A calibration method, system and terminal equipment of a vertical tire mechanics test bench

Abstract

The application discloses a kind of vertical tire mechanics test bench's calibration method, system and terminal equipment, the calibration method includes: after applying calibration force and calibration moment to vertical tire mechanics test bench based on test axle coordinate system, six-component data collected by six-component force platform of calibration force data, calibration moment data and six-component data are obtained, calibration force data, calibration moment data and six-component data are substituted into the calibration formula of pre-set, and correction coefficient matrix is obtained by solving;When tire testing is carried out, the six-component data to be calibrated collected by six-component force platform is obtained;The six-component data to be calibrated is calibrated based on the correction coefficient matrix, and six-component force platform calibration data is obtained.The application can calibrate vertical tire mechanics test bench as a whole without disassembling force platform, can avoid the influence of installation error generated by six-component force platform disassembly on the measurement accuracy of tire testing, and improve the calibration efficiency of vertical tire mechanics test bench.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of force platform calibration, and in particular to a vertical tire mechanics test bench calibration method, system and terminal device. BACKGROUND

[0002] With the rapid development of sensor technology, six-component force platforms are increasingly used to meet the testing needs of three-dimensional forces and three-dimensional moments in the field of mechanics testing. Common vertical tire mechanics test benches, as shown in Figure 1 and Figure 2 , mainly consist of a loading head, a test shaft, a loading system for applying radial loads to the test tire, a six-component force platform for collecting force and moment data of the test tire, and a rotating hub for simulating a slip road surface. The six-component force platform is usually composed of several three-component force sensors. The force and moment data acquisition system of the vertical tire mechanics test bench mainly consists of a six-component force platform and a data acquisition instrument. Some test benches may have a display according to actual needs. The six-component force platform transmits the collected data to the data acquisition instrument through multiple signal channels, and the data acquisition instrument transmits the data to the display through multiple signal channels. The vertical tire mechanics test bench has three force coordinate systems, the directions of which are determined by the right-hand rule, as shown in Figure 3 . The three force coordinate systems include the force platform coordinate system, the test shaft coordinate system, and the tire coordinate system.

[0003] Many testing units and equipment development units have developed calibration methods for six-component force 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 collected force and moment during tire testing. In the actual use of tire mechanics testing equipment, to obtain accurate test data, not only the six-component force platform itself needs to be calibrated, but also the accuracy of the data acquisition channel, data acquisition instrument, and display system needs to be considered. In order to eliminate the above errors and influences, the data acquisition channel and data acquisition instrument should also be calibrated when the six-component force platform is calibrated separately.

[0004] However, the existing calibration methods are all for the accuracy calibration of the six-component force platform itself, and the data of the force platform coordinate system are calibrated without overall considering the error interference of the data acquisition channel, the data acquisition instrument and the display system. Moreover, the existing published calibration methods only consider the data of the force platform body coordinate system, directly take the corrected data of the force platform body as the force data information of the tested tire, and do not consider the influence of the non-coincidence of the force platform coordinate system and the tire coordinate system on the torque, i.e. the distance between the force platform coordinate system and the tire coordinate system, according to the relevant specifications of tire testing, the focus of tire mechanics testing is the reaction force and reaction torque of the tested tire contact area, i.e. the force and torque data of the tire coordinate system, and therefore the obtained tire torque information needs to be further converted and corrected.

[0005] In addition, the existing calibration methods need to disassemble the six-component force platform from the test bench and assemble it on a special calibration bench for calibration, but when the test bench is put into use, the disassembly and assembly of the six-component force platform is not easy, and the disassembly and assembly will affect the measurement accuracy due to installation errors. SUMMARY

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

[0007] To solve the above technical problems, the present application provides a vertical tire mechanics test bench calibration method, comprising:

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

[0009] When testing the tire, the to-be-calibrated six-component data collected by the six-component force platform are obtained;

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

[0011] The present application has the following advantages:

[0012] Compared with the prior art, the six-component force platform and other components need to be detached from the test bench, and the calibration of the six-component force platform, the data acquisition channel and the data acquisition instrument is separately carried out, the calibration efficiency is low and the measurement precision is affected, the correction coefficient matrix is solved by applying the calibration force and the calibration moment to the vertical tire mechanics test bench, the data collected by the six-component force platform is calibrated according to the correction coefficient matrix, the six-component force platform calibration data are obtained, thereby the vertical tire mechanics test bench can be calibrated as a whole without detaching the force platform, the installation error of the six-component force platform caused by disassembly can be avoided to affect the measurement precision of the tire test, and the calibration efficiency of the vertical tire mechanics test bench is improved.

