Suspension working condition load calculation method and device and vehicle

Abstract

The invention provides a suspension working condition load calculation method and device and a vehicle, and the method comprises the steps: carrying out the equal division of a working condition load when the number of iteration calculation times of the working condition load exceeds an iteration number threshold value, and obtaining a plurality of parts of to-be-calculated working condition loads after equal division; and performing iterative calculation on the multiple parts of the to-be-calculated working condition loads until calculation of each part of the to-be-calculated working condition loads is converged, and obtaining a target calculation result. When the working condition load is calculated, the upper limit K of the number of iterations is preset, when the number of iterations exceeds K, the calculation of this round is terminated, and the load is equally divided to enter the calculation of the next round, so that the method is adopted until the iterations of all equally divided loads can be completed within K times, and the calculation of the next round is completed. The problems that time consumed by single iteration calculation is long and iteration calculation is caught in an endless loop, and consequently calculation is not converged are avoided, and calculation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and more particularly to a method and device for calculating suspension loads, and a vehicle Background Art At present, the calculation of the working load of the suspension system is generally carried out using Adams or other kinematic simulation software. By inputting the force-displacement curves in the three directions of the suspension and loading the suspension working load at the center of mass of the powertrain, the force F, displacement U of each suspension and the displacement q of the center of mass of the powertrain are calculated by iterative calculation. When such software is calculating, due to the iterative error and the number of iterations set by the software itself, when a large load is applied, it may not be possible to find an effective solution that satisfies the error, or when the number and time of iterative calculations exceed the upper limit set by the software, the calculation will not converge. Even if the calculation can converge, it will still take a long time to calculate. When there are many suspension working conditions to be calculated, the calculation efficiency is low.

[0002] In order to enable the calculation of the suspension working condition load to converge, the method currently used is to divide the suspension working condition force into several equal parts, that is, to decompose the large load into several small loads, and load them one by one until all the parts of the suspension load are loaded, that is, the calculation of the suspension load is completed. If the load is divided into more parts, the calculation time will be longer because each load needs to be calculated. If the load is divided into fewer parts, the calculation may not converge. This method will also reduce the calculation efficiency and cannot ensure that the calculation can converge. In addition, when the number of calculated working condition loads is large, the calculation time is long and the calculation efficiency is low. Summary of the invention

[0003] The embodiments of the present application provide a method and device for calculating a suspension working condition load, and a vehicle. The method can at least solve the problem of low efficiency in calculating the suspension working condition load.

[0004] In a first aspect, an embodiment of the present application provides a method for calculating a suspension working condition load, comprising: when the number of iterative calculations of the working condition load exceeds an iteration number threshold, dividing the working condition load into equal parts and obtaining a plurality of equally divided working condition loads to be calculated; iteratively calculating the plurality of working condition loads to be calculated until the calculation of each working condition load to be calculated converges, and obtaining a target calculation result.

[0005] In one possible implementation, when the iterative calculation number of the working condition load exceeds the iteration number threshold, the working condition load is divided into two equal parts, and a plurality of equally divided working condition loads to be calculated are obtained, including: when the iterative calculation number of the working condition load exceeds the iteration number threshold, the working condition load is divided into two equal parts; and two working condition loads to be calculated are obtained.

[0006] In one possible implementation, the iterative calculation of multiple copies of the working condition loads to be calculated until the calculation of each copy of the working condition loads to be calculated converges, and obtaining the target calculation result includes: inputting a copy of the working condition loads to be calculated at the center of mass of the powertrain, iteratively calculating the suspension force F, the suspension displacement, and the displacement of the center of mass of the powertrain, and determining whether the calculation converges; if the calculation converges, generating a curve to be input based on the calculated suspension force F, the suspension displacement, and the displacement of the center of mass of the powertrain; using the curve to be input as an input for calculating the next copy of the working condition loads to be calculated, calculating the suspension force F, the suspension displacement, and the displacement of the center of mass of the powertrain of the next copy of the working condition loads to be calculated, until all the working condition loads to be calculated converge, and obtaining the target calculation result.

[0007] In one possible implementation, if the currently calculated working condition load to be calculated does not converge, the currently calculated working condition load to be calculated is divided into two equal parts. After obtaining two equal parts of the working condition load to be calculated based on the previous calculation, the multiple existing parts of the working condition load to be calculated are iteratively calculated until the calculation of each part of the working condition load to be calculated converges to obtain the target calculation result.

