Suspension test bed system based on mining trackless rubber-tyred vehicle and control method

Abstract

The invention belongs to the technical field of automobile tests, particularly relates to a suspension test bed system based on a mining trackless rubber-tyred vehicle and a control method, and combines the advantages of hardware and software. On one hand, the state of the magnetorheological suspension in an actual working environment can be accurately simulated through the hardware-in-the-loop test system, the hardware-in-the-loop test system is used for verifying the feasibility of a control strategy and an algorithm, and the problem of time delay existing in pure software simulation is solved. And on the other hand, compared with the traditional real vehicle road test, the hardware-in-the-loop test greatly reduces the test cost and obviously shortens the development period. According to the scheme, hardware equipment and software control are organically fused, the true reliability of test data is guaranteed, the development efficiency and economical efficiency are improved, and an efficient and economical innovative approach is provided for research and development of a magneto-rheological semi-active suspension system.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile testing, and in particular relates to a suspension test bench system and a control method based on a mining trackless rubber-tyred vehicle. Background Art

[0002] Rubber-tyred trackless vehicles for mining are vehicles designed specifically for mining transportation, mainly used for transporting materials and personnel within mining areas. This type of vehicle has greater flexibility because it does not rely on the track system and can operate efficiently in complex mining environments. Research on the vibration reduction performance of rubber-tyred trackless vehicles for mining has received widespread attention in recent years, especially in terms of improving operational safety, comfort and transportation efficiency. As a key component that affects the vibration reduction performance, the semi-active suspension can be intelligently controlled and adjusted in real time according to road conditions and vehicle conditions, becoming the main means to improve the smoothness and safety of rubber-tyred trackless vehicles for mining, and therefore becoming the key development direction of suspension technology for rubber-tyred trackless vehicles for mining.

[0003] Suspension systems that achieve semi-active control by changing the damping of the damper or the stiffness of the suspension are developing rapidly. Among them, magnetorheological dampers are favored in the field of semi-active suspension due to their wide adjustable range, compact structure, rapid response, and low power consumption. Magnetorheological semi-active suspension technology uses electronic control and hydraulic devices to automatically adjust the hardness and height of the suspension to respond to road conditions and driving needs. Compared with traditional passive suspension, its response is faster and more accurate, which can greatly improve the stability and ride comfort of trackless rubber-tyred vehicles. On relatively smooth roads, the suspension will automatically soften to provide a more comfortable ride experience; while at high speeds or on rough roads, the suspension will automatically stiffen to provide better stability and handling. In addition, during vehicle cornering, it is crucial to ensure that the body tilts moderately, as excessive roll may lead to serious accidents such as rollovers. Therefore, the study of vehicle posture stability control is of great value, which can be achieved by adjusting the stiffness and damping elements.

[0004] Traditional suspension testing usually relies on pure software simulation, which is achieved through mathematical model simulation. Although this method has the advantages of high efficiency and low cost, the accuracy of the model is crucial to the accuracy of the simulation results, and it is difficult to fully reflect the real road environment. With the continuous improvement of modeling accuracy and simulation software functions, the simulation effect has improved, but there are still some idealized assumptions and parameters ignored, such as friction, force coupling, etc.

[0005] Therefore, it is necessary to design a suspension test bench system and a control method based on a mining trackless rubber-tyred vehicle to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a suspension test bench system and control method based on a mining trackless rubber-tyred vehicle, organically combine hardware and software, build a special suspension test bench, and adopt a hardware-in-the-loop test method. On the one hand, the hardware-in-the-loop test can truly simulate the working environment of the magnetorheological suspension, verify the effectiveness of the control strategy and algorithm, and avoid the time lag problem of software simulation. On the other hand, compared with traditional real vehicle testing, the hardware-in-the-loop test greatly reduces the test cost and shortens the development cycle.