[0013] As a preferred solution, after the calibration force and the calibration moment are applied to the vertical tire mechanics test bench based on the test shaft coordinate system, the calibration force data, the calibration moment data and the six-component data collected by the six-component force platform are obtained, the calibration force data, the calibration moment data and the six-component data are substituted into the preset calibration formula, and the correction coefficient matrix is solved, including:

[0014] After the first z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system, the first z-direction calibration force data and the first set of six-component data collected by the six-component force platform are obtained; the first z-direction calibration force data and the first set of six-component data are substituted into the calibration formula, and the first set of correction coefficients is solved;

[0015] After the second z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system at the first preset distance from the origin of the test shaft coordinate system, the first x-direction calibration moment is applied to the test shaft, the second z-direction calibration force data, the first x-direction calibration moment data and the second set of six-component data collected by the six-component force platform are obtained; 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, and the second set of correction coefficients is obtained;

[0016] After the y-direction calibration force is applied to the test shaft in the y-axis direction of the test shaft coordinate system based on the first center distance, the second x-direction calibration moment is applied to the test shaft, 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 platform are obtained; 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, and the third set of correction coefficients is obtained;

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

[0018] After the z-direction calibration moment is applied to the test shaft along the z-axis direction of the test shaft coordinate system to make the resultant force in the y-direction of the test shaft zero, z-direction calibration moment data and a sixth set of six-component data collected by the six-component force platform are obtained; the z-direction calibration moment data and the sixth set of six-component data are substituted into the calibration formula to obtain the sixth set of correction coefficients;

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

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

[0021] The loading head of the vertical tire mechanics test bench is replaced so that the distance between the center of the six-component force platform and the center of the test shaft 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, the subscripts 1, 2, 3, 4, 5, and 6 respectively 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; is an influence factor of n signal channel data on m signal channel, is a correction coefficient of n signal channel, and the correction coefficient matrix includes ; 、 and are forces in the x, y, and z directions collected by the six-component force platform; , and are moments of force in the x, y and z directions collected by the six-component force platform; , and are calibration forces in the x, y and z directions applied to the test shaft, , and are calibration moments of force in the x, y and z directions applied to the test shaft.

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

[0026] obtaining a force conversion formula according to the force platform coordinate system and the tire coordinate system;

[0027] converting the six-component force platform calibration data according to the force conversion formula to obtain tire force data.

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

[0029] ;

[0030] ;

[0031] ;

[0032] ;

[0033] ;

[0034] ;

[0035] In the above formula, , and are forces in the x, y and z directions received by the test tire; , and are moments of force in the x, y and z directions received by the test tire; , , , , and are six-component force platform calibration data; is the load radius of the test tire; is the z-direction distance between the center of the six-component force platform and the center of the test shaft.

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

[0037] As a preferred solution, the six-component data to be calibrated is calibrated based on the correction coefficient matrix to obtain six-component force platform calibration data.

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

[0039] Based on the inverse matrix and the six-component data to be calibrated, matrix operation is performed to obtain the six-component force platform calibration data.

[0040] Correspondingly, to solve the above technical problems, the application further provides a calibration system of a vertical tire mechanics 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 calibration force data, calibration torque data and six-component data collected by a six-component force platform after the calibration force and the calibration torque are applied to the vertical tire mechanics test bench based on a test shaft coordinate system, and to substitute the calibration force data, the calibration torque data and the six-component data into a preset calibration formula to obtain a correction coefficient matrix by solving.

[0042] The data acquisition module is used to acquire six-component data to be calibrated collected by the six-component force platform during 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 platform calibration data.

[0044] The application further provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the calibration method of the vertical tire mechanics test bench according to any one of the above embodiments when executing the program. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 FIG. 1 is a side view of a vertical tire mechanics test bench according to an embodiment of the application;

[0046] Figure 2 FIG. 2 is a front view of the vertical tire mechanics test bench according to the embodiment of the application;

[0047] Figure 3 FIG. 3 is a schematic view of a force coordinate system of the vertical tire mechanics test bench according to the embodiment of the application;

[0048] Figure 4A flowchart of a calibration method of a vertical tire mechanics test bench provided by the embodiment of the present application is shown in the figure.

[0049] Figure 5 A side view of applying a first z-direction calibration force to a test shaft provided by the embodiment of the present application is shown in the figure.

[0050] Figure 6 A front view of applying a first z-direction calibration force to a test shaft provided by the embodiment of the present application is shown in the figure.

