Vehicle door clamping force testing method and system and storage medium

Abstract

The invention discloses a vehicle door clamping force test method and system and a storage medium, and belongs to the technical field of clamping force test.The method comprises the steps that a door clamping force measured value is obtained, and the difference value between the door clamping force measured value and a pre-collected zero setting value serves as test data; performing filtering processing on the test data by using an adaptive Kalman filter to obtain filtered test data; combining the filtered test data with a preset threshold value and the maximum waiting time, and judging whether the test is finished or not in real time; after the test is finished, the number of times of vehicle door extrusion is judged according to the filtered test data, and the peak value, the effective value and the effective time of each extrusion are calculated according to a set standard; according to the invention, the clamping force of the vehicle door can be accurately measured, related indexes can be calculated, and the maintenance efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of door clamping force test method, system and storage medium, belong to clamping force test technical field. BACKGROUND

[0002] In the process of track traffic vehicle overhaul, to ensure that the door has enough clamping force to be normally closed, while the clamping force is not too large to cause injury to passengers, therefore, the door clamping force needs to be detected. Different doors will try to close the door several times when extruding obstacles according to the setting parameters, and the current domestic most door clamping force overhaul instruments do not support multiple extrusion while measuring, when the clamping force of different extrusion needs to be measured, multiple door closing operations are required, the process is more complicated. In addition, there are many test points of door clamping force, and the current manual data recording method is labor-intensive and inefficient. SUMMARY

[0003] The purpose of the present application is to overcome the deficiencies in the prior art, provide a kind of door clamping force test method, system and storage medium, can accurately measure door clamping force and calculate relevant index, and greatly improve the overhaul efficiency.

[0004] To achieve the above purpose, the present application is realized by using the following technical scheme:

[0005] In a first aspect, the present application provides a kind of door clamping force test method, comprising:

[0006] Obtain door clamping force measurement value, and the difference between door clamping force measurement value and pre-acquired zero value is used as test data;

[0007] Filter the test data using an adaptive Kalman filter to obtain filtered test data;

[0008] Combine the filtered test data with the preset threshold value and maximum waiting time to determine whether the test is completed in real time;

[0009] After the test is completed, the number of extrusions of the door is determined according to the filtered test data, and the peak value, effective value and effective time of each extrusion are calculated according to the set standard.

[0010] Further, the method for obtaining the zero value comprises:

[0011] Before testing, the door clamping force tester is placed horizontally and not under force, and the clamping force data set collected by the door clamping force tester within the preset zero time is obtained;

[0012] Calculate the average value of the clamping force data set to obtain the zero value.

[0013] Furthermore, the step of using an adaptive Kalman filter to filter the test data and obtain the filtered test data includes:

[0014] Based on the optimal estimate of the clamping force at the previous moment and the pre-established clamping force acquisition model, the predicted clamping force at time k is calculated. ;

[0015] Calculate clamping force measurement value Compared with the predicted clamping force error And based on error calculate Error estimate of the predicted value at time step ;

[0016] Based on error estimate and real-time updated observation noise estimates Calculate Kalman gain ;

[0017] Using Kalman gain Error estimate of the predicted value Update the prediction to obtain the prediction error at time k. And propagate the prediction error to the next time step. It is used cyclically in the calculation steps;

[0018] Predicted clamping force at time k With Kalman gain and error Combined, calculate the optimal estimate of the clamping force at time k. , as the filtered test data.

[0019] Furthermore, the calculation formula for the clamping force acquisition model is as follows:

[0020] ;

[0021] in, for The true value of the clamping force at any given moment. for The true value of the clamping force at any given moment. This is the measured value of the clamping force. For 1D system process noise, For 1D observation noise, and This is unrelated white noise.

[0022] Furthermore, the step of combining the filtered test data with a preset threshold value and a maximum waiting time to determine in real time whether the test has ended includes:

[0023] setting a standard threshold value according to the currently selected test standard, specifically:

[0024] When the test standard is EN14752:2005, the standard threshold value is 50N,

[0025] When the test standard is EN14752:2015 or EN14752:2019, the standard threshold value is 100N;

[0026] When the force value of the test data changes from below the threshold value to above the threshold value and the automatic end timer is in the on state, turn off the automatic end timer;

[0027] When the force value of the test data changes from above the threshold value to below the threshold value, turn on the automatic end timer, and the timer time is the preset maximum waiting time. When the timer is triggered, the current test will be automatically ended.

