A vehicle road condition test chamber

Abstract

The invention discloses an automobile road condition test chamber, comprising an air source chamber, a test chamber and an exhaust chamber connected in sequence, wherein a plurality of fans in a rectangular array are arranged in the air source chamber, a floor simulation platform is arranged at the inner bottom of the test chamber, the top surface of the floor simulation platform is arranged horizontally, a test pit is arranged on the upper surface of the floor simulation platform, two lateral stroke simulation components are arranged in the test pit, lifting column components are arranged on the two lateral stroke simulation components, a plurality of linearly distributed rotating hubs are arranged between the lifting column components, an aluminum plate covering the test pit is arranged on the floor simulation platform, two first clearance openings are opened on the aluminum plate for the rotating hub to pass through, a first electric door is arranged horizontally at the first clearance opening, a first hydraulic support rod symmetrically arranged with respect to the front and rear of the test pit and a second hydraulic support rod symmetrically arranged with respect to the left and right of the test pit are arranged on the floor simulation platform, and the invention realizes comprehensive simulation and high-precision monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and in particular to an automobile road condition testing chamber. Background Art

[0002] Road testing is a method of evaluating the performance of a car or other vehicle under different road conditions. This testing is usually conducted at a dedicated test facility or proving ground to ensure that the vehicle can operate safely and reliably under a variety of real-world road conditions.

[0003] However, outdoor testing is greatly affected by natural conditions such as weather, temperature, and humidity. Due to the variability of the outdoor environment, the conditions of each test may be different, resulting in poor accuracy, consistency, and comparability of the test results. Summary of the invention

[0004] In order to solve the above problem, the present invention provides a vehicle road condition test chamber to solve the problem.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A car road condition test chamber, comprising a wind source chamber, a test chamber and an exhaust chamber connected in sequence, wherein a plurality of fans in a rectangular array are arranged in the wind source chamber, a floor simulation platform is arranged at the inner bottom of the test chamber, the top surface of the floor simulation platform is arranged horizontally, a test pit is arranged on the upper surface of the floor simulation platform, two lateral stroke simulation components are arranged in the test pit, lifting column components are arranged on the two lateral stroke simulation components, a plurality of linearly distributed rotating hubs are arranged between the lifting column components, an aluminum plate covering the test pit is arranged on the floor simulation platform, two first clearance openings are opened on the aluminum plate for the rotating hub to pass through, a first electric door is arranged horizontally at the first clearance opening, a first hydraulic support rod symmetrically arranged front and back about the test pit and a second hydraulic support rod symmetrically arranged left and right about the test pit are arranged on the floor simulation platform.

[0007] It is further configured as follows: the lateral stroke simulation component includes a lateral plate arranged at the bottom of the test pit, a protective shell connected to the lateral plate, and a rack connected to the lateral plate for horizontal sliding left and right, the serrated end of the rack is arranged downward, a gear meshing with the rack is rotatably connected in the lateral plate, a motor is arranged in the protective shell, and the output end of the motor is passed through the protective shell and is fixedly connected to the lateral plate and the gear.

[0008] It is further configured as follows: a step groove with an open upper surface is provided on the side of the lateral plate, and limit grooves are horizontally provided on the side walls of the step groove with limit grooves arranged on the left and right sides, a limit block fixedly connected to the rack is slidably provided in the limit groove, the rack is slidably connected to the step groove, a rotating cavity is provided on the bottom surface of the step groove, the gear is rotatably provided in the rotating cavity, and the limit groove and the limit block are both configured as T-shaped.

[0009] It is further configured as follows: the lifting column assembly includes two oil cylinders respectively arranged on both sides of the upper surface of the rack, a damper is fixedly arranged at the telescopic end of the oil cylinder, a second electric cylinder is fixedly designed on the upper surface of the damper, a horizontally arranged rotating rod is fixed between the telescopic ends of the two second electric cylinders, a plurality of rotating hubs are evenly rotated and arranged on the rotating rod, a torque sensor, an accelerometer, and a Hall sensor are fixed on the rotating rod by bolts, and the spacing between each of the rotating hubs is 50 mm.

