Tire unsteady-state lateral deviation characteristic simulation method based on speed influence and related equipment
By establishing a simulation method for tire unsteady lateral slip characteristics that considers damping, the problem of speed influence not being reflected in the existing technology is solved, and high-precision and efficient simulation of tire unsteady lateral slip characteristics is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-15
- Publication Date
- 2026-04-10
AI Technical Summary
In existing technologies, tire unsteady lateral slip characteristic models cannot effectively reflect the influence of speed, resulting in insufficient simulation accuracy and efficiency at different speeds.
By establishing a simulation method for tire unsteady lateral slip characteristics based on speed influence, including lateral force modeling, self-aligning torque modeling, transfer function analysis, and frequency response function simulation, a theoretical model of unsteady lateral slip characteristics considering damping is constructed to reflect the speed influence and reduce the workload of experiments.
It improves the accuracy and efficiency of tire unsteady lateral slip characteristic simulation, reduces the workload of testing, is applicable to simulation at different speeds, and improves the convenience and accuracy of simulation.
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Figure CN121835136A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of simulation technology, and in particular to a tire transient cornering property simulation method based on speed influence and related equipment. BACKGROUND
[0002] The tire transient cornering property is suitable for the case of rapid change of vehicle motion state, such as starting, braking and front wheel shimmy. In the related art, the transient cornering model considering the translational deformation of the tire body and the elasticity of the tread cannot reflect the influence of speed, so the precision is affected, and the error is large when processing the transient cornering property at different speeds.
[0003] To sum up, the technical problems existing in the related art need to be improved. SUMMARY
[0004] The main purpose of the embodiments of the present application is to provide a tire transient cornering property simulation method based on speed influence and related equipment, which can improve the accuracy of vehicle simulation.
[0005] To achieve the above purpose, one aspect of the embodiments of the present application provides a tire transient cornering property simulation method based on speed influence, which comprises: Obtaining a tire to be simulated and non-steady state input data; Modeling the lateral force of the tire to obtain a lateral force model; Modeling the self-aligning torque of the tire to obtain a self-aligning torque model; Analyzing and processing the transfer function under different inputs according to the lateral force model and the self-aligning torque model, and analyzing and processing the response characteristics according to the obtained transfer function to obtain a frequency response function set; Selecting the target frequency response function from the frequency response function set according to the non-steady state input data, and simulating the transient cornering property of the tire at different speeds according to the target frequency response function to obtain a simulation result.
[0006] In some embodiments, the modeling of the lateral force of the tire to obtain a lateral force model comprises: Analyzing and processing the lateral deformation and lateral force of the tire body according to the tire body damping to obtain a first relationship function; Analyzing and processing the lateral force of the first relationship function to obtain the lateral force model.
[0007] In some embodiments, the analyzing and processing of the lateral deformation and lateral force of the tire body according to the tire body damping to obtain a first relationship function comprises the following steps: The tire is subjected to lateral force analysis based on the lateral translational stiffness and lateral translational damping of the tire body to obtain the first lateral force function; The first lateral force function is analyzed and processed based on the forward velocity to obtain the second lateral force function; The second lateral force function is subjected to Laplace transform based on the zero initial conditions to obtain the third lateral force function; The third lateral force function is analyzed and processed based on the lateral translation relaxation length of the fetal body to obtain the first relationship function.
[0008] In some embodiments, performing lateral force analysis on the first relational function to obtain the lateral force model includes the following steps: The tire is subjected to lateral distribution stiffness of the tread and lateral deformation of points on the tread relative to the tire body, and a second relational function is obtained. The second relation function is subjected to Laplace transform based on the zero initial conditions to obtain the third relation function; The third relation function is substituted into the second relation function based on the first relation function to obtain the lateral force model.
[0009] In some embodiments, the process of modeling the return torque of the tire to obtain a return torque model includes the following steps: The asymmetric distribution of lateral forces on the tire is modeled to obtain the first torque model; Based on the tire width, the asymmetric distribution model of longitudinal deformation at each point on the tire imprint is performed to obtain the second torque model; The aligning torque model is obtained based on the first torque model and the second torque model.
