Complete vehicle idling vibration calculation method and device based on modal parameters and electronic equipment

Abstract

The invention discloses a vehicle idle vibration calculation method based on modal parameters, and relates to the technical field of modalities, and the method comprises the steps: obtaining a vehicle system modal frequency response function; performing modal analysis based on the vehicle system modal frequency response function to obtain a vehicle system modal; based on a vehicle system mode, constructing a vehicle idling vibration model transfer function HOI and a power assembly excitation part transfer function HOI '; acquiring exciting force data Fc at a mass point of the power assembly; constructing a force conversion matrix TF from a power assembly measuring point transfer force to a power assembly mass point exciting force of the vehicle modal test system; and according to the power assembly excitation part transfer function, the excitation force at the power assembly mass point and the force conversion matrix, obtaining vehicle idle speed vibration response data Xo. According to the scheme, the vehicle system modal frequency response function is obtained through the whole vehicle modal test, so that the comprehensiveness of test data is guaranteed. And through strict mathematical model description, the test result has high accuracy.

Description

Technical Field

[0001] The present application relates to the field of modal technology, and particularly to a method for calculating the idle vibration of a whole vehicle based on modal parameters, a device for calculating the idle vibration of a whole vehicle based on modal parameters, an electronic device, a storage medium, and a test platform. Background Art

[0002] Currently, for general commercial vehicles, the idle vibration of the whole vehicle is one of the main performances described under the NVH index. In order to predict the performance of the idle vibration of the whole vehicle, in the prior art, such as the papers "Calculation of the Vibration Natural Frequency and Energy Distribution of the Mounting System Based on a 16-Degree-of-Freedom Model of the Whole Vehicle" and "Calculation and Analysis Method of the Powertrain Mounting System Based on the Requirements of the Vibration and Noise Control of the Whole Vehicle", etc., mainly by establishing simplified dynamic models with 6, 9, 13 or 16 degrees of freedom, etc., to calculate the idle vibration response of the whole vehicle.

[0003] For simplified dynamic models with 6, 9, 13 or 16 degrees of freedom, etc., due to the difficulty in measuring the inertial parameters of components in the degree-of-freedom model, and it is very difficult to obtain the stiffness and damping values of elastic elements. At the same time, there is a large gap between the simplified degree-of-freedom model and the dynamic response of the whole vehicle, resulting in poor calculation accuracy for the idle vibration of the whole vehicle based on modal parameters.

[0004] Therefore, a solution for calculating the idle vibration of the whole vehicle based on modal parameters is needed, and based on the technology of modal testing, the idle vibration of the vehicle can be calculated more accurately. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for calculating the idle vibration of a whole vehicle based on modal parameters, a device for calculating the idle vibration of a whole vehicle based on modal parameters, an electronic device, a storage medium, and a test platform, at least solving the problem of the calculation accuracy of the idle vibration of the vehicle, and solving one of the technical problems in the application of modal technology in the problem of calculating the idle vibration of the whole vehicle based on modal parameters.

[0006] The present invention provides the following solutions:

[0007] According to one aspect of the present invention, there is provided a method for calculating the idle vibration of a whole vehicle based on modal parameters, and the method for calculating the idle vibration of a whole vehicle based on modal parameters includes:

[0008] Step S1, obtaining the modal frequency response function of the vehicle system;

[0009] Step S2, performing modal analysis based on the modal frequency response function of the vehicle system to obtain the vehicle system mode;

[0010] Step S3, based on the vehicle system mode, constructing the transfer function H of the vehicle idle vibration model OI and the transfer function H of the powertrain excitation part OI′ ;

[0011] Step S4, obtain the excitation force data F at the mass point of the powertrain c ;

[0012] Step S5, construct the force conversion matrix T from the measured point transfer function force of the powertrain measurement points of the vehicle modal test system to the excitation force at the mass point of the powertrain F ;

[0013] Step S6, obtain the vehicle idle vibration response data X according to the transfer function of the excitation part of the powertrain, the excitation force at the mass point of the powertrain, and the force conversion matrix o .