[0028] Further, the determination of the number of door extrusions according to the filtered test data comprises:

[0029] Traverse the test data in chronological order. If the force value of the test data is less than the preset segmented force threshold value, accumulate the cumulative point count;

[0030] If the force value of the test data is greater than the preset segmented force threshold value, determine whether the current segmented point count is greater than the preset maximum cumulative point count. If it is greater, record the point as a segmented point. If it is less, reset the cumulative point count to zero;

[0031] After the traversal is completed, divide the segments with each segmented point as a boundary, and sequentially check whether the test data in each segment exceeds the standard threshold value. If the check result is no, remove the starting point of the segment from the segmented points. After all the checks are completed, the obtained segment number is taken as the number of door extrusions.

[0032] Further, the calculation of the peak value, effective value, and effective time of each extrusion according to the set standard comprises:

[0033] Traverse the test data divided into segments in sequence, take the first point higher than the standard threshold value as the starting point, and take the last point lower than the standard threshold value as the ending point;

[0034] Take the test data between the starting point and the ending point as the key data set of the current extrusion;

[0035] Take the maximum value of the key data set as the peak value of the current extrusion, take the average value of the key data set as the effective value of the current extrusion, and take the data amount of the key data set divided by the sampling frequency as the effective time of the current extrusion.

[0036] In a second aspect, the present application provides a vehicle door clamping force testing system, comprising:

[0037] An acquisition module is configured to acquire the door clamping force measurement value, and use the difference between the door clamping force measurement value and a pre-acquired zero value as testing data;

[0038] A filtering module is configured to use an adaptive Kalman filter to perform filtering processing on the testing data, and acquire filtered testing data;

[0039] A judging module is configured to combine the filtered testing data with a preset threshold value and a maximum waiting time, and determine whether the test is ended in real time;

[0040] A calculating module is configured to determine the number of times of door extrusion according to the filtered testing data after the test is ended, and calculate the peak value, effective value and effective time of each extrusion according to a set standard.

[0041] In a third aspect, the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method according to any one of the preceding aspects.

[0042] In a fourth aspect, the present application provides a computer device, comprising:

[0043] A memory is configured to store a computer program / instruction;

[0044] A processor is configured to execute the computer program / instruction to implement the steps of the method according to any one of the preceding aspects.

[0045] In a fifth aspect, the present application provides a computer program product, comprising a computer program / instruction, and the computer program / instruction is executed by a processor to implement the steps of the method according to any one of the preceding aspects.

[0046] Compared with the prior art, the present application has the following beneficial effects:

[0047] The present application provides a vehicle door clamping force testing method and system, and a storage medium, which can determine the number of times of door extrusion in a single measurement, and calculate the peak value, effective value and time of each extrusion according to a relevant standard, so as to accurately measure the vehicle door clamping force and calculate relevant indexes, and greatly improve the maintenance efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is a system overall structure diagram provided by an embodiment of the present application;

[0049] Figure 2 is a test operation flowchart provided by an embodiment of the present application. DETAILED DESCRIPTION

[0050] The application will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0051] Embodiment 1 introduces a vehicle door clamping force test method, comprising:

[0052] Obtaining the door clamping force measurement value, and taking the difference between the door clamping force measurement value and the pre-acquired zero value as test data;

[0053] Using an adaptive Kalman filter to filter the test data to obtain filtered test data;

[0054] Combining the filtered test data with a preset threshold value and maximum waiting time to determine in real time whether the test is completed;

[0055] After the test is completed, the number of door extrusions is determined according to the filtered test data, and the peak value, effective value and effective time of each extrusion are calculated according to the set standard.

[0056] The vehicle door clamping force test method provided in this embodiment specifically involves the following steps in the application process:

[0057] S1, acquiring a zero value before testing;

[0058] S2, using an adaptive Kalman filter to filter the clamping force data during testing, and combining a threshold value and a maximum waiting time to determine in real time whether the test is completed;

[0059] S3, determining the number of door extrusions according to the test data after the test is completed, and calculating the peak value, effective value and time of each extrusion according to the relevant standard.

[0060] Specifically, the vehicle door clamping force tester acquires a zero value before single testing, comprising:

[0061] Before testing, the clamping force data set acquired by the vehicle door clamping force tester within the pre-set zero time is obtained under the condition that the vehicle door clamping force tester is placed horizontally and not subjected to force;

[0062] The average value of the clamping force data set is calculated to obtain a zero value, and the acquired force value is subtracted from the zero value in subsequent measurement.

