Calibration method and system of vertical tire mechanical test bed and terminal equipment

Abstract

The invention discloses a calibration method and system for a vertical tire mechanical test bed and terminal equipment, and the calibration method comprises the steps: obtaining calibration force data, calibration torque data and six-component data collected by a six-component force measurement platform after a calibration force and a calibration torque are applied to the vertical tire mechanical test bed based on a test axis coordinate system; substituting the calibration force data, the calibration torque data and the six-component data into a preset calibration formula, and solving to obtain a correction coefficient matrix; the method comprises the following steps: acquiring to-be-calibrated six-component data acquired by a six-component force measuring platform during tire testing; and calibrating the to-be-calibrated six-component data based on the correction coefficient matrix to obtain calibration data of the six-component force measuring platform. According to the invention, under the condition that the force measuring platform is not disassembled, the whole vertical tire mechanical test bench can be calibrated, the influence of installation errors generated by the disassembly and assembly of the six-component force measuring platform on the measurement precision of tire testing can be avoided, and the calibration efficiency of the vertical tire mechanical test bench is improved.

Description

Technical Field

[0001] The invention relates to the field of force measuring platform calibration, in particular to a calibration method, system and terminal equipment of a vertical tire mechanics test bench. Background Art

[0002] With the rapid development of sensor technology, six-component force measurement platforms are increasingly being used to meet the testing needs of three-dimensional force and three-dimensional torque in the field of mechanical testing. Common vertical tire mechanical test benches include: Figure 1 and Figure 2 As shown, the vertical tire mechanical test bench is mainly composed of a loading head, a test shaft, a loading system for applying radial load to the test tire, a six-component force measuring platform for collecting the forces and moments of the test tire, and a rotating hub simulating the sliding surface of the runway; among them, the six-component force measuring platform is usually composed of several three-component force sensors; the force and torque data acquisition system of the vertical tire mechanical test bench is mainly composed of a six-component force measuring platform and a data acquisition instrument. Some test benches will set up a display according to actual needs. The six-component force measuring platform will transmit the collected data to the data acquisition instrument through multiple signal channels, and the data acquisition instrument will then transmit the data to the display through multiple signal channels. The vertical tire mechanical test bench has three force coordinate systems, and the direction of the force coordinate system is determined by the right-hand rule, such as Figure 3 As shown, the three force coordinate systems include the force measuring platform coordinate system, the test axis coordinate system and the tire coordinate system.

[0003] At present, many testing units and equipment R&D units have tried to develop calibration methods for six-component force measurement platforms according to their own needs. There are also some public calibration methods in the field of tire mechanics testing to ensure the accuracy of the forces and moments collected during tire testing. In the actual use of tire mechanics testing equipment, in order to obtain accurate test data, it is necessary not only to calibrate the six-component force measurement platform itself, but also to consider the errors of the data acquisition channels, the accuracy of the data acquisition instruments, and the display system. In order to eliminate the above errors and influences, the data acquisition channels and data acquisition instruments should also be calibrated while separately calibrating the six-component force measurement platform.

[0004] However, the existing calibration methods are all aimed at calibrating the accuracy of the six-component force measuring platform itself, and calibrating the data of the force measuring platform coordinate system, without considering the error interference of the data acquisition channel, data acquisition instrument and display system as a whole. In addition, the existing published calibration methods only consider the coordinate system data of the force measuring platform body, and directly use the corrected data collected by the force measuring platform body as the force data information of the test tire, without considering the impact of the misalignment between the force measuring platform coordinate system and the tire coordinate system on the torque, that is, the distance between the force measuring platform coordinate system and the tire coordinate system. According to the relevant specifications for tire testing, the focus of tire mechanical testing is on the reaction force and reaction torque of the area where the test tire contacts the ground, that is, the force and torque data of the tire coordinate system. Therefore, the tire torque information obtained needs to be further converted and corrected.

[0005] In addition, the current calibration method requires the six-component force measuring platform to be removed from the test bench and assembled on a dedicated calibration bench for calibration. However, after the test bench is put into use, the disassembly and assembly of the six-component force measuring platform is not easy, and the disassembly and assembly will cause installation errors to affect the measurement accuracy. Summary of the invention

[0006] The present invention provides a calibration method, system and terminal equipment for a vertical tire mechanical test bench to solve the above technical problems and effectively improve the calibration efficiency of the vertical tire mechanical test bench.

[0007] In order to solve the above technical problems, the present invention provides a calibration method for a vertical tire mechanical test bench, comprising:

[0008] After applying the calibration force and calibration torque to the vertical tire mechanical test bench based on the test axis coordinate system, the calibration force data, calibration torque data and six-component data collected by the six-component force measuring platform are obtained, and the calibration force data, calibration torque data and six-component data are substituted into the preset calibration formula to solve and obtain the correction coefficient matrix;

[0009] When performing tire testing, obtaining six-component data to be calibrated collected by a six-component force measuring platform;

[0010] The six-component data to be calibrated are calibrated based on the correction coefficient matrix to obtain six-component force measuring platform calibration data.

[0011] The beneficial effects of the present invention are:

[0012] Compared with the prior art, which requires detaching components such as the six-component force measuring platform from the test bench and separately calibrating the six-component force measuring platform, data acquisition channel and data acquisition instrument, the calibration efficiency is low and affects the measurement accuracy. The present invention applies calibration force and calibration torque to the vertical tire mechanical test bench to obtain a correction coefficient matrix, and calibrates the data collected by the six-component force measuring platform according to the correction coefficient matrix to obtain the calibration data of the six-component force measuring platform. Therefore, the vertical tire mechanical test bench can be calibrated as a whole without disassembling the force measuring platform, which can avoid the installation error caused by the disassembly and assembly of the six-component force measuring platform affecting the measurement accuracy of the tire test, and improve the calibration efficiency of the vertical tire mechanical test bench.

