Adjustable wheel force sensor dynamic and static calibration device and working method

Abstract

The application provides a kind of adjustable wheel force sensor static and dynamic calibration device and working method, comprising: adjustable test bench, self-centering adjustable force body, wheel force sensor, hydraulic loading device, horizontal hydraulic cylinder limiting fixture and vertical hydraulic cylinder limiting fixture;Adjustable test bench includes, fixed chassis, rotary reversing disc and outer ring positioning slider;Self-centering adjustable force body includes inner ring positioning connector, force body main body, positioning rod and self-centering rotary cap;Hydraulic loading device includes rear flange hydraulic cylinder, hydraulic cylinder threaded connector, force sensor and double-headed bolt.To realize the size range of tire force sensor adjustable, the application adopts adjusting limiting structure and bolt fastening structure, improves the stability of calibration process;At the same time, a new dynamic calibration method and self-centering structure are proposed, which improves the accuracy of wheel force sensor calibration and reduces the calibration cost.

Description

Technical Field

[0001] This invention belongs to the field of sensor calibration technology, specifically relating to an adjustable wheel force sensor dynamic and static calibration device and its working method. Background Technology

[0002] The external loads on a vehicle all originate from the interaction between the tires and the ground. The resulting tire force is the most significant external force experienced by the vehicle during acceleration, braking, and steering. Theoretically, by combining tire force with a vehicle kinematic model, the vehicle's motion state at any given moment can be accurately obtained. Furthermore, measuring the forces acting on the tires under different conditions not only provides a better understanding of the vehicle's driving state but also enables more effective testing of tire dynamic characteristic parameters, suspension dynamic characteristics, and provides a prerequisite for vehicle dynamics analysis. Therefore, designing a sensor for measuring vehicle tire forces is an urgent need for deepening multi-axle steering technology, improving vehicle handling performance, and achieving intelligent assisted driving and efficient, precise steering on all road surfaces.

[0003] Before applying any sensor, calibration is an indispensable step. Calibration involves applying a known true value to the sensor and measuring its output. This allows us to determine the relationship between the true and output values. Furthermore, by comparing the output and true values, we can further adjust the sensor's accuracy, sensitivity, and other specifications. Different wheel force sensors inevitably experience errors during manufacturing processes such as patching, assembly, and production. These errors significantly affect the measurement accuracy of wheel force sensors. Therefore, each wheel force sensor requires a rigorous force calibration process before application. The calibration device and calibration method are the main factors influencing calibration accuracy.

[0004] Existing technologies help improve the calibration accuracy of wheel force sensors, but they still have certain shortcomings and limitations, mainly manifested in the following ways:

[0005] 1. Existing calibration platforms often use a hinged connection between the hydraulic cylinder and the platform, and most employ a suspended structure to connect to the top of the test bench (e.g., Chinese Patent CN202021075944.2). When calibrating wheel force sensors for heavy vehicles, a large-range, high-tonnage loading force is required, which can lead to unstable sensor output signals due to vibrations generated by the test bench. Furthermore, when the hydraulic cylinder is reversed during calibration, the hydraulic cylinder output signal cannot track the ideal applied force signal.

[0006] 2. Most existing wheel force sensor calibration platforms can only calibrate single-type wheel force sensors and are only suitable for single-model vehicles. Research on calibration devices for wheel force sensors of multiple vehicle types is still lacking. Although Chinese patent CN201921124401.2 can accommodate wheel force sensors of different sizes, it uses a weight-based loading method, which cannot handle large-tonnage loading. Furthermore, the loading process requires significant manpower and is relatively complex to operate, making it unsuitable for wheel force sensors of heavy vehicles.

[0007] 3. Existing wheel force sensors require specialized test benches for dynamic calibration, which is expensive. Furthermore, static calibration largely employs single-channel linear calibration, where a certain force is applied to a single channel of the wheel force sensor before calibration. While this method quickly and easily establishes the relationship between the actual value and the sensor output, its calibration range is limited and it cannot simulate the force experienced by the wheel during actual vehicle operation. This is particularly problematic for multi-axle vehicles, where the force experienced by each tire varies during driving, making single-calibration unsuitable for real-world conditions. Summary of the Invention

[0008] In view of this, the purpose of this invention is to provide an adjustable wheel force sensor dynamic and static calibration device and working method. By adopting a bolt fastening structure and an adjustable limit structure, wheel force sensors of different sizes can be calibrated, which improves the stability of the calibration process and reduces the processing cost. At the same time, a novel dynamic calibration method and a self-centering structure are proposed to improve the calibration accuracy of the wheel force sensor.