[0051] Figure 7 A schematic view of applying a second z-direction calibration force and a first x-direction calibration moment to a test shaft provided by the embodiment of the present application is shown in the figure.

[0052] Figure 8 A schematic view of applying a y-direction calibration force and a second x-direction calibration moment to a test shaft provided by the embodiment of the present application is shown in the figure.

[0053] Figure 9 A schematic view of applying a first x-direction calibration force and a first y-direction calibration moment to a test shaft provided by the embodiment of the present application is shown in the figure.

[0054] Figure 10 A schematic view of applying a second x-direction calibration force and a second y-direction calibration moment to a test shaft provided by the embodiment of the present application is shown in the figure.

[0055] Figure 11 A front view of applying a z-direction calibration moment to a test shaft provided by the embodiment of the present application is shown in the figure.

[0056] Figure 12 A top view of applying a z-direction calibration moment to a test shaft provided by the embodiment of the present application is shown in the figure.

[0057] Figure 13 A structure schematic view of a calibration system of a vertical tire mechanics test bench provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0059] Embodiment one

[0060] Please refer to Figure 4 , Figure 4 A flowchart of a calibration method of a vertical tire mechanics test bench provided by the embodiment of the present application is shown in the figure.

[0061] As Figure 4 shown in the figure, the calibration method of the vertical tire mechanics test bench comprises steps 101 to 103, specifically:

[0062] Step 101: After applying calibration force and calibration torque to the vertical tire mechanics 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 platform, and substitute the calibration force data, calibration torque data and six-component data into the preset calibration formula to obtain a correction coefficient matrix by solving;

[0063] Step 102: During tire testing, obtain the to-be-calibrated six-component data collected by the six-component force platform;

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

[0065] Compared with the prior art which needs to disassemble the six-component force platform and other components from the test bench and calibrate the six-component force platform, data acquisition channel and data acquisition instrument separately, the calibration efficiency is low and the measurement accuracy is affected. The present application obtains a correction coefficient matrix by applying calibration force and calibration torque to the vertical tire mechanics test bench, calibrates the data collected by the six-component force platform according to the correction coefficient matrix, and obtains six-component force platform calibration data, so that the vertical tire mechanics test bench can be calibrated as a whole without disassembling the force platform, the installation error of the six-component force platform during disassembly can be avoided to affect the measurement accuracy of tire testing, and the calibration efficiency of the vertical tire mechanics test bench is improved.

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

[0067] = ;

[0068] In the above formula, subscripts 1, 2, 3, 4, 5 and 6 respectively represent x-direction force signal channels, y-direction force signal channels, z-direction force signal channels, x-direction torque signal channels, y-direction torque signal channels and z-direction torque signal channels; is an influence factor of n signal channel data on m signal channels, is a correction coefficient of n signal channel, and the correction coefficient matrix comprises ; , and are forces in x, y and z directions collected by the six-component force platform; , and are torques in x, y and z directions collected by the six-component force platform; , and are calibration forces in x, y and z directions applied to the test shaft, , and are calibration torques in x, y and z directions applied to the test shaft.

[0069] In the embodiment, the correction coefficient matrix including the influence factors and correction coefficients of each signal channel and considering the error interference between the signal channels is obtained by applying the calibration forces and the calibration torques to the vertical tire mechanics test bench. Since the data transmission between the six-component force platform, the data acquisition instrument and the test bench display is through the signal channel, the data collected by the six-component force platform is calibrated by the correction coefficient matrix obtained by the application, the six-component force platform, the signal channel, the data acquisition instrument and the test bench display can be calibrated at the same time, the overall calibration of the vertical tire mechanics test bench is realized, the six-component force platform and other components do not need to be disassembled, the data acquisition instrument, the test bench display and other components do not need to be calibrated separately, the disassembly of the six-component force platform affecting the test precision is avoided, the error interference of the signal channel and the display is considered, and then the calibration efficiency can be improved and the accuracy of the test force and torque of the vertical tire mechanics test bench is ensured.

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

[0071] ;

[0072] ;

[0073] ;

[0074] ;

[0075] ;

[0076] ;

[0077] In the above formula, , , , , and are the data collected by the vertical tire mechanics test bench through the six-component force platform; , , , , and is the calibration force and calibration moment, i.e. the standard force and standard moment, applied to the test shaft; the subscripts 1, 2, 3, 4, 5, 6 respectively represent each signal channel; is the influence factor of n signal channel data on m signal channel, i.e. the crosstalk factor, is the correction coefficient of n signal channel.