[0010] In some embodiments, the step of analyzing and processing the transfer functions under different inputs based on the lateral force model and the restoring torque model, and then performing response characteristic analysis and processing based on the analyzed transfer functions to obtain a set of frequency response functions, includes the following steps: The lateral force model and the aligning moment model are subjected to relative rotation angle analysis of lateral force and aligning moment to obtain the transfer function under rotation angle input; The lateral force model and the aligning moment model are subjected to lateral force and aligning moment relative lateral displacement analysis to obtain the transfer function under lateral displacement input; The lateral force model and the aligning moment model are subjected to lateral force and aligning moment relative to the sideslip angle analysis to obtain the transfer function under the sideslip angle input; The lateral force model and the self-aligning moment model are subjected to relative deflection rate analysis of lateral force and self-aligning moment to obtain the transfer function under deflection rate input; The complex parameters are calculated based on the path frequency. The complex parameters are then substituted into the transfer functions under the rotation angle input, the lateral displacement input, the sideslip angle input, and the deflection rate input to obtain the set of frequency response functions.
[0011] In some embodiments, the step of performing unsteady lateral slip characteristic simulation processing on the tire at different speeds based on the target frequency response function to obtain simulation results includes the following steps: Obtain load test quantities and air pressure test quantities; The tire is subjected to a ground imprint test based on the load test quantity and the air pressure test quantity to obtain ground length data; The tire is subjected to an unsteady lateral slip characteristic test based on the unsteady input data to obtain test data. The test frequency response function was calculated based on the test data. Parameter identification processing is performed based on the target frequency response function and the test frequency response function to obtain the identified parameters; The transfer functions at different speeds are calculated based on the identification parameters. The tire is simulated based on the transfer function to obtain the simulation results.
[0012] To achieve the above objectives, another aspect of this application proposes a tire unsteady lateral slip characteristic simulation system based on speed influence, the system comprising: The data acquisition module is used to acquire the tire and unsteady-state input data to be simulated; The lateral force modeling module is used to perform lateral force modeling processing on the tire to obtain a lateral force model; The return torque modeling module is used to perform return torque modeling processing on the tire to obtain a return torque model; The response characteristic analysis module is used to analyze and process the transfer function under different inputs based on the lateral force model and the self-aligning torque model, and to perform response characteristic analysis and processing based on the obtained transfer function to obtain a set of frequency response functions; The characteristic simulation module is used to select a target frequency response function from the set of frequency response functions based on the unsteady input data, and to perform unsteady side slip characteristic simulation processing on the tire at different speeds based on the target frequency response function to obtain simulation results.
[0013] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.
[0014] To achieve the above objectives, another aspect of this application provides a computer program product that, when executed by a processor, implements the aforementioned method.
[0015] The embodiments of this application include at least the following beneficial effects: This application provides a method and related equipment for simulating tire unsteady lateral slip characteristics based on speed influence. This method acquires the tire and unsteady input data to be simulated; performs lateral force modeling on the tire to obtain a lateral force model; performs self-aligning torque modeling on the tire to obtain a self-aligning torque model; analyzes the transfer functions under different inputs based on the lateral force model and the self-aligning torque model, and performs response characteristic analysis based on the obtained transfer functions to obtain a set of frequency response functions; selects a target frequency response function from the set of frequency response functions based on the unsteady input data; and simulates the tire's unsteady lateral slip characteristics at different speeds based on the target frequency response function to obtain simulation results. The embodiments of this application can perform spatial frequency domain simulation of tire unsteady lateral slip characteristics at different speeds, obtaining parameter descriptions of the unsteady lateral slip characteristics at different speeds, reducing experimental workload, and improving simulation convenience and accuracy. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of an implementation environment provided in the embodiments of this application; Figure 2 This is a flowchart of a tire unsteady lateral slip characteristic simulation method based on speed influence provided in an embodiment of this application; Figure 3 This is a schematic diagram of the coordinate system used in a tire unsteady lateral slip model that ignores the influence of tire width, as provided in an embodiment of this application. Figure 4 This is a schematic diagram illustrating the specification of the positive and negative signs of variables provided in an embodiment of this application; Figure 5 This is a schematic diagram of a tire unsteady lateral slip characteristic simulation system based on speed influence provided in an embodiment of this application; Figure 6 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0017] 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 of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.
