Half shaft displacement swing angle checking method and device, half shaft and vehicle

Abstract

The invention relates to the technical field of vehicles, in particular to a half shaft displacement swing angle checking method and device, a half shaft and a vehicle, and the method comprises the steps: recognizing the displacement offset and the rotation angle of a working condition table of a power assembly under each target working condition, and offsetting the mass center coordinate systems of a left half shaft moving joint, a right half shaft moving joint and the power assembly, and under the shifted target coordinate system, determining a first section center coordinate of a target side half shaft fixed section, a second section center coordinate of a shifted left half shaft movable section and a third section center coordinate of a shifted right half shaft movable section, and checking a displacement swing angle of the target side half shaft under the corresponding target working condition according to the coordinates. And generating an actual displacement tilt angle graph of the target side half shaft. Therefore, the problems that the safety margin reserved between a half-shaft displacement swing angle curve and a frame is usually reserved according to experience in the prior art, the safety margin is possibly insufficient, a half shaft is disengaged or movement interference between a shaft rod and a movable joint is caused, and a vehicle breaks down are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and device for calibrating a half-axle displacement and swing angle, a half-axle and a vehicle. Background Art

[0002] The quality of the vehicle suspension kinematics not only directly affects the vehicle's operational stability, comfort, ride smoothness and tire life, but also has a significant impact on the slip and swing angle of the axle. In the vehicle design process, it is usually necessary to establish a DMU (Digital Mock-Up) model in the CAD software, and check the displacement and swing angle diagram of the axle moving joint according to the hard point structure of the whole vehicle to ensure that its runout curve is within a reasonable spatial range.

[0003] However, all current verifications are based on the assumption that the powertrain position remains constant. This assumption simplifies the design and verification process, but in actual driving, the position of the powertrain may change due to a variety of factors, such as engine vibration, suspension deformation, etc. Therefore, verification based on the assumption that the powertrain position remains constant may have certain limitations.

[0004] In order to deal with potential problems caused by the change of powertrain position, a certain safety margin is usually left at the distance from the half-axle displacement swing angle curve to the frame. This safety margin is usually reserved based on experience and historical data, but in some special cases, there may be insufficient safety margin. Insufficient safety margin can cause the half-axle to disengage or the movement interference between the shaft and the moving joint, causing vehicle failures such as abnormal noise or loss of power. Summary of the invention

[0005] The present application provides a semi-axle displacement swing angle calibration method, device, semi-axle and vehicle to solve the problem that the safety margin left for the semi-axle displacement swing angle curve from the frame in the related art is usually reserved based on experience, and there may be insufficient safety margin, resulting in the semi-axle disengagement or movement interference between the shaft rod and the moving joint, causing vehicle failure.

[0006] In a first aspect, the present application provides a method for verifying the displacement and swing angle of a half-shaft, comprising the following steps: identifying the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain; offsetting the mass center coordinate system of the left half-shaft moving node, the right half-shaft moving node and the powertrain according to the displacement offset and the rotation angle, and determining the first node center coordinate of the target side half-shaft fixed node, the second node center coordinate of the left half-shaft moving node after the offset and the third node center coordinate of the right half-shaft moving node after the offset in the target coordinate system; verifying the displacement and swing angle of the target side half-shaft under the corresponding target working condition according to the first node center coordinate, the second node center coordinate and the third node center coordinate, and generating an actual displacement and swing angle diagram of the target side half-shaft according to the verified displacement and swing angle under each target working condition.

[0007] Optionally, after generating the actual displacement swing angle diagram of the target side half shaft according to the displacement swing angle verified under each target working condition, it also includes: obtaining a reference displacement swing angle diagram of the target side half shaft; and verifying the design of the target side half shaft according to the actual displacement swing angle diagram and the reference displacement swing angle diagram.

[0008] Optionally, the design of the target side half shaft is verified according to the actual displacement swing angle diagram and the reference displacement swing angle diagram, including: if all points of the actual displacement swing angle diagram are within the reference displacement swing angle diagram, it is determined that the design of the target side half shaft meets the design requirements; otherwise, a prompt is generated indicating that there is a design risk in the target side half shaft.

[0009] Optionally, the center of mass coordinate system of the left half-shaft moving node, the right half-shaft moving node and the powertrain is offset according to the displacement offset and the rotation angle, including: identifying the first to third target angles in the rotation angle; offsetting the nodes of the left half-shaft moving node, the nodes of the right half-shaft moving node and the center of mass coordinate system according to the displacement offset, wherein the center of mass coordinate system offset according to the displacement offset is a first new coordinate system; using the X-axis of the first new coordinate system as the rotation axis, rotating the Y-axis and Z-axis of the first new coordinate system by the first target angle to obtain a second new coordinate system; using the Y-axis of the second new coordinate system as the rotation axis, rotating the nodes of the left half-shaft moving node and the nodes of the right half-shaft moving node by the second target angle, and rotating the X-axis and Z-axis of the second new coordinate system by the third target angle to obtain an offset target coordinate system.