[0014] Further, the step S1 includes:

[0015] Preset the vehicle modal test, including setting the vibration pickup points;

[0016] The setting of the vibration pickup points includes setting the vibration pickup points on the powertrain, setting the vibration pickup points on the passive side of the mounts, and setting the vibration pickup points at key positions;

[0017] The setting of the vibration pickup points on the powertrain includes evenly distributing M vibration pickup points on the surface of the powertrain;

[0018] Among them, the evenly distributing multiple vibration pickup points on the surface of the powertrain includes setting the vibration pickup point X corresponding to each mount installation position point of the powertrain mei , and setting the vibration pickup point X at other positions on the surface of the powertrain eng i ;

[0019] The setting of the vibration pickup points on the passive side of the mounts includes setting the vibration pickup point X corresponding to each mount installation position point of the vehicle frame mfi ;

[0020] The setting of the vibration pickup points at key positions includes setting the vibration pickup point X corresponding to each preset key position keyi ;

[0021] For each set vibration pickup point i, sample the three-axis acceleration data.

[0022] Further, the step S2 includes:

[0023] Corresponding to the vehicle system mode, extract the Nth-order mode within the cut-off frequency f c range;

[0024] The rth-order mode includes: damping ratio ζ r , undamped natural frequency f r , mode shape vector and mode a r , where r = 1, 2... N;

[0025] Among them, the mode D r is the modal ratio conversion factor.

[0026] Furthermore, the step S3 includes:

[0027] Step S31, according to the vibration mode vector obtain the modal vibration mode vector Φ of the key points of vehicle idle vibration r ;

[0028] The vibration mode vector Φ r includes the vibration mode vector Φ corresponding to the pickup point X eng , the vibration mode vector Φ corresponding to the pickup point X eng , the vibration mode vector Φ corresponding to the pickup point X mei , the vibration mode vector Φ corresponding to the pickup point X me , and the vibration mode vector Φ corresponding to the pickup point X mfi ; mf keyi key ;

[0029]

[0030] Among them, Φ r = [Φ eng Φ me Φ mf Φ key T ;

[0031] Among them, T represents matrix transpose.

[0031] Furthermore, the step S3 also includes:

[0032] Step S32, the transfer function of the vehicle idle vibration model includes,

[0033]

[0034] Among them: j is the imaginary unit, and ω is the circular frequency.

[0035] Furthermore, the step S3 also includes:

[0036] Step S33, the transfer function H of the powertrain excitation part OI ′ , is the first 3×M columns of H OI , including,

[0037]

[0038] Among them: is the vector value of the first 3M of the vector.

[0039] Furthermore, the step S4 includes:

[0040] Excitation force at the mass point of the powertrain

[0041] Among them, F cx is the X-direction excitation force at the center of mass of the powertrain;

[0042] F cy is the Y-direction excitation force at the center of mass of the powertrain;

[0043] F cz is the Z-direction excitation force at the center of mass of the powertrain;

[0044] M cx is the torque excitation force about the X-axis at the center of mass of the powertrain;

[0045] M cy is the torque excitation force about the Y-axis at the center of mass of the powertrain;

[0046] M cz is the torque excitation force about the Z-axis at the center of mass of the powertrain.

[0047] Furthermore, the step S5 includes:

[0048] Step S51, the transfer function force F of the key points of vehicle idle vibration I =[F eng F me F mf F key T ;

[0049] Among them, F mf =F key =0;

[0050] Among them, F eng is the three-direction force matrix of all pick-up points on the surface of the powertrain;

[0051] F me is the three-direction force matrix of each mounting position point of the powertrain mounts;

[0052] F mf is the three-direction force matrix of each mounting position point of the vehicle frame mounts;

[0053] F key is the three-direction force matrix of the key position points.

[0054] Furthermore, the step S5 also includes:

[0055] Step S52, constructing a relationship model from the transfer function force of the powertrain measurement points to the excitation force at the mass point of the powertrain of the vehicle modal test system includes,

[0056] The center of mass r of the powertrain​c to the coordinate r of the i-th point r of the powertrain pickup point pi of r cpi = r c - r pi , and determine the cross product matrix of this pickup point

[0057] where r cpix is the X coordinate of the i-th point r of the pickup point pi ;

[0058] r cpiy is the Y coordinate of the i-th point r of the pickup point pi ;

[0059] r cpiz is the Z coordinate of the i-th point r of the pickup point pi ;

