Suspension vibration test bench and test method

Abstract

The application discloses a kind of suspension vibration test bench and test method, belong to the field of experimental science and technology, comprising: test support;Suspension dynamic stroke part, the fixed seat of suspension dynamic stroke part is set on test support, and suspension dynamic stroke part is provided with acceleration sensor;Suspension series connection part, the fixed end of suspension series connection part is connected with the execution end of suspension dynamic stroke part;Road simulation part, road simulation part is set on test support, and road simulation part is spaced apart with suspension series connection part, and road simulation part is provided with force sensor;Wherein, acceleration sensor is used to obtain vibration acceleration, and force sensor is used to obtain simulated ground reaction force.The application can not only give full play to the unique advantages of series structure in kinematics, but also accurately simulate soft road conditions, to provide efficient experimental platform for dynamic characteristic research, control algorithm verification and performance optimization of suspension system.

Description

TECHNICAL FIELD

[0001] The application discloses a suspension vibration test bench and a test method, and belongs to the technical field of test science. BACKGROUND

[0002] As one of the key structures in vehicle dynamics design, the performance of the suspension has a significant impact on the smooth driving, handling stability and adaptability to complex roads of the vehicle. Traditional suspension tests mostly rely on full-size benches or real vehicle tests, which can reflect real working conditions, but have problems such as high cost, large space occupation and long test period. The series suspension is connected in sequence by components to form an open chain structure, which has advantages such as kinematic analysis simplification, modular design and intuitive dynamic response.

[0003] However, the existing suspension test platform with a series structure lacks soft road simulation due to the lack of non-linear simulation capability of the subsidence and contact force of most benches not designed for soft roads, and the existing system is difficult to balance cost and performance, resulting in poor adaptability of the control algorithm. Since the scaled-down model is prone to proportional distortion due to size reduction, the dynamic response deviates greatly from the actual vehicle, resulting in low restoration of the mass coupling effect of the spring and the spring, and other problems. SUMMARY

[0004] The purpose of the present application is to realize the unique advantages of the series structure in kinematics, accurately simulate soft road conditions, integrate high-precision sensors and active control modules, and provide an efficient experimental platform for dynamic characteristic research, control algorithm verification and performance optimization of the suspension system. A suspension vibration test bench and a test method are provided.

[0005] The problem to be solved by the present application is solved by the following technical scheme:

[0006] A suspension vibration test bench, comprising:

[0007] A test support;

[0008] A suspension dynamic stroke part, the fixing seat of the suspension dynamic stroke part is arranged on the test support, and the suspension dynamic stroke part is provided with an acceleration sensor;

[0009] A suspension series part, the fixed end of the suspension series part is connected with the execution end of the suspension dynamic stroke part;

[0010] A road simulation part, the road simulation part is arranged on the test support, and the road simulation part is arranged between the suspension series part and the suspension dynamic stroke part, and the road simulation part is provided with a force sensor;

[0011] The acceleration sensor is used to acquire vibration acceleration, the force sensor is used to acquire analog ground reaction force, the suspension series part has a test position matched with the road simulation part, and the suspension series part has an initial position separated from the road simulation part.

[0012] Further, the test support includes:

[0013] The support fixing seat has a first end connected with the road simulation part;

[0014] The support vertical beam has a first end connected with the first end of the support fixing seat at a preset angle.

[0015] Further, the suspension dynamic stroke part includes:

[0016] The dynamic stroke fixing seat is connected with the test support;

[0017] The limiting light rod includes at least one, and a first end of the at least one limiting light rod is connected with the dynamic stroke fixing seat;

[0018] The sliding connection block is sleeved on the limiting light rod, and the sliding connection block is connected with the fixed end of the suspension series part; the suspension series part slides along the limiting light rod through the sliding connection block, and the acceleration sensor is connected with the sliding connection block.