[0010] Optionally, the displacement swing angle of the target side semi-axis under the corresponding target working condition is checked according to the first node center coordinate, the second node center coordinate and the third node center coordinate, including: establishing a spherical model with the first node center coordinate as the sphere center and the shaft length of the target side semi-axis as the radius; forming a first straight line between the second node center coordinate and the third node center coordinate, if there is no intersection between the first straight line and the spherical model, determining that there is a design abnormality of the target semi-axis; if there is an intersection between the first straight line and the spherical model, determining the intersection coordinates, and calculating the straight-line distance between the intersection coordinates and the second node center coordinate to form a second straight line; forming a third straight line between the first node center coordinate and the intersection coordinates, forming a fourth straight line between the intersection coordinates and the third node center coordinates, and the angle between the third straight line and the fourth straight line; representing the displacement swing angle of the target side semi-axis under the corresponding target working condition according to the straight-line distance and the angle.

[0011] Optionally, the intersection coordinates are selected based on the target side semi-axis.

[0012] Optionally, an actual displacement swing angle diagram of the target side half shaft is generated according to the displacement swing angle after verification under each target working condition, including: establishing a coordinate system of displacement and angle; using the straight-line distance and angle under each target working condition as drawing points, and generating an actual displacement swing angle diagram of the target side half shaft in the coordinate system of displacement and angle.

[0013] According to a second aspect of the present application, there is provided a semi-axle displacement and swing angle calibration device, comprising: an identification module for identifying the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain; an offset module for offsetting the mass center coordinate system of the left semi-axle moving node, the right semi-axle moving node and the powertrain according to the displacement offset and the rotation angle, and determining the first node center coordinate of the target side semi-axle fixed node, the second node center coordinate of the left semi-axle moving node after the offset and the third node center coordinate of the right semi-axle moving node after the offset in the target coordinate system; a calibration module for calibrating the displacement and swing angle of the target side semi-axle under the corresponding target working condition according to the first node center coordinate, the second node center coordinate and the third node center coordinate, and generating an actual displacement and swing angle diagram of the target side semi-axle according to the calibrated displacement and swing angle under each target working condition.

[0014] A third aspect of the present application provides a half-shaft, which is calibrated using the half-shaft displacement and swing angle calibration method of the first aspect.

[0015] A fourth aspect of the present application provides a vehicle comprising the half-axle of the third aspect.

[0016] Therefore, this application has at least the following beneficial effects:

[0017] The embodiment of the present application identifies the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain, offsets the mass center coordinate system of the left semi-axle moving joint, the right semi-axle moving joint and the powertrain according to the displacement offset and the rotation angle, determines the first joint center coordinate of the target side semi-axle fixed joint, the second joint center coordinate of the left semi-axle moving joint after the offset and the third joint center coordinate of the right semi-axle moving joint after the offset in the target coordinate system, verifies the displacement swing angle of the target side semi-axle under the corresponding target working condition, and finally generates the actual displacement swing angle diagram of the target side semi-axle according to the verified displacement swing angle under each target working condition, so as to calculate the displacement swing angle of the semi-axle under the extreme working condition of the power suspension in the most dangerous position, so as to make more accurate arrangement and analysis, set the safety margin, and reduce the risk of vehicle failure. Thus, the safety margin of the semi-axle displacement swing angle curve from the frame in the related technology is usually reserved according to experience, and there may be insufficient safety margin, resulting in the semi-axle disengagement or the motion interference between the shaft and the moving joint, causing vehicle failure.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1A flow chart of a method for verifying a semi-axle displacement and swing angle provided according to an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the displacement and swing angle of a powertrain according to an embodiment of the present application;

[0022] Figure 3 A flow chart for calculating a displacement swing angle according to an embodiment of the present application;

[0023] Figure 4 A displacement and swing angle diagram of an integrated powertrain 28 after working according to an embodiment of the present application;