[0013] As a preferred solution, after applying the calibration force and calibration torque to the vertical tire mechanical test bench based on the test axis coordinate system, the calibration force data, calibration torque data and six-component data collected by the six-component force measuring platform are obtained, and the calibration force data, calibration torque data and six-component data are substituted into a preset calibration formula to solve and obtain a correction coefficient matrix, including:

[0014] After applying a first z-direction calibration force to the test axis along the z-axis direction of the test axis coordinate system, obtaining first z-direction calibration force data and a first group of six-component data collected by the six-component force measuring platform; substituting the first z-direction calibration force data and the first group of six-component data into the calibration formula to obtain a first group of correction coefficients;

[0015] At a first preset distance from the origin of the test axis coordinate system in the y-axis direction of the test axis coordinate system, a second z-direction calibration force is applied to the test axis along the z-direction of the test axis coordinate system, so as to apply a first x-direction calibration moment to the test axis, and then obtain second z-direction calibration force data, first x-direction calibration moment data, and a second group of six-component data collected by the six-component force measuring platform; based on the first group of correction coefficients, the second z-direction calibration force data, the first x-direction calibration moment data, and the second group of six-component data are substituted into the calibration formula to obtain a second group of correction coefficients;

[0016] After applying a y-direction calibration force to the test axis along the y-axis direction of the test axis coordinate system based on the first center distance to apply a second x-direction calibration moment to the test axis, y-direction calibration force data, second x-direction calibration moment data, and a third group of six-component data collected by the six-component force measuring platform are obtained; based on the second group of correction coefficients, the y-direction calibration force data, the second x-direction calibration moment data, and the third group of six-component data are substituted into the calibration formula to obtain a third group of correction coefficients;

[0017] After applying a first x-direction calibration force to the test axis along the x-axis direction of the test axis coordinate system based on the first center distance to apply a first y-direction calibration moment to the test axis, first x-direction calibration force data, first y-direction calibration moment data, and a fourth group of six-component data collected by the six-component force measuring platform are obtained; after applying a second x-direction calibration force to the test axis along the x-direction of the test axis coordinate system based on the second center distance to apply a second y-direction calibration moment to the test axis, second x-direction calibration force data, second y-direction calibration moment data, and a fifth group of six-component data collected by the six-component force measuring platform are obtained; the first x-direction calibration force data, the first y-direction calibration moment data, the fourth group of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data, and the fifth group of six-component data are substituted into the calibration formula to solve and obtain a fourth group of correction coefficients and a fifth group of correction coefficients;

[0018] After applying a z-direction calibration torque to the test axis along the z-direction of the test axis coordinate system so that the resultant force on the test axis in the y-direction is zero, the z-direction calibration torque data and the sixth group of six-component data collected by the six-component force measuring platform are obtained; the z-direction calibration torque data and the sixth group of six-component data are substituted into the calibration formula to obtain the sixth group of correction coefficients;

[0019] A correction coefficient matrix is ​​obtained based on the first group of correction coefficients, the second group of correction coefficients, the third group of correction coefficients, the fourth group of correction coefficients, the fifth group of correction coefficients and the sixth group of correction coefficients.

[0020] As a preferred solution, before applying a second x-direction calibration force to the test axis along the x-axis direction of the test axis coordinate system based on the second center distance, the method further includes:

[0021] Replace the loading head of the vertical tire mechanics test bench so that the distance between the center of the six-component force measuring platform and the center of the test axis in the z direction is the second center distance.

[0022] As a preferred solution, the calibration formula is specifically:

[0023]

[0024] In the above formula, subscript 1, subscript 2, subscript 3, subscript 4, subscript 5, and subscript 6 represent the x-direction force signal channel, the y-direction force signal channel, the z-direction force signal channel, the x-direction moment signal channel, the y-direction moment signal channel, and the z-direction moment signal channel, respectively; k nm is the influence factor of the n signal channel data on the m signal channel, k nn is the correction coefficient of the n signal channel, and the correction coefficient matrix includes k nm and k nn ; F″ x , F″ y and F″ zM″ is the force in the x, y and z directions collected by the six-component force measurement platform; x , M″ y and M″ z F′ is the torque in the x, y and z directions collected by the six-component force measurement platform; x , F′ y and F′ z is the calibration force in the x, y and z directions applied to the test axis, M′ x , M′ y and M′ z are the calibration moments in the x, y and z directions applied to the test axis.

[0025] As a preferred solution, the calibration method of the vertical tire mechanical test bench further includes:

[0026] According to the force measuring platform coordinate system and the tire coordinate system, the force conversion formula is obtained;

[0027] According to the force conversion formula, the calibration data of the six-component force measuring platform is converted to obtain tire force data.

[0028] As a preferred solution, the force conversion formula is specifically:

[0029] F x =F″ jx ;

[0030] F y =F″ jy ;

[0031] F z =F″ jz ;

[0032] M x =M″ jx -F″ jy (R+L1);

[0033] M y =M″ jy +F″ jx (R+L1);

[0034] M z =M″ jz ;

[0035] In the above formula, F x 、F y and F z To test the forces on the tire in the x, y and z directions; M x 、M y and M z To test the moment of force on the tire in the x, y and z directions; F″jx , F″ jy , F″ jz , M″ jx , M″ jy and M″ jy is the calibration data of the six-component force measuring platform; R is the load radius of the test tire; L1 is the distance in the z direction between the center of the six-component force measuring platform and the center of the test axis.

[0036] As a preferred solution, a calibration force or calibration torque is applied to the test shaft through a loading system, or a loading cylinder, or a tooling torque beam, or a hydraulic power source, or a proportional valve.

[0037] As a preferred solution, the step of calibrating the six-component data to be calibrated based on the correction coefficient matrix to obtain calibration data of the six-component force measuring platform includes:

[0038] Based on the correction coefficient matrix, an inverse matrix is ​​obtained;

[0039] Matrix operations are performed based on the inverse matrix and the six-component data to be calibrated to obtain the calibration data of the six-component force measuring platform.