[0018] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”
[0019] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.
[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.
[0021] Tire unsteady-state lateral slip characteristics are applicable to situations where vehicle motion changes rapidly, such as during start-up, braking, and front wheel shimmy. In related technologies, unsteady-state models considering tire translational deformation and tread elasticity cannot reflect the influence of speed, thus affecting accuracy and resulting in significant errors when handling unsteady-state lateral slip characteristics at different speeds. Furthermore, this is inconvenient for multi-speed simulations, impacting simulation efficiency. Related technologies also consider lateral damping when studying tire lateral relaxation length; while this can reflect the influence of speed, the resulting model has low accuracy due to the assumption of single-point contact between the tire and the road surface.
[0022] In view of this, this application provides a method and related equipment for simulating tire unsteady lateral slip characteristics based on speed influence. This scheme, through spatial frequency domain simulation of tire unsteady lateral slip characteristics at different speeds, is applicable to linear input cases with small rotation angle, slip angle, lateral displacement, and slip ratio. This application establishes a damped theoretical model of unsteady lateral slip characteristics to obtain the transfer functions of lateral force and self-correcting torque relative to inputs such as pure rotation angle, pure lateral displacement, pure slip angle, and pure slip ratio. The model constructed in this application reflects the influence of speed through the lateral translation relaxation length of the tire body, achieving high accuracy and reducing errors in unsteady lateral slip characteristics at different speeds. This application obtains parameters describing unsteady lateral slip characteristics at different speeds, eliminating the need for unsteady lateral slip characteristic tests at different speeds, significantly reducing experimental workload, improving efficiency, and enhancing simulation convenience and accuracy.
[0023] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.
[0024] Figure 1 This is a schematic diagram illustrating the implementation environment of a method provided in an embodiment of this application. (Refer to...) Figure 1 The main hardware and software components of this implementation environment include terminal 101 and server 102, which are communicatively connected. The method can be executed based on the interaction between terminal 101 and server 102.
[0025] Figure 2 This is an optional flowchart of a method for simulating tire unsteady lateral slip characteristics based on speed influence, provided in an embodiment of this application. Figure 2 The method may include, but is not limited to, steps S201 to S205.
[0026] Step S201: Obtain the tire and unsteady-state input data to be simulated; Step S202: Perform lateral force modeling on the tire to obtain a lateral force model; Step S203: Perform a self-aligning torque modeling process on the tire to obtain a self-aligning torque model; Step S204: Analyze and process the transfer functions under different inputs according to the lateral force model and the aligning torque model, and analyze and process the response characteristics according to the obtained transfer functions to obtain a set of frequency response functions; Step S205: Select the target frequency response function from the set of frequency response functions based on the unsteady input data, and perform unsteady side slip characteristic simulation processing on the tire at different speeds based on the target frequency response function to obtain simulation results.
[0027] Steps S201 to S205, as shown in this embodiment, involve acquiring tire geometric parameters and material properties to construct the tire to be simulated, and simultaneously acquiring unsteady-state input data for dynamic conditions, including rotation angle, slip angle, lateral displacement, and yaw rate. A lateral force model considering relaxation effects is established by modeling the tire's lateral force; a self-aligning torque model considering the tire's dynamic characteristics is also established by modeling the self-aligning torque. This embodiment further analyzes the frequency domain response characteristics based on these two models to obtain a set of frequency response functions under different frequency inputs. Finally, a suitable target frequency response function is selected according to the type of unsteady-state input data, and unsteady slip characteristics are simulated under different speed conditions to obtain the tire's unsteady slip characteristics under dynamic conditions.
[0028] In step S201 of some embodiments, the tire and unsteady-state input data to be simulated are obtained; Specifically, unsteady-state input data refers to input conditions that vary in the time or frequency domain, such as dynamic operating conditions like rotation angle, sideslip angle, lateral displacement, and deflection rate. This application's embodiments can perform spatial-frequency domain simulations of tire unsteady sideslip characteristics at different speeds by inputting different unsteady-state input data. By performing only one unsteady sideslip characteristic test at a single speed, the parameters describing the unsteady sideslip characteristics at different speeds can be obtained.
