Axle motion instantaneous center analysis method and device, computer equipment and medium

Abstract

The invention relates to an axle motion instantaneous center analysis method and device, computer equipment and a medium. The axle motion instantaneous center analysis method comprises the steps that the incidence relation between the moving horizontal distance of a first center of a single plate spring in a spring assembly after longitudinal torsional deformation and the relative distance of a spring eye and the incidence relation between the effective half length and the longitudinal torsional angle of the single plate spring are obtained; differentiating the longitudinal torsion angle to obtain a proportional relation between the first vertical position and the relative distance of the spring eye; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system; when the number of the plate springs is multiple, a second vertical position is obtained based on the correction coefficient of the correction proportional relation, the number of the plate springs, the effective half length of the non-main-leaf plate springs and the effective half length of the main-leaf plate springs; the second vertical position is the position of the second instantaneous center of the plurality of plate springs in the vertical direction of the second coordinate system; and based on the second vertical position and the horizontal position of the second instantaneous center, the movement instantaneous center position of the axle located at the second center of the multiple leaf springs is determined. According to the method, the accurate position of the axle movement instantaneous center can be obtained.

Description

Technical Field

[0001] This application relates to the field of motion analysis technology for vehicle axles, and in particular to a method, apparatus, computer equipment, and medium for analyzing the instantaneous center of motion of a vehicle axle. Background Technology

[0002] Leaf spring S-deformation, also known as leaf spring longitudinal torsion, is the deformation pattern that occurs when the tire is subjected to longitudinal forces and the leaf spring to pitching moments under vehicle braking and acceleration conditions. During longitudinal torsion deformation, the axle's motion significantly affects the kinematic and flexibility characteristics of the suspension, especially in the front suspension. The axle influences the wheel steering angle through motion interference, thus affecting the vehicle's braking / acceleration pull characteristics. Therefore, the characteristics of leaf springs during longitudinal torsion deformation are a key focus when studying vehicle dynamics and suspension kinematics and flexibility.

[0003] In the axle motion analysis industry, there is extensive analysis of the deformation modes of leaf springs under vertical forces, and there are widely used practical empirical models and formulas. When designing suspensions, referring to these models and formulas can accurately determine the deformation mode of leaf springs under vertical forces, avoiding problems such as motion interference and steering. However, for longitudinal torsional deformation of leaf springs, there is a lack of widely used calculation models and formulas. Therefore, the analysis of motion interference under longitudinal torsional deformation modes can often only be carried out after establishing a multibody dynamics model, and the relevant design parameters can only be adjusted after the multibody dynamics analysis is completed. This makes the design process lengthy and inefficient.

[0004] Currently, commonly cited analytical literature in the industry includes "Analysis of Longitudinal Torsion Problems of Leaf Springs" (Chen Yaomin, 2009) and "Kinematic Analysis and Application of Leaf Spring Deformation" (Guo Konghui, 1990). "Analysis of Longitudinal Torsion Problems of Leaf Springs" uses a simplified computational model to analyze the longitudinal torsion of leaf springs, but it does not consider all the characteristics in its specific analysis. Similarly, "Kinematic Analysis and Application of Leaf Spring Deformation" only considers the orientation and dimensional parameters of the leaf spring coil, which also suffers from incompleteness, thus failing to obtain a relatively accurate instantaneous center of motion for the axle. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer equipment, and medium for analyzing the instantaneous center of motion of a vehicle axle, which can accurately obtain the position of the instantaneous center of motion of the axle, in order to address the above-mentioned technical problems.

[0006] A method for analyzing the instantaneous center of motion of a vehicle axle, the method comprising:

[0007] S1. Obtain the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation in the spring assembly, the relative distance between the coil lugs, the effective half length of the single leaf spring, and the longitudinal torsional angle of the first center; the relative distance between the coil lugs is determined based on the distance between the center of the coil lugs in the spring assembly and the single leaf spring, and the type of coil lugs.

[0008] S2. Differentiate the longitudinal torsion angle in the correlation relationship to obtain the proportional relationship between the first vertical position and the relative distance between the first vertical position and the coil ear; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, with the first center without longitudinal torsion deformation as the origin;

[0009] S3. When the spring assembly has multiple leaf springs, a second vertical position is obtained based on the correction coefficient for correcting the proportional relationship, the number of leaf springs in the spring assembly, the effective half length of each non-main leaf spring, and the effective half length of the main leaf spring. The second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsion deformation as the origin.