[0019] Further, the suspension series part includes:

[0020] The first suspension arm has a first fixed end connected with the sliding connection block;

[0021] The second suspension arm has a second fixed end connected with a first execution end of the first suspension arm;

[0022] The third suspension arm has a first end connected with a second execution end of the second suspension arm, and a second end of the third suspension arm is matched with the road simulation part when the suspension series part is in the test position.

[0023] Further, the first suspension arm or the second suspension arm includes:

[0024] The suspension arm shell is provided with an assembly cavity;

[0025] The transmission assembly is at least partially arranged in the assembly cavity, and an execution end of the transmission assembly is arranged outside the assembly cavity;

[0026] The driving motor has a fixing seat connected with the suspension arm shell, and a main shaft of the driving motor is connected with an input end of the transmission assembly.

[0027] Further, the transmission assembly includes:

[0028] a main drive wheel, the main drive wheel being sleeved on a main shaft of the driving motor;

[0029] a first transmission wheel, the first transmission wheel being rotationally arranged in the suspension arm housing, and the first transmission wheel being arranged at intervals with the main drive wheel;

[0030] a first transmission belt, the first transmission wheel and the main drive wheel being in transmission connection through the first transmission belt;

[0031] a second transmission wheel, the second transmission wheel being rotationally arranged in the suspension arm housing, and the second transmission wheel being arranged at intervals with the main drive wheel, and the second transmission wheel being coaxially arranged with the first transmission wheel;

[0032] an execution wheel, the execution wheel being rotationally arranged in the suspension arm housing, and the execution wheel being arranged at intervals with the second transmission wheel, the first transmission belt and the main drive wheel;

[0033] a second transmission belt, the second transmission wheel and the execution wheel being in transmission connection through the second transmission belt.

[0034] Further, the transmission assembly further comprises:

[0035] an idler wheel, the idler wheel comprising at least one, and the at least one idler wheel being rotationally arranged in the suspension arm housing, and the at least one idler wheel being matched with one of the second transmission belt and the first transmission belt.

[0036] Further, the road simulation part comprises:

[0037] a road simulation fixed seat, the road simulation fixed seat being connected with the test support;

[0038] a road simulation groove, the road simulation groove being arranged at the top of the road simulation fixed seat, and the road simulation groove being connected with the road simulation fixed seat through the force sensor.

[0039] A suspension vibration test method applied to the above-mentioned suspension vibration test bench, comprising:

[0040] in response to a test start instruction, obtaining a vibration acceleration and a simulated ground reaction force;

[0041] based on the vibration acceleration and the simulated ground reaction force, determining driving motor torque data of the first suspension arm and driving motor torque data of the second suspension arm.

[0042] Further, based on the vibration acceleration and the simulated ground reaction force, determining the driving motor torque data of the first suspension arm and the driving motor torque data of the second suspension arm, comprising:

[0043] Based on the vibration acceleration and the simulated ground reaction force, the driving motor torque data of the first suspension arm and the driving motor torque data of the second suspension arm are determined through formula (1), formula (2) and formula (3):

[0044] (1)

[0045] (2)

[0046] (3)

[0047] wherein, is the active force, is the desired equivalent inertia, is the equivalent mass of the simulated sprung mass, is the sprung mass vertical acceleration, is the desired damping, is the equivalent damping of the serial mechanism, is the sprung mass vertical velocity, is the desired stiffness, is the equivalent stiffness of the serial mechanism, is the sprung mass vertical displacement, is the simulated ground reaction force, is the desired displacement of the sprung mass, is the desired velocity of the sprung mass, is the sprung mass acceleration, is the control torque of the driving motor in the second suspension arm; is the control torque of the driving motor in the third suspension arm; is the Jacobian vector of the corresponding position of the second suspension arm, is the Jacobian vector of the corresponding position of the third suspension arm.

