Method, device and storage medium for monitoring motion posture of vehicle powertrain

Abstract

The present application discloses a method, device and computer storage medium for monitoring the motion posture of a vehicle powertrain, including: obtaining the acceleration vibration signals of each measuring point on each active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system; performing preset processing on the acceleration vibration signals to obtain the time domain displacement signals of each active side of the suspension; obtaining the six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional space coordinates of each measuring point on each active side of the suspension and the three-dimensional space coordinates of the center of mass of the powertrain and the time domain displacement signals of each active side of the suspension. In this way, by fusing the signals of the measuring points on each active side of the suspension of the vehicle powertrain into the six-degree-of-freedom motion signal of the center of mass of the powertrain, better feedback of the motion posture of the powertrain is achieved, and the monitoring efficiency and convenience of the motion posture of the vehicle powertrain are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method and device for monitoring the motion posture of a vehicle powertrain, and a computer storage medium. Background Art

[0002] The vibration performance and driving smoothness of a vehicle are important performances of the vehicle, and the motion posture of the powertrain directly affects the quality of the above two performances. In the early stage of vehicle development, the Z-direction motion and the tipping motion around the Y-axis of the powertrain under ignition conditions, flameout conditions, acceleration conditions, etc. affect the low-frequency vibration performance of the vehicle, and the yaw motion of the powertrain around the Z-axis also affects the yaw vibration performance of the vehicle. Therefore, real-time monitoring and control of the motion state of the powertrain are crucial to the adjustment of the vehicle performance. However, how to monitor the motion posture of the vehicle powertrain has been under research. Summary of the invention

[0003] The object of the present invention is to provide a method, device and computer storage medium for monitoring the motion posture of a vehicle powertrain, by fusing the signals of the measuring points on the active side of each suspension of the vehicle powertrain into a six-degree-of-freedom motion signal of the center of mass of the powertrain, thereby achieving better feedback on the motion posture of the powertrain and improving the monitoring efficiency of the motion posture of the vehicle powertrain.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] In a first aspect, an embodiment of the present invention provides a method for monitoring the motion posture of a vehicle powertrain, the method comprising:

[0006] Obtaining acceleration vibration signals of each measuring point on the active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system;

[0007] Performing preset processing on the acceleration vibration signal to obtain a time domain displacement signal of each active side of the suspension;

[0008] According to the three-dimensional spatial coordinates of each measuring point on each active side of each suspension, the three-dimensional spatial coordinates of the powertrain mass center and the time domain displacement signal of each active side of the suspension, the six-degree-of-freedom motion signal of the vehicle powertrain mass center is obtained.

[0009] As one implementation manner, the acceleration vibration signal is processed in a preset manner to obtain a time domain displacement signal of each active side of the suspension, including:

[0010] Performing Fourier transform on the acceleration vibration signal to obtain acceleration spectrum signals of each measuring point;

[0011] Performing a second frequency domain integration on the acceleration spectrum signal of each measuring point to obtain a frequency domain displacement signal of each measuring point;

[0012] The frequency domain displacement signals of the measuring points are sequentially subjected to inverse Fourier transform and low-pass filtering to obtain the time domain displacement signals of the active side of each suspension.

[0013] As one implementation manner, after performing frequency domain secondary integration on the acceleration spectrum signal of each measuring point to obtain the frequency domain displacement signal of each measuring point, the method further includes:

[0014] The first m spectral lines of the frequency domain displacement signal of each measuring point are set to zero, where m is a positive integer.

[0015] As one implementation manner, the six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain is obtained according to the three-dimensional spatial coordinates of each measuring point on each active side of each suspension, the three-dimensional spatial coordinates of the center of mass of the powertrain, and the time domain displacement signal of each active side of the suspension, including:

[0016] According to the formula Calculate the X-direction translation d x (t);

[0017] According to the formula Calculate the Y translation d y (t);

[0018] According to the formula Calculate the Z translation d z (t);

[0019] According to the formula Calculate the roll d around the X axis roll (t);

[0020] According to the formula Calculate the tipping d around the Y axis pitch (t);

[0021] According to the formula Calculate the yaw d around the Z axis yaw (t);

[0022] Among them, d xi (t), d yi (t) and d zi (t) are the time domain displacement signals of the active side of each mount, N is the total number of powertrain mounts, (x i ,y i ,z i ) represents the three-dimensional spatial coordinates of each active side measuring point of the suspension, (x o ,y o ,z o) represents the three-dimensional space coordinates of the center of mass of the powertrain.