[0060] where the exciting force F of the i-th point of the powertrain pickup point mi is converted into the mass center force of the powertrain, including

[0061] where E is the identity matrix; B is the cross product matrix of the pickup point;

[0062] where, for all powertrain pickup points, including

[0063]

[0064] where [F eng F me T = [F m1 F m2 F m3 F m4 T ;

[0065] where F m1 is the exciting force of the first point;

[0066] F m2 is the exciting force of the second point;

[0067] F m3 is the exciting force of the third point;

[0068] F m4 is the exciting force of the fourth point;

[0069] where where [] + represents the generalized inverse of the matrix;

[0070] Step S53, obtain the force conversion matrix ​​

[0071] Further, the step S6 includes:

[0072] Step S61, constructing the acceleration response X of the key points of the vehicle's idle vibration o =

[0073] [X eng X me X mf X key T ;

[0074] wherein, X eng is the response matrix of all the pickup points on the surface of the powertrain;

[0075] X me is the response matrix of each mounting position point of the powertrain mounts;

[0076] X mf is the response matrix of each mounting position point of the frame mounts;

[0077] X key is the response matrix of the key position points;

[0078] Step S62, obtaining the vehicle idle vibration response data X o = H OI ′ T F F c .

[0079] According to a second aspect of the present invention, there is provided a vehicle idle vibration calculation device based on modal parameters, and the vehicle idle vibration calculation device based on modal parameters includes:

[0080] A function acquisition module, configured to acquire the modal frequency response function of the vehicle system;

[0081] A modal acquisition module, configured to perform modal analysis based on the modal frequency response function of the vehicle system to obtain the vehicle system mode;

[0082] A transfer function construction module, configured to construct the transfer function H OI of the vehicle idle vibration model and the transfer function H OI ′ of the powertrain excitation part based on the vehicle system mode;

[0083] A data acquisition module, configured to acquire the excitation force data F c at the mass point of the powertrain;

[0084] A matrix construction module, configured to construct a force conversion matrix T F from the transfer function force of the powertrain measurement points of the vehicle modal test system to the excitation force at the mass point of the powertrain; ​

[0085] A response data module, configured to obtain vehicle idle vibration response data according to the transfer function of the powertrain excitation part, the excitation force at the mass point of the powertrain, and the force conversion matrix.

[0086] According to three aspects of the present invention, an electronic device is provided, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0087] The memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the steps of the method for calculating the vehicle idle vibration based on modal parameters.

[0088] According to four aspects of the present invention, a computer-readable storage medium is provided, which stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device is caused to execute the steps of the method for calculating the vehicle idle vibration based on modal parameters.

[0089] According to five aspects of the present invention, a test platform is provided, including:

[0090] An electronic device, configured to implement the steps of the method for calculating the vehicle idle vibration based on modal parameters;

[0091] A processor, the processor runs a program, and when the program runs, it executes the steps of the method for calculating the vehicle idle vibration based on modal parameters for the data output from the electronic device;

[0092] A storage medium, configured to store a program, and when the program runs, it executes the steps of the method for calculating the vehicle idle vibration based on modal parameters for the data output from the electronic device.

[0093] Through the above solutions, the following beneficial technical effects are obtained:

[0094] In this application, the vehicle system modal frequency response function is obtained through vehicle modal testing, ensuring the comprehensiveness of the test data.

[0095] In this application, a geometric model of thousands of vibration pick-up points on the whole vehicle is established, enabling the test conclusions to cover the vehicle system of the whole vehicle and ensuring the effectiveness of the modal testing.

[0096] In this application, the idle vibration of the whole vehicle is described through a rigorous mathematical model, making the test results highly accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Figure 1 is a flowchart of the method for calculating the vehicle idle vibration based on modal parameters provided by one or more embodiments of the present invention.

[0098] Figure 2 It is a structural diagram of a vehicle idle vibration calculation device based on modal parameters provided by one or more embodiments of the present invention.

[0099] Figure 3 Schematic diagram of the geometric framework of the vehicle modal test points in a specific embodiment of the present invention.

[0100] Figure 4 Schematic diagram of the 8th-order vibration mode of the vehicle modal in a specific embodiment of the present invention.