[0048] The present application has the following beneficial effects relative to the prior art:

[0049] The suspension vibration test bench of the present application is installed on the test support through the suspension dynamic stroke part fixing seat, is equipped with an acceleration sensor, and can be adapted to different suspension configurations for testing by increasing or decreasing joints or adjusting the length of connecting rods; the execution end is connected to the fixed end of the suspension serial part, ensures that the test results are consistent with the actual vehicle dynamic response, provides a reliable basis for suspension performance analysis, and the road simulation part is also arranged on the test support and is spaced from the suspension serial part; the subsidence and contact force characteristics of different soft roads are simulated, the vibration acceleration and the simulated ground reaction force are collected by the acceleration sensor and the force sensor respectively, the effect of impedance control algorithm and other algorithms can be verified, technical support for suspension dynamic performance optimization is provided, the manufacturing cost of the test bench is reduced, rapid iteration testing is supported, the suspension system development efficiency is significantly improved, and the research and development period is shortened. Attached Figure Description

[0050] Figure 1 This is an isometric side view of the first embodiment of the suspension vibration test bench of the present invention.

[0051] Figure 2 This is a structural diagram of the second embodiment of the suspension vibration test bench of the present invention.

[0052] Figure 3 This is a structural diagram of the third embodiment of the suspension vibration test bench of the present invention.

[0053] Figure 4 This is a structural diagram of the fourth embodiment of the suspension vibration test bench of the present invention.

[0054] Figure 5 This is a structural diagram of the fifth embodiment of the suspension vibration test bench of the present invention.

[0055] Among them, 10-test bracket, 101-bracket vertical beam, 102-bracket fixing seat, 20-suspension dynamic stroke part, 201-dynamic stroke fixing seat, 202-sliding connecting block, 203-limiting light rod, 204-accelerometer sensor, 30-road simulation part, 301-road simulation groove, 302-road simulation fixing seat, 303-force sensor, 40-suspension series part, 401-first suspension arm, 402-second suspension arm, 403-third suspension arm, 601-drive motor, 602-suspension arm housing, 603-actuator wheel, 604-main drive wheel, 605-first transmission wheel, 606-first transmission belt, 607-idler wheel, 608-second transmission belt, 609-second transmission wheel. Detailed Implementation

[0056] The following is based on the appendix Figures 1-5 Further explanation of the present invention:

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0060] As shown in Figure 1 , Figure 2 and Figure 3 , the first embodiment of the present application provides a suspension vibration test bench on the basis of the prior art, which comprises a test support 10, a suspension dynamic stroke part 20, a suspension series part 40 and a road simulation part 30. The fixed seat of the suspension dynamic stroke part 20 is arranged on the test support 10, the suspension dynamic stroke part 20 is provided with an acceleration sensor 204, the fixed end of the suspension series part 40 is connected with the execution end of the suspension dynamic stroke part 20, the road simulation part 30 is arranged on the test support 10, the road simulation part 30 is arranged in a spaced manner with the suspension series part 40, and the road simulation part 30 is provided with a force sensor 303. The acceleration sensor 204 is used to obtain vibration acceleration, the force sensor 303 is used to obtain simulated ground reaction force, the suspension series part 40 has a test position matched with the road simulation part 30, and the suspension series part 40 has an initial position separated from the road simulation part 30.

[0061] The suspension vibration test bench in the embodiment is composed of a test support 10, a suspension dynamic stroke part 20, a suspension series part 40 and a road simulation part 30. The fixed seat of the suspension dynamic stroke part 20 is installed on the test support 10 and is provided with an acceleration sensor 204. The fixed end of the suspension series part 40 is connected with the execution end of the suspension dynamic stroke part 20. The road simulation part 30 is arranged on the test support 10 and is arranged in a spaced manner with the suspension series part 40. The road simulation part 30 is provided with a force sensor 303. The acceleration sensor 204 is used to obtain vibration acceleration. The force sensor 303 is used to obtain simulated ground reaction force. The suspension series part 40 has a test position matched with the road simulation part 30 and an initial position separated from the test position. The test bench can solve the problems of poor adaptability caused by insufficient simulation capability of soft road surface design, difficulty in balancing the cost and performance of active vibration control, and low restoration degree of spring-on-spring mass coupling effect caused by size reduction of the scale model. The test bench is designed in a modular manner (adding or reducing joints or adjusting the length of connecting rods) to adapt to different suspension configurations for testing. The high-restoration-degree connection ensures that the test results are consistent with the actual vehicle dynamic response. The force sensor simulates the soft road surface subsidence and contact force characteristics. The high-precision control mechanism verifies the algorithm effect and optimizes the suspension dynamic performance, reduces the manufacturing cost, supports rapid iteration testing, significantly improves the suspension system development efficiency and shortens the research and development cycle.