[0010] S4. Based on the second vertical position and the horizontal position of the second instantaneous center, determine the instantaneous center position of the axle located at the second center.

[0011] The expression for the association relationship in step S1 is as follows:

[0012]

[0013] The expression for the proportional relationship mentioned in step S2 is:

[0014]

[0015] The formula for calculating the second vertical position in step S3 is:

[0016]

[0017] Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half-length of the single-leaf spring; rθ is... The Taylor series expansion result is given, where Iz represents the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring.

[0018] Preferably, the correction coefficient can be obtained through simulation using dynamic simulation software. Specifically, data on the variation of the second vertical position with the number of leaf springs, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring are obtained. The correction coefficient is then obtained by fitting the data based on the obtained second vertical position, the number of leaf springs, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring.

[0019] In one embodiment, if the ear is an upper ear, then r is the ear-rolling distance; if the ear is a lower ear, then r is a negative value of the ear-rolling distance; and if the ear is a flat ear, then r is zero.

[0020] In one embodiment, the process of obtaining the horizontal position of the second instantaneous center in step S4 is as follows:

[0021] Obtain the correlation between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil ear, the effective half length of the single leaf spring, and the longitudinal torsional angle of the first center;

[0022] Based on the correlation between the vertical distance of the first center after longitudinal torsional deformation, the horizontal position of the second instantaneous center is calculated; the horizontal position of the second instantaneous center is the position of the second instantaneous center in the horizontal direction of the second coordinate system.

[0023] The expression for the relationship between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single-leaf spring, and the longitudinal torsional angle of the first center is as follows:

[0024] Dz=r(1-cosθ)

[0025] Where Dz represents the vertical distance; r is the relative distance between the ear loops; and θ is the longitudinal twist angle of the first center.

[0026] In one embodiment, calculating the horizontal position of the second instantaneous center based on the correlation between the vertical distance of the first center after longitudinal torsional deformation includes:

[0027] Based on the correlation between the vertical distance of the first center after longitudinal torsion deformation, the longitudinal torsion angle is differentiated to obtain the proportional relationship between the horizontal position of the first instantaneous center and the relative distance of the curled ear; the horizontal position of the first instantaneous center is the position of the first instantaneous center in the horizontal direction of the first coordinate system.

[0028] When the spring assembly has multiple leaf springs, the horizontal position of the second instantaneous center is calculated based on the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the coil lugs; the horizontal position of the second instantaneous center is the position of the second instantaneous center in the horizontal direction of the second coordinate system;

[0029] The expression for the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the curled ear is:

[0030]

[0031] Where, -rθ 2 The result is the Taylor series expansion of r(1-cosθ), where Ix is the horizontal position of the first instantaneous center, r is the relative distance between the two ears, θ is the longitudinal twist angle of the first center, and Dz represents the vertical distance.

[0032] A device for analyzing the instantaneous center of motion of a vehicle axle, the device comprising:

[0033] The correlation acquisition module is used to acquire the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation in the spring assembly and the relative distance between the eyelets, the effective half length of the single leaf spring and the longitudinal torsional angle of the first center; the relative distance between the eyelets is determined based on the distance between the center of the eyelets in the spring assembly and the single leaf spring and the type of eyelets;

[0034] The proportional relationship acquisition module is used to differentiate the longitudinal torsion angle in the correlation relationship to obtain the proportional relationship between the first vertical position and the relative distance between the eyelet; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, and the first coordinate system takes the first center without longitudinal torsion deformation as the origin.

[0035] The position determination module is used to determine a second vertical position when the spring assembly has multiple leaf springs, based on a correction coefficient that corrects the proportional relationship, the number of leaf springs in the spring assembly, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring; the second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsion deformation as the origin of the second coordinate system;

[0036] The instantaneous center of motion determination module is used to determine the position of the instantaneous center of motion of the axle located at the second center, based on the second vertical position and the horizontal position of the second instantaneous center; wherein, the expression for the correlation relationship is:

[0037]

[0038] The expression for the proportional relationship is:

[0039]

[0040] The formula for calculating the second vertical position is:

[0041]

[0042] Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half-length of the single-leaf spring; rθ is... The Taylor series expansion result is given, where Iz is the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring.

[0043] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the above embodiments.

[0044] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above embodiments.