[0040] Accordingly, in order to solve the above technical problems, the present invention also provides a calibration system for a vertical tire mechanical test bench, comprising: a matrix solving module, a data acquisition module and a data calibration module;

[0041] The matrix solving module is used to obtain the calibration force data, the calibration moment data and the six-component data collected by the six-component force measuring platform after applying the calibration force and the calibration moment to the vertical tire mechanical test bench based on the test axis coordinate system, and substitute the calibration force data, the calibration moment data and the six-component data into the preset calibration formula to solve and obtain the correction coefficient matrix;

[0042] The data acquisition module is used to acquire the six-component data to be calibrated collected by the six-component force measuring platform when performing tire testing;

[0043] The data calibration module is used to calibrate the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force measuring platform calibration data.

[0044] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the calibration method of the vertical tire mechanical test bench as described in any one of the above items are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 : A side view of a vertical tire mechanics test bench provided by an embodiment of the present invention;

[0046] Figure 2 : A front view of a vertical tire mechanics test bench provided by an embodiment of the present invention;

[0047] Figure 3 : A schematic diagram of a force coordinate system of a vertical tire mechanics test bench provided in an embodiment of the present invention;

[0048] Figure 4 : A schematic flow chart of a calibration method for a vertical tire mechanics test bench provided in an embodiment of the present invention;

[0049] Figure 5 : A side view of applying a first z-direction calibration force to a test axis provided by an embodiment of the present invention;

[0050] Figure 6 : A front view of applying a first z-direction calibration force to a test axis provided by an embodiment of the present invention;

[0051] Figure 7 : A schematic diagram of applying a second z-direction calibration force and a first x-direction calibration moment to a test axis provided by an embodiment of the present invention;

[0052] Figure 8 : A schematic diagram of applying a y-direction calibration force and a second x-direction calibration moment to a test axis provided by an embodiment of the present invention;

[0053] Fig. 9 : A schematic diagram of applying a first x-direction calibration force and a first y-direction calibration moment to a test axis provided by an embodiment of the present invention;

[0054] Fig.10 : A schematic diagram of applying a second x-direction calibration force and a second y-direction calibration moment to a test axis provided by an embodiment of the present invention;

[0055] Fig.11 : A front view of applying a z-direction calibration torque to a test axis provided by an embodiment of the present invention;

[0056] Fig.12 : A top view of applying a z-direction calibration torque to a test axis provided by an embodiment of the present invention;

[0057] Fig.13 : A structural schematic diagram of a calibration system for a vertical tire mechanics test bench provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] 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.

[0059] Embodiment 1

[0060] Please refer to Figure 4 , Figure 4 A schematic flow chart of a calibration method for a vertical tire mechanics test bench provided in an embodiment of the present invention.

[0061] like Figure 4 As shown, the calibration method of the vertical tire mechanical test bench includes steps 101 to 103, specifically:

[0062] Step 101: after applying a calibration force and a calibration torque to the vertical tire mechanical test bench based on the test axis coordinate system, obtain calibration force data, calibration torque data and six-component data collected by the six-component force measuring platform, substitute the calibration force data, calibration torque data and six-component data into a preset calibration formula, and solve to obtain a correction coefficient matrix;

[0063] Step 102: when performing tire testing, obtaining six-component data to be calibrated collected by a six-component force measuring platform;

[0064] Step 103: Calibrate the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force measuring platform calibration data.

[0065] Compared with the prior art, which requires detaching components such as the six-component force measuring platform from the test bench and separately calibrating the six-component force measuring platform, data acquisition channel and data acquisition instrument, the calibration efficiency is low and affects the measurement accuracy. The present invention applies calibration force and calibration torque to the vertical tire mechanical test bench to obtain a correction coefficient matrix, and calibrates the data collected by the six-component force measuring platform according to the correction coefficient matrix to obtain the calibration data of the six-component force measuring platform. Therefore, the vertical tire mechanical test bench can be calibrated as a whole without disassembling the force measuring platform, which can avoid the installation error caused by the disassembly and assembly of the six-component force measuring platform affecting the measurement accuracy of the tire test, and improve the calibration efficiency of the vertical tire mechanical test bench.

[0066] Furthermore, in step 101, the calibration formula is specifically:

[0067]

[0068] In the above formula, subscript 1, subscript 2, subscript 3, subscript 4, subscript 5, and subscript 6 represent the x-direction force signal channel, the y-direction force signal channel, the z-direction force signal channel, the x-direction moment signal channel, the y-direction moment signal channel, and the z-direction moment signal channel, respectively; k nm is the influence factor of the n signal channel data on the m signal channel, k nn is the correction coefficient of the n signal channel, and the correction coefficient matrix includes k nm and k nn ; F″ x , F″ y and F″ z M″ is the force in the x, y and z directions collected by the six-component force measurement platform; x , M″ y and M″ z F′ is the torque in the x, y and z directions collected by the six-component force measurement platform; x , F′ y and F′ z is the calibration force in the x, y and z directions applied to the test axis, M′ x , M′ y and M′ z are the calibration moments in the x, y and z directions applied to the test axis.

[0069] In this embodiment, by applying calibration force and calibration torque to the vertical tire mechanical test bench, a correction coefficient matrix can be solved and obtained, wherein the correction coefficient matrix includes the influencing factors and correction coefficients of each signal channel, and takes into account the error interference between the signal channels. Since the six-component force measuring platform, the digital acquisition instrument and the test bench display transmit data through the signal channel, the present invention calibrates the data collected by the six-component force measuring platform through the correction coefficient matrix obtained by solving, and can calibrate the six-component force measuring platform, the signal channel, the digital acquisition instrument and the test bench display at the same time, thereby realizing the overall calibration of the vertical tire mechanical test bench without disassembling components such as the six-component force measuring platform, and without separately calibrating the digital acquisition instrument, the test bench display, etc., thereby avoiding the impact of the disassembly and assembly of the six-component force measuring platform on the test accuracy, and also taking into account the error interference of the signal channel and the display, thereby improving the calibration efficiency and ensuring the accuracy of the test force and torque of the vertical tire mechanical test bench.