[0101] Figure 5 Schematic diagram of the 8th-order vibration mode of the key points of the vehicle modal idle vibration in a specific embodiment of the present invention.

[0102] Figure 6 Schematic diagram of the excitation force at the mass point of the powertrain in a specific embodiment of the present invention.

[0103] Figure 7 Block diagram of the structure of an electronic device for a vehicle idle vibration calculation method based on modal parameters provided by one or more embodiments of the present invention. Detailed implementation manners

[0104] Next, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0105] Figure 1 It is a flowchart of a vehicle idle vibration calculation method based on modal parameters provided by one or more embodiments of the present invention.

[0106] As Figure 1 shown, the vehicle idle vibration calculation method based on modal parameters includes:

[0107] Step S1, obtaining the modal frequency response function of the vehicle system;

[0108] Step S2, performing modal analysis based on the modal frequency response function of the vehicle system to obtain the vehicle system modal;

[0109] Step S3, based on the vehicle system modal, constructing the transfer function H OI of the vehicle idle vibration model and the transfer function H OI ′ ;

[0110] Step S4, obtaining the excitation force data F c ;

[0111] Step S5: Construct a force conversion matrix T from the measured point transfer function force of the powertrain in the vehicle modal test system to the excitation force at the powertrain mass point F ;

[0112] Step S6: Obtain the vehicle idle vibration response data X based on the transfer function of the excitation part of the powertrain, the excitation force at the powertrain mass point, and the force conversion matrix o 。

[0113] In this embodiment, step S1 includes:

[0114] Preset the vehicle modal test, including setting the pickup points;

[0115] Setting the pickup points includes setting the pickup points on the powertrain, setting the pickup points on the passive side of the mounts, and setting the pickup points at key positions;

[0116] Setting the pickup points on the powertrain includes evenly distributing M pickup points on the surface of the powertrain;

[0117] Among them, evenly distributing multiple pickup points on the surface of the powertrain includes setting a pickup point X corresponding to each mount installation position point of the powertrain mei , and setting a pickup point X at other positions on the surface of the powertrain engi ;

[0118] Setting the pickup points on the passive side of the mounts includes setting a pickup point X corresponding to each mount installation position point of the vehicle frame mf i ;

[0119] Setting the pickup points at key positions includes setting a pickup point X corresponding to each preset key position keyi ;

[0120] For each set pickup point i, sample the three-axis acceleration data.

[0121] In this embodiment, step S2 includes:

[0122] Corresponding to the vehicle system mode, extract the Nth order mode within the cut-off frequency f c range;

[0123] The rth order mode includes: damping ratio ζ r , undamped natural frequency f r , mode shape vector and mode a r , where r = 1, 2... N;

[0124] Among them, where the mode Q r is the mode scaling factor.

[0125] In this embodiment, step S3 includes:

[0126] Step S31, according to the mode vector Obtain the modal mode vector Φ of the key points of vehicle idle vibration r ;

[0127] The mode vector Φ r includes the mode vector Φ corresponding to the pickup point X eng of, the mode vector Φ corresponding to the pickup point X eng of, the mode vector Φ corresponding to the pickup point X mei of, and the mode vector Φ corresponding to the pickup point X me of, and the mode vector Φ corresponding to the pickup point X mfi of; mf and the mode vector Φ corresponding to the pickup point X keyi of; key ;

[0128] wherein, Φ r =[Φ eng Φ me Φ mf Φ key T ;

[0129] wherein, T represents matrix transpose.

[0130] In this embodiment, step S3 further includes:

[0131] Step S32, the transfer function of the vehicle idle vibration model includes,

[0132]

[0133] where: j is the imaginary unit and ω is the circular frequency.

[0134] In this embodiment, step S3 further includes:

[0135] Step S33, the transfer function H of the powertrain excitation part OI ′ , is the first 3×M columns of H OI , and includes,

[0136]

[0137] where: is the vector value of the first 3M of the vector.