[0009] The main components include: an adjustable experimental platform, a self-centering adjustable force-applying body, a wheel force sensor, a hydraulic loading device, a horizontal hydraulic cylinder limit clamp, and a vertical hydraulic cylinder limit clamp. The adjustable experimental platform includes a fixed base, a rotating steering wheel, and an outer ring positioning slider. The self-centering adjustable force-applying body includes an inner ring positioning connector, a force-applying body body, a positioning rod, and a self-centering rotating cap. The hydraulic loading device includes a rear flange hydraulic cylinder, a hydraulic cylinder threaded connector, a force sensor, and double-ended bolts. To achieve adjustable tire force sensor size range, this invention employs an adjustable limit structure and a bolt fastening structure, improving the stability of the calibration process. Simultaneously, a novel dynamic calibration method and a self-centering structure are proposed, improving the accuracy of wheel force sensor calibration and reducing calibration costs.

[0010] The specific technical solution adopted by this invention to solve its technical problem is as follows:

[0011] An adjustable wheel force sensor dynamic and static calibration device is characterized in that it includes: an adjustable test bench (1), a self-centering adjustable force application body (2), a wheel force sensor (3), a hydraulic loading device (4), a horizontal limiting clamp (5), and a vertical limiting clamp (6).

[0012] The adjustable experimental platform includes a fixed base frame (7), a rotating reversing disk (8), and an outer ring positioning slider (9);

[0013] The self-centering adjustable force-applying body includes an inner ring positioning connector (10), a force-applying body body (11), a positioning rod (12), and a self-centering rotating cap (13);

[0014] The outer hole of the wheel force sensor (3) is fixed on the adjustable experimental platform (1), and the other end is connected to the self-centering adjustable force-applying body (2);

[0015] The hydraulic loading device (4) includes a rear flange hydraulic cylinder (14), a hydraulic cylinder threaded connector (15), a tension / compression sensor (16), a double-ended bolt (17), and a connecting ring (18).

[0016] Furthermore, the fixed base frame (7) of the adjustable experimental platform (1) is fixed by several bolt holes at the four corners of the bottom of the platform, and is connected to the vertical limit clamp (6) in the limit clamp by corresponding vertical clamp connection holes (7a) at the bottom. There are 8 horizontal clamp connection holes (7b) on the right side of the platform to connect with the vertical fixed column (20) in the horizontal limit clamp (5). There is also a corresponding horizontal clamp track (7c) at the bottom. There is a circular reversing disk fixing groove (7d) in the middle of the platform, and four reversing disk connection holes (7e) are evenly distributed in the groove to connect with the reversing positioning holes (8a) on the rotating reversing disk. Corresponding connection; the rotary steering wheel (8) is provided with 8 pairs of slider boss tracks (8b) with annular lateral fixing grooves (8c), and annular bottom fixing grooves (8d) are opened along the bottom center line, and are evenly distributed radially relative to the center of the frame; the outer ring positioning slider (9) has two lateral positioning holes (9a) on its left and right end faces, and an outer ring connecting hole (9b) is opened between the two holes. Each outer ring hole (3a) in the wheel force sensor, the outer ring connecting hole (9b) in the outer ring positioning slider (9) and the bottom slider boss track (8b) in the rotary steering wheel (8) correspond one-to-one and are fastened by bolts.

[0017] Furthermore, the wheel force sensor (3) has an inner and outer ring distribution structure, with the inner ring hole (3b) connected to the upper inner ring connecting hole (10f) of the self-centering adjustable force-applying body (2), and the outer ring hole (3a) connected to the upper outer ring connecting hole (9b) of the adjustable experimental platform (1).

[0018] Furthermore, the inner ring positioning connector (10) of the self-centering adjustable force-applying body (2) has a connector positioning groove (10e) on both the upper and lower sliding platforms (10b) for sliding adjustment on the adjustment track (11c) in the force-applying body body (11); the left cylindrical force-applying rod is connected to the hydraulic loading device (4) through the first shoulder (10d) and the second shoulder (10c), and the right arc-shaped centering boss (10a) is engaged with the inner ring of the wheel force sensor (3); the lower part of the positioning rod (12) is provided with a connecting... The threaded part (12a) is used to mate with the positioning threaded hole (10g) on ​​the inner ring positioning connector (10). The top passes through the positioning rod slide rail (11a) on the force-applying body (11) to further embed into the annular groove track (13b) in the self-centering rotating cap (13). The force-applying body (11) is made of 45 steel and has several limiting bolt holes (11b) symmetrically distributed in the xy direction. The positioning groove (10e) of the connector and the limiting bolt holes (11b) are tightly fitted by bolts.

[0019] Furthermore, the self-centering adjustable force-applying body (2) is provided with a self-centering rotating cap (13) to be fitted with a rotating handle (13a). Four annular groove tracks (13b) are evenly distributed around the center of the rotating cap, increasing outward from the center, so that the four positioning rods move synchronously in the grooves in the radial direction when the rotating cap rotates.