[0007] To achieve the above object, the present invention provides the following solution: a suspension test bench system based on a mining trackless rubber-tyred vehicle, comprising:

[0008] Suspension base;

[0009] A support frame, fixedly arranged on the suspension base;

[0010] A driving mechanism, fixedly arranged at the bottom end of the supporting frame;

[0011] A first mass simulation mechanism, fixedly connected to the output end of the driving mechanism, and the first mass simulation mechanism is slidably connected to the supporting frame;

[0012] A vibration reduction system, the bottom end of which is fixedly connected to the first mass simulation mechanism;

[0013] A second mass simulation mechanism is fixedly connected to the top of the vibration reduction system; the second mass simulation mechanism is slidably connected to the support frame;

[0014] A signal acquisition system, arranged on the first mass simulation mechanism and the second mass simulation mechanism, the signal acquisition system is used to collect motion data of the first mass simulation mechanism and the second mass simulation mechanism;

[0015] A control system, used for collecting the motion data of the signal acquisition system and converting the motion data into a control signal;

[0016] The execution system is used to collect the control signal of the control system and control the vibration reduction system according to the control signal.

[0017] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention comprises: the driving mechanism includes an actuator, the actuator includes a second connecting flange, the second connecting flange is fixedly connected to the bottom end of the support bench, the second connecting flange is fixedly connected to a tail barrel assembly, the top end of the tail barrel assembly is detachably connected to a cylinder, the top end of the cylinder is detachably connected to a front end cover, an actuator piston rod is arranged inside the cylinder, the output end of the actuator piston rod slides through the front end cover and is fixedly connected to a first connecting flange, and the first mass simulation mechanism is fixedly connected to the first connecting flange.

[0018] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention, the first mass simulation mechanism includes a lower fixed plate two, the lower fixed plate two is fixedly connected to the connecting flange one, the lower fixed plate two is slidably connected to the supporting frame through a plurality of shaft sleeves, the four corners of the top end of the lower fixed plate two are respectively fixedly connected to springs, the spring sleeves are arranged on the outside of the supporting frame, the top ends of the four springs are commonly fixedly connected to the lower fixed plate one, the lower fixed plate one is slidably connected to the supporting frame through a plurality of shaft sleeves, and the bottom end of the vibration reduction system is fixedly connected to the top end of the lower fixed plate one.

[0019] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention, the vibration reduction system includes a magnetorheological damper and an air spring, the magnetorheological damper is vertically arranged and the bottom end is fixedly connected to the top end of the lower fixed plate, the top end of the magnetorheological damper is fixedly connected to the bottom end of the second mass simulation mechanism, the top end of the air spring is fixedly connected to the bottom end of the second mass simulation mechanism, and the bottom end of the air spring is fixedly connected to the top end of the lower fixed plate through an air spring base.

[0020] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention, the second mass simulation mechanism includes an upper fixed plate 2, the upper fixed plate 2 is fixedly connected to the top of the magnetorheological damper and the top of the air spring, the upper fixed plate 2 is slidably connected to the support frame through a plurality of the shaft sleeves, a load is arranged on the top of the upper fixed plate 2, a load fixing shaft 1 and a load fixing shaft 2 are arranged on the load, and the load fixing shaft 2 slides through the top of the support frame.

[0021] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention, the signal acquisition system includes a sensor fixing plate, the sensor fixing plate is fixedly connected to the bottom end of the support stand, three displacement sensors are fixedly connected to the sensor fixing plate, one displacement sensor is used to collect the motion data of the upper fixed plate 2, another displacement sensor is used to collect the motion data of the lower fixed plate 1, and the third displacement sensor is used to collect the motion data of the lower fixed plate 2.

[0022] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention comprises a control system including an upper computer and a lower computer, wherein the upper computer is used to collect the motion data of the signal acquisition system, the upper computer transmits the collected motion data to the lower computer, and the lower computer is electrically connected to the execution system.

[0023] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention, the execution system includes a current transmitter 1 and a current transmitter 2, the current transmitter 1 and the current transmitter 2 are both electrically connected to the lower computer, the current transmitter 1 is electrically connected to the vibration reduction system, and the current transmitter 2 is electrically connected to the driving mechanism.

[0024] The suspension test bench system based on the mining trackless rubber-tyred vehicle of the present invention comprises a support frame including a lower fixed plate three, wherein the lower fixed plate three is fixedly connected to the top of the suspension base, the four corners of the top of the lower fixed plate three are respectively fixedly connected to guide columns, the tops of the four guide columns are commonly fixedly connected to an upper fixed plate one, and the first mass simulation mechanism and the second mass simulation mechanism are both slidably connected to the guide columns.