[0138] In this embodiment, step S4 includes:

[0139] The excitation force at the powertrain mass point wherein, F cx is the X-direction excitation force at the center of mass of the powertrain;

[0140] F​cy is the Y-direction excitation force at the center of mass of the powertrain;

[0141] F cz is the Z-direction excitation force at the center of mass of the powertrain;

[0142] M cx is the torque excitation force about the X-axis at the center of mass of the powertrain;

[0143] M cy is the torque excitation force about the Y-axis at the center of mass of the powertrain;

[0144] M cz is the torque excitation force about the Z-axis at the center of mass of the powertrain.

[0145] In this embodiment, step S5 includes:

[0146] Step S51, the transfer function force F of the key points of the vehicle's idle vibration I = [F eng F me F mf F key T ; where F mf = F key = 0;

[0147] where F eng is the three-direction force matrix of all the pickup points on the surface of the powertrain;

[0148] F me is the three-direction force matrix of each mounting position point of the powertrain mounts;

[0149] F mf is the three-direction force matrix of each mounting position point of the vehicle frame mounts;

[0150] F key is the three-direction force matrix of the key position points.

[0151] In this embodiment, step S5 further includes:

[0152] Step S52, constructing a relationship model from the transfer function force of the powertrain measurement points to the excitation force at the mass point of the powertrain in the vehicle modal test system includes,

[0153] The coordinate r c from the center of mass r of the powertrain to the i-th point r pi of the pickup points on the powertrain cp = r c - r pi to determine the cross product matrix of this pickup point

[0154] where r cpix is the i-th point r of the pickup point​pi The X coordinate of;

[0155] r cpiy is the Y coordinate of the i-th pickup point r; pi The Y coordinate of;

[0156] r cpiz is the Z coordinate of the i-th pickup point r; pi The Z coordinate of;

[0157] Among them, the excitation force F of the i-th pickup point of the powertrain mi is converted into the mass center force of the powertrain, including

[0158]

[0159] Among them, E is the identity matrix; B is the cross product matrix of the pickup points;

[0160] Among them, for all powertrain pickup points, including

[0161]

[0162] Among them, [F eng F me T =[F m1 F m2 F m3 F m4 T ;

[0163] Among them, F m1 is the excitation force of the first point;

[0164] F m2 is the excitation force of the second point;

[0165] F m3 is the excitation force of the third point;

[0166] F m4 is the excitation force of the fourth point;

[0167] Among them,

[0168] Among them, [] + represents the generalized inverse of the matrix;

[0169] Step S53, obtain the force conversion matrix

[0170] In this embodiment, step S6 includes:

[0171] Step S61, construct the acceleration response X of the key points of the vehicle idle vibration o =

[0172] ​​[X eng X me X mf X key T ;

[0173] Among them, X eng is the response matrix of all pickup points on the surface of the powertrain;

[0174] X me is the response matrix of each mounting position point of the powertrain mounts;

[0175] X mf is the response matrix of each mounting position point of the frame mounts;

[0176] X key is the response matrix of the key position points;

[0177] Step S62, obtain the vehicle idle vibration response data X o = H OI ′ T F F c .

[0178] Figure 2 is the structural diagram of the vehicle idle vibration calculation device based on modal parameters provided by one or more embodiments of the present invention.

[0179] As Figure 2 shown, the vehicle idle vibration calculation device based on modal parameters includes: a function acquisition module, a modal acquisition module, a transfer function construction module, a data acquisition module, a matrix construction module, and a response data module;

[0180] The function acquisition module is used to acquire the modal frequency response function of the vehicle system;

[0181] The modal acquisition module is used to perform modal analysis based on the modal frequency response function of the vehicle system to obtain the vehicle system modes;

[0182] The transfer function construction module is used to construct the transfer function H OI of the vehicle idle vibration model and the transfer function H OI ′ of the powertrain excitation part based on the vehicle system modes;

[0183] The data acquisition module is used to acquire the excitation force data F c at the mass points of the powertrain;

[0184] The matrix construction module is used to construct the force conversion matrix T F from the transfer function force of the powertrain measurement points of the vehicle modal test system to the excitation force at the mass points of the powertrain;

[0185] ​A response data module, configured to obtain vehicle idle vibration response data according to the transfer function of the powertrain excitation part, the excitation force at the powertrain mass point, and the force conversion matrix.