[0010] It is further configured as follows: symmetrically arranged cavities are opened on the front and rear sides of the test pit, a second clearance opening is opened on the top of the cavity for the first hydraulic support rod to pass through, a second electric door is horizontally arranged at the second clearance opening, a first electric cylinder is arranged at the bottom of the cavity, the telescopic end of the first electric cylinder is vertically arranged upward and fixed with a first connecting block, the first hydraulic support rod is obliquely fixed to the top of the first connecting block, the first connecting block is configured as an inverted T-shape, and the bottom end of the first connecting block coincides with the projection of the second clearance opening in the vertical direction.

[0011] It is further configured as follows: second connection blocks are symmetrically arranged on the left and right sides of the test pit, the second hydraulic support rod is fixed on the top of the second connection block, and the telescopic end of the second hydraulic support rod is horizontally pointed to the test pit.

[0012] It is further configured as follows: a test pit is provided on the upper surface of the floor simulation platform, and a front and rear slide groove is opened at the bottom of the test pit, and two symmetrically arranged slide plates are slidably arranged in the slide groove, and the side plates and the protective shell are fixedly connected to the slide plates, and a vertical plate is fixed at the top of the protective shell, and a mounting frame is fixedly arranged at the bottom of the test pit, and cylinders are fixedly arranged on the front and rear side walls of the mounting frame, and the telescopic ends of the two cylinders are arranged opposite to each other and are respectively fixedly connected to the vertical plates.

[0013] It includes a PID controller, which is used to calculate the compensation values ​​of the first hydraulic support rod and the second hydraulic support rod and control the extension and retraction of the first hydraulic support rod and the second hydraulic support rod. It also includes an alarm connected to the PID controller signal. If the expected supporting force of the first hydraulic support rod and the second hydraulic support rod exceeds the alarm threshold, the alarm will sound an alarm.

[0014] Compared with the prior art, the beneficial technical effects of the present invention are:

[0015] 1. The present invention can simulate various complex road conditions and environmental conditions, such as different road surfaces, wind speeds, humidity and temperature. The torque sensor, accelerometer and Hall sensor can accurately monitor various dynamic parameters of the vehicle during the test, achieving comprehensive simulation and high-precision monitoring to ensure the accuracy and reliability of the test results.

[0016] 2. The present invention provides a controlled test environment, avoids interference from natural conditions, and improves the consistency and repeatability of the test. By using hydraulic support rods and PID controllers, the test chamber can automatically adjust during the simulation process to ensure the stability of the vehicle and reduce potential risks during the test. At the same time, the alarm system can issue an alarm in time when the test conditions exceed expectations to ensure the safety of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is an external observation top view of the present invention;

[0019] Figure 2 This is a front view of the test chamber of the present invention;

[0020] Figure 3 A side view of the test chamber of the present invention;

[0021] Figure 4 is a schematic diagram of the interior of the cavity of the present invention;

[0022] Figure 5 is a schematic diagram of a lateral stroke simulation assembly of the present invention;

[0023] 1. Wind source compartment; 2. Test compartment; 3. Exhaust compartment; 4. Floor simulation platform; 5. Test pit; 6. Slide; 7. Slide plate; 8. Lateral stroke simulation assembly; 9. Lifting column assembly; 10. Hub; 11. Aluminum plate; 12. First clearance opening; 13. First electric door; 14. Lateral plate; 15. Protective shell; 16. Rack; 17. Gear; 18. Motor; 19. Step groove; 20. Limit groove; 21. Limit block; 22. Rotating cavity; 23. Vertical plate; 24. Mounting frame; 25. Cylinder; 26. Oil cylinder; 27. Damper; 28. Second electric cylinder; 29. ​​Rotating rod; 30. First hydraulic support rod; 31. Second hydraulic support rod; 32. Cavity; 33. First electric cylinder; 34. First connecting block; 35. Second connecting block; 36. Second clearance opening; 37. Second electric door. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Example

[0028] Reference Figure 1-Figure 5, is a car road condition test chamber disclosed in the present invention, comprising a wind source chamber 1, a test chamber 2 and an exhaust chamber 3 connected in sequence, wherein the wind source chamber 1 is provided with a plurality of fans in a rectangular array for simulating a wind source, and further, a humidifier, a heater and other equipment for simulating an environment are built in the test chamber 2, and a corresponding controller is provided; the humidifier is used to simulate a humid environment and evaluate the performance of the car under humid conditions, and the heater is used to simulate a high temperature environment and evaluate the performance of the car under high temperature conditions.