[0024] Figure 5 An example diagram of a semi-axis displacement and swing angle calibration device is provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0026] The following describes the half-shaft displacement swing angle calibration method, device, half-shaft and vehicle of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the safety margin of the half-shaft displacement swing angle curve from the border of the related technology mentioned in the above background technology is usually reserved based on experience, there may be insufficient safety margin, resulting in the half-shaft coming out or the movement interference between the shaft and the moving joint, causing vehicle failure, the present application provides a half-shaft displacement swing angle calibration method, in which the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain are identified, and the center of mass coordinate system of the left half-shaft moving joint, the right half-shaft moving joint and the powertrain are offset according to the displacement offset and the rotation angle. After the offset, In the target coordinate system, the coordinates of the first center of the fixed section of the target side semi-shaft, the coordinates of the second center of the left semi-shaft movable section after the offset, and the coordinates of the third center of the right semi-shaft movable section after the offset are determined, and the displacement swing angle of the target side semi-shaft under the corresponding target working condition is verified. Finally, the actual displacement swing angle diagram of the target side semi-shaft is generated according to the verified displacement swing angle under each target working condition, so that the displacement swing angle of the semi-shaft under the extreme working condition of the power suspension in the most dangerous position can be calculated, so that more accurate layout and analysis can be carried out, and safety margin setting can be carried out, reducing the risk of vehicle failure. In this way, the safety margin left for the semi-shaft displacement swing angle curve from the border in the related technology is usually reserved based on experience, and there may be insufficient safety margin, resulting in the semi-shaft coming out or the motion interference between the shaft and the movable section, causing vehicle failure.

[0027] Specifically, Figure 1 A schematic flow chart of a method for calibrating a semi-axis displacement and swing angle provided in an embodiment of the present application.

[0028] like Figure 1 As shown, the semi-axis displacement swing angle calibration method includes the following steps:

[0029] In step S101 , the displacement offset and the rotation angle under each target working condition in the working condition table of the powertrain are identified.

[0030] Among them, the powertrain operating condition table is a set of parameters used to define and describe the working status of the powertrain under various operating conditions, which is usually compiled by the automobile manufacturer or powertrain supplier; the displacement offset and rotation angle are the position change data of the powertrain under the target working condition.

[0031] It is understandable that the embodiment of the present application can obtain the operating condition table of the powertrain, and identify the position change data of the powertrain under the target operating condition, and obtain the displacement offset and rotation angle under the target operating condition.

[0032] In step S102, the center of mass coordinate systems of the left half-shaft moving node, the right half-shaft moving node and the powertrain are offset according to the displacement offset and the rotation angle, and in the offset target coordinate system, the first center coordinate of the target side half-shaft fixed node, the second center coordinate of the left half-shaft moving node after the offset and the third center coordinate of the right half-shaft moving node after the offset are determined.

[0033] Among them, in order to offset the target coordinate system, it is necessary to offset and rotate the center of mass coordinate system of the left half-shaft moving node, the right half-shaft moving node and the powertrain. The method of offsetting the coordinate axis is to identify the displacement offset of the X-axis, Y-axis and Z-axis in the working condition table of the powertrain, and offset them in the X, Y and Z directions according to the displacement offset to obtain the coordinate system after the displacement offset; the method of rotating the coordinate system after the displacement offset will be described in detail below and will not be repeated here; the method of determining the first node center coordinate of the target side half-shaft fixed node, the second node center coordinate of the left half-shaft moving node after the offset and the third node center coordinate of the right half-shaft moving node after the offset will be described in detail below and will not be repeated here.

[0034] It can be understood that the embodiment of the present application can offset the center of mass coordinate system of the left half-shaft moving joint, the right half-shaft moving joint and the powertrain through the above-identified displacement offset and rotation angle, thereby obtaining the first node center coordinate of the target side half-shaft fixed joint, the second node center coordinate of the left half-shaft moving joint after offset, and the third node center coordinate of the right half-shaft moving joint after offset.

[0035] In an embodiment of the present application, the center of mass coordinate system of the left half-shaft moving node, the right half-shaft moving node and the powertrain is offset according to the displacement offset and the rotation angle, including: identifying the first to third target angles in the rotation angle; offsetting the nodes of the left half-shaft moving node, the nodes of the right half-shaft moving node and the center of mass coordinate system according to the displacement offset, wherein the center of mass coordinate system offset according to the displacement offset is the first new coordinate system; using the X-axis of the first new coordinate system as the rotation axis, rotating the Y-axis and Z-axis of the first new coordinate system by the first target angle to obtain the second new coordinate system; using the Y-axis of the second new coordinate system as the rotation axis, rotating the nodes of the left half-shaft moving node and the nodes of the right half-shaft moving node by the second target angle, and rotating the X-axis and Z-axis of the second new coordinate system by the third target angle to obtain the offset target coordinate system.

[0036] The first new coordinate system is the coordinate system obtained after the above displacement and offset.