[0186] It should be noted that although this system only discloses a function acquisition module, a mode acquisition module, a transfer function construction module, a data acquisition module, a matrix construction module, and a response data module, it does not mean that this device is only limited to the above basic function modules. On the contrary, what the present invention intends to express is that based on the above basic function modules, those skilled in the art can arbitrarily add one or more function modules in combination with the existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. It cannot be considered that the protection scope of the claims of the present invention is limited to the above disclosed basic function modules just because only individual basic function modules are disclosed in this embodiment.

[0187] Figure 3 Schematic diagram of the geometric framework of the vehicle body modal test points in a specific embodiment of the present invention.

[0188] Figure 4 Schematic diagram of the 8th-order vibration mode of the vehicle body modal in a specific embodiment of the present invention.

[0189] Figure 5 Schematic diagram of the 8th-order vibration mode of the key points of the vehicle body modal idle vibration in a specific embodiment of the present invention.

[0190] Figure 6 Schematic diagram of the excitation force at the powertrain mass point in a specific embodiment of the present invention.

[0191] In a specific embodiment, a vehicle idle vibration calculation method based on modal testing is disclosed. The method includes:

[0192] Step S1, obtain the modal frequency response function of the vehicle system.

[0193] The Siemens Test.Lab equipment can be used to establish about 1000 pickup points on the vehicle body to generate a geometric model of the geometric framework of the vehicle body modal test points as shown in Figure 3 , and based on this geometric model, the modal frequency response function of the vehicle system is tested.

[0194] Step S2, based on the modal frequency response function of the vehicle system, perform modal analysis to obtain the vehicle system modes.

[0195] All modes are extracted within the cut-off frequency f c = 200 Hz of the vehicle system modes; for example, the 8th-order mode, with a damping ratio ζ r = 1.57583% and an undamped natural frequency f r = 8.26923 Hz, and the mode shape vector See attachment Figure 2 and mode a r = 8.27009e-08 - 1.22884e-07j, where the mode Q r is the mode proportion conversion factor.

[0196] Step S3: Based on the vehicle system mode, construct the transfer function of the vehicle idle vibration model for the excitation part of the powertrain, H OI ′ .

[0197] Step S3 includes step S31: According to the vehicle system mode shape vector (such as Figure 4 the 8th-order mode shape of the vehicle mode shown), extract the key points of the vehicle idle vibration, and the mode shape vector Φ r (such as Figure 5 the 8th-order mode shape of the key points of the vehicle mode idle vibration shown), and the mode shape vector Φ r includes 36 engine pickup points, 49 frame pickup points, 18 pickup points for the left and right headlight brackets, and 9 pickup points for the steering wheel, a total of 112, arranged in order.

[0198] Step S3 also includes step S32: Construct the transfer function of the vehicle idle vibration model.

[0199]

[0200] where: j is the imaginary unit, and ω is the circular frequency.

[0201] Step S3 also includes step S33: The transfer function H of the excitation part of the powertrain OI ′ is the first 3×36 columns of H OI , that is,

[0202]

[0203] Step S4: Obtain the excitation force at the powertrain mass point as shown in Figure 6 , where, "F cx , F cy , F cz , M cx , M cy , M cz " respectively correspond to "X, Y, Z, Rx, Ry, Rz" in the figure.

[0204] Step S5: Construct the force conversion matrix T from the force at the powertrain measurement point to the excitation force at the powertrain mass point of the vehicle mode test system F ;

[0205] Step S5 includes step S51, the transfer function force F of the key points of the vehicle's idle vibration I =

[0206] [F eng F me F mf F key T ;

[0207] wherein, F mf = F key = 0;

[0208] Step S5 further includes step S52, constructing the relationship between the transfer function force of the key points of the vehicle's idle vibration and the excitation force at the mass points of the powertrain

[0209] If the coordinate r of the center of mass r of the powertrain to the i-th point r of the vibration pickup point of the powertrain c is r pi = r cp - r c - r pi , determine the cross product matrix at this point Then the excitation force F at the i-th point of the vibration pickup point of the powertrain mi can be converted into the centroid force of the powertrain:

[0210]

[0211] where: E is the identity matrix

[0212] For all vibration pickup points of the powertrain, there is:

[0213]

[0214] where: [F eng F me T = [F m1 F m2 F m3 F m4 T ;

[0215] Then:

[0216] where the + in the upper right corner of the matrix indicates the generalized inverse of the matrix

[0217] Step S5 further includes step S53, the force conversion matrix

[0218] Step S6, calculate the vehicle's idle vibration, that is, obtain the vehicle's idle vibration response data X according to the transfer function of the excitation part of the powertrain, the excitation force at the mass points of the powertrain, and the force conversion matrix o .​​​

[0219] Step S6 includes step S61 of constructing the acceleration response X of the key points of the vehicle's idle vibration o =

[0220] [X eng X me X mf X key T ;

[0221] Step S6 also includes step S62 of the vehicle's idle vibration response X o = H OI ′ T F F c .