[0008] In one possible implementation, obtaining the target calculation result includes: accumulating and summing the suspension forces obtained from multiple calculations of the working condition loads to be calculated to obtain the target suspension force; accumulating and summing the suspension displacements obtained from multiple calculations of the working condition loads to be calculated to obtain the target suspension displacement; accumulating and summing the powertrain center of mass displacements obtained from multiple calculations of the working condition loads to be calculated to obtain the target powertrain center of mass displacement.

[0009] In the second aspect, an embodiment of the present application provides a suspension working condition load calculation device, including: an equal division module, which is used to divide the working condition load into equal parts when the number of iterative calculations of the working condition load exceeds an iteration number threshold, and obtain multiple equally divided working condition loads to be calculated; a calculation module, which is used to iteratively calculate the multiple working condition loads to be calculated until the calculation of each working condition load to be calculated converges to obtain a target calculation result.

[0010] In one possible implementation, when the iterative calculation number of the working condition load exceeds the iteration number threshold, the working condition load is divided into two equal parts to obtain a plurality of equally divided working condition loads to be calculated, including: when the iterative calculation number of the working condition load exceeds the iteration number threshold, the equally dividing module divides the working condition load into two equal parts to obtain two equally divided working condition loads to be calculated.

[0011] In one possible implementation, the iterative calculation of multiple copies of the working condition loads to be calculated until the calculation of each copy of the working condition loads to be calculated converges, and obtaining the target calculation results includes: the calculation module inputs a copy of the working condition loads to be calculated at the center of mass of the powertrain, iteratively calculates the suspension force, suspension displacement and powertrain center of mass displacement, and determines whether the calculation converges. If the calculation converges, a curve to be input is generated based on the calculated suspension force, suspension displacement and powertrain center of mass displacement; the calculation module uses the curve to be input as an input for calculating the next copy of the working condition loads to be calculated, calculates the suspension force, suspension displacement and powertrain center of mass displacement of the next copy of the working condition loads to be calculated, until all the working condition loads to be calculated converge, and obtains the target calculation results.

[0012] In one possible implementation, if the currently calculated working condition load to be calculated does not converge, the equal division module divides the currently calculated working condition load to be calculated into two equal parts, and after obtaining two equal parts of the working condition load to be calculated based on the previously calculated working condition load, the calculation module iteratively calculates the multiple existing working condition loads to be calculated until the calculation of each working condition load to be calculated converges, and obtains the target calculation result.

[0013] In a third aspect, an embodiment of the present application further provides a vehicle, which may include the suspension working condition load calculation device provided in the second aspect.

[0014] Through the above technical solution, when calculating the working load, an upper limit K of the number of iterations is preset. When the number of iterative calculations exceeds K, the current round of calculations is terminated, and the load is equally divided to enter the next round of calculations. In this way, all equally divided loads can be iteratively calculated within K times, avoiding the long time of a single iterative calculation and the iterative calculation falling into an infinite loop resulting in non-convergence of the calculation, thereby improving the calculation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 A schematic diagram of a method for calculating a suspension load according to an embodiment of the present application; Figure 2 A flow chart of suspension load calculation provided for one embodiment of the present application; Figure 3 A structural diagram of a suspension working condition load calculation device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] Figure 1 A schematic diagram of a method for calculating suspension loads provided in one embodiment of the present application.

[0019] Reference Figure 1 As shown, the suspension working condition load calculation method may include the following steps: S101: When the number of iterative calculations of the working condition load exceeds the iteration number threshold, the working condition load is divided into equal parts to obtain a plurality of equally divided working condition loads to be calculated.

[0020] S102: Iteratively calculate multiple loads for working conditions to be calculated until the calculation of each load for working conditions to be calculated converges, and obtain the target calculation result.

[0021] In some embodiments, a threshold value K of the number of iterations is preset. When the suspension load is calculated within K iterations to obtain the suspension force F and displacement U, the calculation converges, and the load does not need to be equally divided, that is, the calculation of the load can be completed within K iterations, and the target calculation result can be obtained. When the number of iterative calculations of the suspension load reaches the threshold value K, and the suspension forces and displacements calculated K times are not on the input suspension force-displacement curve, the calculation does not converge, and the suspension load is equally divided, and after the equal division, the multiple parts of the load to be calculated are iteratively calculated until the calculation of each part of the load to be calculated converges and the target calculation result is obtained.