[0062] Further, the test support 10 includes a support fixed seat 102 and a support vertical beam 101. The first end of the support fixed seat 102 is connected with the road simulation part 30. The fixed seat of the suspension dynamic stroke part 20 is connected with the support vertical beam 101. The first end of the support vertical beam 101 is connected with the first end of the support fixed seat 102 at a preset angle.

[0063] According to the embodiment, the support fixed seat 102 is connected with the support vertical beam 101 at a preset angle to form a stable geometric support structure, which can effectively disperse and bear the forces from the suspension dynamic stroke part 20, the road simulation part 30 and other components, ensuring the stability of the test bench during complex vibration testing, reducing the test errors caused by structural shaking, and clearly dividing the installation positions of the components by connecting the support fixed seat 102 with the road simulation part 30 and connecting the support vertical beam 101 with the fixed seat of the suspension dynamic stroke part 20. The overall structure of the test bench is compact and orderly, which facilitates the installation, debugging, maintenance and repair of the components. The connection at the preset angle can flexibly adjust the angle parameters according to different test requirements and the overall layout of the test bench, adapt to various specifications and models of the suspension dynamic stroke part 20 and the road simulation part 30, and improve the compatibility of the test support for different test scenarios and equipment.

[0064] In an example embodiment, the suspension dynamic stroke part 20 comprises a dynamic stroke fixing seat 201, a limiting light rod 203, and a sliding connection block 202. The dynamic stroke fixing seat 201 is connected with the test support 10. The limiting light rod 203 comprises at least one, and a first end of the at least one limiting light rod 203 is connected with the dynamic stroke fixing seat 201. The sliding connection block 202 is sleeved on the limiting light rod 203, and the sliding connection block 202 is connected with a fixed end of the suspension series part 40. The suspension series part 40 slides along the limiting light rod 203 through the sliding connection block 202. An acceleration sensor 204 is connected with the sliding connection block 202.

[0065] According to the embodiment, the sliding connection block 202 is sleeved on the limiting light rod 203 and is used to slide freely in the guide rail. The dynamic stroke fixing seat 201 is connected with the test support 10, and a stable foundation is constructed. The combination of the limiting light rod 203, the sliding connection block 202, and other components is simple in installation mode, compact in overall structure, and space-saving. Meanwhile, the combination is convenient for disassembly and maintenance, and is convenient for subsequent replacement or debugging of the components. The acceleration sensor 204 is directly connected with the sliding connection block 202, can quickly and accurately obtain vibration acceleration data of the sliding connection block 202 in the movement process, reduces signal transmission delay and loss caused by intermediate links, and provides real-time and accurate data support for analysis of the dynamic performance of the suspension.