[0063] Specifically, the vehicle door clamping force tester uses an adaptive Kalman filter to filter the clamping force data during single testing, comprising:

[0064] During the test, the tester will vibrate or be subjected to electromagnetic interference due to impact, which will affect the detection of the force value, so that the initial data needs to be filtered;

[0065] The force sensor output is a stationary random process, and the noise can also be regarded as Gaussian white noise, so the AR(1) model can be used to describe the clamping force acquisition model for the clamping force acquisition model:

[0066] ;

[0067] where the subscript represents time, is a 1-dimensional system vector, i.e. the true value of the clamping force, is a 1-dimensional observation vector, i.e. the door clamping force measurement value; is a 1-dimensional system process noise, whose mean is , and the variance is , is a 1-dimensional observation noise, whose mean is , and the variance is , and are uncorrelated white noises.

[0068] The ordinary Kalman filter needs to set the statistical characteristics of the process noise and the observation noise, but the actual noise characteristics are difficult to accurately estimate, so a simplified Sage-Husa adaptive Kalman filter is designed to track the noise statistical characteristics in real time: according to the working characteristics of the tester, it is considered that , , is a constant value, and here only is updated in real time.

[0069] According to the AR(1) model, the calculation at time k includes the following 6 formulas:

[0070] (1) Based on the optimal estimation value of the clamping force at the last time and the clamping force acquisition model established in advance, the clamping force prediction value at time k is calculated , and the formula is as follows:

[0071] ;

[0072] where is the clamping force prediction value at time k, is the optimal estimation value of the clamping force at the last time.

[0073] (2) Calculate the error between the clamping force measurement value and the clamping force prediction value , and the formula is as follows:

[0074] .

[0075] (3) Based on the error , Error estimate of prediction value , the formula is as follows:

[0076] ;

[0077] Wherein, is the prediction error of the previous time, is the process noise variance of the previous time, which is a certain set value here.

[0078] (4) Based on the error estimate value and the real-time updated observation noise estimate value , the Kalman gain is calculated, and the formula is as follows:

[0079] ;

[0080] Wherein, the filter parameter is corrected in real time during filtering to improve the filtering accuracy, and the correction formula is: , wherein is the observation noise estimate value of the previous time, , and b is the forgetting factor, which is taken as b=0.95 here.

[0081] (5) The error estimate value of the prediction value is updated by using the Kalman gain , and the prediction error at time k is obtained, and the formula is as follows:

[0082] ;

[0083] Wherein is the unit matrix;

[0084] The prediction error is passed to the calculation step of the next time for recycling;

[0085] (6) The clamping force prediction value at time k is combined with the Kalman gain and the error to calculate the optimal estimate value of the clamping force at time k, which is the filtered test data, and the calculation formula is as follows:

[0086] ;

[0087] The optimal estimate value of the state at time k, that is, the filtered test data.

[0088] Set at the beginning of the test , to a certain initial value, which will be updated in real time during the filtering process.

[0089] Specifically, the vehicle door clamping force tester combines the threshold value and the preset maximum waiting time to determine whether the test is ended in real time in a single test step, specifically:

[0090] According to the selected test standard, the standard threshold value is set: when the standard is EN14752:2005, the standard threshold value is 50N; when the standard is EN14752:2015 or EN14752:2019, the standard threshold value is 100N. When the force value changes from below the threshold value to above the threshold value and the automatic end timer is in the open state, the automatic end timer is closed; when the force value changes from above the threshold value to below the threshold value, the automatic end timer is opened, the timer time is the preset maximum waiting time, and when the timer is triggered, the current test is automatically ended

[0091] In the single test of the vehicle door clamping force tester, the number of door extrusions is determined according to the test data after the test is completed, specifically:

[0092] S31, preset segmented force threshold value and maximum cumulative point number, in an embodiment, the preset segmented force is 5N, and the maximum cumulative point number is 250.

[0093] Specifically, according to the measured data analysis, a large amount of vibration is generated in the mechanical structure of the tester between each attempt to close the door, and after filtering by the adaptive filter, the data at this point is more stable. Compared with using ordinary filtering processing, the preset segmented force value can be set to a lower value, which is beneficial to more accurate segmentation of each extrusion.

[0094] Specifically, in this embodiment, the sampling frequency is 1000Hz, and the maximum cumulative point number is 250, i.e. the data with a time span of 0.25s.

[0095] S32, traverse the force value data collected in the current test in time sequence, if the current force value is less than the segmented force threshold value, accumulate the cumulative point number;

[0096] S33, if the current force value is greater than the segmented force threshold value, determine whether the current segmented point number is greater than the preset maximum cumulative point number, if greater, record the point as a segmented point, if less, reset the cumulative point number to zero;

[0097] S34, after the traversal is completed, divide the segments with each segmented point as a boundary, and check the data in each segment in turn to see if it exceeds the standard threshold value, if not, remove the starting point of the segment from the segmented points. After all the checks are completed, the number of segments is the number of attempts to close the door.