[0029] A floor simulation platform 4 is provided at the inner bottom of the test chamber 2, and the top surface of the floor simulation platform 4 is horizontally arranged. A test foundation pit 5 is provided on the upper surface of the floor simulation platform 4. A front and rear slide groove 6 is provided at the bottom of the test foundation pit 5. Two symmetrically arranged slide plates 7 are slidably arranged in the slide groove 6. A lateral stroke simulation component 8 is arranged on the slide plate 7. Lifting column components 9 are arranged on the two lateral stroke simulation components 8, and a rotating hub 10 is arranged between the lifting column components 9.

[0030] Lateral displacement formation refers to the process in which a vehicle undergoes lateral (sideways) movement and generates displacement during driving; the formation of lateral displacement can be caused by the vehicle's own control or the influence of the external environment. The present invention simulates the process of lateral displacement formation through the lateral travel simulation component 8, which can better study the lateral motion characteristics of the vehicle under different road conditions, evaluate its stability and control performance, and provide guidance and help for improving vehicle design and safety performance.

[0031] The present invention can simulate the ups and downs, bumps and the like under different road conditions through the lifting column assembly 9, so as to evaluate the performance and stability of the vehicle suspension system under different road conditions.

[0032] An aluminum plate 11 is provided on the floor simulation platform 4 to cover the test pit 5. Two first clearance openings 12 are provided on the aluminum plate 11 for the hub 10 to pass through. A first electric door 13 is horizontally provided at the first clearance openings 12.

[0033] Specifically, the lateral stroke simulation component 8 includes a lateral plate 14 and a protective shell 15 connected to the lateral plate 14, and the lateral plate 14 and the protective shell 15 are both fixedly connected to the slide plate 7. The lateral stroke simulation component 8 also includes a rack 16 connected to the lateral plate 14 for horizontal sliding left and right, and the serrated end of the rack 16 is set downward, and a gear 17 meshing with the rack 16 is rotatably connected in the lateral plate 14. A motor 18 is arranged in the protective shell 15, and the output end of the motor 18 passes through the protective shell 15 and is fixedly connected to the lateral plate 14 and the gear 17;

[0034] Furthermore, a step groove 19 with an open upper surface is provided on the side of the lateral plate 14, and limit grooves 20 are horizontally provided on the side walls of the step groove 19 and are arranged on the left and right. A limit block 21 fixedly connected to the rack 16 is slidably provided in the limit groove 20, and the rack 16 is slidably connected to the step groove 19. A rotating cavity 22 is provided on the bottom surface of the step groove 19, and the gear 17 is rotatably set in the rotating cavity 22, and the limit groove 20 and the limit block 21 are both arranged in a T-shape.

[0035] A vertical plate 23 is fixed on the top of the protective shell 15, a mounting frame 24 is fixedly provided at the bottom of the test pit 5, cylinders 25 are fixedly provided on the front and rear side walls of the mounting frame 24, and the telescopic ends of the two cylinders 25 are arranged facing each other and fixedly connected to the vertical plate 23 respectively.

[0036] The lifting column assembly 9 includes two oil cylinders 26 respectively arranged on both sides of the upper surface of the rack 16, a damper 27 is fixedly arranged at the telescopic end of the oil cylinder 26, a second electric cylinder 28 is fixedly designed on the upper surface of the damper 27, and a horizontally arranged rotating rod 29 is fixed between the telescopic ends of the two second electric cylinders 28. In this embodiment, a plurality of rotating hubs 10 are provided, and the plurality of rotating hubs 10 are linearly rotatably distributed on the rotating rod 29, and the spacing between each rotating hub 10 is 50 mm.

[0037] In this embodiment, the hub 10 is a circular steel sheet, and an asphalt layer is provided on the circumferential surface of the hub 10 .

[0038] Furthermore, a torque sensor, an accelerometer, and a Hall sensor are fixed to the rotating rod 29 by bolts.