[0029] In step S202 of some embodiments, the lateral force modeling process performed on the tire to obtain a lateral force model includes: The tire's lateral deformation and lateral force are analyzed based on the tire body damping to obtain the first relationship function; The first relational function is subjected to lateral force analysis to obtain the lateral force model.
[0030] In this embodiment, tire carcass damping refers to the inherent characteristic of the tire carcass structure resisting deformation and consuming energy due to internal friction after deformation. Lateral deformation of the tire carcass refers to the lateral translational deformation of the tire carcass structure when subjected to lateral forces. For example, when a car turns, a lateral force is generated, causing the entire tire skeleton to translate laterally. This embodiment analyzes the lateral deformation and lateral force of the tire carcass considering tire carcass damping to obtain a first relational function, which represents the correlation between lateral deformation and lateral force. Based on this correlation, a lateral force analysis can be performed on the tire to obtain a corresponding lateral force model.
[0031] For example, please refer to Figure 3 In this embodiment of the application, the coordinate system is obtained by ignoring the influence of tire width on the tire unsteady lateral slip model. Figure 3 middle, XOY Define a coordinate system for the road surface, with the origin at... O It refers to a specific point on the road surface. oxyz For a moving coordinate system fixed on the tire, the origin is... o The point at the front end of the center line of the tire contact patch. c The point is the midpoint of the center line of the ground imprint. e The point is the rear endpoint of the center line of the ground imprint. Half the length of the ground imprint, speed V The positive direction is the direction of travel from the center of the imprint. The motion of the wheel can be measured by the angle of rotation. With lateral displacement Represented by two independent variables. A moving coordinate system fixed on the tire. Parallel to oy , Parallel to oz Please see. Figure 4 The embodiments of this application are also based on Figure 4 Define the positive and negative values of the variables.
[0032] The following assumptions are made during modeling in this application embodiment: (1) Consider the effects of lateral translational deformation and lateral translational damping of the tire body, but do not consider the bending and torsional deformation of the tire body, the damping of the tire tread, or the influence of tire width. (2) The tire body is a rigid body in the longitudinal direction, and the longitudinal stiffness of the tire is the longitudinal stiffness of the tread. (3) The fetus makes small movements, and there is no longitudinal or lateral sliding in the imprint area; (4) The tire is a linear, time-invariant, continuous system, and the tire mass and gyroscopic effect are ignored; (5) In the initial state ( X =0), the tire's deformation and absolute displacement are both zero.
[0033] In some embodiments, the step of performing lateral deformation and lateral force analysis on the tire based on tire carcass damping to obtain a first relationship function includes the following steps: The tire is subjected to lateral force analysis based on the lateral translational stiffness and lateral translational damping of the tire body to obtain the first lateral force function; The first lateral force function is analyzed and processed based on the forward velocity to obtain the second lateral force function; The second lateral force function is subjected to Laplace transform based on the zero initial conditions to obtain the third lateral force function; The third lateral force function is analyzed and processed based on the lateral translation relaxation length of the fetal body to obtain the first relationship function.
[0034] Specifically, tire carcass lateral translational stiffness refers to the tire carcass structure's ability to resist lateral translational deformation; it quantifies the force required to produce a unit lateral translational deformation. Tire carcass lateral translational damping refers to the tire carcass's ability to dissipate energy and suppress vibrations due to internal friction during lateral translational deformation. Forward speed refers to the linear velocity of the tire's center along its direction of travel. The Laplace transform is a mathematical transformation used to convert a function in the time domain to a complex frequency domain. Tire carcass lateral translational relaxation length is a characteristic length characterizing how quickly the tire carcass's lateral displacement builds up; it represents the distance the tire rolls when the lateral displacement increases from zero to 63.2% of its steady-state value under an ideal step input of lateral force.