[0070] In this embodiment, the relationship between the six-component data collected by the six-component force measuring platform, the elements in the correction coefficient matrix, and the calibration force and calibration torque applied by the vertical tire mechanics test bench is shown in the following formula:

[0071] F″ x =k 11 F′ x -k 21 F′ y-k 31 F′ z -k 41 M′ x -k 51 M′ y -k 61 M′ z ;

[0072] F″ y =-k 12 F′ x +k 22 F′ y -k 32 F′ z -k 42 M′ x -k 52 M′ y -k 62 M′ z ;

[0073] F″=-k 13 F′ x -k 23 F′ y +k 33 F′ z -k 43 M′ x -k 53 M′ y -k 63 M′ z ;

[0074] M″ x =-k 14 F′ x -k 24 F′ y +k 34 F′ z +k 44 M′ x -k 54 M′ y -k 64 M′ z ;

[0075] M″ y =-k 15 F′ x -k 25 F′ y -k 35 F′ z -k 45 M′ x +k 55 M′ y -k 65 M′ z ;

[0076] M″ z =-k 16 F′ x -k 26 F′ y -k 36 F′ z -k 46 M′ x -k 56 M′ y +k 66 M′ z ;

[0077] In the above formula, F x "、F y "、F z "、M x "、M y " and M z " is the data collected by the vertical tire mechanical test bench through the six-component force measurement platform; F′ x , F′ y , F′ z , M′ x , M′ y and M′ z are the calibration force and calibration torque applied to the test axis, i.e., the standard force and standard torque; subscript 1, subscript 2, subscript 3, subscript 4, subscript 5, subscript 6 represent the signal channels respectively; k nm is the influence factor of the n signal channel data on the m signal channel, that is, the crosstalk factor, k nn is the correction coefficient of the n signal channel.

[0078] In this embodiment, the calibration formula in this invention can be obtained by the above formula.

[0079] In this embodiment, based on the calibration formula, let:

[0080]

[0081] Then we can get the first matrix relationship formula:

[0082] F" = PF';

[0083] In the above formula, the matrix F" is the uncalibrated force and moment collected by the vertical tire mechanics test bench through the six-component force measurement platform; the matrix F' is the applied calibration force and calibration moment; the matrix P is the correction coefficient matrix.

[0084] In this embodiment, based on the first matrix relationship formula, when any two matrices are known, the third matrix can be obtained; by multiplying both sides of the first matrix relationship formula by the inverse matrix of the correction coefficient matrix, the following formula can be obtained:

[0085] P -1 F"=P -1 PF′;

[0086] Further, the second matrix relationship formula can be obtained:

[0087] F′=P -1 F";

[0088] In the above formula, the matrix P -1 is the inverse matrix of the correction coefficient matrix P.

[0089] In this embodiment, based on the second matrix relationship formula, after solving the correction coefficient matrix, the accurate force and torque data of the six-component force measuring platform calibration can be obtained through the data collected by the six-component force measuring platform during the tire test; based on this, the six-component force measuring platform calibration data is obtained by solving the following third matrix relationship formula:

[0090] F″ j =P -1 F";

[0091]

[0092] In the above formula, F″ j is the calibration matrix of the six-component force measurement platform; F″ jx , F″ jy , F″ jz , M″ jx , M″ jy and M″ jz Calibration data for the six-component force platform.

[0093] In order to calibrate the vertical tire mechanical test bench, it is necessary to solve the correction coefficient matrix. The following will explain how to solve the correction coefficient matrix.

[0094] Further, in step 101, after applying the calibration force and calibration torque to the vertical tire mechanical test bench based on the test axis coordinate system, the calibration force data, calibration torque data and six-component data collected by the six-component force measuring platform are obtained, and the calibration force data, calibration torque data and six-component data are substituted into a preset calibration formula to solve and obtain a correction coefficient matrix, including:

[0095] After applying a first z-direction calibration force to the test axis along the z-axis direction of the test axis coordinate system, obtaining first z-direction calibration force data and a first group of six-component data collected by the six-component force measuring platform; substituting the first z-direction calibration force data and the first group of six-component data into the calibration formula to obtain a first group of correction coefficients;

[0096] At a first preset distance from the origin of the test axis coordinate system in the y-axis direction of the test axis coordinate system, a second z-direction calibration force is applied to the test axis along the z-direction of the test axis coordinate system, so as to apply a first x-direction calibration moment to the test axis, and then obtain second z-direction calibration force data, first x-direction calibration moment data, and a second group of six-component data collected by the six-component force measuring platform; based on the first group of correction coefficients, the second z-direction calibration force data, the first x-direction calibration moment data, and the second group of six-component data are substituted into the calibration formula to obtain a second group of correction coefficients;

[0097] After applying a y-direction calibration force to the test axis along the y-axis direction of the test axis coordinate system based on the first center distance to apply a second x-direction calibration moment to the test axis, y-direction calibration force data, second x-direction calibration moment data, and a third group of six-component data collected by the six-component force measuring platform are obtained; based on the second group of correction coefficients, the y-direction calibration force data, the second x-direction calibration moment data, and the third group of six-component data are substituted into the calibration formula to obtain a third group of correction coefficients;

[0098] After applying a first x-direction calibration force to the test axis along the x-axis direction of the test axis coordinate system based on the first center distance to apply a first y-direction calibration moment to the test axis, first x-direction calibration force data, first y-direction calibration moment data, and a fourth group of six-component data collected by the six-component force measuring platform are obtained; after applying a second x-direction calibration force to the test axis along the x-direction of the test axis coordinate system based on the second center distance to apply a second y-direction calibration moment to the test axis, second x-direction calibration force data, second y-direction calibration moment data, and a fifth group of six-component data collected by the six-component force measuring platform are obtained; the first x-direction calibration force data, the first y-direction calibration moment data, the fourth group of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data, and the fifth group of six-component data are substituted into the calibration formula to solve and obtain a fourth group of correction coefficients and a fifth group of correction coefficients;

[0099] After applying a z-direction calibration torque to the test axis along the z-direction of the test axis coordinate system so that the resultant force on the test axis in the y-direction is zero, the z-direction calibration torque data and the sixth group of six-component data collected by the six-component force measuring platform are obtained; the z-direction calibration torque data and the sixth group of six-component data are substituted into the calibration formula to obtain the sixth group of correction coefficients;

[0100] A correction coefficient matrix is ​​obtained based on the first group of correction coefficients, the second group of correction coefficients, the third group of correction coefficients, the fourth group of correction coefficients, the fifth group of correction coefficients and the sixth group of correction coefficients.