[0045] The aforementioned method, apparatus, computer equipment, and medium for analyzing the instantaneous center of motion of the axle, through S1, obtains the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single leaf spring, and the longitudinal torsional angle of the first center; the relative distance between the coil lugs is determined based on the distance between the center of the coil lugs and the single leaf spring in the spring assembly and the type of coil lugs; the longitudinal torsional angle is differentiated in the correlation to obtain the proportional relationship between the first vertical position and the relative distance between the coil lugs; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, with the first coordinate system taking the first center without longitudinal torsional deformation as the origin; S3, when the spring assembly has multiple leaf springs, based on comparison... The second vertical position is obtained by adjusting the correction coefficient for the relationship, the number of leaf springs in the spring assembly, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring. The second vertical position is the position of the second instantaneous center of the multi-leaf spring in the vertical direction of the second coordinate system, with the second center of the multi-leaf spring without longitudinal torsional deformation as the origin. S4. Based on the second vertical position and the horizontal position of the second instantaneous center, the position of the instantaneous center of motion of the axle located at the second center is determined. This allows for the calculation of the second vertical distance by considering the number of leaf springs, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring, making the considered features more comprehensive and thus the calculated second vertical position more accurate. At the same time, this application does not require simulation through a complete dynamic model, simplifying the calculation process and enabling the rapid and accurate calculation of the position of the instantaneous center of motion of the axle. Attached Figure Description

[0046] Figure 1 This is a diagram illustrating the application environment of the instantaneous center of motion analysis method for a vehicle axle in one embodiment.

[0047] Figure 2 This is a flowchart illustrating the instantaneous center of motion analysis method for a vehicle axle in one embodiment;

[0048] Figure 3 This is a schematic diagram of the longitudinal torsional deformation of a single leaf spring in one embodiment;

[0049] Figure 4 This is a structural block diagram of the instantaneous center of motion analysis device for a vehicle axle in one embodiment;

[0050] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] The instantaneous center of motion analysis method for vehicle axles provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 interacts with server 104 via a wired / wireless channel. The data storage system can store the data that server 104 needs to process. S1: Obtain the correlation between the horizontal distance the first center of the single-leaf spring moves after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single-leaf spring, and the longitudinal torsional angle of the first center in the spring assembly; the relative distance between the coil lugs is determined based on the distance between the center of the coil lugs and the single-leaf spring in the spring assembly and the type of coil lugs; S2: Differentiate the longitudinal torsional angle in the correlation to obtain the proportional relationship between the first vertical position and the relative distance between the coil lugs; the first vertical position is the position of the first instantaneous center of the single-leaf spring in the vertical direction of the first coordinate system, with the first center without longitudinal torsional deformation as the origin; S 3. When the spring assembly has multiple leaf springs, based on the correction coefficient for adjusting the proportional relationship, the number of leaf springs in the spring assembly, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring, the second vertical position is obtained; the second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsional deformation as the origin; S4. Based on the second vertical position and the horizontal position of the second instantaneous center, the instantaneous center of motion of the axle located at the second center is determined; wherein, the expression for the correlation in step S1 is: The expression for the proportional relationship in step S2 is: The formula for calculating the second vertical position in step S3 is: Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half-length of the single-leaf spring; rθ is... The Taylor series expansion result is given, where Iz represents the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, etc. Server 104 can be a single server, a server cluster consisting of multiple servers, or a cloud computing center consisting of multiple servers.

[0053] In one embodiment, such as Figure 2 As shown, a method for analyzing the instantaneous center of motion of a vehicle axle is provided, and this method is applied to... Figure 1 Taking server 104 as an example, the following steps are included:

[0054] S1. Obtain the relationship between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation in the spring assembly and the relative distance between the coil lugs, the effective half length of the single leaf spring and the longitudinal torsional angle of the first center; the relative distance between the coil lugs is determined based on the distance between the center of the coil lugs and the single leaf spring in the spring assembly and the type of coil lugs.