[0222] In another specific embodiment, the vehicle's idle vibration calculation method based on modal testing includes:

[0223] Step S1 of obtaining the modal frequency response function of the vehicle system

[0224] The modal frequency response function of the vehicle system can be obtained by vehicle modal testing. The number of pick-up points for vehicle modal testing should at least include: (1) Pick-up points for the powertrain: M three-axis accelerations on the surface of the powertrain, evenly distributed on the entire surface, divided into two parts. One part is each mounting position point of the powertrain mounts (named: X mei , where i represents the i-th mount), and the other position points X eng . It is recommended that the number of pick-up points M is not less than 8; (2) Pick-up points on the passive side of the mounts: One three-axis acceleration is arranged at each mounting position point of the frame mounts (named: X mfi , where i represents the i-th mount); (3) Pick-up points at key positions: One three-axis acceleration is arranged at each key position (named: X keyi , where i represents the i-th point).

[0225] Furthermore, step S2 of performing modal analysis based on the modal frequency response function of the vehicle system to obtain the vehicle system modes

[0226] Within the cut-off frequency f c range of the vehicle system modes, extract N modes. The r-th mode includes: damping ratio ζ r , undamped natural frequency f r , and mode shape vector mode a r , where: r = 1, 2 ┄┄ N; where the mode Q r is the modal proportion conversion factor

[0227] ​Further, in step S3, based on the vehicle system mode, construct the transfer function of the vehicle idle vibration model for the excitation part of the powertrain

[0228]

[0229] Further, in step S4, obtain the excitation force at the mass point of the powertrain

[0230] Further, in step S5, construct the force conversion matrix from the measured point transfer function of the powertrain in the vehicle modal test system to the excitation force at the mass point of the powertrain

[0231]

[0232] Further, in step S6, calculate the vehicle idle vibration

[0233] X o =H OI ′ T F F c , that is, according to the transfer function of the excitation part of the powertrain, the excitation force at the mass point of the powertrain, and the force conversion matrix, obtain the vehicle idle vibration response data X o .

[0234] Figure 7 Block diagram of an electronic device for the vehicle idle vibration calculation method based on modal parameters provided by one or more embodiments of the present invention.

[0235] As Figure 7 shown, the present application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus;

[0236] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the vehicle idle vibration calculation method based on modal parameters.

[0237] The present application also provides a computer-readable storage medium, which stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the vehicle idle vibration calculation method based on modal parameters.

[0238] The present application also provides a test platform, including:

[0239] An electronic device for implementing the steps of the vehicle idle vibration calculation method based on modal parameters;

[0240] A processor that runs a program and executes the steps of a vehicle idle vibration calculation method based on modal parameters on the data output from an electronic device when the program is running;

[0241] A storage medium for storing a program that, when running, executes the steps of a vehicle idle vibration calculation method based on modal parameters on the data output from an electronic device.

[0242] From the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0243] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating vehicle idle vibration based on modal parameters, characterized in that: The vehicle idle vibration calculation method based on modal parameters includes: Step S1, obtaining a vehicle system modal frequency response function; Step S2, performing modal analysis based on the vehicle system modal frequency response function to obtain the vehicle system mode; Step S3: constructing a vehicle idle vibration model transmission function H based on the vehicle system mode OI and the powertrain excitation part transmission function H OI ′ ; Step S4, obtaining the excitation force data F at the powertrain mass point c ; Step S5, constructing a force conversion matrix T from the powertrain test point of the vehicle modal test system to the excitation force at the powertrain mass point F ; Step S6, obtaining the vehicle idle vibration response data X according to the powertrain excitation part transmission function, the excitation force at the powertrain mass point and the force conversion matrix o .