[0035] In this embodiment of the application, when the model considers tire carcass damping, a lateral force analysis is performed on the tire based on the tire carcass lateral translational stiffness and tire carcass lateral translational damping to obtain a first lateral force function. The expression of the first lateral force function is as follows: ; In the formula, It is a lateral force. This refers to the lateral translational stiffness of the tire body. For lateral translational damping of the tire body, This refers to the lateral displacement of the tire body. For time.
[0036] Based on the forward speed, the following velocity relationship can be constructed, and its expression is shown below: ; In the formula, V This refers to the forward speed.
[0037] The first lateral force function is analyzed based on the forward velocity to obtain the second lateral force function, the expression of which is shown below: ; Based on the zero initial conditions, the second lateral force function with respect to displacement X Performing a Laplace transform yields the third lateral force function. Here, zero initial condition refers to the initial state (…). X =0), the tire deformation and absolute displacement are both zero. The expression for the third lateral force function is as follows: ; The third lateral force function is transformed to obtain the first transformation function, the expression of which is shown below: ; Based on the analysis of the third lateral force function according to the lateral translational relaxation length of the fetal body, the first relationship function can be obtained. The expression of the first relationship function is as follows: ; in , . Defined as the lateral translation relaxation time of the fetal body, which is independent of speed; Defined as the lateral translational relaxation length of the fetal body.
[0038] The above expression shows that the existence of damping makes No longer with Synchronous, but lagging behind This is an inertial link with a proportionality coefficient of 1. relaxation time The relaxation length is a constant. It is directly proportional to speed and increases linearly with speed. relatively The lag is key to establishing an unsteady model that takes damping into account.
[0039] In some embodiments, performing lateral force analysis on the first relational function to obtain the lateral force model includes the following steps: The tire is subjected to lateral distribution stiffness of the tread and lateral deformation of points on the tread relative to the tire body, and a second relational function is obtained. The second relation function is subjected to Laplace transform based on the zero initial conditions to obtain the third relation function; The third relation function is substituted into the second relation function based on the first relation function to obtain the lateral force model.
[0040] Specifically, tread lateral stiffness distribution refers to the lateral stiffness provided by a unit length of tread rubber within the tire contact patch area. It describes the ability of the tread rubber to act like countless tiny, parallel lateral springs, collectively resisting shear deformation. Lateral deformation analysis of points on the tread relative to the tire carcass analyzes the amount of lateral displacement of each point on the tread relative to the tire carcass within the contact patch.
[0041] In this embodiment of the application, a second relational function is obtained by analyzing the lateral distribution stiffness of the tire tread and the lateral deformation of points on the tire tread relative to the tire carcass. The expression of the second relational function is as follows: ; In the formula, This refers to the lateral stiffness distribution of the tire tread. , This refers to the lateral stiffness of the tire tread. This refers to the lateral deformation of a point on the tire surface relative to the tire body.
[0042] Based on the zero initial condition, the second relation function is subjected to... X The Laplace transform yields the third relation function, whose expression is shown below: ; The expression for the lateral deformation of a point on the tread relative to the tire carcass is as follows: ; The expression for the lateral deformation of a point on the tread relative to the tire carcass is about X By performing the Laplace transform and considering the zero initial conditions, we can obtain the second transform function, the expression of which is shown below: ; Substituting the second transformation function into the third relation function, and considering the first relation function, we can obtain the lateral force model, whose expression is as follows: ; Among them, the translation feature ratio is ; , They are zeroth order respectively E Function, Triple E Functional differences, collectively referred to as E The function is defined as shown in the following formula: ; One of the above technical solutions has the following advantages or beneficial effects: By considering the unsteady model of damping, the embodiment of this application can reflect the influence of speed through the lateral translation relaxation length of the tire body, which has high accuracy and can reduce the error of unsteady lateral slip characteristics at different speeds.
[0043] In step S203 of some embodiments, the process of modeling the return torque of the tire to obtain a return torque model includes the following steps: The asymmetric distribution of lateral forces on the tire is modeled to obtain the first torque model; Based on the tire width, the asymmetric distribution model of longitudinal deformation at each point on the tire imprint is performed to obtain the second torque model; The aligning torque model is obtained based on the first torque model and the second torque model.