[0066] In the embodiment, as Figure 4 and Figure 5As shown, the suspension series part 40 comprises a first suspension arm 401, a second suspension arm 402, and a third suspension arm 403. The first fixed end of the first suspension arm 401 is connected with the sliding connection block 202. The second fixed end of the second suspension arm 402 is connected with the first execution end of the first suspension arm 401. The first end of the third suspension arm 403 is connected with the second execution end of the second suspension arm 402. When the suspension series part 40 is in the test position, the second end of the third suspension arm 403 is matched with the road simulation part 30. The end of the third suspension arm 403 is provided with a small tire structure, preferably an inflatable tire. The tire directly contacts the road simulation groove 301 and bears the preliminary mechanical contact and force transmission between the system and the simulated ground. The inflatable tire not only has good ground adhesion and rolling characteristics, but also has certain compression elasticity and hysteresis damping performance, which can absorb part of the high-frequency vibration and impact energy under vertical impact or periodic excitation, thereby producing primary attenuation effect on the vibration response of the unsprung mass. The multi-arm series forms a multi-link structure similar to a real suspension, which can simulate the vertical, lateral and longitudinal multidimensional motion of the vehicle under complex road conditions, accurately restore the dynamic response of the suspension, and effectively solve the soft road simulation problem. The suspension arms are connected in a modular manner, and the arm length, angle or components can be flexibly adjusted, adapted to different types of suspension structures, and quickly switched between test scenes. The rigid series structure optimizes the force transmission path, reduces signal attenuation, and accurately measures the ground reaction force in combination with the road simulation part, simulates the nonlinear stiffness characteristics, and standardizes the interface for easy installation, debugging and independent maintenance, thereby reducing maintenance costs. At the same time, the multi-arm motion can be accurately controlled, and the high-precision control of the suspension motion trajectory is realized by cooperating with the sensor, thereby providing reliable support for algorithm verification and spring / spring mass coupling effect research.

[0067] In one example embodiment, the first suspension arm 401 or the second suspension arm 402 comprises a suspension arm shell 602, a transmission assembly, and a drive motor 601. The suspension arm shell 602 is provided with an assembly cavity, and part of the transmission assembly is arranged in the assembly cavity. The execution end of the transmission assembly is arranged outside the assembly cavity. The fixed seat of the drive motor 601 is connected with the suspension arm shell 602, and the main shaft of the drive motor 601 is connected with the input end of the transmission assembly.

[0068] The assembly cavity of the suspension arm shell 602 contains part of the transmission assembly, which effectively prevents dust and sundries from entering, saves space with compact layout, ensures stable operation of the transmission assembly, directly connects the main shaft of the driving motor 601 with the input end of the transmission assembly to reduce energy transmission loss, and externally designs the execution end of the transmission assembly to facilitate precise docking with other components, realize efficient power output, and modular structure enables detachable connection of the driving motor 601 and the suspension arm shell 602, and the transmission assembly is also easy to check and replace in the assembly cavity, thereby reducing the difficulty of later maintenance, and by adjusting the specifications of the transmission assembly in the assembly cavity, different power driving motors 601 can be adapted to meet diversified power output requirements and enhance the applicability of the suspension arm in different test scenarios.

[0069] In this embodiment, the transmission assembly includes a main drive wheel 604, a first transmission wheel 605, a first transmission belt 606, a second transmission wheel 609, an execution wheel 603, and a second transmission belt 608. The main drive wheel 604 is sleeved on the main shaft of the driving motor 601, the first transmission wheel 605 is rotationally arranged in the suspension arm shell 602, the first transmission wheel 605 is arranged at intervals with the main drive wheel 604, the first transmission wheel 605 is in transmission connection with the main drive wheel 604 through the first transmission belt 606, the second transmission wheel 609 is rotationally arranged in the suspension arm shell 602, the second transmission wheel 609 is arranged at intervals with the main drive wheel 604, the second transmission wheel 609 is coaxially arranged with the first transmission wheel 605, the execution wheel 603 is rotationally arranged in the suspension arm shell 602, the execution wheel 603 is arranged at intervals with the second transmission wheel 609, the first transmission belt 606, and the main drive wheel 604, and the second transmission wheel 609 is in transmission connection with the execution wheel 603 through the second transmission belt 608.