[0025] A control method for a suspension test bench system based on a mining trackless rubber-tyred vehicle, comprising:

[0026] The driving mechanism outputs power;

[0027] The signal acquisition system collects motion data of the first mass simulation mechanism and the second mass simulation mechanism, and transmits the motion data to the control system;

[0028] The control system converts the collected motion data into control signals and transmits the control signals to the execution system;

[0029] The execution system controls the vibration reduction system according to the received control signal.

[0030] Compared with the prior art, the present invention has the following advantages and technical effects:

[0031] The present invention combines the advantages of both hardware and software. On the one hand, the hardware-in-the-loop test system can accurately simulate the state of the magnetorheological suspension in the actual working environment, which is used to verify the feasibility of the control strategy and algorithm, and solves the time delay problem of pure software simulation. On the other hand, compared with traditional real vehicle road tests, hardware-in-the-loop tests greatly reduce test costs and significantly shorten the development cycle. This solution organically integrates hardware equipment with software control, which not only ensures the authenticity and reliability of test data, but also improves development efficiency and economy, providing an efficient and economical innovative approach for the research and development of magnetorheological semi-active suspension systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0033] Figure 1 It is an overall schematic diagram of the present invention;

[0034] Figure 2 is a schematic diagram of the actuator of the present invention;

[0035] Figure 3 This is a flow chart of the control method of the present invention;

[0036] Figure 4 It is a schematic diagram of the control method of the present invention;

[0037] Figure 5 This is a flow chart of the hardware-in-the-loop method of the present invention.

[0038] Among them, 1. Upper fixing plate 1; 2. Upper fixing plate 2; 3. Guide column; 4. Lower fixing plate 1; 5. Lower fixing plate 2; 6. Sensor fixing plate; 7. Lower fixing plate 3; 8. Suspension base; 9. Actuator; 901. Connection flange 1; 902. Spiral gasket combination; 903. Actuator piston rod; 904. Front end cover; 905. Cylinder; 906. Tail cylinder assembly; 907. Miniature silencer; 908. Connection flange 2; 10. Bushing; 11. Spring; 12. Air spring base; 13. Magnetorheological damper; 14. Air spring; 15. Load; 16. Load fixing shaft 1; 17. Load fixing shaft 2; 18. Displacement sensor; 19. Signal acquisition system; 20. DC signal isolator; 21. Host computer; 22. Control system; 23. Lower computer; 24. Current transmitter 1; 25. Execution system; 26. Current transmitter 2. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Reference Figures 1 to 5 As shown, the present invention provides a suspension test bench system based on a mining trackless rubber-tyred vehicle, comprising:

[0042] Suspension base 8;

[0043] A support frame, fixedly arranged on the suspension base 8;

[0044] A driving mechanism is fixedly arranged at the bottom end of the supporting frame;

[0045] A first mass simulation mechanism is fixedly connected to the output end of the driving mechanism, and the first mass simulation mechanism is slidably connected to the support frame;

[0046] A vibration reduction system, the bottom end of which is fixedly connected to the first mass simulation mechanism;

[0047] The second mass simulation mechanism is fixedly connected to the top of the vibration reduction system; the second mass simulation mechanism is slidably connected to the support frame;

[0048] A signal acquisition system 19, which is arranged on the first mass simulation mechanism and the second mass simulation mechanism, and is used to collect motion data of the first mass simulation mechanism and the second mass simulation mechanism;

[0049] A control system 22, used to collect motion data from the signal acquisition system 19 and convert the motion data into a control signal;

[0050] The execution system 25 is used to collect the control signal of the control system 22 and control the vibration reduction system according to the control signal.

[0051] Furthermore, the driving mechanism includes an actuator 9, which includes a connecting flange 2 908, which is fixedly connected to the bottom end of the support frame, and the connecting flange 2 908 is fixedly connected to a tail cylinder assembly 906, and the top of the tail cylinder assembly 906 is detachably connected to a cylinder 905, and the top of the cylinder 905 is detachably connected to a front end cover 904, and an actuator piston rod 903 is arranged inside the cylinder 905, and the output end of the actuator piston rod 903 slides through the front end cover 904 and is fixedly connected to a connecting flange 1 901, and the first mass simulation mechanism is fixedly connected to the connecting flange 1 901.