[0020] Furthermore, the rear flange (14a) of the rear flange type hydraulic cylinder (14) is provided with four bolt holes at the four corners for connecting with the horizontal and vertical hydraulic cylinder clamps; the bottom of the hydraulic cylinder threaded connector (15) is provided with a threaded hole for connecting with the rear flange type hydraulic cylinder (14), a cubic wrench boss is provided in the middle, and a threaded post is provided at the top; the tension and pressure sensor (16) has a threaded hole at one end that mates with the hydraulic cylinder threaded connector, and a threaded hole at the other end that connects with the connecting ring; the connecting ring (18) is divided into two parts, upper and lower rings, and is connected by threaded holes symmetrically distributed on the left and right sides. One end of the lower ring (18b) is provided with a threaded connecting rod (18c), and the upper ring (18a) is a connector with an arc surface.

[0021] Furthermore, the vertical limiting fixture (6) is divided into two parts: a hydraulic cylinder position adjusting slider (22) and a rail fixing component (23). The hydraulic cylinder rail fixing component (23) has four bolt holes at the four corners of its bottom, which are fastened to the bottom of the experimental platform with bolts. Bottom positioning grooves (23a) and side wall positioning grooves (23b) are opened on the bottom and sides respectively, and bolt tightening space is reserved under the bottom positioning groove (23a). The upper and lower surfaces of the hydraulic cylinder position adjusting slider (22) have four bolt holes, and the rear flange hydraulic cylinder (14) is connected to the slider through these four bolt holes and adjusted and positioned on the rail. The left and right surfaces of the hydraulic cylinder position adjusting slider (22) have two bolt holes, which are fastened to the corresponding side wall positioning grooves (23b) with bolts to further enhance the reliability of positioning.

[0022] Furthermore, the horizontal hydraulic cylinder clamp (5) includes a vertical fixed column (20), a hydraulic cylinder rear flange fixing seat (19), and special bolts (21); the bottom of the vertical fixed column (20) has two bolt holes symmetrically distributed and connected to the bolt holes of the fixed base frame (7) by bolt fastening. The front and rear end faces are distributed with two bolt holes along the same center line.

[0023] Furthermore, the bottom of the hydraulic cylinder rear flange fixing seat (19) has four bolt holes symmetrically distributed, which are connected to the horizontal clamp track (7c) on the fixed base frame (7) by bolt positioning. The rear flange hydraulic cylinder (14) is fixed to the hydraulic cylinder rear flange fixing seat (19) through the bolt holes on the flange. The left and right end faces of the rear flange hydraulic cylinder (14) are milled with two circular recesses (19a) along the center line, and the special bolts (21) push one end into the corresponding circular recesses (19a) of the hydraulic cylinder rear flange fixing seat (19) through the upper and lower bolt holes of the vertical fixing column (21).

[0024] A method for operating an adjustable wheel force sensor dynamic and static calibration device, based on the above-mentioned adjustable wheel force sensor dynamic and static calibration device, performs dynamic calibration according to the following steps:

[0025] Step S1: In Trucksim, based on the corresponding vehicle tire model, set the commonly used working conditions of the vehicle and perform simulation calculations to obtain the relationship curve between the six components of force on the tire and time.

[0026] Step S2: Based on the geometric dimensions of the experimental platform, perform preliminary processing of the ideal tire force and calculate the force that the hydraulic cylinders on both sides should apply;

[0027] Step S3: Import the preliminary processed ideal tire six-component force data into Simulink, input the time through the Clock module, and obtain the ideal output force of the hydraulic cylinder at that time;

[0028] Step S4: Establish a valve-controlled cylinder model, control the valve core displacement to further control the output force of the hydraulic cylinder to track the ideal input signal, thereby calibrating the force state of the wheel force sensor under specific vehicle driving conditions;

[0029] Step S5: After building the control model in Simulink, import the dSPACE controller to perform sensor calibration.

[0030] Compared with the prior art, the present invention and its preferred embodiments have the following beneficial effects:

[0031] (1) A stable and reliable connection method is adopted. The hydraulic cylinder and the platform are fastened together through the four bolt holes of the bottom flange of the hydraulic cylinder. When calibrating in the vertical direction, the hydraulic cylinder is connected to the bottom of the test bench, which greatly enhances the stability of large-range and large-tonnage calibration. On the basis of ensuring the adjustability of the mechanical structure, the adjustable structure is reasonably limited by the limit mechanism, so that the adjustable hydraulic platform has high stability when calibrating different types of wheel force sensors.

[0032] (2) By improving the loading plate and hydraulic calibration platform, the hydraulic calibration device can be adjusted according to wheel force sensors of different sizes, improving the applicability of the calibration device. Simultaneously, the loading plate can perform self-centering, ensuring high coaxiality between the loading plate and the elastomer, eliminating calibration errors caused by misalignment, and improving calibration accuracy. When converting X-direction calibration to Z-direction calibration, simply remove the four bolts on the rotary steering wheel, rotate the steering wheel 90 degrees, and then tighten the bolts to achieve the X and Z-direction reversing operation; the operation is simple and convenient. Furthermore, the use of a limiting circular groove ensures the stability of the rotary steering wheel during the calibration process.