[0101] Furthermore, before applying a second x-direction calibration force to the test axis along the x-axis direction of the test axis coordinate system based on the second center distance, the method further includes:

[0102] Replace the loading head of the vertical tire mechanics test bench so that the distance between the center of the six-component force measuring platform and the center of the test axis in the z direction is the second center distance.

[0103] During the calibration process of a vertical tire mechanical test bench, it is often impossible to directly apply calibration force and calibration torque to the six-component force measuring platform, and applying them to the center of the tire coordinate system is also impossible or difficult. The present invention proposes to apply standard force and standard torque to the test axis, and then calculate the crosstalk factor and correction coefficient of each data channel to obtain a correction coefficient matrix, so that efficient calibration of the vertical tire mechanical test bench can be achieved based on the correction coefficient matrix.

[0104] To make the process of applying the calibration force, calibration moment and solving the correction coefficient matrix clearer, the following will be combined with the attached figure Figure 5-Figure 12 Provide further explanation.

[0105] Step 1: If Figure 5 and Figure 6 As shown, in this embodiment, a first z-direction calibration force F′ is applied to the test axis along the z-axis direction of the test axis coordinate system. z1 ;

[0106] Apply the first z-direction calibration force F' to the test axis along the z-axis direction of the test axis coordinate system. z1 Afterwards, obtaining the first z-direction calibration force data and the first group of six-component data collected by the six-component force measuring platform;

[0107] Substitute the first z-direction calibration force data and the first set of six-component data into the calibration formula to obtain the first set of correction coefficients; wherein the first set of correction coefficients includes k 31 , k 32 , k 33 , k 34 , k 35 and k 36 .

[0108] In this embodiment, the input and control of the load is realized by the loading system, that is, the first z-direction calibration force F′ is applied to the loading center along the z-axis direction of the test axis coordinate system by the loading system. z1 , the center of the standard force sensor is aligned with the loading center; at this time, there is no force and moment input in other directions.

[0109] In this embodiment, the standard force sensor is used to help determine the value of the calibration force when the calibration force is applied, so as to apply each calibration force more accurately.

[0110] Step 2: If Figure 7 As shown, based on the first step, this embodiment moves the standard force sensor along the y direction of the test axis coordinate system by a first preset distance L2; at the first preset distance L2, the loading system applies a second z-direction calibration force F′ to the test axis.z2 At this time, based on the first preset distance L2 and the second z-direction calibration force F′ z2 , and the first x-direction calibration moment M′ is applied to the test axis x1 ;in,

[0111] M′ x1 =F′ z2 L2;

[0112] At a first preset distance L2 from the origin of the test axis coordinate system in the y-axis direction of the test axis coordinate system, a second z-direction calibration force F′ is applied to the test axis along the z-axis direction of the test axis coordinate system. z2 , after applying a first x-direction calibration torque to the test axis, obtaining second z-direction calibration force data, first x-direction calibration torque data, and a second set of six-component data collected by the six-component force measuring platform;

[0113] Based on the first set of correction coefficients, the second z-direction calibration force data, the first x-direction calibration moment data and the second set of six-component data are substituted into the calibration formula to obtain a second set of correction coefficients; wherein the second set of correction coefficients includes k 41 , k 42 , k 43 , k 44 , k 45 and k 46 .

[0114] In this embodiment, the first z-direction calibration force F′ z1 and the second z-direction calibration force F′ z2 Equal in size and same in direction.

[0115] Step 3: If Figure 8 As shown, in this embodiment, based on the first center distance L1, a y-direction calibration force F′ is applied to the test axis along the y-axis direction of the test axis coordinate system by a loading cylinder. y ; Based on the first center distance L1 and the y-direction calibration force F′ y , and a second x-direction calibration moment M′ is introduced x2 ;in,

[0116] M′ x2 =F′ y L1;

[0117] Based on the first center distance L1, a y-direction calibration force F′ is applied to the test axis along the y-axis direction of the test axis coordinate system. y , to apply a second x-direction calibration moment M′ to the test axis x Afterwards, the y-direction calibration force data, the second x-direction calibration moment data and the third set of six-component data collected by the six-component force measuring platform are obtained;

[0118] Based on the second set of correction coefficients, the y-direction calibration force data, the second x-direction calibration moment data and the third set of six-component data are substituted into the calibration formula to obtain the third set of correction coefficients; wherein the third set of correction coefficients includes k 21 , k 22 , k 23 , k 24 , k 25 and k 26 .

[0119] In this embodiment, the first center distance L1 is the distance in the z direction between the center of the six-component force measuring platform and the center of the test axis.

[0120] In this embodiment, the calibration torque may be applied by, but is not limited to, a loading cylinder.