[0055] In this context, a single leaf spring refers to a single leaf spring within a spring assembly. A single leaf spring can be a symmetrical single leaf spring, meaning it is symmetrical in shape when undergoing longitudinal torsional deformation. During longitudinal torsional deformation of a symmetrical single leaf spring, the neutral layer of the spring consists of two opposing circular arcs. A schematic diagram of the longitudinal torsional deformation of a single leaf spring in a spring assembly is shown below. Figure 3 As shown. Figure 3 In the diagram, r represents the relative distance between the coil lugs, θ is the longitudinal torsion angle of the first center after longitudinal torsion deformation, l1 is the effective half-length of the single leaf spring, Dx represents the horizontal distance the first center moves after longitudinal torsion deformation, Dz represents the vertical distance the first center moves after longitudinal torsion deformation, R is the radius of the arc, c is the chord length of the arc, m is the first center without longitudinal torsion deformation, m' is the first center after longitudinal torsion deformation, D1 represents the displacement caused by the oscillation of the coil lugs during longitudinal torsion deformation, D2 represents the displacement caused by the change in the length of the single symmetrical leaf spring during longitudinal torsion deformation, Iz is the first vertical position, Ix is the position of the first instantaneous center in the horizontal direction of the first coordinate system, and the first coordinate system takes the first center without longitudinal torsion deformation as the origin.

[0056] The first center refers to the center of the single-leaf spring. The horizontal distance the first center moves after longitudinal torsional deformation refers to the horizontal distance from the position of the first center before longitudinal torsional deformation to the position of the first center after longitudinal torsional deformation. Specifically, as shown... Figure 3 The horizontal distance between the position m of the first center before longitudinal torsional deformation and the position m' of the first center after longitudinal torsional deformation is the horizontal distance the first center moves after longitudinal torsional deformation.

[0057] The correlation is a mathematical expression that includes the horizontal distance the first center moves after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single-leaf spring, and the longitudinal torsional angle of the first center. In the mathematical expression of the correlation, the relative distance between the coil lugs, the effective half-length of the single-leaf spring, and the longitudinal torsional angle of the first center are independent variables, and the horizontal distance the first center moves after longitudinal torsional deformation is the dependent variable.

[0058] Furthermore, the relative distance between the lugs is determined based on the distance between the center of the lug in the spring assembly and the neutral layer of the monolithic leaf spring, as well as the lug type. Lug types include upper lugs, flat lugs, and lower lugs.

[0059] Furthermore, the effective half-length of a single-leaf spring is the length of the stress-generating portion during longitudinal torsional deformation. The effective half-length of a single-leaf spring is determined by the spring's mounting method. Specifically, the effective half-length of a single-leaf spring is half the length of the spring itself.

[0060] S2. Differentiate the longitudinal torsion angle in the correlation relationship to obtain the proportional relationship between the first vertical position and the relative distance between the coil ear; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, with the first center without longitudinal torsion deformation as the origin.

[0061] The proportional relationship is a mathematical expression that includes the relative distance between the first instantaneous center of gravity and the first vertical position of the leaf spring. In this expression, the relative distance between the leaf spring and the first vertical position is the dependent variable. By determining the relative distance between the leaf spring and the first vertical position, the coordinates of the first instantaneous center of gravity in the vertical direction of the first coordinate system can be calculated. By modeling and analyzing the torsional deformation of the single-leaf spring, simplification can be achieved while retaining key features, allowing the calculation formula for the second vertical position of the second instantaneous center of gravity to be determined based on the obtained proportional relationship.

[0062] The first instantaneous center is the point around which the single leaf spring rotates. Since the axle is located at the center of the leaf spring, the first instantaneous center can also refer to the point at a specific instant around which the axle rotates purely.

[0063] S3. When the spring assembly has multiple leaf springs, the second vertical position is obtained based on the correction coefficient for adjusting the proportional relationship, the number of leaf springs in the spring assembly, the effective half length of each non-main leaf spring and the effective half length of the main leaf spring. The second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsion deformation as the origin of the second coordinate system.

[0064] When the leaf springs in the spring assembly are multi-leaf, the multi-leaf leaf springs include main leaf springs and non-main leaf springs. The lengths of the main leaf springs and non-main leaf springs may be the same or different.

[0065] The correction coefficient can be obtained through a series of simulations using dynamic simulation software. Specifically, a series of data on the variation of the second vertical position with the number of leaf springs, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring are obtained. The correction coefficient is then obtained by fitting the obtained second vertical position, the number of leaf springs, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring.

[0066] The second center is the center of the multi-leaf spring. The second instantaneous center is the point around which the multi-leaf spring rotates. Since the axle is located at the center of the leaf spring, the second instantaneous center can also refer to the point around which the axle rotates at a specific instant.

[0067] In some embodiments, if the length of each leaf spring is the same as the length of the main leaf spring, then the position of the second instantaneous center is the same as that of the first instantaneous center.