[0052] A spiral washer assembly 902 is provided between the connecting flange 1 901 and the actuator piston rod 903, a miniature silencer 907 is provided on the tail cylinder assembly 906, the front of the cylinder 905 is a servo valve interface, and the side is an oil inlet and outlet.

[0053] The actuator 9 simulates the time domain curve of road roughness, so that the first mass simulation mechanism and the second mass simulation mechanism vibrate up and down to generate a vibration response. The GA-LQR control algorithm calculates the desired damping force according to the vibration response of the first mass simulation mechanism and the second mass simulation mechanism; the desired damping force and the dynamic stroke and speed of the first mass simulation mechanism and the second mass simulation mechanism are input into the inverse model of the magnetorheological damper 13 based on the bidirectional long short-term memory network to generate a corresponding control current; the control current is input into the magnetorheological damper 13 to obtain the damping force, which is infinitely close to the desired damping force generated by GA-LQR; the damping force is applied to the first mass simulation mechanism and the second mass simulation mechanism to achieve vibration control of the system.

[0054] Furthermore, the first mass simulation mechanism includes a lower fixed plate 25, which is fixedly connected to the connecting flange 1901, and is slidably connected to the support frame through a plurality of shaft sleeves 10. The four corners of the top of the lower fixed plate 25 are respectively fixedly connected with springs 11, and the springs 11 are sleeved on the outside of the support frame. The tops of the four springs 11 are commonly fixedly connected to a lower fixed plate 4, and the lower fixed plate 4 is slidably connected to the support frame through a plurality of shaft sleeves 10, and the bottom end of the vibration reduction system is fixedly connected to the top of the lower fixed plate 4.

[0055] Furthermore, the vibration reduction system includes a magnetorheological damper 13 and an air spring 14. The magnetorheological damper 13 is vertically arranged and the bottom end is fixedly connected to the top end of the lower fixed plate 4. The top end of the magnetorheological damper 13 is fixedly connected to the bottom end of the second mass simulation mechanism. The top end of the air spring 14 is fixedly connected to the bottom end of the second mass simulation mechanism. The bottom end of the air spring 14 is fixedly connected to the top end of the lower fixed plate 4 through the air spring base 12.

[0056] The invention combines a linear quadratic regulator optimized by a genetic algorithm with an inverse model of a magnetorheological damper based on a bidirectional long short-term memory network, and applies the combination to vibration control of a test bench system.

[0057] This control strategy receives vibration feedback and control force from the suspension system and inputs control current into the magnetorheological damper 13 to achieve the purpose of vibration control.

[0058] Furthermore, the second mass simulation mechanism includes an upper fixed plate 2, which is fixedly connected to the top of the magnetorheological damper 13 and the top of the air spring 14. The upper fixed plate 2 is slidably connected to the support frame through a plurality of sleeves 10. A load 15 is arranged on the top of the upper fixed plate 2, and a load fixing shaft 16 and a load fixing shaft 2 17 are arranged on the load 15. The load fixing shaft 2 17 slides through the top of the support frame.

[0059] The load fixing shaft 17 is mainly used to fix the load 15 in the middle position of the upper fixing plate 2 and limit its movement forward, backward, left and right. The load fixing shaft 16 is used to limit the up and down movement of the load 15, thereby limiting the load 15 in a fixed position.

[0060] Furthermore, the signal acquisition system 19 includes a sensor fixing plate 6, which is fixedly connected to the bottom end of the support frame. Three displacement sensors 18 are fixedly connected to the sensor fixing plate 6, one displacement sensor 18 is used to collect motion data of the upper fixed plate 2, another displacement sensor 18 is used to collect motion data of the lower fixed plate 1 4, and the third displacement sensor 18 is used to collect motion data of the lower fixed plate 5.

[0061] The signal acquisition system 19 mainly uses three displacement sensors 18 for acquisition, which are fixed on the sensor fixing plate 6 by bolts. Its sliding shaft is respectively connected with the upper fixing plate 2, the lower fixing plate 1 4, and the lower fixing plate 2 5 by bolts to acquire the upper and lower displacements of the three. Then, the DC signal isolator 20 is used to convert the 4-20mA current signal acquired by the displacement sensor 18 into a voltage signal of 0 to 10V, which is input into the upper computer 21 to calculate the three response indicators of vehicle body acceleration, dynamic deflection, and tire dynamic load.