[0044] Specifically, the asymmetric distribution of lateral forces refers to the uneven distribution of lateral forces within the tire contact patch area, caused by uneven contact pressure distribution and uneven tread deformation. This asymmetry is the fundamental source of the self-aligning torque. The asymmetric distribution of longitudinal forces refers to the asymmetric distribution of longitudinal forces within the contact patch due to uneven contact pressure distribution and uneven longitudinal deformation of the rubber blocks relative to the tire body. The self-aligning torque model is a mathematical model describing the relationship between the tire's self-aligning torque under lateral slip conditions and parameters such as slip angle, vertical load, and road adhesion coefficient. Essentially, it is a mechanical representation of the asymmetrically distributed lateral forces within the contact patch through integral calculation.
[0045] In this embodiment of the application, the restoring torque There are two sources: one part comes from the asymmetric distribution of lateral forces, denoted as... , representing the first moment model, the other part comes from the asymmetric distribution of longitudinal deformation at various points on the imprint, denoted as , representing the second torque model. Therefore, the expression for the aligning torque model is as follows: ; and ; This application embodiment models the asymmetric distribution of lateral forces on the tire by substituting the second transformation function into the third relation function, taking into account the lateral force model and... E The function, when rearranged, yields the first torque model, the expression of which is shown below: ; When considering tire width, a second moment model can be constructed, and its expression is shown below: ; In the formula L tw This is the tread stiffness-width coefficient. . b Half the width of the grounding imprint. This refers to the longitudinal stiffness of the tire tread.
[0046] Combining the first torque model and the second torque model, we get: ; By substituting into the lateral force model, the restoring moment model can be derived. The expression for the restoring moment model is shown below: .
[0047] One of the above technical solutions has the following advantages or beneficial effects: By modeling the return torque, the embodiments of this application can construct a complete model of the tire that fully describes the three-dimensional mechanical behavior of the tire, providing a model basis for subsequent high-fidelity and predictive vehicle dynamics simulation.
[0048] In step S204 of some embodiments, the step of analyzing and processing the transfer functions under different inputs based on the lateral force model and the restoring torque model, and performing response characteristic analysis and processing based on the analyzed transfer functions to obtain a set of frequency response functions, includes the following steps: The lateral force model and the aligning moment model are subjected to relative rotation angle analysis of lateral force and aligning moment to obtain the transfer function under rotation angle input; The lateral force model and the aligning moment model are subjected to lateral force and aligning moment relative lateral displacement analysis to obtain the transfer function under lateral displacement input; The lateral force model and the aligning moment model are subjected to lateral force and aligning moment relative to the sideslip angle analysis to obtain the transfer function under the sideslip angle input; The lateral force model and the self-aligning moment model are subjected to relative deflection rate analysis of lateral force and self-aligning moment to obtain the transfer function under deflection rate input; The complex parameters are calculated based on the path frequency. The complex parameters are then substituted into the transfer functions under the rotation angle input, the lateral displacement input, the sideslip angle input, and the deflection rate input to obtain the set of frequency response functions.
[0049] In the embodiments of this application, different transfer functions can be constructed by using different unsteady input data.
[0050] Based on the lateral force model and the restoring moment model, we can perform a relative rotation angle analysis of the lateral force and the restoring moment, and obtain the expression for the transfer function under pure rotation angle input: ; in , These are the transfer functions of the lateral force and the restoring torque relative to the rotation angle, respectively.
[0051] Based on the lateral force model and the restoring moment model, a relative lateral displacement analysis of the lateral force and restoring moment can be performed, yielding the transfer function under pure lateral displacement input: ; in , These are the transfer functions of lateral force and restoring torque relative to lateral displacement, respectively.
[0052] The motion of the wheel can be expressed as the rotation angle. With lateral displacement Two independent variables can also be represented by the skid angle. and deflection rate Represented by two independent variables.
[0053] The transfer functions of lateral force and restoring torque relative to different inputs have the following relationship: ; in , These are the transfer functions of lateral force and corrective torque relative to the sideslip angle, respectively. , These are the transfer functions of the lateral force and the self-aligning torque relative to the deflection rate, respectively.