[0068] S4. Based on the second vertical position and the horizontal position of the second instantaneous center, determine the instantaneous center position of the vehicle axle located at the second center.

[0069] The second vertical position is the position of the second instantaneous center in the vertical direction of the second coordinate system, and the second horizontal position is the position of the second instantaneous center in the horizontal direction of the second coordinate system. The horizontal position of the second instantaneous center can be obtained by manual measurement.

[0070] Since the axle is located at the second center, the instantaneous center of motion of the axle is the location of the second instantaneous center.

[0071] The expression for the association relationship in step S1 is as follows:

[0072]

[0073] The expression for the proportional relationship in step S2 is:

[0074]

[0075] The formula for calculating the second vertical position in step S3 is:

[0076]

[0077] Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half-length of the single-leaf spring; rθ is... The Taylor series expansion result is given, where Iz represents the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring. rsinθ is the displacement produced by the oscillation of the coiled ear during longitudinal torsional deformation. That is, the displacement caused by the change in the length of a single leaf spring when it undergoes longitudinal torsional deformation.

[0078] In some embodiments, the first instantaneous center is located in the region adjacent to the location where the first center was not subjected to longitudinal torsional deformation. Specifically, the first instantaneous center is located in... Figure 3 Within the region adjacent to point m. Since the first instantaneous center is located in... Figure 3 When the first center is within the vicinity of point m, the longitudinal twist angle θ is relatively small, therefore it can be... Expanding by Taylor series and taking only terms of order two and below, we can obtain...

[0079] Furthermore, when the first vertical position Iz is positive, it means that the first instantaneous center is above the first center; when the first vertical position Iz is negative, it means that the first instantaneous center is below the first center.

[0080] Furthermore, when the second vertical position Iz1 is positive, it means that the second instantaneous center is above the second center; when the second vertical position Iz1 is negative, it means that the second instantaneous center is below the second center.

[0081] Furthermore, if the ear is an upper ear, then r is the distance between the ear and the ear; if the ear is a lower ear, then r is the negative value of the distance between the ear and the ear; if the ear is a flat ear, then r is zero.

[0082] The correction coefficients can be obtained through a series of simulations using dynamic simulation software. For example, simulations using dynamic simulation software yield A1 = 0.8, A2 = 1.84, and A3 = 0.25, i.e.

[0083] In the above-mentioned method for analyzing the instantaneous center of motion of the axle, S1 obtains the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single leaf spring, and the longitudinal torsional angle of the first center; the relative distance between the coil lugs is determined based on the distance between the center of the coil lugs and the single leaf spring in the spring assembly and the type of coil lugs; the longitudinal torsional angle is differentiated in the correlation to obtain the proportional relationship between the first vertical position and the relative distance between the coil lugs; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, with the first center without longitudinal torsional deformation as the origin; S3, when the spring assembly has multiple leaf springs, the proportional relationship is used to... The correction coefficient, the number of leaf springs in the spring assembly, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring are used to obtain the second vertical position. The second vertical position is the position of the second instantaneous center of the multi-leaf spring in the vertical direction of the second coordinate system, with the second center of the multi-leaf spring without longitudinal torsional deformation as the origin. S4. Based on the second vertical position and the horizontal position of the second instantaneous center, the position of the instantaneous center of motion of the axle located at the second center is determined. This allows for the calculation of the second vertical distance by considering the number of leaf springs, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring, making the considered features more comprehensive and thus the calculated second vertical position more accurate. At the same time, this application does not require simulation through a complete dynamic model, simplifying the calculation process and enabling the rapid and accurate calculation of the position of the instantaneous center of motion of the axle.

[0084] In one embodiment, if the ear is an upper ear, then r is the ear-rolling distance; if the ear is a lower ear, then r is a negative value of the ear-rolling distance; and if the ear is a flat ear, then r is zero.

[0085] In this embodiment, when the ear is an upper ear, r is determined to be the ear-rolling distance; when the ear is a lower ear, r is determined to be the negative value of the ear-rolling distance; and when the ear is a flat ear, r is determined to be zero. This allows subsequent formula derivation and calculation to be applicable to different types of ear-rolling arrangements without having to establish different expressions for each case. This has a wide range of applications and avoids the tedious steps of re-deriving formulas due to different ear-rolling types.