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

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

[0080] , , ;

[0081] The first matrix relationship formula can be obtained as follows:

[0082] ;

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

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

[0085] ;

[0086] The second matrix relationship formula can be further obtained as follows:

[0087] ;

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

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

[0090] ;

[0091] ;

[0092] In the above formula, is a six-component force platform calibration matrix; 、 、 、 、 and is a six-component force platform calibration data.

[0093] To calibrate the opposed tire mechanics test bench, it is necessary to solve the correction coefficient matrix. How to solve the correction coefficient matrix will be explained below.

[0094] Further, in step 101, after the calibration force and the calibration moment are applied to the opposed tire mechanics test bench based on the test shaft coordinate system, the calibration force data, the calibration moment data and the six-component data collected by the six-component force platform are obtained, and the calibration force data, the calibration moment data and the six-component data are substituted into the preset calibration formula to obtain the correction coefficient matrix, including:

[0095] After a first z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system, the first z-direction calibration force data and the first set of six-component data collected by the six-component force platform are obtained; the first z-direction calibration force data and the first set of six-component data are substituted into the calibration formula to obtain the first set of correction coefficients;

[0096] After a second z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system at a first preset distance from the origin of the test shaft coordinate system, a first x-direction calibration moment is applied to the test shaft, the second z-direction calibration force data, the first x-direction calibration moment data and the second set of six-component data collected by the six-component force platform are obtained; 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 the second set of correction coefficients;

[0097] After a y-direction calibration force is applied to the test shaft in the y-axis direction of the test shaft coordinate system based on the first center distance, a second x-direction calibration moment is applied to the test shaft, 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 platform are obtained; 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;

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

[0099] After the z-direction calibration moment is applied to the test shaft along the z-axis direction of the test shaft coordinate system to make the resultant force in the y direction of the test shaft zero, z-direction calibration moment data and a sixth set of six-component data collected by the six-component force platform are obtained; the z-direction calibration moment data and the sixth set of six-component data are substituted into the calibration formula to obtain the sixth set of correction coefficients;

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

[0101] Further, before the second x-direction calibration force is applied to the test shaft along the x-axis direction of the test shaft coordinate system based on the second center distance, the method further comprises:

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

[0103] In the calibration process of the vertical tire mechanics test bench, it is often impossible to directly apply a calibration force and a calibration moment to the six-component force platform, and it is also impossible or difficult to apply a calibration force and a calibration moment to the center of the tire coordinate system. The present application proposes to apply a standard force and a standard moment to the test shaft, and then calculate the crosstalk factor and the correction coefficient of each data channel to obtain the correction coefficient matrix. Based on the correction coefficient matrix, efficient calibration of the vertical tire mechanics test bench can be realized.

[0104] To make the process of applying a calibration force, a calibration moment, and solving a correction coefficient matrix clearer, the following will be further described with reference to the accompanying drawings Figures 5-12 .

[0105] First step: as shown in Figure 5 and Figure 6 , a first z-direction calibration force is applied to the test shaft along the z-axis direction of the test shaft coordinate system.

[0106] applying a first z-direction calibration force to the test shaft in the z-axis direction of the test shaft coordinate system Afterwards, first z-direction calibration force data and a first set of six-component data collected by the six-component force platform are obtained;

[0107] The first z-direction calibration force data and the first set of six-component data are substituted into the calibration formula to obtain a first set of correction coefficients; wherein the first set of correction coefficients includes 、 、 、 、 and .

[0108] In the present embodiment, the loading system is used to input and control the load, i.e. the loading system applies a first z-direction calibration force to the loading center in the z-axis direction of the test shaft coordinate system , the standard force sensor center is aligned with the loading center; at this time, there is no force and torque input in other directions.

[0109] In the present 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 more accurately apply each calibration force.

[0110] Step 2: as shown in Figure 7 , on the basis of step 1, the present embodiment moves the standard force sensor along the y-axis direction of the test shaft coordinate system by a first preset distance ; at the first preset distance , the loading system applies a second z-direction calibration force to the test shaft ; at this time, based on the first preset distance and the second z-direction calibration force , a first x-direction calibration torque is also applied to the test shaft ; wherein

[0111] ;

[0112] At the first preset distance from the origin of the test shaft coordinate system in the y-axis direction of the test shaft coordinate system, a second z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system , after the first x-direction calibration torque is applied to the test shaft, 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 platform are obtained;

[0113] Based on the first set of correction coefficients, the second z-direction calibration force data, the first x-direction calibration torque 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 , , , , and .