[0121] Step 4: If Fig. 9 As shown, in this embodiment, based on the first center distance L1, a first x-direction calibration force F′ is applied to the test axis along the x-axis direction of the test axis coordinate system by a loading cylinder. x1 Based on the first center distance L1 and the first x-direction calibration force F′ x1 , and the first y-direction calibration moment M′ is introduced y1 ;in,

[0122] M′ y1 =F′ x1 L1;

[0123] Based on the first center distance L1, a first x-direction calibration force F′ is applied to the test axis along the x-axis direction of the test axis coordinate system. x1 , to apply the first y-direction calibration moment M′ to the test axis y1 Afterwards, obtaining the first x-direction calibration force data, the first y-direction calibration moment data and the fourth group of six-component data collected by the six-component force measuring platform;

[0124] Afterwards, the length of the force arm is changed by calibrating the tool design, replacing the loading head, or other feasible methods, so that the distance between the center of the six-component force measuring platform and the center of the test axis in the z direction is the second center distance L2;

[0125] like Fig.10 As shown, in this embodiment, based on the second center distance L3, a second x-direction calibration force F′ is applied to the test axis along the x-axis direction of the test axis coordinate system by a loading cylinder. x2 Based on the second center distance L3 and the second x-direction calibration force F′ x2 , and a second y-direction calibration moment M′ is introduced y2 ;in,

[0126] M′ y2 =F′ x2 L3;

[0127] Based on the second center distance L3, a second x-direction calibration force F′ is applied to the test axis along the x-axis direction of the test axis coordinate system. x2 , to apply a second y-direction calibration moment M′ to the test axis y2 Afterwards, obtaining the second x-direction calibration force data, the second y-direction calibration moment data and the fifth group of six-component data collected by the six-component force measuring platform;

[0128] Substitute the first x-direction calibration force data, the first y-direction calibration moment data, the fourth group of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data and the fifth group of six-component data into the calibration formula to obtain the fourth group of correction coefficients and the fifth group of correction coefficients; wherein the fourth group of correction coefficients includes k 11 , k 12 , k 13 , k 14 , k 15 and k 16 , the fifth group of correction factors includes k 51 , k 52 , k 53 , k 54 , k 55 and k 56 .

[0129] Step 5: If Fig.11 and Fig.12 As shown, in this embodiment, a calibration torque M′ is applied to the test axis along the z-axis direction of the test axis coordinate system. z , at this time, there is only the calibration moment M′ in the z direction z of application; among which,

[0130] M′ z =F′ y1 L4+F′ y2 L5;

[0131] L4=L5;

[0132] F′ y1 =F′ y2 ;

[0133] Apply a z-direction calibration moment M' to the test axis along the z-axis direction of the test axis coordinate system. z , so that the resultant force on the test axis in the y direction is zero, and then the calibration moment data in the z direction and the sixth set of six-component data collected by the six-component force measuring platform are obtained;

[0134] Substitute the z-direction calibration moment data and the sixth group of six-component data into the calibration formula to obtain the sixth group of correction coefficients; wherein the sixth group of correction coefficients includes k 61 , k 62 , k 63 , k64 , k 65 and k 66 .

[0135] In this embodiment, F′ can be applied by two tooling torque beams, but is not limited to y1 and F′ y2 Specifically, the tooling torque beam 1 is used to apply F′ to the test axis at a second preset distance L4 between the positive half axis of the test axis coordinate system x and the origin of the test axis coordinate system. y1 , the tooling torque beam 2 is used to apply F′ to the test axis at a third preset distance L5 between the negative half axis of the test axis coordinate system x and the origin of the test axis coordinate system. y2 .

[0136] In this embodiment, F′ can be achieved by using, but not limited to, the same hydraulic power source and proportional valve adjustment. y1 and F′ y2 The directions are opposite and the magnitudes are the same so that the resultant force on the test axis in the y direction is zero.

[0137] In this embodiment, the equality of the lever arm L4 and the lever arm L5 can be achieved through, but is not limited to, tooling design and installation.

[0138] Step 6: Obtain a correction coefficient matrix based on the first group of correction coefficients, the second group of correction coefficients, the third group of correction coefficients, the fourth group of correction coefficients, the fifth group of correction coefficients and the sixth group of correction coefficients.

[0139] In this embodiment, the values ​​of the applied calibration force and calibration torque are determined according to the calibration range.

[0140] Further, in step 103, calibrating the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force measurement platform calibration data includes:

[0141] Based on the correction coefficient matrix, an inverse matrix is ​​obtained;

[0142] Matrix operations are performed based on the inverse matrix and the six-component data to be calibrated to obtain the calibration data of the six-component force measuring platform.

[0143] In this embodiment, after solving the correction coefficient matrix, the inverse matrix of the correction coefficient matrix is ​​obtained based on the correction coefficient matrix; when performing tire tests, such as tire rolling mechanics tests, the six-component data to be calibrated collected by the six-component force measuring platform is obtained, and then the inverse matrix and the six-component data to be calibrated are substituted into the third matrix relationship formula for matrix operations, so as to obtain accurately calibrated six-component force measuring platform data, that is, six-component force measuring platform calibration data.

[0144] The above calibration method only calibrates the accuracy of the data collected by the six-component force measuring platform in the vertical tire mechanical test bench. According to the relevant specifications of tire testing, the focus of tire mechanical testing is on the reaction force and reaction torque of the test tire contacting the ground area, that is, the force and torque data of the tire coordinate system. Therefore, after obtaining the calibration data of the six-component force measuring platform, it is also necessary to convert and correct the calibration data of the six-component force measuring platform to obtain the actual force and torque information of the test tire.

[0145] Furthermore, the calibration method of the vertical tire mechanics test bench further includes:

[0146] According to the force measuring platform coordinate system and the tire coordinate system, the force conversion formula is obtained;

[0147] According to the force conversion formula, the calibration data of the six-component force measuring platform is converted to obtain tire force data.

[0148] In this embodiment, according to Figure 3 The relationship between the various force coordinate systems shown can be obtained as follows:

[0149] F x =F″ x ;

[0150] F y =F″ y ;

[0151] F z =F″ z ;

[0152] M x =M″ x -F″ y (R+L1);

[0153] M y =M″ y +F″ x (R+L1);

[0154] M z =M″ z ;

[0155] In the above formula, R is the load radius of the test tire; L1 is the distance in the z direction between the center of the six-component force measuring platform and the center of the test axis.

[0156] Through the relationship between the various force coordinate systems and the above formula, it can be known that F of the tire coordinate system x 、F y 、F z 、M z Same coordinate system as the force measuring platform, only M x 、M yBased on this, after the vertical tire mechanics test bench is calibrated to obtain the calibration data of the six-component force measuring platform, the calibration data of the six-component force measuring platform needs to be converted according to the above relationship formula to obtain the tire force data.