[0039] Furthermore, the floor simulation platform 4 is provided with a first hydraulic support rod 30 symmetrically arranged front and back about the test foundation pit 5 and a second hydraulic support rod 31 symmetrically arranged left and right about the test foundation pit 5;

[0040] Specifically, symmetrically arranged cavities 32 are provided at the front and rear sides of the test pit 5, a second clearance opening 36 is provided at the top of the cavity 32 for the first hydraulic support rod 30 to pass through, and a second electric door 37 is horizontally provided at the second clearance opening 36;

[0041] A first electric cylinder 33 is arranged at the bottom of the cavity 32, and a first connecting block 34 is arranged vertically upward and fixed at the telescopic end of the first electric cylinder 33. The first connecting block 34 is arranged in an inverted T shape, and its bottom end coincides with the projection of the second make way opening 36 in the vertical direction. The top surface of the first connecting block 34 is arranged as an inclined surface, and the first hydraulic support rod 30 is obliquely fixed to the top of the first connecting block 34.

[0042] The second connection blocks 35 are symmetrically arranged on the left and right sides of the test foundation pit 5 . The top surface of the second connection block 35 is arranged as an inclined surface, and the second hydraulic support rod 31 is obliquely fixed on the top of the second connection block 35 .

[0043] Furthermore, the telescopic ends of the first hydraulic support rod 30 and the second hydraulic support rod 31 are both directed toward the test pit 5, and the inclination angles of the first hydraulic support rod 30 and the second hydraulic support rod 31 are between 1° and 15°.

[0044] It is worth mentioning that the electric door is a conventional design in the art, and its design method is common knowledge in the art and will not be described in detail here.

[0045] When the vehicle needs to be tested, the first electric door 13 and the second electric door 37 are in a closed state, and the front and rear wheels of the test vehicle are respectively stopped at the two first yield openings 12. When the second electric door 37 is opened, the telescopic end of the first electric cylinder 33 drives the first connecting block 34 to move upward, and drives the first hydraulic support rod 30 to move upward to the floor simulation platform 4. The first hydraulic support rod 30 and the second hydraulic support rod 31 are opened to support the vehicle body around. Then the first electric door 13 is opened, and the tires of the vehicle fall on the rotating hub 10. A rolling fit is formed between the tires and the rotating hub 10, simulating the contact between the car tires and the road, so that the vehicle can simulate driving in situ.

[0046] The wind source compartment 1 generates wind source simulated airflow and conducts airflow test on the vehicle, so as to evaluate the wind resistance, lift, aerodynamic interference and other information of the vehicle, so as to optimize the vehicle design, reduce wind resistance, and improve fuel economy and driving stability.

[0047] The lifting column assembly 9 simulates the state of the vehicle under different inclined road conditions, simulates the ups and downs and bumps under different road conditions, and the lateral travel simulation assembly 8 simulates the lateral displacement of the vehicle.

[0048] When it is necessary to simulate the driving condition of the vehicle in a tilted state, the oil cylinder 26 on one side is started to adjust the height of one side of the vehicle to simulate different tilt angles. When simulating the ups and downs and bumps under different road conditions, the telescopic end of the second electric cylinder 28 is quickly lifted and then quickly reset to perform a high-frequency low-floating action, thereby simulating the bumps and ups and downs of the vehicle;

[0049] When lateral displacement needs to be simulated, the motor 18 drives the gear 17 to rotate, and the rack 16 meshing with the gear 17 moves left and right, thereby driving the vehicle to move laterally.

[0050] Furthermore, the present invention can adjust the distance between the two groups of rotating hubs 10. The cylinder 25 drives the vertical plate 23 to move, and the vertical plate 23 drives the two groups of rotating hubs 10 to move toward or away from each other, thereby completing the adjustment of the distance between the two groups of rotating hubs 10.

[0051] In the present invention, the first hydraulic support rod 30 and the second hydraulic support rod 31 automatically perform corresponding trend collapse or compensation according to the vehicle's tilt, bump or lateral displacement and the monitoring values ​​of the torque sensor, accelerometer, and Hall sensor during the simulation process to ensure the vehicle's posture in this road condition and avoid vehicle rollover. In this embodiment, a PID controller is provided to calculate the compensation values ​​of the first hydraulic support rod 30 and the second hydraulic support rod 31, and to control the extension and retraction of the first hydraulic support rod 30 and the second hydraulic support rod 31.