[0062] Furthermore, the control system 22 includes a host computer 21 and a slave computer 23 . The host computer 21 is used to collect motion data of the signal acquisition system 19 . The host computer 21 transmits the collected motion data to the slave computer 23 . The slave computer 23 is electrically connected to the execution system 25 .

[0063] The main functions of the control system 22 are to receive and process motion signals from the signal acquisition system 19, execute a preset control algorithm, and generate corresponding control signals according to the calculation results.

[0064] The host computer 21 is responsible for writing and managing the control algorithm and downloading the algorithm program to the slave computer 23. The host computer 21 is usually a computer running Windows or Linux operating system, providing a friendly graphical interface to facilitate users to design, debug and monitor the control algorithm; the slave computer 23 obtains the control algorithm program from the host computer 21, and uses its powerful computing power to execute the algorithm in real time, calculates the control quantity according to the input motion signal, and finally outputs the control signal to the execution system 25.

[0065] The execution system 25 is connected via a network port to achieve data exchange and command issuance. This division of labor is conducive to improving the real-time performance, reliability and flexibility of the control system 22. Users can complete algorithm development and debugging on the host computer 21, while the slave computer 23 focuses on real-time high-speed control operations, thereby ensuring control accuracy and response speed.

[0066] Furthermore, the execution system 25 includes a current transmitter 1 24 and a current transmitter 2 26, both of which are electrically connected to the lower computer 23, the current transmitter 1 24 is electrically connected to the vibration reduction system, and the current transmitter 2 26 is electrically connected to the driving mechanism.

[0067] The execution system 25 is the last link of the control loop. Its function is to apply corresponding force to the test system according to the control signal output by the control system 22, so as to achieve effective control of the test system.

[0068] The function of the current transmitter 26 is to convert the 0-10V voltage signal into a 4-20mA current signal. In this system, the converted 4-20mA current signal is used to drive the servo valve, thereby controlling the actuator 9 to move up and down, providing different road excitations, including sine excitation signals, cosine excitation signals, square wave excitation signals, etc.

[0069] The function of the current transducer 24 is to convert the voltage signal of 0-10V into the control current signal of 0-1A. This module is usually used to provide the control current to the magnetorheological damper 13, and adjust the damping force of the magnetorheological damper 13 by changing the magnitude of the current, thereby achieving vibration control.

[0070] Furthermore, the support frame includes a lower fixed plate 3 7, which is fixedly connected to the top of the suspension base 8, and the four corners of the top of the lower fixed plate 3 7 are respectively fixedly connected to guide columns 3, and the tops of the four guide columns 3 are commonly fixedly connected to an upper fixed plate 1, and the first mass simulation mechanism and the second mass simulation mechanism are both slidably connected to the guide columns 3.

[0071] The lengths of the four guide pillars 3 can be changed according to different experimental conditions.

[0072] The entire hardware-in-the-loop test can be described as:

[0073] First, the control program is developed in the upper computer 21 using Keil software, and the developed program is compiled and debugged and then transmitted to the lower computer 23 via Ethernet.

[0074] After receiving the control program transmitted by the upper computer 21, the lower computer 23 starts to execute these instructions and outputs the processed control signal to the signal conditioning system. The function of the signal conditioning system is to convert the control signal into a suitable signal. In the present invention, the 0-10V voltage signal output by the control system 22 is converted into a 0-40mA current signal and sent to the servo valve. The servo valve adjusts the action of the actuator 9 according to the change of the current signal, thereby simulating an excitation similar to the actual road surface and driving the suspension system to vibrate up and down.

[0075] In order to achieve closed-loop control, the system needs to monitor and adjust its performance in real time, and the displacement sensor 18 plays a key role in this process. The displacement sensor 18 of the present invention is used to collect the displacement signals of the suspension, which are output in the form of current, converted into 0-10V voltage signals by the signal conditioning system, and then transmitted back to the control system 22. The control system 22 calculates the desired damping force based on these feedback signals in order to accurately control the suspension system.

[0076] The calculated desired damping force signal is then converted again through the signal conditioning system, this time into a 0-1A control current signal, and then the current signal is sent to the magnetorheological damper 13 to control the magnetorheological damper 13 to generate a damping force. The magnetorheological damper 13 adjusts its damping characteristics according to the control signal to adapt to different road conditions and driving requirements, thereby realizing active control of the suspension system.