[0023] In a second aspect, an embodiment of the present invention provides a motion posture monitoring device for a vehicle powertrain, the device comprising:

[0024] An acquisition module is used to acquire acceleration vibration signals of each measuring point on the active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system;

[0025] A processing module, used to perform preset processing on the acceleration vibration signal to obtain a time domain displacement signal of each active side of the suspension;

[0026] The analysis module is used to obtain the six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional spatial coordinates of each measuring point on the active side of each suspension, the three-dimensional spatial coordinates of the center of mass of the powertrain, and the time domain displacement signal of each active side of the suspension.

[0027] As one implementation manner, the processing module is specifically used for:

[0028] Performing Fourier transform on the acceleration vibration signal to obtain acceleration spectrum signals of each measuring point;

[0029] Performing a second frequency domain integration on the acceleration spectrum signal of each measuring point to obtain a frequency domain displacement signal of each measuring point;

[0030] The frequency domain displacement signals of the measuring points are sequentially subjected to inverse Fourier transform and low-pass filtering to obtain the time domain displacement signals of the active side of each suspension.

[0031] As one implementation manner, the processing module is further used for:

[0032] The first m spectral lines of the frequency domain displacement signal of each measuring point are set to zero, where m is a positive integer.

[0033] As one implementation manner, the analysis module is specifically used for:

[0034] According to the formula Calculate the X-direction translation d x (t);

[0035] According to the formula Calculate the Y translation d y (t);

[0036] According to the formula Calculate the Z translation d z (t);

[0037] According to the formula Calculate the roll d around the X axis roll (t);

[0038] According to the formula Calculate the tipping d around the Y axis pitch (t);

[0039] According to the formula Calculate the yaw d around the Z axis yaw (t);

[0040] Among them, d xi (t), d yi (t) and d zi (t) are the time domain displacement signals of the active side of each mount, N is the total number of powertrain mounts, (x i ,y i ,z i ) represents the three-dimensional spatial coordinates of each active side measuring point of the suspension, (x o ,y o ,z o ) represents the three-dimensional space coordinates of the center of mass of the powertrain.

[0041] In a third aspect, an embodiment of the present invention provides a device for monitoring the motion posture of a vehicle powertrain, the device comprising a processor and a memory for storing programs; when the program is executed by the processor, the processor implements the steps of the method for monitoring the motion posture of a vehicle powertrain described in the first aspect.

[0042] In a fourth aspect, an embodiment of the present invention provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle powertrain motion posture monitoring method described in the first aspect.

[0043] The embodiment of the present invention provides a method, device and computer storage medium for monitoring the motion posture of a vehicle powertrain, including: obtaining the acceleration vibration signal of each measuring point on each active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system; performing preset processing on the acceleration vibration signal to obtain the time domain displacement signal of each active side of the suspension; obtaining the six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional space coordinates of each measuring point on each active side of the suspension and the three-dimensional space coordinates of the center of mass of the powertrain and the time domain displacement signal of each active side of the suspension. In this way, by fusing the signals of the measuring points on each active side of the suspension of the vehicle powertrain into the six-degree-of-freedom motion signal of the center of mass of the powertrain, it is possible to achieve better feedback on the motion posture of the powertrain, thereby improving the efficiency and convenience of monitoring the motion posture of the vehicle powertrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a flow chart of a method for monitoring the motion posture of a vehicle powertrain provided by an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of the vehicle powertrain coordinate definition in an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of a specific process of a method for monitoring the motion posture of a vehicle powertrain provided by an embodiment of the present invention;

[0047] Figure 4 Schematic diagram of Z-axis acceleration vibration signals of each active side of the powertrain mount in an embodiment of the present invention;

[0048] Figure 5 Schematic diagram of the Z-direction time-domain displacement signal of each active side of the powertrain mount in an embodiment of the present invention;

[0049] Figure 6 Schematic diagram of the Z-direction displacement motion signal of the center of mass of the powertrain in an embodiment of the present invention;

[0050] Figure 7 Schematic diagram of a tipping motion signal of the powertrain mass center around the Y axis in an embodiment of the present invention;

[0051] Figure 8 A schematic diagram of a motion posture monitoring device for a vehicle powertrain according to an embodiment of the present invention Figure 1 ;

[0052] Fig. 9 A schematic diagram of a motion posture monitoring device for a vehicle powertrain according to an embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0053] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present invention may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0054] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0055] It should be understood that, although the various steps in the flowchart in the embodiment of the present invention are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0056] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step codes, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of the present invention.