[0114] In this embodiment, the first z-axis calibration force Second z-axis calibration force They are equal in size and have the same orientation.

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

[0116] ;

[0117] Based on the first center distance A y-axis calibration force is applied to the test axis along the y-axis direction of the test axis coordinate system. To apply a second x-axis calibration torque to the test axis. Then, acquire the y-axis calibration force data, the second x-axis calibration torque data, and the third set of six-component data collected by the six-component force measurement platform;

[0118] Based on the second set of correction coefficients, the y-axis calibration force data, the second x-axis calibration torque 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 , , , , and .

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

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

[0121] Step 4: As Figure 9 As shown, this embodiment is based on the first center distance. A first x-axis calibration force is applied to the test axis by the loading cylinder along the x-axis direction of the test axis coordinate system. Based on the first center distance and the first x-axis calibration force , a first y-direction calibration moment is introduced ; wherein,

[0122] ;

[0123] A first x-direction calibration force is applied to the test shaft along the x-axis direction of the test shaft coordinate system based on the first center distance , a first y-direction calibration moment is introduced to the test shaft ; After the first x-direction calibration force data, the first y-direction calibration moment data, and the fourth set of six-component data collected by the six-component force platform are obtained

[0124] Then, the length of the force arm is changed by changing the loading head or by other feasible ways, so that the distance between the center of the six-component force platform and the center of the test shaft in the z direction is a second center distance ;

[0125] As shown in Figure 10 , based on the second center distance , a second x-direction calibration force is applied to the test shaft along the x-axis direction of the test shaft coordinate system by loading the oil cylinder ; based on the second center distance and the second x-direction calibration force , a second y-direction calibration moment is introduced ; wherein,

[0126] ;

[0127] A second x-direction calibration force is applied to the test shaft along the x-axis direction of the test shaft coordinate system based on the second center distance , a second y-direction calibration moment is introduced to the test shaft ; After the second x-direction calibration force data, the second y-direction calibration moment data, and the fifth set of six-component data collected by the six-component force platform are obtained

[0128] The first x-direction calibration force data, the first y-direction calibration moment data, the fourth set of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data, and the fifth set of six-component data are substituted into the calibration formula to obtain the fourth set of correction coefficients and the fifth set of correction coefficients; wherein, the fourth set of correction coefficients includes , , , , and , and the fifth set of correction coefficients includes , , , 、 and .

[0129] Fifth step: as shown in Figure 11 and Figure 12 , the embodiment applies a z-direction calibration moment to the test shaft along the z-axis direction of the test shaft coordinate system, at this time only the z-direction calibration moment is applied; wherein,

[0130] ;

[0131] = ;

[0132] = ;

[0133] After applying a z-direction calibration moment to the test shaft along the z-axis direction of the test shaft coordinate system, so that the resultant force in the y direction of the test shaft is zero, the z-direction calibration moment data and the sixth group of six-component data collected by the six-component force 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 、 、 、 、 and .

[0135] In this embodiment, but not limited to, the and can be applied by two tool torque beams. Specifically, the is applied to the test shaft by the tool torque beam 1 at a second preset distance from the origin of the test shaft coordinate system along the positive half-axis of the test shaft coordinate system, and the is applied to the test shaft by the tool torque beam 2 at a third preset distance from the origin of the test shaft coordinate system along the negative half-axis of the test shaft coordinate system.

[0136] In this embodiment, but not limited to, the and directions are opposite and the same in size by using the same hydraulic power source and proportional valve adjustment, so that the resultant force in the y direction of the test shaft is zero.

[0137] In this embodiment, but not limited to, the force arm With the force arm Equal.

[0138] Sixth step: obtaining 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 the calibration moment are determined according to the calibration range.

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

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

[0142] Based on the inverse matrix and the six-component data to be calibrated, matrix operation is performed to obtain the six-component force platform calibration data.

[0143] In this embodiment, after the correction coefficient matrix is obtained, based on the correction coefficient matrix, an inverse matrix of the correction coefficient matrix is obtained; when performing tire testing, such as tire rolling mechanics test, the six-component data to be calibrated collected by the six-component force platform is obtained, and then the inverse matrix and the six-component data to be calibrated are substituted into the third matrix relationship formula to perform matrix operation, so that the calibrated six-component force platform data, i.e. the six-component force platform calibration data, is obtained.