[0037] It can be understood that the embodiment of the present application can identify the first to third target angles in the powertrain operating condition table, offset the nodes of the left half-shaft moving node, the nodes of the right half-shaft moving node and the center of mass coordinate system according to the displacement offset, and the offset center of mass coordinate system is called the first new coordinate system. The X-axis of the first new coordinate system is used as the rotation axis, and the Y-axis and Z-axis of the first new coordinate system are rotated by the first target angle to obtain the second new coordinate system. Then, the Y-axis of the second new coordinate system is used as the rotation axis, and the nodes of the left half-shaft moving node and the right half-shaft moving node are rotated by the second target angle. At the same time, the X-axis and Z-axis of the second new coordinate system are rotated by the third target angle to finally obtain the offset target coordinate system.

[0038] In step S103, the displacement swing angle of the target side half shaft under the corresponding target working condition is checked according to the first node center coordinates, the second node center coordinates and the third node center coordinates, and the actual displacement swing angle diagram of the target side half shaft is generated according to the checked displacement swing angle under each target working condition.

[0039] Among them, the method of verifying the displacement and swing angle of the target side semi-axle under the corresponding target working condition will be described in detail below and will not be repeated here; the actual displacement and swing angle diagram of the target side semi-axle can intuitively display the specific displacement and swing angle changes under the target working condition, and can evaluate the performance and reliability of the design.

[0040] It can be understood that the embodiment of the present application can calibrate the displacement swing angle of the target side half shaft under the corresponding target working condition according to the first node center coordinates, the second node center coordinates and the third node center coordinates, and after the calibration, generate the actual displacement swing angle diagram of the target side half shaft based on the calibrated displacement swing angle under each target working condition.

[0041] In an embodiment of the present application, the displacement swing angle of the target side semi-axis under the corresponding target working condition is checked according to the first node center coordinates, the second node center coordinates and the third node center coordinates, including: establishing a spherical model with the first node center coordinates as the sphere center and the shaft length of the target side semi-axis as the radius; forming a first straight line between the second node center coordinates and the third node center coordinates, if there is no intersection between the first straight line and the spherical model, determining that there is a design abnormality in the target semi-axis; if there is an intersection between the first straight line and the spherical model, determining the intersection coordinates, and calculating the straight-line distance between the intersection coordinates and the second node center coordinates to form the second straight line; forming a third straight line between the first node center coordinates and the intersection coordinates, forming a fourth straight line between the intersection coordinates and the third node center coordinates, and the angle between the third straight line and the fourth straight line; representing the displacement swing angle of the target side semi-axis under the corresponding target working condition according to the straight-line distance and the angle.

[0042] If there is an intersection between the first straight line and the spherical model, there will be two intersections. The determination of the target intersection coordinates will be described in detail below and will not be repeated here.

[0043] It can be understood that the embodiment of the present application can check the displacement swing angle of the target side semi-axis under the corresponding target working condition based on the first node center coordinates, the second node center coordinates and the third node center coordinates. First, a spherical model is established with the first node center coordinates as the center of the sphere and the shaft length of the target side semi-axis as the radius. Then, the second node center coordinates and the third node center coordinates are used to form a first straight line. If there is no intersection between the first straight line and the spherical model, it is determined that the design of the target semi-axis is abnormal; if there is an intersection, it is necessary to determine the intersection coordinates, calculate the straight-line distance of the second straight line formed by the intersection coordinates and the second node center coordinates, then form a third straight line between the first node center coordinates and the intersection coordinates, and form a fourth straight line between the intersection coordinates and the third node center coordinates, calculate the angle between the third straight line and the fourth straight line, and finally, represent the displacement swing angle of the target side semi-axis under the corresponding target working condition according to the straight-line distance and the angle.

[0044] In the embodiment of the present application, the intersection coordinates are selected according to the target-side semi-axis.

[0045] Among them, there is an intersection between the first straight line and the spherical model, and there will be two intersection points. When the target side semi-axis is the left semi-axis, the intersection coordinates with the smaller absolute value of the Y coordinate are selected as the determined intersection coordinates; when the target side semi-axis is the right semi-axis, the intersection coordinates with the larger absolute value of the Y coordinate are selected as the determined intersection coordinates.

[0046] It can be understood that the embodiment of the present application can select the intersection coordinates with smaller or larger absolute values ​​of Y coordinates as the determined intersection coordinates according to whether the target side semi-axis is the left semi-axis or the right semi-axis.

[0047] In an embodiment of the present application, an actual displacement swing angle diagram of the target side half shaft is generated according to the displacement swing angle after verification under each target working condition, including: establishing a coordinate system of displacement and angle; using the straight-line distance and angle under each target working condition as drawing points, and generating an actual displacement swing angle diagram of the target side half shaft in the coordinate system of displacement and angle.

[0048] It can be understood that the embodiment of the present application first establishes a coordinate system of displacement and angle, in which the horizontal axis represents the straight-line distance and the vertical axis represents the angle, and then uses the straight-line distance and the angle under each target working condition as drawing points to generate an actual displacement swing angle diagram of the target side half shaft in the coordinate system of displacement and angle.