[0086] In one embodiment, the process of obtaining the horizontal position of the second instantaneous center in step S4 is as follows:

[0087] Obtain the correlation between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil ear, the effective half length of the single leaf spring, and the longitudinal torsional angle of the first center.

[0088] Based on the correlation between the vertical distance of the first center after longitudinal torsional deformation, the horizontal position of the second instantaneous center is calculated; the horizontal position of the second instantaneous center is the position of the second instantaneous center in the horizontal direction of the second coordinate system.

[0089] The expression for the relationship between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single leaf spring, and the longitudinal torsional angle of the first center is as follows:

[0090] Dz=r(1-cosθ)

[0091] Where Dz represents the vertical distance; r is the relative distance between the ear loops; and θ is the longitudinal twist angle of the first center.

[0092] The vertical distance that the first center moves after longitudinal torsional deformation refers to the vertical distance between the position of the first center before longitudinal torsional deformation and the position of the first center after longitudinal torsional deformation.

[0093] The correlation corresponding to the vertical distance is a mathematical expression that includes the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil ear and the coil spring, the effective half-length of the single leaf spring, and the longitudinal torsional angle of the first center. In the mathematical expression of the correlation corresponding to the vertical distance, the relative distance between the coil ear, the effective half-length of the single leaf spring, and the longitudinal torsional angle of the first center are independent variables, and the vertical distance the first center moves after longitudinal torsional deformation is the dependent variable.

[0094] Furthermore, if the ear is an upper ear, then r is the distance between the ear and the ear; if the ear is a lower ear, then r is the negative value of the distance between the ear and the ear; if the ear is a flat ear, then r is zero.

[0095] In this embodiment, by obtaining the correlation between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half length of the single leaf spring, and the longitudinal torsional angle of the first center, the horizontal position of the second instantaneous center is calculated based on the correlation corresponding to the vertical distance of the first center after longitudinal torsional deformation. In this way, the actual horizontal position of the second instantaneous center of the multi-leaf spring under different longitudinal torsional angles and relative distances between the coil lugs can be accurately calculated after comprehensively considering various features.

[0096] In one embodiment, the horizontal position of the second instantaneous center is calculated based on the correlation between the vertical distance of the first center after longitudinal torsional deformation, including:

[0097] Based on the correlation between the vertical distance of the first center after longitudinal torsion deformation, the longitudinal torsion angle is differentiated to obtain the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the two ears; the horizontal position of the first instantaneous center is the position of the first instantaneous center in the horizontal direction of the first coordinate system.

[0098] When the leaf spring of the spring assembly has multiple leaves, the horizontal position of the second instantaneous center is calculated based on the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the coil lugs; the horizontal position of the second instantaneous center is the position of the second instantaneous center in the horizontal direction of the second coordinate system.

[0099] The expression for the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the two ears is:

[0100]

[0101] Where, -rθ 2 Let Ix be the Taylor series expansion of r(1-cosθ), where Ix is the horizontal position of the first instantaneous center, r is the relative distance between the two ends, θ is the longitudinal twist angle of the first center, and Dz represents the vertical distance. The horizontal position of the first instantaneous center is also its coordinate position in the horizontal direction of the first coordinate system. The horizontal position of the second instantaneous center is its coordinate position in the horizontal direction of the second coordinate system.

[0102] In some embodiments, the first instantaneous center is located in the region adjacent to the location where the first center was not subjected to longitudinal torsional deformation. Specifically, the first instantaneous center is located in... Figure 3 Within the region adjacent to point m. Since the first instantaneous center is located in... Figure 3 When the first center's longitudinal twist angle θ is small within the vicinity of point m, r(1-cosθ) can be expanded using a Taylor series, taking only terms of order two and below. This yields...

[0103] Furthermore, when the horizontal position Ix of the first instantaneous center is positive, it means that the first instantaneous center is to the right of the first center; when the horizontal position Ix of the first instantaneous center is negative, it means that the first instantaneous center is to the left of the first center.

[0104] Furthermore, when the longitudinal torsion angle θ of the first center is less than a preset value, the horizontal position Ix of the first instantaneous center can be determined to be 0. When the horizontal position Ix of the first instantaneous center is 0, the horizontal position from the second center to the second instantaneous center of the multi-leaf spring can be determined to be 0. When the longitudinal torsion angle θ of the first center is greater than a preset value, the horizontal position Ix1 of the second instantaneous center is calculated according to the formula Ix1=-A42rθ, where A4 is a correction coefficient.