[0144] The above calibration method only calibrates the accuracy of the data collected by the six-component force platform of the vertical tire mechanics test bench, but according to the relevant specifications of tire testing, the focus of tire mechanics testing is the reaction force and reaction moment of the tire contact area with the ground, i.e. the force and moment data of the tire coordinate system, therefore, after obtaining the six-component force platform calibration data, the six-component force platform calibration data needs to be converted and corrected to obtain the real force and moment information of the test tire.

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

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

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

[0148] In this embodiment, according to the relationship of each force coordinate system as shown in Figure 3 The following relationship formula can be obtained:

[0149] ;

[0150] ;

[0151] ;

[0152] ;

[0153] ;

[0154] ;

[0155] In the above formula, is the tire load radius; is the z-direction distance between the six-component force platform center and the test shaft center.

[0156] Through the relationship of each force coordinate system and the above formula, it can be known that the tire coordinate system , , , is the same as the force platform coordinate system, and only , needs to be converted and calibrated. Based on this, after the calibration of the vertical tire mechanics test bench is carried out and the six-component force platform calibration data is obtained, the six-component force platform calibration data needs to be converted according to the above relationship formula to obtain the tire force data.

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

[0158] ;

[0159] ;

[0160] ;

[0161] ;

[0162] ;

[0163] ;

[0164] In the above formula, , and are the forces received by the test tire in the x, y and z directions; , and are the moments received by the test tire in the x, y and z directions; , , , , and is six-component force platform calibration data; is the test tire load radius; is the z-direction distance between the six-component force platform center and the test shaft center.

[0165] The existing published calibration method only considers the force platform body coordinate system data, directly uses the corrected data collected by the force platform body as the force data information of the test tire, and does not consider the influence of the distance between the force platform coordinate system and the tire coordinate system on the torque, that is, the influence of the distance between the force platform coordinate system and the tire coordinate system, so that the actual situation of the tire test cannot be truly reflected, and even the accuracy of the tire test data is affected; the present application further converts and corrects the calibration data after the data obtained by the six-component force platform of the vertical tire mechanics test stand, eliminates the influence of the distance between the force platform coordinate system center and the tire coordinate system center, avoids the influence of the distance between the tire coordinate system and the force platform coordinate system on the torque, and further improves the accuracy of the tire test, so that the actual situation of the tire test can be more scientifically and truly reflected.

[0166] Further, the calibration force or the calibration torque is applied to the test shaft by a loading system, or a loading oil cylinder, or a tool torque beam, or a hydraulic power source and a proportional valve.

[0167] In the present embodiment, the tool structure for applying the calibration force or the calibration torque is not limited to the structure proposed by the present application, and can be designed according to the specific structure of the test stand.

[0168] Correspondingly, the present application also provides a calibration system of a vertical tire mechanics test stand. Please refer to Figure 13 , Figure 13 for a structure diagram of the calibration system of the vertical tire mechanics test stand provided by the present application.

[0169] As shown in Figure 13 , the calibration system 20 of the vertical tire mechanics test stand comprises 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 calibration force data, calibration torque data and six-component data collected by the six-component force platform after the calibration force and the calibration torque are applied to the vertical tire mechanics test stand based on the test shaft coordinate system, and substitute the calibration force data, the calibration torque data and the six-component data into a preset calibration formula to obtain a correction coefficient matrix.

[0171] The data acquisition module 202 is used to acquire the to-be-calibrated six-component data collected by the six-component force platform during the tire test.

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

[0173] The application further provides a terminal device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the calibration method of the vertical tire mechanics test bench according to any one of the above.

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

[0175] Compared with the prior art, the six-component force platform and other components need to be detached from the test bench, and the calibration of the six-component force platform, the data acquisition channel, and the data acquisition instrument is performed separately, which is low in calibration efficiency and affects the measurement accuracy. The application obtains the correction coefficient matrix by applying the calibration force and the calibration moment to the vertical tire mechanics test bench, wherein the correction coefficient matrix comprises the influence factors and the correction coefficients of each signal channel, considers the error interference influence between the signal channels, calibrates the data collected by the six-component force platform according to the correction coefficient matrix to obtain the six-component force platform calibration data, so that the six-component force platform, the data acquisition instrument, the signal channel, and the display can be calibrated as a whole without detaching the force platform, to realize the overall calibration of the vertical tire mechanics test bench, avoid the installation error of the six-component force platform caused by disassembly from affecting the measurement accuracy of the tire test, improve the data accuracy of the vertical tire mechanics test bench, and improve the calibration efficiency of the vertical tire mechanics test bench.

[0176] In addition, the application converts the force platform coordinate system data into the tire coordinate system data according to the relationship between the coordinate systems, and eliminates the influence of the distance between the force platform coordinate system center and the tire coordinate system center.