[0049] In an embodiment of the present application, after generating the actual displacement swing angle diagram of the target side half shaft according to the displacement swing angle verified under each target working condition, it also includes: obtaining a reference displacement swing angle diagram of the target side half shaft; verifying the design of the target side half shaft according to the actual displacement swing angle diagram and the reference displacement swing angle diagram.

[0050] Among them, the reference displacement swing angle diagram of the target side half shaft is drawn based on the ideal data under standard working conditions.

[0051] It can be understood that after generating the actual displacement swing angle diagram of the target side half shaft, the embodiment of the present application obtains the reference displacement swing angle diagram of the target side half shaft, which is drawn based on the ideal data under standard working conditions. The actual displacement swing angle diagram is compared with the reference displacement swing angle diagram to verify whether the design of the target side half shaft has achieved the expected effect and ensure that its performance meets the design requirements and safety standards. The method of comparing and analyzing the actual displacement swing angle diagram with the reference displacement swing angle diagram will be described in detail below and will not be repeated here.

[0052] In an embodiment of the present application, the design of the target side half-shaft is verified based on the actual displacement swing angle diagram and the reference displacement swing angle diagram, including: if all points of the actual displacement swing angle diagram are within the reference displacement swing angle diagram, it is determined that the design of the target side half-shaft meets the design requirements, otherwise a prompt is generated that there is a design risk in the target side half-shaft.

[0053] It can be understood that the embodiment of the present application compares the actual displacement swing angle diagram with the reference displacement swing angle diagram. If all points of the actual displacement swing angle diagram are within the reference displacement swing angle diagram, it is determined that the design of the target side half-shaft meets the design requirements; if there are points in the actual displacement swing angle diagram that are outside the reference displacement swing angle diagram, it indicates that there are design risks and the design needs to be adjusted, thereby generating a prompt that there are design risks in the target side half-shaft.

[0054] According to the half-shaft displacement swing angle verification method proposed in the embodiment of the present application, by identifying the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain, the center of mass coordinate system of the left half-shaft moving node, the right half-shaft moving node and the powertrain is offset according to the displacement offset and the rotation angle, and in the offset target coordinate system, the first node center coordinate of the target side half-shaft fixed node, the second node center coordinate of the left half-shaft moving node after the offset and the third node center coordinate of the right half-shaft moving node after the offset are determined, and the displacement swing angle of the target side half-shaft under the corresponding target working condition is verified. Finally, according to the verified displacement swing angle under each target working condition, the actual displacement swing angle diagram of the target side half-shaft is generated, and the half-shaft displacement swing angle under the power suspension limit working condition in the most dangerous position is calculated, so that more accurate layout and analysis can be carried out, safety margin setting can be carried out, and the risk of vehicle failure is reduced.

[0055] The semi-axis displacement angle calibration method is further described below through a specific embodiment.

[0056] The quality of the vehicle suspension kinematics is not only related to the vehicle's operational stability, comfort, ride smoothness, and tire life, but also has a relatively large impact on the slip and swing angle of the half-axle. Usually in vehicle design, it is necessary to establish a DMU model in CAD, and check the displacement and swing angle diagram of the half-axle moving joint according to the hard point structure of the whole vehicle to ensure that its runout curve is within a reasonable spatial range. However, all current checks are based on the premise that the powertrain position is constant. Figure 2 As shown, it is a schematic diagram of the displacement swing angle of the powertrain.

[0057] Taking the left half-shaft as an example, the displacement and swing angle diagram of the left half-shaft under the working condition of the powertrain is analyzed. First, through DMU verification, the hard point coordinates of the suspension and the position of the fixed node center of the left half-shaft are analyzed when the displacement and swing angle of the left half-shaft are minimum from the safety boundary without considering the powertrain. The most important thing is to calculate the spatial coordinates of the node centers of the moving nodes of the left and right half-shafts according to the working condition of the powertrain 28.

[0058] The calculation method of the displacement swing angle proposed in this embodiment is as follows Figure 3 As shown, the following steps are included:

[0059] Step S201, read the powertrain 28 operating table and the initial half-shaft node center coordinates.

[0060] After the suspension constraint is passed, the position change table of the powertrain 28 working condition is shown in Table 1. Table 1 is a position change table of the powertrain 28 working condition.

[0061] Table 1

[0062] X(mm) Y(mm) Z(mm) Rx(deg) Ry(deg) Rz(deg) Center of mass coordinates x y z Condition 1 x1 y1 z1 a1 b1 c1 … … … … … … … Condition 28 x28 y28 z28 a28 b28 c28

[0063] The center position of the half-axle moving node is fixed together with the powertrain. When the powertrain changes, the center position of the half-axle moving node will change accordingly.