[0033] (3) To ensure that the force loading during calibration closely approximates the actual force on a wheel, a novel wheel force sensor calibration method is proposed. On one hand, on a static calibration test bench, the valve core displacement is controlled using a control method, thereby further controlling the hydraulic cylinder output force to track the wheel force curve under real working conditions derived from Trucksim, thus dynamically calibrating the wheel force sensor. On the other hand, by setting up a pair of hydraulic cylinders in both the horizontal and vertical directions, multi-channel simultaneous calibration is achieved. This method eliminates the problems of linear loading and single-channel calibration failing to simulate the actual force on the tire, improving calibration accuracy and reducing the cost of manufacturing the dynamic calibration test bench. Attached Figure Description

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0035] Figure 1 This is a schematic diagram of the overall structure of the wheel force sensor calibration test bench in an example of the present invention;

[0036] Figure 2 This is an exploded view of the overall structure of the adjustable experimental platform in this invention example;

[0037] Figure 3 This is a detailed structural diagram of the rotary commutator and outer ring positioning slider in an embodiment of the present invention.

[0038] Figure 4 This is a detailed structural diagram of the wheel force sensor in an embodiment of the present invention;

[0039] Figure 5 This is an exploded view of the overall structure of the adjustable force-applying body in an example of the present invention;

[0040] Figure 6 This is a detailed structural diagram of the inner ring positioning connector in an embodiment of the present invention;

[0041] Figure 7 This is a detailed structural diagram of the force-applying body in an example of the present invention;

[0042] Figure 8 This is a detailed structural diagram of the self-centering rotating cap in an embodiment of the present invention;

[0043] Figure 9 (a) is a schematic diagram of the overall structure of the hydraulic loading device in an example of the present invention;

[0044] Figure 9 (b) is a front sectional view of the hydraulic cylinder threaded connector in an example of the present invention;

[0045] Figure 9 (c) is an exploded view of the overall structure of the connecting ring in an example of the present invention;

[0046] Figure 10 This is an exploded view of the overall structure of the vertical hydraulic cylinder clamp in an example of the present invention;

[0047] Figure 11 This is an exploded view of the overall structure of the horizontal hydraulic cylinder clamp in an example of the present invention;

[0048] Figure 12 This is a diagram showing the relationship between the six components of force on the left wheel of the second axle under the double-leader condition of a five-axle vehicle in an example of the present invention.

[0049] Figure 13 This is a control block diagram of the system in an example of the present invention;

[0050] In the diagram: 1-Adjustable experimental platform; 2-Self-centering adjustable force-applying body; 3-Wheel force sensor; 3a-Outer ring hole; 3b-Inner ring hole; 4-Hydraulic loading device; 5-Horizontal limiting clamp; 6-Vertical limiting clamp; 7-Fixed base frame; 7a-Vertical clamp connecting hole; 7b-Horizontal clamp connecting hole; 7c-Horizontal clamp track; 7d-Reversing disk fixing groove; 7e-Reversing disk connecting hole; 8-Rotating reversing disk; 8a-Reversing positioning hole; 8b-Slider boss track; 8c-Side fixing groove; 8d-Bottom fixing groove; 9-Outer ring positioning slider; 9a-Side positioning hole; 9b-Outer ring connecting hole; 10-Inner ring positioning connector; 10a-Circular arc centering boss; 10b-Sliding platform; 10c-Second shoulder; 10d-First shoulder; 10e- 11-Connector positioning groove; 11-Force-applying body main body; 11a-Positioning rod slide rail; 11b-Limit bolt hole; 11c-Groove track; 12-Positioning rod; 12a-Connecting thread; 13-Self-centering rotating cap; 13a-Rotating handle; 13b-Groove track; 14-Rear flange hydraulic cylinder; 14a-Rear flange; 15-Hydraulic cylinder threaded connector; 15a-Threaded post; 15b-Wrench boss; 16-Tension and compression sensor; 17-Double-ended bolt; 18-Connecting ring; 18a-Upper ring; 18b-Lower ring; 18c-Threaded connecting rod; 19-Rear flange fixing seat; 19a-Circular boss; 20-Vertical fixing column; 21-Special bolt; 22-Position adjusting slider; 23-Rail fastener; 23a-Bottom slide rail; 23b-Side wall slide rail. Detailed Implementation

[0051] To make the features and advantages of this patent more apparent and understandable, specific embodiments are provided below for detailed explanation:

[0052] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0053] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0054] like Figures 1-11As shown, this embodiment provides an adjustable wheel force sensor dynamic and static calibration device, including: an adjustable test bench 1, a self-centering adjustable force application body 2, a wheel force sensor 3, a hydraulic loading device 4, a horizontal limiting clamp 5, and a vertical limiting clamp 6.