[0070] In this embodiment, the main drive wheel 604 is directly sleeved on the main shaft of the driving motor 601, which can realize efficient and direct transmission of power and reduce energy loss; the first transmission wheel 605 is in interval transmission with the main drive wheel 604 through the first transmission belt 606, which utilizes the shock absorption characteristics of the belt transmission to reduce the impact during equipment startup and operation, avoids rigid contact between components, and prolongs the service life; the second transmission wheel 609 is coaxially arranged with the first transmission wheel 605, which forms a compact transmission structure in the suspension arm shell 602, saves space, and is convenient for installation and maintenance; the multi-stage transmission design, i.e., the main drive wheel 604 drives the first transmission wheel 605 through the first transmission belt 606, and then the second transmission wheel 609 drives the execution wheel 603 through the second transmission belt 608, can flexibly adjust the transmission ratio to adapt to the demand for torque and speed under different working conditions; each transmission component is rotationally arranged in the suspension arm shell 602, which ensures the sealing of the transmission system, prevents dust and impurities from entering to affect the transmission effect, and facilitates overall maintenance and troubleshooting.

[0071] Further, the transmission assembly further comprises: at least one idler wheel 607, the at least one idler wheel 607 is rotatably arranged in the suspension arm shell 602, and the at least one idler wheel 607 cooperates with one of the first transmission belt 606 and the second transmission belt 608. The at least one idler wheel 607 is rotatably arranged in the suspension arm shell 602 and cooperates with the first or second transmission belt, which can effectively adjust the tension of the first transmission belt 606 or the second transmission belt 608, avoid the slip phenomenon caused by the looseness of the transmission belt, or the excessive wear caused by the over-tightness, prolong the service life of the transmission belt, and through the arrangement of one or more idler wheels 607, the winding path of the transmission belt can be flexibly changed, more complex and reasonable transmission layout can be realized in the limited space of the suspension arm shell 602, the space utilization is improved, the idler wheel 607 shares the pressure of the transmission belt, the force of the main drive wheel 604, the first transmission wheel 605 and other transmission components is more uniform, the vibration and noise in the running process are reduced, and the stability and reliability of the transmission system are improved. Because the idler wheel 607 can be adapted to different working conditions to increase or decrease the number and adjust the position, the whole transmission assembly can better adapt to different working environments and power transmission requirements.

[0072] In the embodiment, the road simulation part 30 comprises a road simulation fixed seat 302 and a road simulation groove 301, the road simulation fixed seat 302 is connected with the test support 10, the road simulation groove 301 is arranged on the top of the road simulation fixed seat 302, the road simulation groove 301 is connected with the road simulation fixed seat 302 through a force sensor 303, and the road simulation groove 301 is used for filling different types and humidities of soil. The road simulation fixed seat 302 is connected with the test support 10, thereby providing a stable installation basis for the whole road simulation system and guaranteeing the stability in the test process; the road simulation groove 301 is arranged on the top of the fixed seat, so that the operator can conveniently fill, replace and maintain the soil in the groove, and the open structure facilitates the simulation of different terrain profiles; the force sensor 303 connects the road simulation groove 301 with the fixed seat, so that the force data generated when the soil acts on the test object can be monitored in real time and accurately, thereby providing a reliable basis for test analysis; the road simulation groove 301 can fill different types and humidities of soil, thereby greatly expanding the diversity of the simulated road, realistically reproducing various actual road conditions, effectively improving the fitting degree of the test result and the real scene, and enhancing the practicability and reference value of the test data.

[0073] The second embodiment of the present application provides a suspension vibration test method on the basis of the first embodiment, which is applied to the suspension vibration test bench of the first embodiment and comprises the following steps of:

[0074] In response to a test start instruction, the vibration acceleration and the simulated ground reaction force are acquired.

[0075] Determine the drive motor torque data of the first suspension arm and the drive motor torque data of the second suspension arm based on the vibration acceleration and the simulated ground reaction force, comprising:

[0076] Determine the drive motor torque data of the first suspension arm and the drive motor torque data of the second suspension arm based on the vibration acceleration and the simulated ground reaction force by formula (1), formula (2) and formula (3):

[0077] (1)