[0064] Step S202, shift the node center and center of mass coordinate system left and right according to the working condition table.

[0065] Taking working condition 1 as an example, the powertrain and the half-axle moving joint center are offset by x1, y1 and z1 in the xyz direction respectively, and the coordinate axis of the center of mass is also offset accordingly to form new coordinate axes x', y', z'.

[0066] Step S203, move the node center left and right and rotate the new coordinate system around the new x-axis.

[0067] Move the node center left and right and rotate it around the new coordinate axis x' by a1 degree. At the same time, the coordinate axes y' and z' also rotate around the x' axis by a1 degree to form a new coordinate system x'y"z".

[0068] Step S204, move the node center left and right and rotate the new coordinate system around the new y-axis.

[0069] Move the joint center left and right and then rotate b1 degrees around y”. At the same time, the coordinate axes x' and z” also rotate b1 degrees around the y” axis to form a new coordinate system x”, y”, z”’.

[0070] Step S205, move the node center left and right and rotate the new coordinate system around the new z-axis.

[0071] Move the center of the joint left and right and then rotate it c1 degrees around z"'.

[0072] Step S206, obtain the left and right moving node centers Zyd and Yyd.

[0073] The position coordinates of the moving node center under working condition 1 are obtained. The symbols corresponding to each value are as follows:

[0074] Zgd is the fixed joint center of the left half shaft.

[0075] Zyd is the moving center of the left half-axis.

[0076] Yyd is the moving center of the right half-axis.

[0077] Lgan is the length of the half-axle shaft, which is a certain value.

[0078] The straight line formed by Zyd and Yyd is Lyd.

[0079] Step S207, calculate the intersection point Zyd' where the straight line where Zyd and Yyd are located and the fixed node center is the ball center and the shaft length is the radius.

[0080] Calculate the intersection of the straight line Lyd and the sphere with Zgd as the center and Lgan as the radius. If there is no intersection, it means that the semi-axis is out of place and there is a design problem, and return to step S202; if there is an intersection, there are generally two intersections, and a judgment is required. Select the intersection with a larger Y coordinate value (for the left semi-axis, the absolute value of the Y coordinate is smaller) as the actual intersection, assume that the intersection coordinate is Zyd', and proceed to step S208.

[0081] Step S208: Calculate the distance t and the angle p.

[0082] Calculate the straight-line distance between Zyd' and Zyd, set it as t, calculate the angle between the straight line where Zgd and Zyd' are located and the straight line where Zyd' and Yyd are located, take the acute angle, set it as p.

[0083] Step S209: determine the positive or negative value of the displacement t.

[0084] Determine the positive and negative value of t. If the Y coordinate value of Zyd' is larger (for the left semi-axis, the absolute value of the Y coordinate is smaller), the distance value is negative, indicating that the semi-axis moving node moves toward the inside of the node shell. On the contrary, it is set to a positive value, indicating that the semi-axis moving node moves toward the outside of the node shell.

[0085] Step S210: draw a curve graph.

[0086] Then, the displacement angle diagram of the semi-axle is drawn according to the angle p and the displacement t. For the 28 working conditions of the powertrain, 28 points are drawn. If all 28 points are in the inherent attribute diagram of the semi-axle node center, it means that the design is safe. If a point exceeds the inherent attribute diagram, it means that the design has risks and needs to be adjusted.

[0087] Figure 4 This is a diagram of the half-axle displacement and swing angle of a rear four-link vehicle with 28 working conditions of the powertrain. It can be seen from the figure that some working conditions have exceeded the curve box diagram, indicating that there are risks in the design and the design needs to be adjusted.

[0088] Next, the semi-axis displacement and swing angle calibration device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0089] Figure 5 It is a block diagram of a semi-axis displacement and swing angle calibration device according to an embodiment of the present application.

[0090] like Figure 5 As shown, the semi-axis displacement and swing angle calibration device 10 includes: an identification module 301 , an offset module 302 and a calibration module 303 .

[0091] Among them, the identification module 301 is used to identify the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain; the offset module 302 is used to offset the left half-shaft moving node, the right half-shaft moving node and the center of mass coordinate system of the powertrain according to the displacement offset and the rotation angle, and determine the first node center coordinate of the target side half-shaft fixed node, the second node center coordinate of the left half-shaft moving node after the offset, and the third node center coordinate of the right half-shaft moving node after the offset in the target coordinate system; the verification module 303 is used to verify the displacement swing angle of the target side half-shaft under the corresponding target working condition according to the first node center coordinate, the second node center coordinate and the third node center coordinate, and generate the actual displacement swing angle diagram of the target side half-shaft according to the verified displacement swing angle under each target working condition.