[0098] Specifically, the door clamping force tester calculates the peak value, effective value and time of each extrusion according to the relevant standards in a single test step, and the specific steps are as follows:

[0099] In the step, the first point higher than the standard threshold value is taken as the starting point, the last point lower than the standard threshold value is taken as the ending point, and the data between the starting point and the ending point is taken as the key data set of this extrusion. The maximum value of the key data set is the peak value of this extrusion, the average value of the key data set is the effective value of this extrusion, and the data quantity of the key data set divided by the collection frequency is the effective time of this extrusion.

[0100] In a further embodiment, the door clamping force test system uses a digital test platform based on MQTT communication to connect several door clamping force testers for comprehensive management and testing. The overall structure of the system is shown in Figure 1 The test operation process is shown in Figure 2

[0101] S1, the tester first uploads the current to-be-tested task to the cloud server through the task database;

[0102] S2, input the device number and corresponding train number into the control terminal, and upload the information to the cloud server;

[0103] S3, the cloud server synchronizes the time with each tester and maintains the heartbeat;

[0104] S4, the tester operates the control terminal to download the test task from the cloud server, confirms that there is no error, and sends a confirmation command to the cloud server. The cloud server issues setting information to each tester. The information content includes: test train number and car, number of doors, test height (height of the tester from the ground), test content and standard range (door closing times, peak value, effective value, effective time), test standard and initial width. The test terminal generates a test interface according to the task content;

[0105] S5, after each test is completed, the tester analyzes the door closing times, peak value, effective value and effective time of each extrusion. If the test meets the standard range issued by the cloud server, the corresponding test button displays green, otherwise it displays red. The tester sends the test data to the cloud server and saves the data on the local disk.

[0106] The beneficial effects of the embodiment are:

[0107] 1. In single measurement, the door extrusion times can be determined, and the peak value, effective value and time of each extrusion can be calculated according to the relevant standards;

[0108] ​2. A plurality of door clamping force testers can be comprehensively managed through the digital test platform, and the maintenance efficiency is improved.

[0109] Embodiment 2 provides a door clamping force test system, comprising:

[0110] An acquisition module is configured to acquire a door clamping force measurement value, and use the difference between the door clamping force measurement value and a pre-acquired zero value as test data.

[0111] A filtering module is configured to use an adaptive Kalman filter to filter the test data, and acquire filtered test data.

[0112] A judgment module is configured to combine the filtered test data with a preset threshold value and a maximum waiting time, and determine whether the test is ended in real time.

[0113] A calculation module is configured to determine the door extrusion times according to the filtered test data after the test is ended, and calculate the peak value, effective value and effective time of each extrusion according to a set standard.

[0114] The specific function implementation of each module is referred to the related content in the method of Embodiment 1, and will not be described here.

[0115] Embodiment 3 provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method in any one of Embodiment 1.

[0116] Embodiment 4 provides a computer device, comprising:

[0117] A memory is configured to store a computer program / instruction.

[0118] A processor is configured to execute the computer program / instruction to implement the steps of the method in any one of Embodiment 1.

[0119] Embodiment 5 provides a computer program product, comprising a computer program / instruction, and the computer program / instruction is executed by a processor to implement the steps of the method in any one of Embodiment 1.

[0120] The above only describes the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be considered as the protection scope of the present application.

[0121] Those skilled in the art will appreciate that embodiments of the disclosure can be supplied as a method, a system, or a computer program product. Thus, the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the disclosure can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0122] The disclosure is described in reference to the flowchart and / or block diagrams of the method, apparatus (system) and computer program product according to embodiments of the disclosure. It should be understood that each flow and / or block in the flowchart and / or block diagram and a combination of flows and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the flow Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the function specified in the flow or flows and / or block or blocks.

[0123] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the flow Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the function specified in the flow or flows and / or block or blocks.

[0124] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the function specified in the flow or flows and / or block or blocks.

[0125] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the disclosure and not to limit the protection scope thereof, although the disclosure has been described in detail with reference to the above embodiments, those skilled in the art should understand that: after reading the disclosure, the skilled in the art can make various changes, modifications or equivalent replacements to the specific embodiments of the disclosure, but these changes, modifications or equivalent replacements are all within the protection scope of the disclosed claims.