[0052] The calculation steps of the compensation value of the first hydraulic support rod 30 are as follows:

[0053] S100, calculating the expected support force of the first hydraulic support:

[0054] ;

[0055] In the formula, represents the expected support force of the first hydraulic support rod, represents the vertical downward force of the vehicle, Indicates the vehicle's tilt angle, represents the nonlinear coefficient, Indicates the mass of the vehicle, is the longitudinal acceleration of the vehicle, Indicates the actual vehicle speed. Indicates the reference speed;

[0056] S200, using the expected support force of the first hydraulic support Calculate the error between the expected output and the actual output of the first hydraulic support rod compensation value:

[0057] ;

[0058] In the formula, represents the error between the expected output and the actual output of the first hydraulic support rod compensation value, represents the expected support force of the first hydraulic support rod, represents the force-displacement coefficient of the first hydraulic support rod, Indicates the current telescopic length of the first hydraulic support rod;

[0059] S300, It is input as a parameter into the PID controller to obtain the compensation value output result of the first hydraulic support rod:

[0060] Among them, the output calculation formula of the PID controller is as follows:

[0061] ;

[0062] In the formula, Indicates the compensation value output result of the first hydraulic support rod, is the proportional gain, is the integral gain, is the differential gain, represents the error between the expected output and the actual output of the first hydraulic support rod, Indicates at time The telescopic length deviation of the first hydraulic support rod at the moment.

[0063] The calculation steps of the compensation value of the second hydraulic support rod 31 are as follows:

[0064] S101, calculating the expected support force of the second hydraulic support:

[0065] ;

[0066] In the formula, represents the expected support force of the second hydraulic support rod, Indicates the mass of the vehicle, is the lateral acceleration of the vehicle, Indicates the actual vehicle speed. represents the reference speed, represents the angular velocity of the vehicle, The turning radius of the vehicle. is the air resistance coefficient, Represents the frontal area of ​​the vehicle. represents the air density, is the road friction coefficient, represents the acceleration due to gravity, Indicates the vehicle's tilt angle, Indicates the maximum tilt angle of the vehicle;

[0067] S102, using the expected support force of the second hydraulic support Calculate the error between the expected output and the actual output of the second hydraulic support rod compensation value:

[0068] ;

[0069] In the formula, represents the error between the expected output and the actual output of the second hydraulic support rod compensation value, represents the force-displacement coefficient of the second hydraulic support rod, Indicates the current telescopic length of the second hydraulic support rod;

[0070] S103, As a parameter input into the PID controller, the compensation value output result of the second hydraulic support rod is obtained:

[0071] Among them, the output calculation formula of the PID controller is as follows:

[0072] ;

[0073] In the formula, Indicates the compensation value output result of the second hydraulic support rod, is the proportional gain, is the integral gain, is the differential gain, Represents the error between the expected output and the actual output of the second hydraulic support rod, Indicates at time The telescopic length deviation of the second hydraulic support rod at this moment.

[0074] In this embodiment, an alarm connected to the PID controller signal is also provided. When the expected supporting force of the first hydraulic support rod and the second hydraulic support rod exceeds the alarm threshold, it indicates that the vehicle is in an unstable state or the test conditions exceed expectations. At this time, the system will determine it as an accident, and the alarm will sound an alarm.

[0075] In this embodiment, the calculation steps of the alarm threshold are as follows:

[0076] Step 1: Calculate the maximum safe support force using the following formula:

[0077] ;

[0078] In the formula, Indicates the maximum safe support force, represents the first safety factor, Indicates the maximum supporting force of the first hydraulic support rod and the second hydraulic support rod;

[0079] Step 2: Calculate the alarm threshold using the following formula:

[0080] ;