[0078] Wherein, is the mechanical deviation compensation term between the actual system and the expected model, which is the core basis for the control force output, is the expected equivalent inertia, is the equivalent mass of the simulated sprung mass, which is the total mass of the sliding connecting block 202, the first suspension arm 401 and the upper drive motor 601 and the transmission assembly, representing the upper mass of the system supported by the spring which needs to be controlled, is the sprung mass vertical acceleration, i.e. the vibration acceleration, is the expected damping, is the damping and stiffness provided by the actual structure of the suspension series part 40, is the sprung mass vertical velocity, which is obtained by integrating the vibration acceleration, is the expected stiffness, is the equivalent stiffness of the series mechanism, is the sprung mass vertical displacement, which is obtained by integrating the vibration velocity, is the simulated ground reaction force, i.e. the ground reaction force measured by the road simulation groove 301 and the force sensor 303, is the expected displacement of the sprung mass, is the expected velocity of the sprung mass, is the sprung mass acceleration.

[0079] Then, project the main force to each execution joint position, corresponding to the drive motor output shaft in the second suspension arm 402 and the third suspension arm 403, respectively construct Jacobian vectors and , to obtain the torque data that each motor should output:

[0080] (2)

[0081] (3)

[0082] The control torque for driving the drive motor 601 in the second suspension arm 402; Control torque for driving the driving motor 601 in the third suspension arm 403; Jacobian vector for the corresponding position of the second suspension arm, Jacobian vector for the corresponding position of the third suspension arm, reflecting the system active force Force distribution in each motor coordinate.

[0083] By applying the present embodiment, the vibration acceleration and the simulated ground reaction force can be obtained in response to the test start instruction, thereby providing accurate data support for subsequent analysis. The driving motor torque data of the two suspension arms can be determined based on the collected data to simulate the settlement and contact force characteristics under various soft road conditions, and the real scene effect is good. The design can significantly improve the test efficiency, reduce the test time and cost investment. It provides a solid support for the in-depth study of related theoretical work of the suspension system, and helps the academic and technical development. It is not only suitable for scientific research institutions and university laboratories, but also can be used as a teaching tool to meet the needs of different scenes. By directly displaying the motion characteristics and vibration control effect of the series suspension system, students and researchers can fully master the design concept and control strategy of the suspension system, and improve the teaching and learning efficiency.

[0084] Although embodiments of the present application have been disclosed as above, they are not limited to the use listed in the specification and embodiments. It can be fully applied to various fields suitable for the present application. Additional modifications can be easily made by those skilled in the art. Therefore, the present application is not limited to specific details and figures shown and described herein, without departing from the general concept defined by the claims and their equivalent scope.

Claims

1. A suspension vibration test rig, characterised in that, The test support (10) comprises: a suspension dynamic stroke part (20), a fixing seat of the suspension dynamic stroke part (20) is arranged on the test support (10), and the suspension dynamic stroke part (20) is provided with an acceleration sensor (204); a suspension series connection part (40), a fixed end of the suspension series connection part (40) is connected with an execution end of the suspension dynamic stroke part (20); a road simulation part (30), the road simulation part (30) is arranged on the test support (10), the road simulation part (30) is arranged in a spaced manner with the suspension series connection part (40), and the road simulation part (30) is provided with a force sensor (303); wherein the acceleration sensor (204) is used to acquire vibration acceleration, the force sensor (303) is used to acquire simulated ground reaction force, the suspension series connection part (40) has a test position matched with the road simulation part (30), and the suspension series connection part (40) has an initial position separated from the road simulation part (30); the suspension dynamic stroke part (20) comprises: a dynamic stroke fixing seat (201), the dynamic stroke fixing seat (201) is connected with the test support (10); a limiting light rod (203), the limiting light rod (203) comprises at least one, and a first end of at least one limiting light rod (203) is connected with the dynamic stroke fixing seat (201); a sliding connection block (202), the sliding connection block (202) is sleeved on the limiting light rod (203), the sliding connection block (202) is connected with the fixed end of the suspension series connection part (40), the suspension series connection part (40) slides along the limiting light rod (203) through the sliding connection block (202), and the acceleration sensor (204) is connected with the sliding connection block (202); the suspension series connection part (40) comprises: a first suspension arm (401), a first fixed end of the first suspension arm (401) is connected with the sliding connection block (202); a second suspension arm (402), a second fixed end of the second suspension arm (402) is connected with a first execution end of the first suspension arm (401); a third suspension arm (403), a first end of the third suspension arm (403) is connected with a second execution end of the second suspension arm (402), and a second end of the third suspension arm (403) is matched with the road simulation part (30) when the suspension series connection part (40) is in the test position; the first suspension arm (401) or the second suspension arm (402) comprises: a suspension arm shell (602), the suspension arm shell (602) is provided with an assembly cavity; a transmission assembly, at least part of the transmission assembly is arranged in the assembly cavity, and an execution end of the transmission assembly is arranged outside the assembly cavity; a driving motor (601), a fixing seat of the driving motor (601) is connected with the suspension arm shell (602), and a main shaft of the driving motor (601) is connected with an input end of the transmission assembly; the road simulation part (30) comprises: ​ A road simulation fixed seat (302) connected with the test support (10); A road simulation groove (301) arranged on the top of the road simulation fixed seat (302), connected with the road simulation fixed seat (302) through the force sensor (303), and used for filling different types and humidity of soil.