[0092] In an embodiment of the present application, after generating the actual displacement swing angle diagram of the target side half shaft according to the displacement swing angle verified under each target working condition, it also includes: obtaining a reference displacement swing angle diagram of the target side half shaft; verifying the design of the target side half shaft according to the actual displacement swing angle diagram and the reference displacement swing angle diagram.

[0093] In an embodiment of the present application, the design of the target side half-shaft is verified based on the actual displacement swing angle diagram and the reference displacement swing angle diagram, including: if all points of the actual displacement swing angle diagram are within the reference displacement swing angle diagram, it is determined that the design of the target side half-shaft meets the design requirements, otherwise a prompt is generated that there is a design risk in the target side half-shaft.

[0094] In an embodiment of the present application, the offset module 302 is further used to: identify the first to third target angles in the rotation angle; offset the nodes of the left half-axis moving node, the nodes of the right half-axis moving node and the center of mass coordinate system according to the displacement offset, wherein the center of mass coordinate system offset according to the displacement offset is the first new coordinate system; using the X-axis of the first new coordinate system as the rotation axis, rotating the Y-axis and Z-axis of the first new coordinate system by the first target angle to obtain the second new coordinate system; using the Y-axis of the second new coordinate system as the rotation axis, rotating the nodes of the left half-axis moving node and the nodes of the right half-axis moving node by the second target angle, and rotating the X-axis and Z-axis of the second new coordinate system by the third target angle to obtain the offset target coordinate system.

[0095] In an embodiment of the present application, the verification module 303 is further used to: establish a spherical model with the first node center coordinate as the sphere center and the shaft length of the target side semi-axis as the radius; form a first straight line between the second node center coordinate and the third node center coordinate, if there is no intersection between the first straight line and the spherical model, determine the design abnormality of the target semi-axis; if there is an intersection between the first straight line and the spherical model, determine the intersection coordinates, and calculate the straight-line distance between the intersection coordinates and the second node center coordinates to form the second straight line; form a third straight line between the first node center coordinate and the intersection coordinates, form a fourth straight line between the intersection coordinates and the third node center coordinates, and the angle between the third straight line and the fourth straight line; represent the displacement swing angle of the target side semi-axis under the corresponding target working condition according to the straight-line distance and the angle.

[0096] In the embodiment of the present application, the intersection coordinates are selected according to the target-side semi-axis.

[0097] In the embodiment of the present application, the verification module 303 is further used to: establish a coordinate system of displacement and angle; use the straight-line distance and angle under each target working condition as the drawing point, and generate an actual displacement swing angle diagram of the target side semi-axis in the coordinate system of displacement and angle.

[0098] It should be noted that the aforementioned explanation of the embodiment of the semi-axis displacement and swing angle calibration method is also applicable to the semi-axis displacement and swing angle calibration device of this embodiment, and will not be repeated here.

[0099] According to the half-shaft displacement swing angle verification device proposed in the embodiment of the present application, through the coordinated action of the identification module, the offset module and the verification module, the displacement offset and the rotation angle under each target working condition in the working condition table of the powertrain can be identified, and the center of mass coordinate system of the left half-shaft moving node, the right half-shaft moving node and the powertrain are offset according to the displacement offset and the rotation angle. In the offset target coordinate system, the first node center coordinate of the target side half-shaft fixed node, the second node center coordinate of the left half-shaft moving node after the offset and the third node center coordinate of the right half-shaft moving node after the offset are determined, and the displacement swing angle of the target side half-shaft under the corresponding target working condition is verified. Finally, according to the verified displacement swing angle under each target working condition, the actual displacement swing angle diagram of the target side half-shaft is generated, so that the half-shaft displacement swing angle under the power suspension limit working condition in the most dangerous position can be calculated, so that more accurate layout and analysis can be carried out, safety margin setting can be carried out, and the risk of vehicle failure is reduced.

[0100] The embodiment of the present application also provides a half-shaft, and the half-shaft of the powertrain is calibrated using the above-mentioned half-shaft displacement and swing angle calibration method.

[0101] An embodiment of the present application also provides a vehicle, comprising the axle half of the powertrain described above.

[0102] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0103] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0104] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0105] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0106] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A method for checking the semi-axis displacement and swing angle, characterized in that: The following steps are involved: Identify displacement offsets and rotation angles for each target operating condition in the powertrain operating table; Offset the mass center coordinate system of the left semi-shaft moving joint, the right semi-shaft moving joint and the powertrain according to the displacement offset and the rotation angle, and determine the first joint center coordinate of the target side semi-shaft fixed joint, the second joint center coordinate of the left semi-shaft moving joint after the offset, and the third joint center coordinate of the right semi-shaft moving joint after the offset in the offset target coordinate system; The displacement swing angle of the target side half shaft under the corresponding target working condition is checked according to the first node center coordinate, the second node center coordinate and the third node center coordinate, and the actual displacement swing angle diagram of the target side half shaft is generated according to the checked displacement swing angle under each target working condition.