[0055] The adjustable experimental platform includes a fixed base frame 7, a rotating steering wheel 8, and an outer ring positioning slider 9; the self-centering adjustable force-applying body 2 includes an inner ring positioning connector 10, a force-applying body body 11, a positioning rod 12, and a self-centering rotating cap 13; a wheel force sensor 3 is installed between the adjustable experimental platform 1 and the self-centering adjustable force-applying body 2; the hydraulic loading device 4 includes a rear flange hydraulic cylinder 14, a hydraulic cylinder threaded connector 15, a tension / compression sensor 16, a double-ended bolt 17, and a connecting ring 18.

[0056] like Figure 2 As shown, the adjustable experimental platform 1 has a fixed base frame secured by several bolt holes at the four corners of the bottom. The bottom also has vertical clamp connection holes 7a, connecting to the vertical limiting clamp 6. The right side of the platform on the base frame has eight horizontal clamp connection holes 7b, connecting to the vertical fixed column 20 in the horizontal limiting clamp 5. A horizontal clamp track 7c is also provided at the bottom, allowing the hydraulic loading device 4 to adjust its force application position horizontally to accommodate different types of wheel force sensors. A circular steering wheel fixing groove 7d is located in the middle of the platform, with four steering wheel connection holes 7e evenly distributed around its circumference. These holes correspond to the steering positioning holes 8a on the rotating steering wheel. Simply removing the four bolts and rotating the platform 90 degrees completes the xz-direction steering calibration.

[0057] Eight pairs of slider boss tracks 8b with lateral fixing grooves 8c are evenly distributed radially along the center of the rotary reversing disk 8. A circular bottom fixing groove 8d is formed along the bottom centerline of each pair of slider boss tracks 8b. Figure 3 As shown, the outer ring positioning slider has two lateral positioning holes 9a on its left and right end faces, and an outer ring connecting hole 9b is formed between the two holes. The wheel force sensor 3 is arranged in an inner and outer ring configuration. The inner ring hole 3b is connected to the inner ring connecting hole 10f on the self-centering adjustable force-applying body 2, and the outer ring hole 3a is connected to the outer ring connecting hole 9b on the adjustable experimental platform 1.

[0058] In this embodiment, the adjustable experimental platform works as follows: Different types of wheel force sensors have different positions for their inner and outer ring holes. When calibrating the wheel force sensor, the outer ring positioning slider 9 is adjusted in the slider boss track 8b until its outer ring connecting hole is coaxial with the outer ring hole in the wheel force sensor. It is then secured to the slider boss track 8b and the bottom fixing groove 8d with bolts. This ensures the stability of the positioning slider during large-value loading calibration and prevents radial slippage.

[0059] like Figures 5-8As shown, the inner ring positioning connector 10 and the main body 11 of the force-applying body are both integral structures made of 45 steel, which improves the force transmission effect. The cylindrical force-applying rod on the left side of the connector limits the hydraulic loading device 4 through the first shoulder 10d and the second shoulder 10c, and the arc-shaped centering boss 10a on the right side interlocks with the inner ring of the wheel force sensor 3 to ensure the centering of the force application and further improve the calibration accuracy. Both the upper and lower sliding platforms 10b have corresponding connector positioning grooves 10e, which can be adjusted by sliding the track 11c on the main body of the force-applying body, and are tightly fixed with bolts through the evenly distributed bolt holes in the track, ensuring that each positioning position can accommodate at least two bolts for positioning, thereby improving the stability of force application.

[0060] like Figure 8 As shown, the self-centering rotating cap 13 is equipped with a rotating handle 13a, and its bottom has four annular groove tracks 13b evenly distributed around the center of the rotating cap. The threaded ends of the four positioning rods 12 are connected to the positioning threaded holes 10g, and the smooth rod ends are embedded in the groove tracks 13b. By adjusting the four positioning rods to move synchronously in the radial direction, it is ensured that the force-applying body is concentric with the wheel force sensor after adjustment.

[0061] In this embodiment, the working principle of the self-centering adjustable force-applying body is as follows: For adjusting and calibrating different types of wheel force sensors, firstly, the upper and lower sliding platforms 10b of the inner ring positioning connector 10 are correspondingly embedded into the adjustment track 11c of the force-applying body body 11. The positioning rod 12 is screwed into the positioning threaded hole 10g of the inner ring positioning connector 10, and the self-centering rotating cap 13 is covered to ensure that all four positioning rods 12 are correspondingly embedded in the four grooved tracks. The handle is rotated until the positioning rod drives the inner ring positioning connector 10 until its inner ring connecting hole 10f is concentric with the inner ring hole 3b on the wheel force sensor 3. The connecting member positioning groove 10e on the inner ring positioning connector 10 is locked to correspond with the bolt holes evenly distributed in the adjustment track 11c on the force-applying body body 11 by bolts. And the wheel force sensor 3 is fixed to the inner ring connecting hole 10f. Finally, the rotating cap is removed, and the positioning rod 12 is unscrewed to prevent the positioning rod from deforming during calibration.