[0157] Furthermore, the force conversion formula is specifically:

[0158] F x =F″ jx ;

[0159] F y =F″ jy ;

[0160] F z =F″ jz ;

[0161] M x =M″ jx -F″ jy (R+L1);

[0162] M y =M″ jy +F″ jx (R+L1);

[0163] M z =M″ jz ;

[0164] In the above formula, F x 、F y and F z To test the forces on the tire in the x, y and z directions; M x 、M y and M z To test the moment of force on the tire in the x, y and z directions; F″ jx , F″ jy , F″ jz , M″ jx , M″ jy and M″ jy is the calibration data of the six-component force measuring platform; R is the load radius of the test tire; L1 is the distance in the z direction between the center of the six-component force measuring platform and the center of the test axis.

[0165] The existing published calibration method only considers the coordinate system data of the force measuring platform body, and directly uses the corrected data collected by the force measuring platform body as the force data information of the test tire, and does not consider the influence of the non-coincidence between the force measuring platform coordinate system and the tire coordinate system on the torque, that is, the influence of the distance between the force measuring platform coordinate system and the tire coordinate system, so that it cannot truly reflect the actual situation of the tire test and even affects the accuracy of the tire test data; after calibrating the data obtained by the six-component force measuring platform of the vertical tire mechanical test bench, the present invention further converts and corrects the calibration data, eliminates the influence of the distance between the center of the force measuring platform coordinate system and the center of the tire coordinate system, avoids the influence of the non-coincidence between the tire coordinate system and the force measuring platform coordinate system on the torque, thereby improving the accuracy of the tire test, and can more scientifically and truly reflect the actual situation of the tire test.

[0166] Furthermore, a calibration force or calibration torque is applied to the test shaft through a loading system, or a loading cylinder, or a tooling torque beam, or a hydraulic power source, or a proportional valve.

[0167] In this embodiment, the structure proposed by the present invention is not limited thereto, and the tooling structure for applying the calibration force or calibration torque can be designed according to the specific structure of the test bench.

[0168] Accordingly, the embodiment of the present invention also provides a calibration system for a vertical tire mechanical test bench. Fig.13 , Fig.13 A schematic structural diagram of a calibration system for a vertical tire mechanics test bench provided in an embodiment of the present invention.

[0169] like Fig.13 As shown, the calibration system 20 of the vertical tire mechanical test bench includes: a matrix solving module 201, a data acquisition module 202 and a data calibration module 203;

[0170] The matrix solving module 201 is used to obtain the calibration force data, the calibration moment data and the six-component data collected by the six-component force measuring platform after applying the calibration force and the calibration moment to the vertical tire mechanical test bench based on the test axis coordinate system, and substitute the calibration force data, the calibration moment data and the six-component data into the preset calibration formula to solve and obtain the correction coefficient matrix;

[0171] The data acquisition module 202 is used to acquire the six-component data to be calibrated collected by the six-component force measuring platform when performing tire testing;

[0172] The data calibration module 203 is used to calibrate the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force measuring platform calibration data.

[0173] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the calibration method of the vertical tire mechanical test bench as described in any one of the above items are implemented.

[0174] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0175] Compared with the prior art, which requires the six-component force measuring platform and other components to be disassembled from the test bench, and the six-component force measuring platform, digital acquisition channel and digital acquisition instrument to be calibrated separately, the calibration efficiency is low and affects the measurement accuracy. The present invention applies calibration force and calibration torque to the vertical tire mechanical test bench to obtain a correction coefficient matrix, wherein the correction coefficient matrix includes the influencing factors and correction coefficients of each signal channel, and takes into account the error interference between signal channels. The data collected by the six-component force measuring platform is calibrated according to the correction coefficient matrix to obtain the calibration data of the six-component force measuring platform, so that the six-component force measuring platform, digital acquisition instrument, signal channel and display can be calibrated as a whole without disassembling the force measuring platform to achieve the overall calibration of the vertical tire mechanical test bench, which can avoid the installation error caused by the disassembly and assembly of the six-component force measuring platform affecting the measurement accuracy of the tire test, improve the data accuracy of the vertical tire mechanical test bench, and improve the calibration efficiency of the vertical tire mechanical test bench.

[0176] In addition, the present invention converts the force measuring platform coordinate system data into tire coordinate system data according to the relationship between the coordinate systems, thereby eliminating the influence of the distance between the center of the force measuring platform coordinate system and the center of the tire coordinate system.

[0177] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A calibration method for a vertical tire mechanical test bench, characterized in that: include: After applying the calibration force and calibration torque to the vertical tire mechanical test bench based on the test axis coordinate system, the calibration force data, calibration torque data and six-component data collected by the six-component force measuring platform are obtained, and the calibration force data, calibration torque data and six-component data are substituted into the preset calibration formula to solve and obtain the correction coefficient matrix; When performing tire testing, obtaining six-component data to be calibrated collected by a six-component force measuring platform; The six-component data to be calibrated are calibrated based on the correction coefficient matrix to obtain six-component force measuring platform calibration data.