[0081] In the formula, represents the alarm threshold, represents the second safety factor, Indicates the maximum safe supporting force.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle road condition test chamber, characterized in that: The invention comprises a wind source chamber (1), a test chamber (2), an exhaust chamber (3) and a PID controller which are connected in sequence. The wind source chamber (1) is provided with a plurality of fans in a rectangular array. The inner bottom of the test chamber (2) is provided with a floor simulation platform (4). The top surface of the floor simulation platform (4) is arranged horizontally. A test foundation pit (5) is arranged on the upper surface of the floor simulation platform (4). Two lateral travel simulation components (8) are arranged in the test foundation pit (5). Both of the two lateral travel simulation components (8) are provided with a lifting column component (9). The lifting column A plurality of linearly distributed rotating hubs (10) are arranged between the components (9); an aluminum plate (11) covering the test pit (5) is arranged on the floor simulation platform (4); two first clearance openings (12) are provided on the aluminum plate (11) for the rotating hub (10) to pass through; a first electric door (13) is horizontally arranged at the first clearance opening (12); a first hydraulic support rod (30) symmetrically arranged front and rear about the test pit (5) and a second hydraulic support rod (31) symmetrically arranged left and right about the test pit (5) are arranged on the floor simulation platform (4); The PID controller is used to calculate the compensation values ​​of the first hydraulic support rod (30) and the second hydraulic support rod (31), and control the extension and retraction of the first hydraulic support rod (30) and the second hydraulic support rod (31), and also includes an alarm connected to the PID controller signal, when the expected support force of the first hydraulic support rod (30) and the second hydraulic support rod (31) exceeds the alarm threshold, the alarm will sound an alarm; The calculation steps of the compensation value of the first hydraulic support rod (30) are as follows: S100, calculating the expected support force of the first hydraulic support by the following formula: In the formula, F t1 represents the expected support force of the first hydraulic support rod, W represents the vertical downward force of the vehicle, θ represents the tilt angle of the vehicle, ∈ represents the nonlinear coefficient, m represents the mass of the vehicle, a1 represents the longitudinal acceleration of the vehicle, and v act Indicates the actual vehicle speed, v ref Indicates the reference speed; S200, calculating the error between the expected output and the actual output of the first hydraulic support rod compensation value using the following formula: Where, e1(t) represents the error between the expected output and the actual output of the first hydraulic support rod compensation value, F t1 represents the expected support force of the first hydraulic support rod, k1 represents the force-displacement coefficient of the first hydraulic support rod, L c1 Indicates the current telescopic length of the first hydraulic support rod; S300, inputting the error between the expected output and the actual output of the first hydraulic support rod compensation value as a parameter into the PID controller to obtain the compensation value output result of the first hydraulic support rod: Among them, the output calculation formula of the PID controller is as follows: Where ΔL1 represents the compensation value output result of the first hydraulic support rod, K p is the proportional gain, K i is the integral gain, K d is the differential gain, e1(t) represents the error between the expected output and the actual output of the first hydraulic support rod, and e1(τ) represents the telescopic length deviation of the first hydraulic support rod at time τ; The calculation steps of the compensation value of the second hydraulic support rod (31) are as follows: S101, the expected support force of the second hydraulic support is calculated by the following formula: In the formula, F t2 represents the expected support force of the second hydraulic support rod, m represents the mass of the vehicle, a2 represents the lateral acceleration of the vehicle, v act Indicates the actual vehicle speed, v ref represents the reference speed, ω represents the angular velocity of the vehicle, r represents the radius of the vehicle's turn, C d represents the air resistance coefficient, A represents the front area of ​​the vehicle, ρ represents the air density, μ represents the road friction coefficient, g represents the acceleration of gravity, θ represents the tilt angle of the vehicle, and θ max Indicates the maximum tilt angle of the vehicle; S102, calculating the error between the expected output and the actual output of the second hydraulic support rod compensation value using the following formula: Where, e2(t) represents the error between the expected output and the actual output of the second hydraulic support rod compensation value, k2 represents the force-displacement coefficient of the second hydraulic support rod, and L c2 Indicates the current telescopic length of the second hydraulic support rod; S103, inputting the error between the expected output and the actual output of the second hydraulic support rod compensation value as a parameter into the PID controller to obtain the compensation value output result of the second hydraulic support rod: Among them, the output calculation formula of the PID controller is as follows: Where ΔL2 represents the compensation value output result of the second hydraulic support rod, K p is the proportional gain, K i is the integral gain, K d is the differential gain, e2(t) represents the error between the expected output and the actual output of the second hydraulic support rod, and e2(τ) represents the telescopic length deviation of the second hydraulic support rod at time τ.