[0105] Furthermore, if the ear is an upper ear, then r is the distance between the ear and the ear; if the ear is a lower ear, then r is the negative value of the distance between the ear and the ear; if the ear is a flat ear, then r is zero.

[0106] In this embodiment, by differentiating the longitudinal torsion angle based on the correlation between the vertical distance of the first center after longitudinal torsion deformation, the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the coil lugs is obtained. When the spring assembly has multiple leaf springs, the horizontal position of the second instantaneous center is calculated based on the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the coil lugs. In this way, the actual horizontal position of the second instantaneous center of the multi-leaf spring under different longitudinal torsion angles and relative distances between the coil lugs can be accurately calculated while taking into full account of various characteristics.

[0107] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0108] Based on the same inventive concept, this application also provides a device for analyzing the instantaneous center of motion of a vehicle axle to implement the aforementioned method for analyzing the instantaneous center of motion of a vehicle axle. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the instantaneous center of motion analysis device for a vehicle axle provided below can be found in the limitations of the instantaneous center of motion analysis method for a vehicle axle described above, and will not be repeated here.

[0109] In one embodiment, such as Figure 4 As shown, a device for analyzing the instantaneous center of motion of a vehicle axle is provided, comprising:

[0110] The correlation acquisition module 402 is used to acquire the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation and the relative distance of the coil lug, the effective half length of the single leaf spring and the longitudinal torsional angle of the first center in the spring assembly; the relative distance of the coil lug is determined based on the distance between the center of the coil lug and the single leaf spring in the spring assembly and the type of coil lug.

[0111] The proportional relationship acquisition module 404 is used to differentiate the longitudinal torsion angle in the correlation relationship to obtain the proportional relationship between the first vertical position and the relative distance between the ear; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, with the first coordinate system taking the first center without longitudinal torsion deformation as the origin.

[0112] The position determination module 406 is used to determine the second vertical position when the spring assembly has multiple leaf springs, based on the correction coefficient for the proportional relationship, the number of leaf springs in the spring assembly, the effective half length of each non-main leaf spring and the effective half length of the main leaf spring; the second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsion deformation as the origin of the second coordinate system.

[0113] The instantaneous center of motion determination module 408 is used to determine the instantaneous center of motion position of the axle located at the second center, based on the second vertical position and the horizontal position of the second instantaneous center. The expression for the correlation is as follows:

[0114]

[0115] The expression for the proportional relationship is:

[0116]

[0117] The formula for calculating the second vertical position is:

[0118]

[0119] Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half-length of the single-leaf spring; rθ is... The Taylor series expansion result is given, where Iz represents the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring.

[0120] Each module in the aforementioned instantaneous center of motion analysis device for the axle can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0121] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, memory, and network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores the relationship between the horizontal distance of the first center longitudinal torsional deformation and the relative distance to the lug, the effective half-length of the single leaf spring and the longitudinal torsional angle of the first center, the proportional relationship between the first vertical position and the relative distance to the lug, correction factors, the number of leaf springs in the spring assembly, the effective half-length of each non-main leaf spring, the effective half-length of the main leaf spring, the second vertical position, the horizontal position of the second instantaneous center, and the instantaneous center of motion of the axle. The network interface of the computer device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for analyzing the instantaneous center of motion of an axle.

[0122] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0123] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0124] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0125] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0127] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for analyzing the instantaneous center of motion of a vehicle axle, characterized in that, The method includes: S1. Obtain the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation in the spring assembly, the relative distance between the coil lugs, the effective half length of the single leaf spring, and the longitudinal torsional angle of the first center; the relative distance between the coil lugs is determined based on the distance between the center of the coil lugs in the spring assembly and the single leaf spring, and the type of coil lugs. S2. Differentiate the longitudinal torsion angle in the correlation relationship to obtain the proportional relationship between the first vertical position and the relative distance between the first vertical position and the coil ear; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, with the first center without longitudinal torsion deformation as the origin; S3. When the spring assembly has multiple leaf springs, a second vertical position is obtained based on the correction coefficient for correcting the proportional relationship, the number of leaf springs in the spring assembly, the effective half length of each non-main leaf spring, and the effective half length of the main leaf spring. The second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsion deformation as the origin. S4. Based on the second vertical position and the horizontal position of the second instantaneous center, determine the instantaneous center position of the axle located at the second center; The expression for the association relationship in step S1 is as follows: The expression for the proportional relationship mentioned in step S2 is: The formula for calculating the second vertical position in step S3 is: Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half length of the single leaf spring. The Taylor series expansion result is given, where Iz represents the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring.