[0062] like Figure 9 As shown, preferably, the rear flange hydraulic cylinder 14 in the hydraulic loading device 4 is an existing HOB+FA type rear flange hydraulic cylinder with a cylinder diameter of 63mm. The hydraulic cylinder threaded connector 15 is an integral piece, with the bottom threaded hole connecting to the hydraulic cylinder and the top threaded post connecting to the lower end of the tension / compression sensor 16. The tension / compression sensor is an existing DYLY-103 type tension / compression sensor, with its upper end connected to the lower ring of the connecting ring 18. The connecting ring 18 is radially limited by the first and second shoulders on the cylindrical force-applying rod.

[0063] like Figure 10As shown, the vertical hydraulic cylinder limiting clamp 6 with rail fixing component 23 is fixed to the bottom of the experimental platform through bolt holes at the four corners. The hydraulic cylinder position adjusting slider 22 slides on the rail fixing component for adjustment. Its left and right end face positioning holes are tightly engaged with the fixing groove 23b on the upper side wall of the rail fixing component 23 by bolts to prevent the hydraulic cylinder from sliding horizontally. The upper surface of the slider has four bolt holes that connect to the rear flange of the hydraulic cylinder and are further fixed in the bottom fixing groove 23a of the rail fixing component 23.

[0064] like Figure 11 As shown, the hydraulic cylinder rear flange fixing seat 19 in the horizontal hydraulic cylinder limiting clamp 5 has four bolt holes on its front and rear end faces for fixing the hydraulic cylinder, and is fastened by bolts. Two circular recesses 19a are milled on its left and right end faces respectively. The heads of special bolts 21 are inserted into the circular protrusions through bolt holes distributed vertically on the left and right end faces of the vertical fixing column 20. After the hydraulic cylinder rear flange fixing seat is adjusted to the corresponding position, it is locked onto the horizontal clamp track 7c of the fixed base frame 7 by bolts, and is held in place by special bolts 21 to limit its left and right swaying.

[0065] Based on the device structure design of the above examples, this embodiment also provides a dynamic calibration and control method for an adjustable wheel force sensor dynamic and static calibration device, specifically including the following steps:

[0066] Step S1: In Trucksim, select the tire model of the left wheel of the second axle of a five-axle vehicle as the tire model for this embodiment. In this embodiment, a five-axle heavy-duty vehicle is used as an example, and its overall vehicle parameters are as follows:

[0067] M 9140 kg Total vehicle weight <![CDATA[I z ]]> 19665 <![CDATA[kg·m 2 ]]> Moment of inertia of the whole vehicle about the Z-axis <![CDATA[C y ]]> 150000 N / rad Tire lateral stiffness <![CDATA[L1]]> 1.4 m Distance from the first axis to the center of mass <![CDATA[L2]]> 0.3 m Distance from the second axis to the center of mass <![CDATA[L3]]> 3.5 m Distance from the third axis to the center of mass <![CDATA[L4]]> 4.6 m Distance from the fourth axis to the center of mass <![CDATA[L5]]> 5.7 m Distance from the fifth axis to the centroid L 7.1 m Overall vehicle length

[0068] The system was set to drive on a straight road, and the relationship between the six components of force on the tire and time was obtained through simulation, as shown in the curve. Figure 12 As shown, the relationship curve is exported as an Excel spreadsheet.

[0069] Step S2: Perform preliminary processing on the six component forces acting on the ideal tire. Based on the geometric dimensions of the experimental platform, perform preliminary processing on the ideal tire forces and calculate the forces that the hydraulic cylinders on both sides should apply. For example, the distance S between the applied force position and the center of the six component forces on the tire; at this time, the torque M and the force F acting on the tire; from this, we can obtain the output force required by the hydraulic cylinder at the calibrated torque as F2 = F / 2, and the output force required at the calibrated torque as F3 = F / S;

[0070] Step S3: Import the preliminary processed ideal tire six-component force data into Simulink, input the time through the Clock module, and obtain the ideal output force of the hydraulic cylinder corresponding to that time, which is then used as the ideal input signal for the hydraulic cylinder.

[0071] Step S4: A sliding diaphragm control is used to control the valve core displacement, thereby further controlling the output force of the hydraulic cylinder to track the ideal force curve of the wheel as closely as possible. This dynamically calibrates the force state of the wheel force sensor under specific vehicle driving conditions. The control block diagram of this system is as follows: Figure 13 As shown, a valve-controlled cylinder model is established, yielding the state-space equations of the hydraulic cylinder shown in equations (1-1) and (1-2). The system state is pressure y1, and the desired state is the target pressure y. 1d Since the system is a first-order system, its sliding surface is set as shown in equation (1-3), thus obtaining the sliding controller as shown in equation (1-4).