[0057] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The technical solution of the present invention is further elaborated in detail below in conjunction with the drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0058] See also Figure 1 , is a flow chart of a method for monitoring the motion posture of a vehicle powertrain provided by an embodiment of the present invention. The method can be executed by a device for monitoring the motion posture of a vehicle powertrain provided by an embodiment of the present invention. The device for monitoring the motion posture of a vehicle powertrain can be implemented in software and / or hardware. The method includes the following steps:

[0059] Step S101: acquiring acceleration vibration signals of each measuring point on the active side of each mount of the vehicle powertrain in each direction of the three-dimensional space coordinate system;

[0060] It can be understood that for each active side of the suspension, the corresponding position can be used as a measuring point according to the monitoring requirements. In this embodiment, only one measuring point is set for each active side of the suspension. At the same time, the number of suspensions included in the vehicle powertrain is different, and the total number of corresponding measuring points is also different. In addition, for different working conditions, such as ignition working conditions, flameout working conditions, vehicle shaking working conditions, etc., the three-dimensional space coordinate system directions of each active side of the powertrain suspension can be defined according to actual needs, see Figure 2 , taking the vehicle's forward direction as a reference, the direction opposite to the vehicle's forward direction can be taken as the positive direction of the X axis, the direction on the right side of the vehicle can be taken as the positive direction of the Y axis, and the upward direction can be taken as the positive direction of the Z axis. Here, the acquisition of the acceleration vibration signal can refer to the prior art, which will not be repeated here.

[0061] Step S102: performing preset processing on the acceleration vibration signal to obtain a time domain displacement signal of each active side of the suspension;

[0062] Optionally, the preset processing can be set according to actual needs, including but not limited to Fourier transform, quadratic integration in the frequency domain, low-frequency zeroing, inverse Fourier transform and low-pass filtering. In one embodiment, the acceleration vibration signal is subjected to preset processing to obtain the time domain displacement signal of each active side of the suspension, including: Fourier transforming the acceleration vibration signal to obtain the acceleration spectrum signal of each measuring point; performing quadratic integration in the frequency domain on the acceleration spectrum signal of each measuring point to obtain the frequency domain displacement signal of each measuring point; performing inverse Fourier transform and low-pass filtering on the frequency domain displacement signal of each measuring point in turn to obtain the time domain displacement signal of each active side of the suspension. Here, according to the formula D(f)=-4π 2 f 2 A(f) performs a frequency domain quadratic integration on the acceleration spectrum signal A(f) of each measuring point to obtain a frequency domain displacement signal D(f) of each measuring point. In addition, when performing low-pass filtering, the cutoff frequency can usually be set to 50 Hz, which can of course be adjusted according to actual needs.

[0063] It can be understood that, since the zero drift and temperature drift errors of the signal will be amplified after the acceleration spectrum signal is integrated twice in the frequency domain, in order to effectively eliminate the zero drift and temperature drift errors of the signal and obtain the frequency domain displacement signals of each measuring point on the active side of each suspension with high precision, in one embodiment, the acceleration spectrum signal of each measuring point is integrated twice in the frequency domain to obtain the frequency domain displacement signals of each measuring point, and further includes: setting the first m spectral lines of the frequency domain displacement signals of each measuring point to zero, where m is a positive integer. It should be noted that the size of m can be set in combination with the characteristics of the signal frequency, for example, it can be set to 5, 7, etc.