[0022] Through steps S101 to S102, when calculating the working load, an upper limit K of the number of iterations is preset. When the number of iterative calculations exceeds K, the current round of calculations is terminated, and the load is equally divided to enter the next round of calculations. In this way, all equally divided loads can be iteratively calculated within K times, avoiding a long single iterative calculation time and the iterative calculation falling into an infinite loop resulting in non-convergence of the calculation, thereby improving the calculation efficiency.

[0023] Figure 2 A flow chart for calculating suspension loads according to an embodiment of the present application.

[0024] Reference Figure 2As shown, the specific process of calculating the suspension load may include the following steps: S201: Input the three-axis force-displacement curve of each mount, and input the mount working load at the center of mass of the powertrain.

[0025] S202: Iteratively calculate the three-axis force F, displacement U of each mount and the displacement q of the center of mass of the powertrain.

[0026] S203: Determine whether the calculation converges within K iterative calculations. If the calculation converges, execute S204. If the calculation does not converge within K iterative calculations, execute S205.

[0027] S204: Record the target calculation results, and the working load calculation is completed.

[0028] During the calculation of the suspension working condition load, the three-axis force-displacement curve of the suspension can be input, and the suspension working condition load can be input at the center of mass of the powertrain. The three-axis force F, displacement U of each suspension and the displacement q of the center of mass of the powertrain are iteratively calculated. If the suspension force F and displacement U calculated within K iterative calculations are converged, the working condition load will not be equally divided, and the current working condition load calculation is completed.

[0029] S205: Divide the currently calculated working condition load into two equal parts to obtain two copies of the working condition load to be calculated.

[0030] In some embodiments, when the number of iterative calculations of the suspension working condition load reaches a threshold value K, it can be determined that the calculation of the current working condition load has not converged, and then the suspension working condition load can be divided into two equal parts, and the two parts of the working condition load to be calculated can be obtained, so that the two parts of the calculated working condition load can be calculated separately in subsequent calculations, avoiding entering a calculation dead loop, shortening the iterative calculation time, and improving the calculation efficiency.

[0031] S206: Inputting a portion of the working load to be calculated after being divided equally at the center of mass of the powertrain.

[0032] S207: Iteratively calculate the three-axis force F, displacement U of each mount and the displacement q of the center of mass of the powertrain.

[0033] S208: Whether the calculation of the current working condition load to be calculated has converged. If the calculation has converged, execute S209; if the calculation has not converged, return to step S205.

[0034] S209: generating a curve to be input based on the calculated suspension force, suspension displacement, and powertrain mass center displacement, and using the curve to be input as an input for calculating the next working condition load to be calculated.

[0035] S210: Determine whether all the loads to be calculated have been calculated. If so, execute S211; if not, return to S206.

[0036] S211: Accumulate and sum the suspension forces obtained by calculating the multiple working condition loads to be calculated to obtain the target suspension force; accumulate and sum the suspension displacements obtained by calculating the multiple working condition loads to be calculated to obtain the target suspension displacement; accumulate and sum the powertrain center of mass displacements obtained by calculating the multiple working condition loads to be calculated to obtain the target powertrain center of mass displacement.

[0037] In some embodiments, after the currently calculated working condition load is equally divided, a portion of the working condition load to be calculated can be input at the center of mass of the powertrain, and each suspension three-dimensional force F and each suspension three-dimensional displacement U, and the powertrain center of mass displacement q are iteratively calculated. If the calculation converges, then the each suspension three-dimensional force F, each suspension three-dimensional displacement U, and the powertrain center of mass displacement q calculated by the portion of the working condition load are recorded.

[0038] In some embodiments, the input curve can be generated based on the calculated suspension force, suspension displacement and powertrain mass center displacement. In one embodiment, the current load can calculate the suspension three-dimensional force F and the suspension three-dimensional displacement U, the powertrain mass center displacement q, and further, the suspension force-displacement curve before calculation can be translated along the force coordinate axis by F, and then translated along the displacement coordinate axis by U to generate a new suspension force-displacement curve as the input of the force-displacement curve when calculating the next load.