2. The suspension vibration test rig of claim 1, wherein The test support (10) comprises: A support fixed seat (102) with a first end connected with the road simulation part (30); A support vertical beam (101) with a fixed seat of the suspension dynamic stroke part (20) connected therewith, and a first end of the support vertical beam (101) connected with the first end of the support fixed seat (102) at a preset angle.

3. The suspension vibration test rack of claim 2, wherein, The transmission assembly comprises: A main drive wheel (604) sleeved on a main shaft of the drive motor (601); A first transmission wheel (605) rotationally arranged in the suspension arm shell (602) and spaced apart from the main drive wheel (604); A first transmission belt (606) drivingly connecting the first transmission wheel (605) and the main drive wheel (604); A second transmission wheel (609) rotationally arranged in the suspension arm shell (602) and spaced apart from the main drive wheel (604), and coaxially arranged with the first transmission wheel (605); An execution wheel (603) rotationally arranged in the suspension arm shell (602) and spaced apart from the second transmission wheel (609), the first transmission belt (606) and the main drive wheel (604); A second transmission belt (608) drivingly connecting the second transmission wheel (609) and the execution wheel (603).

4. The suspension vibration test rack of claim 3, wherein, The transmission assembly further comprises: An idler wheel (607) comprising at least one, and at least one idler wheel (607) rotationally arranged in the suspension arm shell (602) and matched with one of the second transmission belt (608) and the first transmission belt (606).

5. A suspension vibration test method applied to the suspension vibration test bench according to any one of claims 1-4, characterized in that, It comprises: In response to a test start instruction, the vibration acceleration and the simulated ground reaction force are obtained; Based on the vibration acceleration and the simulated ground reaction force, the drive motor torque data of the first suspension arm and the drive motor torque data of the second suspension arm are determined.

6. The suspension vibration test method according to claim 5, wherein Based on the vibration acceleration and the simulated ground reaction force, the drive motor torque data of the first suspension arm and the drive motor torque data of the second suspension arm are determined, comprising: Based on the vibration acceleration and the simulated ground reaction force, driving motor torque data of the first suspension arm and driving motor torque data of the second suspension arm are determined through formula (1), formula (2) and formula (3): （1） （2） （3） wherein, is the primary force, is the desired equivalent inertia, is the equivalent mass of the simulated sprung mass, is the sprung mass vertical acceleration, is the desired damping, is the equivalent damping of the series mechanism, is the sprung mass vertical velocity, is the desired stiffness, is the equivalent stiffness of the series mechanism, is the sprung mass vertical displacement, is the simulated ground reaction force, is the desired displacement of the sprung mass, is the desired velocity of the sprung mass, sprung mass acceleration, is the control torque to drive the motor in the second suspension arm; is the control torque to drive the motor in the third suspension arm; is the Jacobian vector for the corresponding position of the second suspension arm, is the Jacobian vector for the corresponding position of the third suspension arm.

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