[0072] Step S5: After building the corresponding model in Simulink, import the model into the dSPACE controller, connect the corresponding hardware, and then perform the corresponding calibration control.

[0073]

[0074] In the formula:

[0075]

[0076]

[0077] A1 is the effective area of ​​the rodless cylinder piston;

[0078] A2 is the effective area of ​​the piston in a rod-cavity hydraulic cylinder;

[0079] x p This refers to the displacement of the hydraulic cylinder piston.

[0080] C ip The internal leakage coefficient of the hydraulic cylinder;

[0081] C ep This is the external leakage coefficient of the hydraulic cylinder;

[0082] β e The effective bulk modulus;

[0083] V1 is the volume of the rodless chamber of the hydraulic cylinder;

[0084] V2 is the volume of the rod chamber of the hydraulic cylinder.

[0085] m is the total mass on the piston;

[0086] B is the viscous damping coefficient of the hydraulic cylinder piston and load;

[0087] K is the load elastic stiffness;

[0088] F is any external load force;

[0089] s1=e1=y1d -y1,(e1≠0) (1-3)

[0090]

[0091] This patent is not limited to the above-described preferred embodiment. Anyone can derive other forms of adjustable wheel force sensor dynamic and static calibration device and working method under the guidance of this patent. All equivalent changes and modifications made within the scope of the patent application of this invention shall be covered by this patent.

Claims

1. An adjustable wheel force sensor dynamic and static calibration device, characterized in that, include: Adjustable experimental platform (1), self-centering adjustable force application body (2), wheel force sensor (3), hydraulic loading device (4), horizontal limit clamp (5) and vertical limit clamp (6); The adjustable experimental platform includes a fixed base frame (7), a rotating reversing disk (8), and an outer ring positioning slider (9). The self-centering adjustable force-applying body includes an inner ring positioning connector (10), a force-applying body body (11), a positioning rod (12), and a self-centering rotating cap (13). The outer hole of the wheel force sensor (3) is fixed on the adjustable experimental platform (1), and the other end is connected to the self-centering adjustable force-applying body (2); The hydraulic loading device (4) includes a rear flange hydraulic cylinder (14), a hydraulic cylinder threaded connector (15), a tension / compression sensor (16), a double-ended bolt (17), and a connecting ring (18). The horizontal limiting clamp (5) includes a vertical fixed column (20), a hydraulic cylinder rear flange fixing seat (19), and special bolts (21); the bottom of the vertical fixed column (20) has two bolt holes symmetrically distributed and is fastened to the bolt holes corresponding to the fixed base frame (7) by bolts. The front and rear end faces are distributed with two bolt holes along the same center line. The fixed base frame (7) of the adjustable experimental platform (1) is fixed by several bolt holes at the four corners of the bottom of the adjustable experimental platform, and is connected to the vertical limit clamp (6) in the limit clamp by corresponding vertical clamp connection holes (7a) at the bottom. There are 8 horizontal clamp connection holes (7b) on the right side of the platform of the adjustable experimental platform to connect with the vertical fixed column (20) in the horizontal limit clamp (5). There is also a horizontal clamp track (7c) at the bottom. There is a circular reversing plate fixing groove (7d) in the middle of the adjustable experimental platform. There are four reversing plate connection holes (7e) evenly distributed in the circular reversing plate fixing groove, which are connected to the reversing positioning holes on the rotating reversing plate. 8a) Corresponding connection; The rotary reversing disk (8) is provided with 8 pairs of slider boss tracks (8b) with circular side fixing grooves (8c), and circular bottom fixing grooves (8d) are opened along the bottom center line, and are evenly distributed radially relative to the center of the adjustable experimental platform; The outer ring positioning slider (9) has two side positioning holes (9a) on its left and right end faces, and an outer ring connecting hole (9b) is opened between the two side positioning holes. Each outer ring hole (3a) in the wheel force sensor, the outer ring connecting hole (9b) in the outer ring positioning slider (9) and the bottom slider boss track (8b) in the rotary reversing disk (8) correspond one-to-one and are fastened by bolts; The wheel force sensor (3) has an inner and outer ring distribution structure. The inner ring hole (3b) is connected to the upper inner ring connecting hole (10f) of the self-centering adjustable force application body (2), and the outer ring hole (3a) is connected to the upper outer ring connecting hole (9b) of the adjustable experimental platform (1). The self-centering adjustable force-applying body (2) is provided with a self-centering rotating cap (13) and equipped with a rotating handle (13a). Four circular groove tracks (13b) with increasing lengths from the center outwards are evenly distributed around the center of the self-centering rotating cap. These tracks are used to make the four positioning rods move synchronously in the circular groove tracks in the radial direction when the self-centering rotating cap rotates. The inner ring positioning connector (10) of the self-centering adjustable force-applying body (2) has a connector positioning groove (10e) on both the upper and lower sliding platforms (10b) for sliding adjustment on the adjustment track (11c) in the force-applying body (11); the left cylindrical force-applying rod is connected to the hydraulic loading device (4) through the first shoulder (10d) and the second shoulder (10c), and the right arc-shaped centering boss (10a) is engaged with the inner ring of the wheel force sensor (3); the lower part of the positioning rod (12) is provided with a connecting thread (12a) for cooperating with the positioning thread hole (10g) on ​​the inner ring positioning connector (10), and the top passes through the positioning rod slide rail (11a) on the force-applying body (11) to further embed into the annular groove track (13b) in the self-centering rotating cap (13); the force-applying body (11) is made of 45 steel. xy Several limiting bolt holes (11b) are symmetrically distributed in both directions. The connecting part positioning groove (10e) and the limiting bolt holes (11b) are tightly fitted by bolts.