2. The method according to claim 1, characterized in that, If the ear is an upper ear, then r is the ear-rolling distance; if the ear is a lower ear, then r is the negative value of the ear-rolling distance; if the ear is a flat ear, then r is zero.

3. The method according to claim 1, characterized in that, The process of obtaining the horizontal position of the second instantaneous center in step S4 is as follows: Obtain the correlation between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil ear, the effective half length of the single leaf spring, and the longitudinal torsional angle of the first center; Based on the correlation between the vertical distance of the first center after longitudinal torsional deformation, the horizontal position of the second instantaneous center is calculated; the horizontal position of the second instantaneous center is the position of the second instantaneous center in the horizontal direction of the second coordinate system. The expression for the relationship between the vertical distance the first center moves after longitudinal torsional deformation, the relative distance between the coil lugs, the effective half-length of the single-leaf spring, and the longitudinal torsional angle of the first center is as follows: Dz=r(1-cosθ) Where Dz represents the vertical distance; r is the relative distance between the ear loops; and θ is the longitudinal twist angle of the first center.

4. The method according to claim 3, characterized in that, The calculation of the horizontal position of the second instantaneous center based on the correlation between the vertical distance of the first center after longitudinal torsional deformation includes: Based on the correlation between the vertical distance of the first center after longitudinal torsion deformation, the longitudinal torsion angle is differentiated to obtain the proportional relationship between the horizontal position of the first instantaneous center and the relative distance of the curled ear; the horizontal position of the first instantaneous center is the position of the first instantaneous center in the horizontal direction of the first coordinate system. When the spring assembly has multiple leaf springs, the horizontal position of the second instantaneous center is calculated based on the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the coil lugs; the horizontal position of the second instantaneous center is the position of the second instantaneous center in the horizontal direction of the second coordinate system; The expression for the proportional relationship between the horizontal position of the first instantaneous center and the relative distance between the curled ear is: Where, -rθ 2 The result is the Taylor series expansion of r(1-cosθ), where Ix is the horizontal position of the first instantaneous center, r is the relative distance between the two ears, θ is the longitudinal twist angle of the first center, and Dz represents the vertical distance.

5. A device for analyzing the instantaneous center of motion of a vehicle axle, characterized in that, The device includes: The correlation acquisition module is used to acquire the correlation between the horizontal distance of the first center of the single leaf spring after longitudinal torsional deformation in the spring assembly and the relative distance between the eyelets, the effective half length of the single leaf spring and the longitudinal torsional angle of the first center; the relative distance between the eyelets is determined based on the distance between the center of the eyelets in the spring assembly and the single leaf spring and the type of eyelets; The proportional relationship acquisition module is used to differentiate the longitudinal torsion angle in the correlation relationship to obtain the proportional relationship between the first vertical position and the relative distance between the eyelet; the first vertical position is the position of the first instantaneous center of the single leaf spring in the vertical direction of the first coordinate system, and the first coordinate system takes the first center without longitudinal torsion deformation as the origin. The position determination module is used to determine a second vertical position when the spring assembly has multiple leaf springs, based on a correction coefficient that corrects the proportional relationship, the number of leaf springs in the spring assembly, the effective half-length of each non-main leaf spring, and the effective half-length of the main leaf spring; the second vertical position is the position of the second instantaneous center of the multiple leaf springs in the vertical direction of the second coordinate system, with the second center of the multiple leaf springs without longitudinal torsion deformation as the origin of the second coordinate system; The instantaneous center of motion determination module is used to determine the position of the instantaneous center of motion of the axle located at the second center, based on the second vertical position and the horizontal position of the second instantaneous center; wherein, the expression for the correlation relationship is: The expression for the proportional relationship is: The formula for calculating the second vertical position is: Dx represents the horizontal distance; r is the relative distance between the coil ears; θ is the longitudinal torsion angle of the first center; l1 is the effective half length of the single leaf spring. The Taylor series expansion result is given, where Iz is the first vertical position; Iz1 represents the second vertical position; A1, A2, and A3 are correction coefficients; n is the number of leaf springs; l0 is the effective half-length of the non-main leaf spring; and l2 is the effective half-length of the main leaf spring.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 4.

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