[0054] From the transfer function and its relation under lateral displacement input, the transfer function under pure sideslip angle input can be derived as follows: ; Based on the transfer function, transfer function relation, and transfer function under pure rotation angle input, the transfer function under pure sideslip angle input can be derived as follows: ; When damping Sometimes, , The above transfer function degenerates into a transfer function that does not consider damping.
[0055] From the transfer function above, it can be seen that the forward speed... V pass It affects the transfer function.
[0056] set up Let be the path frequency, and let ( j Substituting the complex imaginary unit into the transfer function above, we can obtain the corresponding frequency response function, and thus obtain the set of frequency response functions.
[0057] One of the above technical solutions has the following advantages or beneficial effects: The embodiments of this application obtain the transfer functions of lateral force and self-correcting torque relative to unsteady inputs such as pure rotation angle, pure lateral displacement, pure slip angle, and pure slip ratio by using a theoretical model of unsteady lateral slip characteristics considering damping. It can reflect the influence of speed through the lateral translation relaxation length of the tire body, with high accuracy, and can reduce the error of unsteady lateral slip characteristics at different speeds.
[0058] In step S205 of some embodiments, the step of performing unsteady lateral slip characteristic simulation processing on the tire at different speeds based on the target frequency response function to obtain simulation results includes the following steps: Obtain load test quantities and air pressure test quantities; The tire is subjected to a ground imprint test based on the load test quantity and the air pressure test quantity to obtain ground length data; The tire is subjected to an unsteady lateral slip characteristic test based on the unsteady input data to obtain test data. The test frequency response function was calculated based on the test data. Parameter identification processing is performed based on the target frequency response function and the test frequency response function to obtain the identified parameters; The transfer functions at different speeds are calculated based on the identification parameters. The tire is simulated based on the transfer function to obtain the simulation results.
[0059] In this embodiment, the tire unsteady lateral slip characteristics are simulated at different speeds, which is applicable to linear input cases with small rotation angle, slip angle, lateral displacement, and deflection rate, and facilitates simulation at multiple speeds.
[0060] Taking the simulation of unsteady sideslip characteristics under pure rotation angle input as an example, the steps are as follows: This application provides embodiments for obtaining load test quantities and air pressure test quantities, and for performing load... and air pressure The tire contact patch test was conducted to obtain contact length data; Then, this application embodiment provides a non-steady-state lateral slip characteristic test under pure tire rotation angle input to obtain rotation angle, lateral force, and self-aligning torque data under rotation angle input; Example of working condition: Load: Air pressure: ,speed: V =40km / h, turning angle: .
[0061] This application provides a method for processing test data to obtain the frequency response function of the lateral force and the self-correcting torque relative to the rotation angle; In this embodiment, parameter identification is performed based on the selected target frequency response function corresponding to the rotation angle input and the experimental frequency response function obtained from the experimental data to obtain the identified parameters. These identified parameters include the lateral stiffness. , Restoration stiffness Grounding length data Translation feature ratio Lateral translation relaxation time of the fetal body tread stiffness-width coefficient The expression for lateral stiffness is as follows: The expression for the normalizing stiffness is: ; This application embodiment utilizes the identified parameters and, based on the transfer function under pure rotation angle input, can calculate the transfer function at different speeds; To simulate other loads and air pressures, the magnitudes of the loads and air pressures can be changed to perform unsteady sideslip characteristics under pure rotation angle input. For simulations of unsteady sideslip characteristics under other inputs, refer to the steps described above.
[0062] The following is a detailed description and explanation of the solutions in the embodiments of this application, using specific application examples: This application's embodiments can be applied to simulation scenarios of vehicle tires. For example, this application's embodiments are applied to the development and verification of advanced chassis electronic control systems. For instance, when a vehicle is on the verge of losing control (such as during an emergency lane change or fishtailing), the system needs to know at what speed the tires can re-establish lateral force. The unsteady-state model can accurately simulate the delay in force establishment, thereby optimizing the timing and intensity of electronic stability program intervention and avoiding excessive or premature intervention. For example, on a racetrack, drivers make high-frequency, aggressive steering inputs. Unsteady-state characteristics directly affect the vehicle's cornering response, cornering balance, and cornering stability. Through simulation using this application's embodiments, suspension geometry, anti-roll bar stiffness, etc., can be optimized, giving the vehicle more responsive and controllable dynamic performance.