[0177] The above-described specific embodiments further illustrate the purpose, technical solutions, and beneficial effects of the application. It should be understood that the above-described specific embodiments are merely examples of the application and are not intended to limit the protection scope of the application. It should be particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A method of calibrating a vertical tire mechanics test stand, characterized in that, The application relates to a method for calibrating a vertical tire mechanics test bench. After calibration forces and calibration moments are applied to the vertical tire mechanics test bench based on a test shaft coordinate system, calibration force data, calibration moment data and six-component data collected by a six-component force platform are obtained, the calibration force data, the calibration moment data and the six-component data are substituted into a preset calibration formula, and a correction coefficient matrix is obtained by solving; wherein, after a first z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system in the vertical tire mechanics test bench, first z-direction calibration force data and a first set of six-component data collected by the six-component force platform are obtained; the first z-direction calibration force data and the first set of six-component data are substituted into the calibration formula to obtain a first set of correction coefficients; After a second z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system at a first preset distance from the origin of the test shaft coordinate system, a first x-direction calibration moment is applied to the test shaft, second z-direction calibration force data, first x-direction calibration moment data and a second set of six-component data collected by the six-component force platform are obtained; 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; After a y-direction calibration force is applied to the test shaft in the y-axis direction of the test shaft coordinate system based on the first center distance, a second x-direction calibration moment is applied to the test shaft, y-direction calibration force data, second x-direction calibration moment data and a third set of six-component data collected by the six-component force platform are obtained; 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 a third set of correction coefficients; After a first x-direction calibration force is applied to the test shaft in the x-axis direction of the test shaft coordinate system based on the first center distance, a first y-direction calibration moment is applied to the test shaft, first x-direction calibration force data, first y-direction calibration moment data and a fourth set of six-component data collected by the six-component force platform are obtained; after a second x-direction calibration force is applied to the test shaft in the x-axis direction of the test shaft coordinate system based on the second center distance, a second y-direction calibration moment is applied to the test shaft, second x-direction calibration force data, second y-direction calibration moment data and a fifth set of six-component data collected by the six-component force platform are obtained; the first x-direction calibration force data, the first y-direction calibration moment data, the fourth set of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data and the fifth set of six-component data are substituted into the calibration formula to obtain a fourth set of correction coefficients and a fifth set of correction coefficients; After a z-direction calibration moment is applied to the test shaft in the z-axis direction of the test shaft coordinate system so that the resultant force in the y-direction of the test shaft is zero, z-direction calibration moment data and a sixth set of six-component data collected by the six-component force platform are obtained; the z-direction calibration moment data and the sixth set of six-component data are substituted into the calibration formula to obtain a sixth set of correction coefficients; The correction coefficient matrix is obtained based on the first set of correction coefficients, the second set of correction coefficients, the third set of correction coefficients, the fourth set of correction coefficients, the fifth set of correction coefficients and the sixth set of correction coefficients; During tire testing, the six-component data to be calibrated collected by the six-component force platform are obtained. Calibrate the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force platform calibration data.

2. A method of calibrating a vertical tire mechanics test stand as in claim 1, characterized in that, Before a second x-direction calibration force is applied to the test shaft in the x-axis direction of the test shaft coordinate system based on a second center distance, the method further comprises: The loading head of the vertical tire mechanics test bench is replaced so that the distance between the center of the six-component force platform and the center of the test shaft in the z direction is a second center distance.

3. A method of calibrating a vertical tire mechanics test stand as in claim 1, wherein, The calibration formula is specifically: = ； In the above formula, subscript 1, subscript 2, subscript 3, subscript 4, subscript 5, subscript 6 respectively represent x-direction force signal channel, y-direction force signal channel, z-direction force signal channel, x-direction torque signal channel, y-direction torque signal channel and z-direction torque signal channel; is an influence factor of n signal channel data on m signal channel, is a correction coefficient of n signal channel, and the correction coefficient matrix includes ; , and are forces in x, y and z directions collected by the six-component force platform; , and are torques in x, y and z directions collected by the six-component force platform; , and are calibration forces in x, y and z directions applied to the test shaft, , and are calibration torques in x, y and z directions applied to the test shaft.

4. A method of calibrating a vertical tire mechanics testing stand as defined in claim 1, characterized in that, The method further comprises: A force conversion formula is obtained according to the force platform coordinate system and the tire coordinate system; The six-component force platform calibration data is converted according to the force conversion formula to obtain tire force data.