2. The vehicle road condition test chamber according to claim 1, characterized in that: The lateral stroke simulation component (8) comprises a lateral plate (14) arranged at the bottom of the test pit (5), a protective shell (15) connected to the lateral plate (14), and a rack (16) connected to the lateral plate (14) in a horizontal sliding manner, wherein the sawtooth end of the rack (16) is arranged downward, a gear (17) meshing with the rack (16) is rotatably connected in the lateral plate (14), a motor (18) is arranged in the protective shell (15), and the output end of the motor (18) passes through the protective shell (15) and is fixedly connected to the lateral plate (14) and the gear (17).

3. The vehicle road condition test chamber according to claim 2, characterized in that: The side of the lateral plate (14) is provided with a stepped groove (19) with an open upper surface, and the side walls of the stepped groove (19) are horizontally provided with left and right limit grooves (20), and a limit block (21) fixedly connected to the rack (16) is slidably arranged in the limit groove (20), and the rack (16) is slidably connected to the stepped groove (19), and a rotating cavity (22) is provided on the bottom surface of the stepped groove (19), and the gear (17) is arranged in the rotating cavity (22), and the limit groove (20) and the limit block (21) are both arranged in a T-shape.

4. The automobile road condition test chamber according to claim 3, characterized in that: The lifting column assembly (9) comprises two oil cylinders (26) respectively arranged on both sides of the upper surface of the rack (16); a damper (27) is fixedly arranged at the telescopic end of the oil cylinder (26); a second electric cylinder (28) is fixedly designed on the upper surface of the damper (27); a horizontally arranged rotating rod (29) is fixed between the telescopic ends of the two second electric cylinders (28); a plurality of rotating hubs (10) are evenly rotatably arranged on the rotating rod (29); a torque sensor, an accelerometer and a Hall sensor are fixed on the rotating rod (29) by bolts; and the spacing between each of the rotating hubs (10) is 50 mm.

5. The automobile road condition test chamber according to claim 4, characterized in that: The front and rear sides of the test pit (5) are provided with symmetrically arranged cavities (32); the top of the cavity (32) is provided with a second clearance opening (36) for the first hydraulic support rod (30) to pass through; a second electric door (37) is horizontally arranged at the second clearance opening (36); a first electric cylinder (33) is arranged at the bottom of the cavity (32); a telescopic end of the first electric cylinder (33) is vertically arranged upward and fixed with a first connecting block (34); the first connecting block (34) is arranged in an inverted T shape, and the bottom end of the first connecting block (34) and the projection of the second clearance opening (36) in the vertical direction coincide; the top surface of the first connecting block (34) is arranged obliquely, and the first hydraulic support rod (30) is obliquely fixed to the top of the first connecting block (34).

6. The automobile road condition test chamber according to claim 5, characterized in that: Second connection blocks (35) are symmetrically arranged on the left and right sides of the test foundation pit (5), the top end of the second connection block (35) is inclined, and the second hydraulic support rod (31) is inclined at the top end of the second connection block (35).

7. The automobile road condition test chamber according to claim 6, characterized in that: The upper surface of the floor simulation platform (4) is provided with a test pit (5), and the bottom of the test pit (5) is provided with a front and rear slide groove (6), and two symmetrically arranged slide plates (7) are slidably arranged in the slide groove (6), and the side plate (14) and the protective shell (15) are fixedly connected to the slide plate (7), and the top of the protective shell (15) is fixed with a vertical plate (23), and the bottom of the test pit (5) is fixedly provided with a mounting frame (24), and the front and rear side walls of the mounting frame (24) are fixedly provided with cylinders (25), and the telescopic ends of the two cylinders (25) are arranged opposite to each other and are respectively fixedly connected to the vertical plates (23).

8. The automobile road condition test chamber according to claim 7, characterized in that: The calculation steps of the alarm threshold are as follows: Step 1: Calculate the maximum safe support force using the following formula: F safe =α·F max ; In the formula, F safe represents the maximum safety support force, α represents the first safety factor, F max Indicates the maximum supporting force of the first hydraulic support rod and the second hydraulic support rod; Step 2: Calculate the alarm threshold using the following formula: F warn =β·F safe ; In the formula, F warn represents the alarm threshold, β represents the second safety factor, F safe Indicates the maximum safe supporting force.

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