[0064] Step S103: acquiring a six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional spatial coordinates of each measuring point on each active side of each mount, the three-dimensional spatial coordinates of the center of mass of the powertrain, and the time domain displacement signal of each active side of the mount;

[0065] Among them, the three-dimensional spatial coordinates of each measuring point on each active side of each suspension and the three-dimensional spatial coordinates of the powertrain center of mass can be obtained through a three-dimensional model or actual measurement method, which is not specifically limited here. Here, based on the three-dimensional spatial coordinates of each measuring point on each active side of the suspension and the three-dimensional spatial coordinates of the powertrain center of mass, the spatial coordinates of each measuring point relative to the powertrain center of mass, that is, the spatial coordinates of each suspension relative to the powertrain center of mass, can be calculated first, and then the six-degree-of-freedom motion signal of the vehicle powertrain center of mass is calculated in combination with the time-domain displacement signal of each active side of the suspension and the above-mentioned spatial coordinates, that is, the six-degree-of-freedom motion characteristics of the vehicle powertrain center of mass are calculated. In one embodiment, the six-degree-of-freedom motion signal of the vehicle powertrain center of mass is obtained based on the three-dimensional spatial coordinates of each measuring point on each active side of the suspension, the three-dimensional spatial coordinates of the powertrain center of mass, and the time-domain displacement signal of each active side of the suspension, including: according to the formula Calculate the X-direction translation d x (t); According to the formula Calculate the Y translation d y (t); According to the formula Calculate the Z translation d z (t); According to the formula Calculate the roll d around the X axis roll (t); According to the formula Calculate the tipping d around the Y axis pitch (t); According to the formula Calculate the yaw d around the Z axis yaw (t); where d xi (t), d yi (t) and d zi (t) are the time domain displacement signals of the active side of each mount, N is the total number of powertrain mounts, (x i ,y i ,z i ) represents the three-dimensional spatial coordinates of each active side measuring point of the suspension, (x o ,y o ,z o ) represents the three-dimensional space coordinates of the powertrain mass center. It should be noted that the six-degree-of-freedom motion signals of the vehicle powertrain mass center are respectively X-direction translation d x (t), Y translation d y (t), Z translation d z (t), rolling around the X axis d roll (t), overturning around the Y axis d pitch (t) and yaw around the Z axis d yaw (t). In this way, by fusing the signals of multiple measuring points, the six-degree-of-freedom motion characteristics of the center of mass of the vehicle powertrain are indirectly obtained, which effectively reflects the motion posture of the vehicle powertrain and can provide direct indicator parameters for the motion control of the vehicle powertrain.

[0066] In summary, in the vehicle powertrain motion posture monitoring method provided in the above embodiment, by fusing the signals of the measuring points on the active side of each suspension of the vehicle powertrain into a six-degree-of-freedom motion signal of the powertrain center of mass, better feedback of the powertrain motion posture is achieved, thereby improving the efficiency and convenience of monitoring the vehicle powertrain motion posture.

[0067] Based on the same inventive concept as the above-mentioned embodiment, this embodiment describes in detail the technical solution of the above-mentioned embodiment through specific examples. This example aims to propose a method for monitoring the motion posture of the center of mass of an automobile powertrain, and the main process is: the acceleration vibration signal of each suspension active side of the dynamic assembly (i.e., the powertrain) is Fourier transformed to obtain the acceleration frequency domain signal, and then the acceleration frequency domain signal is quadratically integrated to obtain the frequency domain displacement signal of each measuring point, and the amplitude of the ultra-low frequency component is zeroed, and then the high-precision frequency domain displacement signal is Fourier inverse transformed to obtain the time domain displacement signal, and finally the displacement signal and the spatial coordinates of the dynamic total center of mass are combined to calculate the motion characteristics of the six degrees of freedom of the dynamic total center of mass.

[0068] See also Figure 3 , which is a specific flow chart of the motion posture monitoring method of the vehicle powertrain provided by an embodiment of the present invention, comprises the following steps:

[0069] Step S201: collecting acceleration signals of active sides of each suspension of the vehicle powertrain;

[0070] Specifically, in the working conditions that need special attention, such as ignition working condition, flameout working condition, vehicle shaking working condition, etc., according to Figure 2 The test coordinate direction of each active side of the powertrain mount is defined, and the acceleration vibration signal a of each measuring point on the active side of each powertrain mount is collected. xi (t), a yi (t) and a zi (t), where i = 1, 2, ..., N, N is the total number of dynamic mounts. In this embodiment, the acceleration vibration signal a of each measuring point of the left active suspension side, the right active suspension side and the rear active suspension side is collected. xi (t), a yi (t) and a zi (t) as an example, the positions of each measuring point can be shown as black dots in the figure. The specific signals are as follows Figure 4 shown.

