators, including: Respectively obtain the three-phase weighted acceleration root mean square value of the acceleration at the driver of the pitch working condition, the first transfer function group of the pitch working condition, the second transfer function group of the pitch working condition and the total improvement coefficient group of the weighted amplitude-frequency characteristics of the pitch working condition corresponding to the first transfer function group of the pitch working condition; Obtain the height difference between the left front and left rear vehicle body and the height difference between the right front and right rear vehicle body, and obtain the vehicle body pitch angle according to formula (3): （3） in: is the height difference between the left front and left rear vehicle body, is the height difference between the right front and right rear vehicle body, L is the wheelbase, is the vehicle body pitch angle.

4. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

5. An electronic device, characterized in that: include: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the steps of the method described in any one of claims 1-3 when executing.

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