5. A method of calibrating a vertical tire mechanics testing stand as defined in claim 4, characterized in that, The force conversion formula is specifically: ； ； ； ； ； ； In the above formula, , and are the forces in the x, y and z directions experienced by the test tire; , and are the moments in the x, y and z directions experienced by the test tire; , , , , and are the six-component force platform calibration data; is the test tire load radius; is the z-direction distance of the six-component force platform center from the test axle center.

6. A method of calibrating a vertical tire mechanics testing stand as defined in claim 1, wherein In the process of applying the calibration force and the calibration torque to the vertical tire mechanics test bench based on the test shaft coordinate system, the vertical tire mechanics test bench comprises a test shaft, wherein: based on the test shaft coordinate system, the test shaft is applied with the calibration force or the calibration torque through a loading system, a loading oil cylinder, a tooling torque beam, or a combination of a hydraulic power source and a proportional valve.

7. A method of calibrating a vertical tire mechanics testing stand as defined in claim 1, wherein The calibration of the six-component data to be calibrated based on the correction coefficient matrix to obtain six-component force platform calibration data comprises: An inverse matrix is obtained based on the correction coefficient matrix; The inverse matrix and the six-component data to be calibrated are subjected to matrix operation to obtain the six-component force platform calibration data.

8. A calibration system for a vertical tire mechanics test stand, characterized in that, A calibration method for a vertical tire mechanics test bench as claimed in any one of claims 1 to 7 comprises a matrix solving module, a data acquisition module, and a data calibration module. The matrix solving module is configured to, after a first z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system in the vertical tire mechanics test bench, acquire first z-direction calibration force data and a first set of six-component data collected by the six-component force platform; and substitute the first z-direction calibration force data and the first set of six-component data into a calibration formula to obtain a first set of correction coefficients. After a first x-direction calibration torque is applied to the test shaft, a second z-direction calibration force is applied to the test shaft in the z-axis direction of the test shaft coordinate system at a first preset distance from the origin of the test shaft coordinate system, to acquire 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 platform; based on the first set of correction coefficients, the second z-direction calibration force data, the first x-direction calibration torque data, and the second set of six-component data are substituted into the calibration formula to obtain a second set of correction coefficients. After a second x-direction calibration torque is applied to the test shaft, a y-direction calibration force is applied to the test shaft in the y-axis direction of the test shaft coordinate system based on a first center distance, to acquire y-direction calibration force data, second x-direction calibration torque data, and a third set of six-component data collected by the six-component force platform; based on the second set of correction coefficients, the y-direction calibration force data, the second x-direction calibration torque data, and the third set of six-component data are substituted into the calibration formula to obtain a third set of correction coefficients. After the first x-direction calibration force is applied to the test shaft in the x-axis direction of the test shaft coordinate system based on the first center distance to exert the first y-direction calibration moment on the test shaft, first x-direction calibration force data, first y-direction calibration moment data, and a fourth set of six-component data collected by the six-component force platform are obtained; after the second x-direction calibration force is applied to the test shaft in the x-axis direction of the test shaft coordinate system based on the second center distance to exert the second y-direction calibration moment on the test shaft, second x-direction calibration force data, second y-direction calibration moment data, and a fifth set of six-component data collected by the six-component force platform are obtained; the first x-direction calibration force data, the first y-direction calibration moment data, the fourth set of six-component data, the second x-direction calibration force data, the second y-direction calibration moment data, and the fifth set of six-component data are substituted into the calibration formula to obtain the fourth set of correction coefficients and the fifth set of correction coefficients; After the z-direction calibration moment is applied to the test shaft in the z-axis direction of the test shaft coordinate system to make the resultant force in the y direction of the test shaft zero, z-direction calibration moment data and a sixth set of six-component data collected by the six-component force platform are obtained; the z-direction calibration moment data and the sixth set of six-component data are substituted into the calibration formula to obtain the sixth set of correction coefficients; The correction coefficient matrix is obtained based on the first set of correction coefficients, the second set of correction coefficients, the third set of correction coefficients, the fourth set of correction coefficients, the fifth set of correction coefficients, and the sixth set of correction coefficients; The data acquisition module is configured to acquire the to-be-calibrated six-component data collected by the six-component force platform when the tire test is performed. The data calibration module is configured to calibrate the to-be-calibrated six-component data based on the correction coefficient matrix to obtain the six-component force platform calibration data.

9. A terminal device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the calibration method of the vertical tire mechanics test bench according to any one of claims 1 to 7 when executing the program.

Images