[0071] Step S202: performing Fourier transform on the acceleration signal to obtain an acceleration spectrum signal;

[0072] Specifically, each acceleration signal a xi (t), a yi (t) and a zi(t) Perform Fourier transform to obtain the corresponding acceleration spectrum signal A xi (f) A yi (f) and A zi (f).

[0073] Step S203: performing a second frequency domain integration on each of the acceleration spectrum signals to obtain a frequency domain displacement signal;

[0074] Specifically, according to the formula D(f) = -4π 2 f 2 A(f) for acceleration spectrum signal A xi (f) A yi (f) and A zi (f) Perform secondary integration in the frequency domain to obtain the frequency domain displacement signal D' of each measuring point xi (f), D' yi (f) and D' zi (f). Since the second integration of the acceleration signal will amplify the zero drift and temperature drift errors of the signal, it is necessary to set the first five spectral lines of the frequency domain displacement signal D(f) to zero in order to obtain a high-precision frequency domain displacement signal D xi (f) D yi (f) and D zi (f).

[0075] Step S204: performing inverse Fourier transform on the frequency domain displacement signal to obtain a time domain displacement signal of each active side of the suspension;

[0076] Specifically, for each frequency domain displacement signal D xi (f) D yi (f) and D zi (f) Perform inverse Fourier transform processing, and then perform low-pass filtering on it. The cut-off frequency is generally set to 50 Hz, so as to obtain the time domain displacement signal d of each active side of the suspension xi (t), d yi (t) and d zi (t). Figure 5 , showing the Z-direction time-domain displacement signal of each active side of the powertrain suspension.

[0077] Step S205: Calculate the six-degree-of-freedom motion signal of the powertrain mass center according to the position coordinates of each mount relative to the mass center and the time-domain displacement signal of the active side of each mount.

[0078] Specifically, the three-dimensional spatial coordinates (x i ,y i ,z i ) and the spatial coordinates (x o ,yo ,z o ), and calculate the spatial coordinates (x i-o ,y i-o ,z i-o ). That is, the spatial coordinates (x i-o ,y i-o ,z i-o ). Combine the displacement signal and spatial coordinates to calculate the six-degree-of-freedom motion signal of the moving total mass center, the X-direction translation d x (t), Y translation d y (t), Z translation d z (t), rolling around the X axis d roll (t), overturning around the Y axis d pitch (t) and yaw around the Z axis d yaw (t).

[0079] Specifically, according to the formula Calculate the X-direction translation d x (t); According to the formula Calculate the Y translation d y (t); According to the formula Calculate the Z translation d z (t); According to the formula Calculate the roll d around the X axis roll (t); According to the formula Calculate the tipping d around the Y axis pitch (t); According to the formula Calculate the yaw d around the Z axis yaw (t). Figure 6 , shows the Z-direction displacement motion signal of the powertrain mass center, i.e., the Z-direction translation d z (t). Figure 7 , shows the tipping motion signal of the powertrain mass center around the Y axis, i.e., tipping d around the Y axis pitch (t).

[0080] In summary, the vehicle powertrain motion posture monitoring method provided in the above embodiments has the following innovations: 1) The displacement signals of the measuring points on the active side of each suspension are obtained efficiently and accurately. In this application, the frequency domain quadratic integration is adopted, and the ultra-low frequency components are zeroed at the same time, so as to better eliminate the time domain integral zero drift and temperature drift errors, and the displacement signal obtained has high accuracy. Compared with the stress-strain test method, this application only needs to quickly paste the acceleration sensor, which is efficient and has a short test cycle; 2) The signals of multiple measuring points are fused to indirectly obtain the six-degree-of-freedom motion of the dynamic total center of mass. The existing methods only monitor the displacement or acceleration of the three translational degrees of freedom of the suspension measuring points, and cannot monitor the three torsional degrees of freedom of the powertrain. This application fuses the signals of multiple measuring points into a six-degree-of-freedom motion signal of the dynamic total center of mass through the principle of mechanical decomposition, which better feeds back the motion posture of the dynamic total, and is conducive to establishing the dynamic total motion control index parameters. At the same time, it has the following effects: it can quickly obtain the displacement signal of each active measuring point of the suspension, the test cycle is short, and the obtained signal accuracy is high; the six-degree-of-freedom motion signal of the center of mass of the dynamic assembly is obtained, which effectively reflects the motion posture of the dynamic assembly and can provide direct indicator parameters for the dynamic assembly motion control.