[0039] In some embodiments, based on the newly generated suspension force-displacement curve, a portion of other loads to be calculated can be input at the powertrain mass center, and iterative calculations can be performed to obtain the calculated suspension triaxial forces F and suspension triaxial displacements U, and the powertrain mass center displacement q. By repeatedly executing steps S206 to S210 until all loads with calculated conditions are calculated, the target calculation results can be obtained.

[0040] In some embodiments, the method of obtaining the target calculation result may include accumulating and summing the suspension forces obtained from multiple calculations of the working loads to be calculated to obtain the target suspension force; accumulating and summing the suspension displacements obtained from multiple calculations of the working loads to be calculated to obtain the target suspension displacement; accumulating and summing the powertrain center of mass displacements obtained from multiple calculations of the working loads to be calculated to obtain the target powertrain center of mass displacement.

[0041] In some embodiments, based on the judgment result of S208, when the currently calculated working load (the working load after one or more equal divisions) still fails to converge, it is possible to return to S205, divide the currently calculated working load into equal parts again, for example, divide it into two equal parts, and obtain two new working loads to be calculated, and then continue to execute S206 to S210 until all the working loads to be calculated are calculated.

[0042] In the process of working load calculation, the method of gradual bisection is adopted. According to the calculation results (i.e., whether the working load of the current calculation is convergent), it is determined whether the working load of the current calculation needs to be divided equally, which can effectively reduce the number of calculations. After the load is divided into two equal parts, the next round of calculation is entered. In this way, all the divided loads can be iteratively calculated within K times, avoiding the long time of single iterative calculation and the iterative calculation falling into an infinite loop, resulting in non-convergence of calculation.

[0043] Figure 3 A structural diagram of a suspension working condition load calculation device provided in one embodiment of the present application.

[0044] Reference Figure 3 As shown, the device may include: The equal division module 301 is used to divide the working condition load into equal parts when the number of iteration calculations of the working condition load exceeds the iteration number threshold, and obtain a plurality of equally divided working condition loads to be calculated; The calculation module 302 is used to iteratively calculate multiple loads of working conditions to be calculated until the calculation of each load of the working condition to be calculated converges to obtain the target calculation result.

[0045] In some embodiments, when the iterative calculation times of the working load exceeds the iteration number threshold, the working load is divided into two equal parts to obtain a plurality of equally divided working loads to be calculated, including: when the iterative calculation times of the working load exceeds the iteration number threshold, the equally divided module 301 divides the working load into two equal parts to obtain two equally divided working loads to be calculated.

[0046] In some embodiments, multiple loads to be calculated are iteratively calculated until the calculation of each load to be calculated converges, and obtaining the target calculation result includes: the calculation module 302 inputs a load to be calculated at the center of mass of the powertrain, iteratively calculates the suspension force, suspension displacement and powertrain center of mass displacement, and determines whether the calculation converges. If the calculation converges, a curve to be input is generated based on the calculated suspension force, suspension displacement and powertrain center of mass displacement; the calculation module 302 uses the curve to be input as an input for calculating the next load to be calculated, calculates the suspension force, suspension displacement and powertrain center of mass displacement of the next load to be calculated, until all loads to be calculated converge, and obtains the target calculation result.

[0047] In some embodiments, if the currently calculated working condition load to be calculated does not converge, the equal division module 301 divides the currently calculated working condition load to be calculated into two equal parts, and after obtaining two equal parts of the working condition load to be calculated based on the previously calculated working condition load, the calculation module 302 iteratively calculates the multiple working condition loads to be calculated currently existing, until the calculation of each working condition load to be calculated converges, and obtains the target calculation result.

[0048] In some embodiments, obtaining the target calculation result includes: the calculation module 302 accumulates and sums the suspension forces obtained by calculating multiple working condition loads to be calculated to obtain the target suspension force; the calculation module 302 accumulates and sums the suspension displacements obtained by calculating multiple working condition loads to be calculated to obtain the target suspension displacement; the calculation module 302 accumulates and sums the powertrain center of mass displacements obtained by calculating multiple working condition loads to be calculated to obtain the target powertrain center of mass displacement.

[0049] The embodiment of the present application also provides a vehicle, which may include Figure 3 The illustrated embodiment provides a suspension working condition load calculation device.