2. The vehicle idle vibration calculation method based on modal parameters according to claim 1 is characterized in that: The step S1 comprises: Preset vehicle modal tests, including setting vibration pickup points; The setting of the vibration pickup point includes setting the powertrain vibration pickup point, setting the suspension passive side vibration pickup point and setting the key position vibration pickup point; The setting of the powertrain vibration pickup points includes evenly distributing M vibration pickup points on the surface of the powertrain; Wherein, the evenly distributing multiple vibration pickup points on the surface of the powertrain includes setting a vibration pickup point X corresponding to each suspension installation position point of the powertrain. mei , set the vibration pickup point X at other locations on the powertrain surface eng i ; The setting of the vibration pickup point on the passive side of the suspension includes setting a vibration pickup point X corresponding to each suspension installation position point of the frame. mfi ; The setting of the key position pickup point includes setting a pickup point X corresponding to each preset key position. keyi ; Corresponding to each vibration pickup point i, three-axis acceleration data is sampled.

3. The vehicle idle vibration calculation method based on modal parameters according to claim 2 is characterized in that: The step S2 comprises: Corresponding to the vehicle system mode, at the cutoff frequency f c Within the range, extract N-order modes; The rth order mode includes: damping ratio ζ r , undamped natural frequency f r , vibration mode vector and modal a r , where r = 1, 2...N; Among them, the modal Q r is the modal scaling factor.

4. The vehicle idle vibration calculation method based on modal parameters according to claim 3 is characterized in that: The step S3 comprises: Step S31, according to the vibration mode vector Get the key point modal vibration vector Φ of the vehicle idling vibration r ; The vibration mode vector Φ r Including, corresponding to the vibration pickup point X eng The vibration mode vector Φ eng , corresponding to the vibration pickup point X mei The vibration mode vector Φ me , corresponding to the vibration pickup point X mfi The vibration mode vector Φ mf and the corresponding pickup point X keyi The vibration mode vector Φ key ; Among them, F r =[Φ eng F me F mf F key ] T ; Where T represents the matrix transpose.

5. The vehicle idle vibration calculation method based on modal parameters according to claim 4 is characterized in that: The step S3 further comprises: Step S32, the vehicle idle vibration model transmission function includes: Where: j is the imaginary unit, ω is the circular frequency.

6. The vehicle idle vibration calculation method based on modal parameters according to claim 5 is characterized in that: The step S3 further comprises: Step S33: the powertrain excitation part transmits function H OI ′ , is H OI The first 3×M columns of in: for The vector values ​​of the first 3M vectors.

7. A vehicle idling vibration calculation device based on modal parameters, characterized in that: The vehicle idle vibration calculation device based on modal parameters includes: Function acquisition module, used to obtain the vehicle system modal frequency response function; A modal acquisition module, used for performing modal analysis based on the modal frequency response function of the vehicle system to acquire the vehicle system mode; A transmission function building module is used to build a vehicle idle vibration model transmission function H based on the vehicle system mode. OI and the powertrain excitation part transmission function H OI ′ ; Data acquisition module, used to obtain the excitation force data F at the powertrain mass point c ; Matrix construction module, used to construct the force conversion matrix T from the transmission force of the powertrain measurement point to the excitation force at the powertrain mass point of the vehicle modal test system F ; The response data module is used to obtain the vehicle idle vibration response data based on the powertrain excitation part transmission function, the excitation force at the powertrain mass point and the force conversion matrix.

8. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the vehicle idle vibration calculation method based on modal parameters as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: It stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the vehicle idle vibration calculation method based on modal parameters described in any one of claims 1 to 6.

10. A test platform, characterized in that: include: An electronic device, used to implement the steps of the vehicle idle vibration calculation method based on modal parameters described in any one of claims 1 to 6; A processor, wherein the processor runs a program, and when the program runs, data output from the electronic device executes the steps of the vehicle idle vibration calculation method based on modal parameters according to any one of claims 1 to 6; A storage medium is used to store a program, and when the program is running, it executes the steps of the vehicle idle vibration calculation method based on modal parameters as described in any one of claims 1 to 6 for data output from the electronic device.

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