[0081] Based on the same inventive concept as the above embodiments, refer to Figure 8 , is a schematic structural diagram of a motion posture monitoring device for a vehicle powertrain provided by an embodiment of the present invention, the device comprising:

[0082] An acquisition module 10 is used to acquire acceleration vibration signals of each measuring point on the active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system;

[0083] The processing module 11 is used to perform preset processing on the acceleration vibration signal to obtain a time domain displacement signal of each active side of the suspension;

[0084] The analysis module 12 is used to obtain the six-degree-of-freedom motion signal of the vehicle powertrain mass center according to the three-dimensional spatial coordinates of each measuring point on each active side of each suspension, the three-dimensional spatial coordinates of the powertrain mass center, and the time domain displacement signal of each active side of the suspension.

[0085] In summary, in the vehicle powertrain motion posture monitoring device provided in the above embodiments, by fusing the signals of the measuring points on the active sides of each suspension of the vehicle powertrain into a six-degree-of-freedom motion signal of the powertrain center of mass, better feedback of the powertrain motion posture is achieved, thereby improving the efficiency and convenience of monitoring the vehicle powertrain motion posture.

[0086] In one embodiment, the processing module 11 is specifically used for:

[0087] Performing Fourier transform on the acceleration vibration signal to obtain acceleration spectrum signals of each measuring point;

[0088] Performing a second frequency domain integration on the acceleration spectrum signal of each measuring point to obtain a frequency domain displacement signal of each measuring point;

[0089] The frequency domain displacement signals of the measuring points are sequentially subjected to inverse Fourier transform and low-pass filtering to obtain the time domain displacement signals of the active side of each suspension.

[0090] In one embodiment, the processing module 11 is further used for:

[0091] The first m spectral lines of the frequency domain displacement signal of each measuring point are set to zero, where m is a positive integer.

[0092] In one embodiment, the analysis module 12 is specifically used for:

[0093] According to the formula Calculate the X-direction translation d x (t);

[0094] According to the formula Calculate the Y translation d y (t);

[0095] According to the formula Calculate the Z translation d z (t);

[0096] According to the formula Calculate the roll d around the X axis roll (t);

[0097] According to the formula Calculate the tipping d around the Y axis pitch (t);

[0098] According to the formula Calculate the yaw d around the Z axis yaw (t);

[0099] Among them, d xi (t), d yi (t) and d zi (t) are the time domain displacement signals of the active side of each mount, N is the total number of powertrain mounts, (x i ,y i ,z i ) represents the three-dimensional spatial coordinates of each active side measuring point of the suspension, (x o ,y o ,z o ) represents the three-dimensional space coordinates of the center of mass of the powertrain.

[0100] Based on the same inventive concept as the above embodiments, the present invention provides a motion posture monitoring device for a vehicle powertrain, such as Fig. 9 As shown, the device includes: a processor 110 and a memory 111 for storing a computer program that can be run on the processor 110; wherein, Fig. 9 The processor 110 shown in the figure is not used to indicate that the number of the processor 110 is one, but is only used to indicate the positional relationship of the processor 110 relative to other devices. In actual applications, the number of the processor 110 may be one or more; similarly, Fig. 9 The memory 111 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 111 relative to other devices. In practical applications, the number of memories 111 can be one or more. The processor 110 is used to implement the motion posture monitoring method of the vehicle powertrain when running the computer program.

[0101] The device may also include: at least one network interface 112. The various components in the device are coupled together via a bus system 113. It is understood that the bus system 113 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 113 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Fig. 9 Various buses are labeled as bus system 113 .