[0077] A control method for a suspension test bench system based on a mining trackless rubber-tyred vehicle, comprising:

[0078] The driving mechanism outputs power;

[0079] The actuator 9 applies an exciting force to the tire to simulate the movement of the suspension system under the excitation of the road surface. By applying this exciting force, various road conditions encountered by the vehicle in actual driving can be reproduced, so as to more accurately test and analyze the dynamic response and performance of the suspension system. The brake can output different types of road signals, such as cosine, sine and other signals.

[0080] The signal acquisition system 19 collects the motion data of the first mass simulation mechanism and the second mass simulation mechanism, and transmits the motion data to the control system 22;

[0081] The signal acquisition system 19 uses three displacement sensors 18 to collect the displacement of the upper fixing plate 2, the lower fixing plate 1 4, and the lower fixing plate 2 5 in real time, and then converts the 4-20mA current signal collected by the displacement sensor 18 into a 0-10V voltage signal through the DC signal isolator 20, and inputs it to the lower computer 23. The lower computer 23 uses these signals to calculate the three response indicators of vehicle body acceleration, dynamic deflection, and tire dynamic load.

[0082] The control system 22 converts the collected motion data into control signals and transmits the control signals to the execution system 25;

[0083] The control system 22 receives and processes the motion signals from the signal acquisition system 19. The system executes the preset control algorithm to analyze and calculate the received motion data. These control signals ensure that the system can accurately simulate various dynamic working conditions and provide reliable data support. The accuracy and real-time response capability of the control system are the key to ensure the successful implementation of the entire hardware-in-the-loop test method.

[0084] The execution system 25 controls the vibration reduction system according to the received control signal.

[0085] After receiving the control signal from the control system 22 , the execution system 25 drives the magnetorheological damper 13 to adjust the damping of the suspension system, thereby achieving control objectives such as vibration reduction.

[0086] Specifically, the execution system 25 is the last link of the control loop. According to the control signal output by the control system 22, it first uses the current transducer 26 to convert the 0-10V voltage signal into a 4-20mA current signal to drive the servo valve, thereby controlling the actuator 9 to move up and down, simulating different road excitations, such as sine, cosine and square wave signals. Then, the current transducer 1 24 is used to convert the 0-10V voltage signal into a 0-1A control current, providing the control current to the magnetorheological damper 13, and changing the damping force by adjusting the current to achieve vibration control.

[0087] Through this closed-loop control strategy, the suspension system can respond to external excitations and changes in internal states in real time, providing optimal ride comfort and vehicle handling. At the same time, this also significantly improves the system's adaptability and robustness, enabling it to maintain stable performance in various complex environments.

[0088] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0089] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. The suspension test bench system based on the mining trackless rubber-tyred vehicle is characterized by: include Suspension base (8); A supporting frame, fixedly arranged on the suspension base (8); A driving mechanism, fixedly arranged at the bottom end of the supporting frame; A first mass simulation mechanism, fixedly connected to the output end of the driving mechanism, and the first mass simulation mechanism is slidably connected to the supporting frame; A vibration reduction system, the bottom end of which is fixedly connected to the first mass simulation mechanism; A second mass simulation mechanism is fixedly connected to the top of the vibration reduction system; the second mass simulation mechanism is slidably connected to the support frame; A signal acquisition system (19), arranged on the first mass simulation mechanism and the second mass simulation mechanism, the signal acquisition system (19) being used to acquire motion data of the first mass simulation mechanism and the second mass simulation mechanism; A control system (22) for collecting the motion data of the signal acquisition system (19) and converting the motion data into a control signal; An execution system (25) is used to collect the control signal of the control system (22) and control the vibration reduction system according to the control signal.

2. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 1 is characterized in that: The driving mechanism comprises an actuator (9), the actuator (9) comprises a second connecting flange (908), the second connecting flange (908) is fixedly connected to the bottom end of the support frame, the second connecting flange (908) is fixedly connected to a tail cylinder assembly (906), the top end of the tail cylinder assembly (906) is detachably connected to a cylinder (905), the top end of the cylinder (905) is detachably connected to a front end cover (904), an actuator piston rod (903) is arranged inside the cylinder (905), the output end of the actuator piston rod (903) slides through the front end cover (904) and is fixedly connected to a first connecting flange (901), and the first mass simulation mechanism is fixedly connected to the first connecting flange (901).

3. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 2 is characterized in that: The first mass simulation mechanism comprises a lower fixing plate 2 (5), the lower fixing plate 2 (5) is fixedly connected to the connecting flange 1 (901), the lower fixing plate 2 (5) is slidably connected to the supporting frame via a plurality of shaft sleeves (10), the four corners of the top end of the lower fixing plate 2 (5) are respectively fixedly connected to springs (11), the springs (11) are sleeved on the outside of the supporting frame, the top ends of the four springs (11) are commonly fixedly connected to a lower fixing plate 1 (4), the lower fixing plate 1 (4) is slidably connected to the supporting frame via a plurality of shaft sleeves (10), and the bottom end of the vibration reduction system is fixedly connected to the top end of the lower fixing plate 1 (4).

4. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 3 is characterized in that: The vibration reduction system comprises a magnetorheological damper (13) and an air spring (14); the magnetorheological damper (13) is vertically arranged and its bottom end is fixedly connected to the top end of the lower fixed plate (4); the top end of the magnetorheological damper (13) is fixedly connected to the bottom end of the second mass simulation mechanism; the top end of the air spring (14) is fixedly connected to the bottom end of the second mass simulation mechanism; and the bottom end of the air spring (14) is fixedly connected to the top end of the lower fixed plate (4) via an air spring base (12).

5. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 4 is characterized in that: The second mass simulation mechanism comprises an upper fixed plate 2 (2), the upper fixed plate 2 (2) being fixedly connected to the top of the magnetorheological damper (13) and the top of the air spring (14), the upper fixed plate 2 (2) being slidably connected to the support frame via a plurality of bushings (10), a load (15) being arranged at the top of the upper fixed plate 2 (2), a load fixing shaft 1 (16) and a load fixing shaft 2 (17) being arranged on the load (15), and the load fixing shaft 2 (17) slidingly passes through the top of the support frame.

6. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 5 is characterized in that: The signal acquisition system (19) comprises a sensor fixing plate (6), wherein the sensor fixing plate (6) is fixedly connected to the bottom end of the support frame, and three displacement sensors (18) are fixedly connected to the sensor fixing plate (6), one displacement sensor (18) is used to collect motion data of the upper fixing plate 2 (2), another displacement sensor (18) is used to collect motion data of the lower fixing plate 1 (4), and the third displacement sensor (18) is used to collect motion data of the lower fixing plate 2 (5).

7. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 1 is characterized in that: The control system (22) comprises a host computer (21) and a slave computer (23), wherein the host computer (21) is used to collect the motion data of the signal acquisition system (19), and the host computer (21) transmits the collected motion data to the slave computer (23), and the slave computer (23) is electrically connected to the execution system (25).

8. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 7 is characterized in that: The execution system (25) includes a current transmitter 1 (24) and a current transmitter 2 (26), wherein the current transmitter 1 (24) and the current transmitter 2 (26) are both electrically connected to the lower computer (23), the current transmitter 1 (24) is electrically connected to the vibration reduction system, and the current transmitter 2 (26) is electrically connected to the driving mechanism.

9. The suspension test bench system based on the mining trackless rubber-tyred vehicle according to claim 1 is characterized in that: The support frame comprises a lower fixing plate three (7), wherein the lower fixing plate three (7) is fixedly connected to the top of the suspension base (8), the four corners of the top of the lower fixing plate three (7) are respectively fixedly connected to guide columns (3), the tops of the four guide columns (3) are commonly fixedly connected to an upper fixing plate one (1), and the first mass simulation mechanism and the second mass simulation mechanism are both slidably connected to the guide columns (3).

10. A control method for a suspension test bench system based on a mining trackless rubber-tyred vehicle according to any one of claims 1 to 9, characterized in that: include The driving mechanism outputs power; The signal acquisition system (19) collects motion data of the first mass simulation mechanism and the second mass simulation mechanism, and transmits the motion data to the control system (22); The control system (22) converts the collected motion data into a control signal and transmits the control signal to the execution system (25); The execution system (25) controls the vibration reduction system according to the received control signal.

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