2. The adjustable wheel force sensor dynamic and static calibration device according to claim 1, characterized in that: The rear flange (14a) of the rear flange hydraulic cylinder (14) has four bolt holes evenly distributed on its four corners for connecting with the horizontal and vertical limiting clamps; the bottom of the hydraulic cylinder threaded connector (15) has a threaded hole for connecting with the rear flange hydraulic cylinder (14), a cubic wrench boss in the middle, and a threaded post at the top; the tension and pressure sensor (16) has a threaded hole at one end that mates with the hydraulic cylinder threaded connector, and a threaded hole at the other end that connects with the connecting ring; the connecting ring (18) is divided into upper and lower rings and is connected by threaded holes symmetrically distributed on the left and right sides. One end of the lower ring (18b) is provided with a threaded connecting rod (18c), and the upper ring (18a) is a connector with an arc surface.

3. The adjustable wheel force sensor dynamic and static calibration device according to claim 2, characterized in that: The vertical limiting fixture (6) is divided into two parts: a hydraulic cylinder position adjustment slider (22) and a hydraulic cylinder rail fixing component (23). The hydraulic cylinder rail fixing component (23) has four bolt holes at the four corners of its bottom, which are fastened to the bottom of the adjustable experimental frame with bolts. Bottom positioning groove (23a) and side wall positioning groove (23b) are opened on the bottom and sides respectively, and bolt tightening space is reserved under the bottom positioning groove (23a). The upper and lower surfaces of the hydraulic cylinder position adjustment slider (22) have four bolt holes. The rear flange hydraulic cylinder (14) is connected to the slider through these four bolt holes and adjusted and positioned on the rail. The left and right surfaces of the hydraulic cylinder position adjustment slider (22) have two bolt holes, which are fastened to the corresponding side wall positioning groove (23b) with bolts to further enhance the reliability of positioning.

4. The adjustable wheel force sensor dynamic and static calibration device according to claim 1, characterized in that: The bottom of the hydraulic cylinder rear flange fixing seat (19) has four bolt holes symmetrically distributed, which are connected to the horizontal clamp track (7c) on the fixed base frame (7) by bolt positioning. The rear flange hydraulic cylinder (14) is fixed to the hydraulic cylinder rear flange fixing seat (19) through the bolt holes on the flange. The left and right end faces of the rear flange hydraulic cylinder (14) are milled with two circular recesses (19a) along the center line, and the special bolts (21) push one end into the corresponding circular recesses (19a) of the hydraulic cylinder rear flange fixing seat (19) through the upper and lower bolt holes of the vertical fixing column (20).

5. A method for operating an adjustable wheel force sensor dynamic and static calibration device, characterized in that: Using the adjustable wheel force sensor dynamic and static calibration device as described in any one of claims 1-4, dynamic calibration is performed according to the following steps: Step S1: In Trucksim, based on the corresponding vehicle tire model, set the commonly used working conditions of the vehicle and perform simulation calculations to obtain the relationship curve between the six components of force on the tire and time. Step S2: Based on the geometric dimensions of the test bench, perform preliminary processing of the ideal tire force and calculate the force that the hydraulic cylinders of the two rear flanges should apply. Step S3: Import the preliminary processed ideal tire six-component force data into Simulink, input the time through the Clock module, and obtain the ideal output force of the flange hydraulic cylinder after the input time; Step S4: Establish a valve-controlled cylinder model, control the valve core displacement to further control the output force of the rear flange hydraulic cylinder to track the ideal input signal, thereby calibrating the force state of the wheel force sensor under specific vehicle driving conditions. Step S5: After building the control model in Simulink, import the dSPACE controller to calibrate the wheel force sensor.

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