2. The semi-axis displacement angle calibration method according to claim 1 is characterized in that: After generating the actual displacement swing angle diagram of the target side half shaft according to the displacement swing angle verified under the target working conditions, the method further includes: Obtaining a reference displacement swing angle diagram of the target side half shaft; The design of the target side half shaft is verified according to the actual displacement and swing angle diagram and the reference displacement and swing angle diagram.

3. The semi-axis displacement angle calibration method according to claim 2 is characterized in that: The verifying the design of the target side half shaft according to the actual displacement swing angle diagram and the reference displacement swing angle diagram comprises: If all points of the actual displacement and swing angle diagram are within the reference displacement and swing angle diagram, it is determined that the design of the target side semi-shaft meets the design requirements, otherwise a prompt is generated that there is a design risk in the target side semi-shaft.

4. The semi-axis displacement angle calibration method according to claim 1 is characterized in that: The center of mass coordinate system of the left half-shaft moving joint, the right half-shaft moving joint and the power assembly offset according to the displacement offset and the rotation angle includes: identifying first to third target angles among the rotation angles; The nodes of the left semi-axis moving node, the nodes of the right semi-axis moving node and the centroid coordinate system are offset according to the displacement offset, wherein the centroid coordinate system offset according to the displacement offset is the first new coordinate system; Taking the X axis of the first new coordinate system as the rotation axis, rotating the Y axis and the Z axis of the first new coordinate system by a first target angle to obtain a second new coordinate system; Taking the Y axis of the second new coordinate system as the rotation axis, the nodes of the left half-axis moving node and the right half-axis moving node are rotated by the second target angle, and the X axis and Z axis of the second new coordinate system are rotated by the third target angle to obtain the offset target coordinate system.

5. The semi-axis displacement angle calibration method according to claim 1 is characterized in that: The checking the displacement angle of the target side half shaft under the corresponding target working condition according to the first node center coordinate, the second node center coordinate and the third node center coordinate includes: A spherical model is established with the first node center coordinate as the spherical center and the shaft length of the target side semi-axis as the radius; The second node center coordinates and the third node center coordinates form a first straight line, and if there is no intersection between the first straight line and the ball model, it is determined that the design of the target semi-axis is abnormal; If there is an intersection between the first straight line and the spherical model, the coordinates of the intersection are determined, and a straight-line distance between the coordinates of the intersection and the coordinates of the second node center forming a second straight line is calculated; A third straight line is formed between the first node center coordinates and the intersection point coordinates, a fourth straight line is formed between the intersection point coordinates and the third node center coordinates, and an angle between the third straight line and the fourth straight line is formed; The displacement swing angle of the target side half shaft under the corresponding target working condition is expressed according to the straight-line distance and the angle.

6. The semi-axis displacement angle calibration method according to claim 5 is characterized in that: The intersection coordinates are selected according to the target-side semi-axis.

7. The semi-axis displacement angle calibration method according to claim 4 is characterized in that: The generating the actual displacement swing angle diagram of the target side half shaft according to the displacement swing angle verified under each target working condition comprises: Establish a coordinate system of displacement and angle; The straight-line distance and angle under each target working condition are used as plotting points to generate an actual displacement and swing angle diagram of the target-side semi-axle in the displacement and angle coordinate system.

8. A semi-axis displacement and swing angle calibration device, characterized in that: include: An identification module, used to identify the displacement offset and rotation angle under each target working condition in the working condition table of the powertrain; An offset module is used to offset the mass center coordinate system of the left semi-shaft moving joint, the right semi-shaft moving joint and the powertrain according to the displacement offset and the rotation angle, and determine the first joint center coordinate of the target side semi-shaft fixed joint, the second joint center coordinate of the left semi-shaft moving joint after the offset, and the third joint center coordinate of the right semi-shaft moving joint after the offset in the offset target coordinate system; A verification module is used to verify the displacement and swing angle of the target side half-shaft under the corresponding target working condition according to the first node center coordinate, the second node center coordinate and the third node center coordinate, and to generate an actual displacement and swing angle diagram of the target side half-shaft according to the verified displacement and swing angle under each target working condition.

9. A half shaft, characterized in that: The half-axles of the powertrain are calibrated using the half-axle displacement and swing angle calibration method described in any one of claims 1 to 7.

10. A vehicle, characterized in that: A half shaft comprising the powertrain as claimed in claim 9.

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