Claims

1. A method for testing the clamping force of a car door, characterized in that, include: Obtain the measured value of the door clamping force, and use the difference between the measured value of the door clamping force and the pre-collected zero value as the test data; The test data is filtered using an adaptive Kalman filter to obtain the filtered test data. The filtered test data is combined with a preset threshold value and a maximum waiting time to determine in real time whether the test has ended. After the test, the number of times the car door was squeezed was determined based on the filtered test data, and the peak value, effective value, and effective time of each squeeze were calculated according to the set standards.

2. The door clamping force testing method according to claim 1, characterized in that, The method for obtaining the zero value includes: Before the test, the clamping force data set collected by the door clamping force tester during a preset zero time was obtained when the door clamping force tester was placed horizontally and not under any force. Calculate the average value of the clamping force dataset to obtain a zero value.

3. The method for testing the clamping force of a vehicle door according to claim 1, characterized in that, The step of using an adaptive Kalman filter to filter the test data and obtain the filtered test data includes: Based on the optimal estimate of the clamping force at the previous moment and the pre-established clamping force acquisition model, the predicted clamping force at time k is calculated. ; Calculate clamping force measurement value Compared with the predicted clamping force error And based on error calculate Error estimate of the predicted value at time step ; Based on error estimate and real-time updated observation noise estimates Calculate Kalman gain ; Using Kalman gain Error estimate of the predicted value Update the prediction to obtain the prediction error at time k. And propagate the prediction error to the next time step. It is used cyclically in the calculation steps; Predicted clamping force at time k With Kalman gain and error Combined, calculate the optimal estimate of the clamping force at time k. , as the filtered test data.

4. The door clamping force testing method according to claim 3, characterized in that, The calculation formula for the clamping force acquisition model is as follows: ； in, for The true value of the clamping force at any given moment. for The true value of the clamping force at any given moment. This is the measured value of the clamping force. For 1D system process noise, For 1D observation noise, and This is unrelated white noise.

5. The method for testing the clamping force of a vehicle door according to claim 1, characterized in that, The step of combining the filtered test data with a preset threshold value and a maximum waiting time to determine in real time whether the test has ended includes: Set the standard threshold value according to the currently selected test standard, specifically as follows: When the testing standard is EN14752:2005, the standard threshold value is 50N. When the test standard is EN14752:2015 or EN14752:2019, the standard threshold value is 100N; When the force value of the test data changes from below the threshold value to above the threshold value and the automatic end timer is enabled, then disable the automatic end timer. When the force value of the test data changes from above the threshold to below the threshold, the automatic end timer is activated. The timer duration is the preset maximum waiting time. When the timer is triggered, the test will automatically end.

6. The method for testing the clamping force of a car door according to claim 5, characterized in that, The step of determining the number of times the car door was squeezed based on the filtered test data includes: The test data is traversed in chronological order. If the force value of the test data is less than the preset segmented force value threshold, the cumulative points are added. If the force value of the test data is greater than the preset segmented force value threshold, determine whether the current segmented point number is greater than the preset maximum cumulative point number. If it is greater, record the point as a segmented point; if it is less, reset the cumulative point number to zero. After the traversal is completed, the segments are divided with each segment point as the boundary. The test data in each segment is checked in turn to see if it exceeds the standard threshold value. If the check result is no, the starting point of the segment is removed from the segment point. After all checks are completed, the number of segments obtained is taken as the number of times the car door is squeezed.

7. The method for testing the clamping force of a vehicle door according to claim 6, characterized in that, The calculation of the peak value, effective value, and effective time of each extrusion according to the set standards includes: Iterate through each segment of the test data in turn, taking the first point above the standard threshold as the starting point and the last point below the standard threshold as the ending point. The test data between the starting and ending points will be used as the key dataset for this extrusion. The maximum value of the key dataset is taken as the peak value of this squeeze, the average value of the key dataset is taken as the effective value of this squeeze, and the data volume of the key dataset is divided by the collection frequency to take the effective time of this squeeze.

8. A door clamping force testing system, characterized in that, include: The acquisition module is used to acquire the measured value of the door clamping force and use the difference between the measured value of the door clamping force and the pre-acquired zero value as test data. The filtering module is used to filter the test data using an adaptive Kalman filter to obtain the filtered test data. The judgment module is used to combine the filtered test data with a preset threshold value and a maximum waiting time to determine in real time whether the test has ended. The calculation module is used to determine the number of times the car door was squeezed based on the filtered test data after the test, and to calculate the peak value, effective value and effective time of each squeeze according to the set standard.

9. An electronic device, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When executed by a processor, the program implements the steps of the method described in any one of claims 1-7.

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