[0050] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0051] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0052] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0053] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0054] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0055] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calculating suspension load, characterized in that: The method comprises: When the number of iterative calculations of the working condition load exceeds the iteration number threshold, the working condition load is divided equally to obtain a plurality of equally divided working condition loads to be calculated; Iteratively calculate the multiple loads to be calculated until the calculation of each load converges to obtain the target calculation result.

2. The method according to claim 1, characterized in that When the number of iterative calculations of the working load exceeds the iteration number threshold, the working load is divided equally, and the obtained multiple equally divided working loads to be calculated include: When the iterative calculation times of the load condition exceeds the iteration number threshold, the load condition is divided into two equal parts; Obtain two load cases to be calculated.

3. The method according to claim 1 or 2, characterized in that: The iterative calculation of the plurality of loads to be calculated until the calculation of each load to be calculated converges, and obtaining the target calculation result includes: Inputting a load of the working condition to be calculated at the center of mass of the powertrain, iteratively calculating the suspension force, the suspension displacement and the displacement of the center of mass of the powertrain, determining whether the calculation converges, and if the calculation converges, generating a curve to be input based on the calculated suspension force, the suspension displacement and the displacement of the center of mass of the powertrain; The input curve is used as the input for calculating the next load condition to be calculated, and the suspension force, suspension displacement and powertrain center of mass displacement of the next load condition to be calculated are calculated until all the load conditions to be calculated converge, and the target calculation result is obtained.

4. The method according to claim 3, characterized in that: If the currently calculated working condition load to be calculated does not converge, the currently calculated working condition load to be calculated is divided into two equal parts. After obtaining two equal parts of the working condition load to be calculated based on the previous calculation, the multiple existing working condition loads to be calculated are iteratively calculated until the calculation of each working condition load to be calculated converges to obtain the target calculation result.

5. The method according to claim 3, characterized in that: The obtaining of the target calculation result comprises: Accumulate and sum the suspension forces obtained by calculating the multiple load conditions to be calculated to obtain a target suspension force; Accumulating and summing the suspension displacements obtained by calculating the multiple load conditions to be calculated to obtain a target suspension displacement; The powertrain mass center displacements obtained by calculating the multiple load conditions to be calculated are accumulated and summed to obtain the target powertrain mass center displacement.

6. A suspension load calculation device, characterized in that: The device comprises: An equal division module is used to divide the working load into equal parts when the number of iteration calculations of the working load exceeds the iteration number threshold, and obtain multiple equal parts of the working load to be calculated; The calculation module is used to iteratively calculate the multiple loads to be calculated until the calculation of each load to be calculated converges to obtain the target calculation result.

7. The device according to claim 6, characterized in that When the number of iterative calculations of the working load exceeds the iteration number threshold, the working load is divided equally, and the obtained multiple equally divided working loads to be calculated include: When the iterative calculation times of the working load exceeds the iteration number threshold, the dividing module divides the working load into two equal parts to obtain two copies of the working load to be calculated.

8. The device according to claim 6 or 7, characterized in that The iterative calculation of the plurality of loads to be calculated until the calculation of each load to be calculated converges, and obtaining the target calculation result includes: The calculation module inputs a load of the working condition to be calculated at the center of mass of the powertrain, iteratively calculates the suspension force, the suspension displacement and the displacement of the center of mass of the powertrain, determines whether the calculation converges, and if the calculation converges, generates a curve to be input based on the calculated suspension force, the suspension displacement and the displacement of the center of mass of the powertrain; The calculation module uses the input curve as an input for calculating the next working condition load to be calculated, calculates the suspension force, suspension displacement and powertrain center of mass displacement of the next working condition load to be calculated, until all working condition loads to be calculated converge, and obtains the target calculation result.

9. The device according to claim 8, characterized in that If the currently calculated working condition load to be calculated does not converge, the equal division module divides the currently calculated working condition load into two equal parts. After obtaining two equal parts of the working condition load to be calculated based on the previously calculated working condition load, the calculation module iteratively calculates the multiple existing working condition loads to be calculated until the calculation of each working condition load to be calculated converges to obtain the target calculation result.

10. A vehicle, characterized in that: The vehicle comprises the suspension working condition load calculation device according to any one of claims 6-9.

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