[0102] The memory 111 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 111 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0103] The memory 111 in the embodiment of the present invention is used to store various types of data to support the operation of the device. Examples of these data include: any computer program used to operate on the device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0104] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) or other memory; or it may be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned vehicle powertrain motion posture monitoring method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0105] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0107] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for monitoring the motion posture of a vehicle powertrain, characterized in that: The method comprises: Obtaining acceleration vibration signals of each measuring point on the active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system; Performing preset processing on the acceleration vibration signal to obtain a time domain displacement signal of each active side of the suspension; Acquire a six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional spatial coordinates of each measuring point on the active side of each suspension, the three-dimensional spatial coordinates of the center of mass of the powertrain, and the time domain displacement signal of each active side of the suspension; The method of obtaining the six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional spatial coordinates of each measuring point on each active side of each suspension, the three-dimensional spatial coordinates of the center of mass of the powertrain, and the time domain displacement signal of each active side of the suspension comprises: According to the formula Calculate the X-direction translation d x (t); According to the formula Calculate the Y translation d y (t); According to the formula Calculate the Z translation d z (t); According to the formula Calculate the roll d around the X axis roll (t); According to the formula Calculate the tipping d around the Y axis pitch (t); According to the formula Calculate the yaw d around the Z axis yaw (t); Among them, d xi (t), d yi (t) and d zi (t) are the time domain displacement signals of the active side of each mount, N is the total number of powertrain mounts, (x i ,y i ,z i ) represents the three-dimensional spatial coordinates of each active side measuring point of the suspension, (x o ,y o ,z o ) represents the three-dimensional space coordinates of the center of mass of the powertrain.

2. The method according to claim 1, characterized in that The performing preset processing on the acceleration vibration signal to obtain the time domain displacement signal of each active side of the suspension includes: Performing Fourier transform on the acceleration vibration signal to obtain acceleration spectrum signals of each measuring point; Performing a second frequency domain integration on the acceleration spectrum signal of each measuring point to obtain a frequency domain displacement signal of each measuring point; The frequency domain displacement signals of the measuring points are sequentially subjected to inverse Fourier transform and low-pass filtering to obtain the time domain displacement signals of the active side of each suspension.

3. The method according to claim 2, characterized in that After performing frequency domain secondary integration on the acceleration spectrum signal of each measuring point to obtain the frequency domain displacement signal of each measuring point, the method further includes: The first m spectral lines of the frequency domain displacement signal of each measuring point are set to zero, where m is a positive integer.

4. A motion posture monitoring device for a vehicle powertrain, characterized in that: The device comprises: An acquisition module is used to acquire acceleration vibration signals of each measuring point on the active side of each suspension of the vehicle powertrain in each direction of the three-dimensional space coordinate system; A processing module, used to perform preset processing on the acceleration vibration signal to obtain a time domain displacement signal of each active side of the suspension; An analysis module, for obtaining a six-degree-of-freedom motion signal of the center of mass of the vehicle powertrain according to the three-dimensional spatial coordinates of each measuring point on the active side of each suspension, the three-dimensional spatial coordinates of the center of mass of the powertrain, and the time domain displacement signal of each active side of the suspension; The analysis module is specifically used for: According to the formula Calculate the X-direction translation d x (t); According to the formula Calculate the Y translation d y (t); According to the formula Calculate the Z translation d z (t); According to the formula Calculate the roll d around the X axis roll (t); According to the formula Calculate the tipping d around the Y axis pitch (t); According to the formula Calculate the yaw d around the Z axis yaw (t); Among them, d xi (t), d yi (t) and d zi (t) are the time domain displacement signals of the active side of each mount, N is the total number of powertrain mounts, (x i ,y i ,z i ) represents the three-dimensional spatial coordinates of each active side measuring point of the suspension, (x o ,y o ,z o ) represents the three-dimensional space coordinates of the center of mass of the powertrain.

5. The device according to claim 4, characterized in that The processing module is specifically used for: Performing Fourier transform on the acceleration vibration signal to obtain acceleration spectrum signals of each measuring point; Performing a second frequency domain integration on the acceleration spectrum signal of each measuring point to obtain a frequency domain displacement signal of each measuring point; The frequency domain displacement signals of the measuring points are sequentially subjected to inverse Fourier transform and low-pass filtering to obtain the time domain displacement signals of the active side of each suspension.

6. The device according to claim 5, characterized in that The processing module is further used for: The first m spectral lines of the frequency domain displacement signal of each measuring point are set to zero, where m is a positive integer.

7. A motion posture monitoring device for a vehicle powertrain, characterized in that: The device includes a processor and a memory for storing a program; when the program is executed by the processor, the processor implements the steps of the vehicle powertrain motion posture monitoring method as described in any one of claims 1 to 3.

8. A computer storage medium, characterized in that A computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle powertrain motion posture monitoring method according to any one of claims 1 to 3 are implemented.

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