2. A calibration method for a vertical tire mechanical test bench as claimed in claim 1, characterized in that: After applying the calibration force and calibration torque to the vertical tire mechanical test bench based on the test axis coordinate system, the calibration force data, the calibration torque data and the six-component data collected by the six-component force measuring platform are obtained, and the calibration force data, the calibration torque data and the six-component data are substituted into a preset calibration formula to solve and obtain a correction coefficient matrix, including: After applying a first z-direction calibration force to the test axis along the z-axis direction of the test axis coordinate system, obtaining first z-direction calibration force data and a first group of six-component data collected by the six-component force measuring platform; substituting the first z-direction calibration force data and the first group of six-component data into the calibration formula to obtain a first group of correction coefficients; At a first preset distance from the origin of the test axis coordinate system in the y-axis direction of the test axis coordinate system, a second z-direction calibration force is applied to the test axis along the z-direction of the test axis coordinate system, so as to apply a first x-direction calibration moment to the test axis, and then obtain second z-direction calibration force data, first x-direction calibration moment data, and a second group of six-component data collected by the six-component force measuring platform; based on the first group of correction coefficients, the second z-direction calibration force data, the first x-direction calibration moment data, and the second group of six-component data are substituted into the calibration formula to obtain a second group of correction coefficients; After applying a y-direction calibration force to the test axis along the y-axis direction of the test axis coordinate system based on the first center distance to apply a second x-direction calibration moment to the test axis, y-direction calibration force data, second x-direction calibration moment data, and a third group of six-component data collected by the six-component force measuring platform are obtained; based on the second group of correction coefficients, the y-direction calibration force data, the second x-direction calibration moment data, and the third group of six-component data are substituted into the calibration formula to obtain a third group of correction coefficients; After applying a first x-direction calibration force to the test axis along the x-axis direction of the test axis coordinate system based on the first center distance to apply a first y-direction calibration moment to the test axis, first x-direction calibration force data, first y-direction calibration moment data, and a fourth group of six-component data collected by the six-component force measuring platform are obtained; after applying a second x-direction calibration force to the test axis along the x-direction of the test axis coordinate system based on the second center distance to apply a second y-direction calibration moment to the test axis, second x-direction calibration force data, second y-direction calibration moment data, and a fifth group of six-component data collected by the six-component force measuring platform are obtained; the first x-direction calibration force data, the first y-direction calibration moment data, the fourth group of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data, and the fifth group of six-component data are substituted into the calibration formula to solve and obtain a fourth group of correction coefficients and a fifth group of correction coefficients; After applying a z-direction calibration torque to the test axis along the z-direction of the test axis coordinate system so that the resultant force on the test axis in the y-direction is zero, the z-direction calibration torque data and the sixth group of six-component data collected by the six-component force measuring platform are obtained; the z-direction calibration torque data and the sixth group of six-component data are substituted into the calibration formula to obtain the sixth group of correction coefficients; A correction coefficient matrix is ​​obtained based on the first group of correction coefficients, the second group of correction coefficients, the third group of correction coefficients, the fourth group of correction coefficients, the fifth group of correction coefficients and the sixth group of correction coefficients.

3. The calibration method of a vertical tire mechanical test bench according to claim 2, characterized in that: Before applying a second x-direction calibration force to the test axis along the x-axis direction of the test axis coordinate system based on the second center distance, the method further includes: Replace the loading head of the vertical tire mechanics test bench so that the distance between the center of the six-component force measuring platform and the center of the test axis in the z direction is the second center distance.

4. The calibration method of a vertical tire mechanical test bench according to claim 1, characterized in that: The calibration formula is specifically: In the above formula, subscript 1, subscript 2, subscript 3, subscript 4, subscript 5, and subscript 6 represent the x-direction force signal channel, the y-direction force signal channel, the z-direction force signal channel, the x-direction moment signal channel, the y-direction moment signal channel, and the z-direction moment signal channel, respectively; k nm is the influence factor of the n signal channel data on the m signal channel, k nn is the correction coefficient of the n signal channel, and the correction coefficient matrix includes k nm and k nn ; F x "、F y " and F z " is the force in the x, y and z directions collected by the six-component force measurement platform; M x " x 、M y " and M z " is the torque in the x, y and z directions collected by the six-component force measurement platform; F x ′ 、F y ′ and F z ′ is the calibration force in the x, y and z directions applied to the test axis, M x ′ x 、M y ′ and M z ′ are the calibration moments in the x, y and z directions applied to the test axis.

5. The calibration method of a vertical tire mechanical test bench according to claim 1, characterized in that: Also includes: According to the force measuring platform coordinate system and the tire coordinate system, the force conversion formula is obtained; According to the force conversion formula, the calibration data of the six-component force measuring platform is converted to obtain tire force data.

6. A calibration method for a vertical tire mechanical test bench as claimed in claim 5, characterized in that: The force conversion formula is specifically: F x =F " jx ; F y =F " jy ; F z =F " jz ; M x =M " jx -F " jy (R+L1); M y =M " jy +F " jx (R+L1); M z =M " jz ; In the above formula, F x 、F y and F z To test the forces on the tire in the x, y and z directions; M x 、M y and M z To test the moment of force on the tire in the x, y and z directions; F j " x 、F j " y 、F j " z 、M j " x 、M j " y and M j " y is the calibration data of the six-component force measuring platform; R is the load radius of the test tire; L1 is the distance in the z direction between the center of the six-component force measuring platform and the center of the test axis.

7. The calibration method of a vertical tire mechanical test bench according to claim 1, characterized in that: The calibration force or calibration torque is applied to the test axis through the loading system, or the loading cylinder, or the tooling torque beam, or the hydraulic power source, or the proportional valve.

8. The calibration method of a vertical tire mechanical test bench according to claim 1, characterized in that: The step of calibrating the six-component data to be calibrated based on the correction coefficient matrix to obtain calibration data of the six-component force measuring platform includes: Based on the correction coefficient matrix, an inverse matrix is ​​obtained; Matrix operations are performed based on the inverse matrix and the six-component data to be calibrated to obtain the calibration data of the six-component force measuring platform.

9. A calibration system for a vertical tire mechanical test bench, characterized in that: include: Matrix solving module, data acquisition module and data calibration module; The matrix solving module is used to obtain the calibration force data, the calibration moment data and the six-component data collected by the six-component force measuring platform after applying the calibration force and the calibration moment to the vertical tire mechanical test bench based on the test axis coordinate system, and substitute the calibration force data, the calibration moment data and the six-component data into the preset calibration formula to solve and obtain the correction coefficient matrix; The data acquisition module is used to acquire the six-component data to be calibrated collected by the six-component force measuring platform when performing tire testing; The data calibration module is used to calibrate the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force measuring platform calibration data.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the calibration method of the vertical tire mechanical testing bench according to any one of claims 1 to 8 are implemented.

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