[0063] Please see Figure 5 This application also provides a tire unsteady lateral slip characteristic simulation system based on speed influence, which can implement the above-mentioned tire unsteady lateral slip characteristic simulation method based on speed influence. The system includes: Data acquisition module 501 is used to acquire tire and unsteady-state input data to be simulated; The lateral force modeling module 502 is used to perform lateral force modeling processing on the tire to obtain a lateral force model; The return torque modeling module 503 is used to perform return torque modeling processing on the tire to obtain a return torque model; The response characteristic analysis module 504 is used to analyze and process the transfer function under different inputs according to the lateral force model and the self-aligning torque model, and to perform response characteristic analysis and processing based on the analyzed transfer function to obtain a set of frequency response functions; The characteristic simulation module 505 is used to select a target frequency response function from the set of frequency response functions based on the unsteady input data, and to perform unsteady side slip characteristic simulation processing on the tire at different speeds based on the target frequency response function to obtain simulation results.
[0064] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0065] Please see Figure 6 , Figure 6 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 601 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 602 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 602 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 602 and is called and executed by the processor 601. The input / output interface 603 is used to implement information input and output; The communication interface 604 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 605 transmits information between various components of the device (e.g., processor 601, memory 602, input / output interface 603, and communication interface 604); The processor 601, memory 602, input / output interface 603, and communication interface 604 are connected to each other within the device via bus 605.
[0066] The cloud-based data processing device provided in this embodiment of the invention includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the tire unsteady lateral slip characteristic simulation method based on speed influence described in the above embodiment.
[0067] Taking the example of a processor and memory in a vehicle controller being connected via a bus, the memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.
[0068] The non-transient software program and instructions required to implement the data processing method of the above embodiments are stored in the memory. When executed by the processor, the tire unsteady lateral slip characteristic simulation method based on speed influence in the above embodiments is executed.
[0069] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0070] This invention also provides a vehicle that includes the cloud-based data processing device described in the above embodiments.
[0071] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle must have an electric motor capable of outputting power or acting as a generator to store mechanical energy. When the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.
[0072] Since the vehicle applies all the technical solutions of the above-mentioned vehicle fuel consumption management device or vehicle fuel consumption management controller, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.
[0073] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for performing the control method described above. Exemplarily, the method steps described above are performed.
[0074] It is worth noting that, since the computer-readable storage medium of the present invention is capable of executing the control method of any of the above embodiments, the specific implementation and technical effects of the computer-readable storage medium of the present invention can be referred to the specific implementation and technical effects of the control method of any of the above embodiments.
[0075] Furthermore, one embodiment of the present invention provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the robot control method described above. Exemplarily, the method steps described above are performed.
[0076] It is worth noting that, since the computer program product of the present invention can execute the control method of any of the above embodiments, the specific implementation method and technical effect of the computer program product of the present invention can be referred to the specific implementation method and technical effect of the control method of any of the above embodiments.
[0077] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.
[0078] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
Claims
1. A method for simulating tire unsteady lateral slip characteristics based on speed influence, characterized in that, The method includes: Acquire the tire and unsteady-state input data to be simulated; The tire is modeled with lateral forces to obtain a lateral force model; The tire is modeled to obtain a return torque model; The transfer functions under different inputs are analyzed and processed based on the lateral force model and the restoring torque model, and the response characteristics are analyzed and processed based on the obtained transfer functions to obtain a set of frequency response functions; The target frequency response function is obtained by selecting from the set of frequency response functions based on the unsteady input data. The unsteady lateral slip characteristics of the tire at different speeds are then simulated based on the target frequency response function to obtain simulation results.
2. The method according to claim 1, characterized in that, The process of modeling the lateral force of the tire to obtain a lateral force model includes: The tire's lateral deformation and lateral force are analyzed based on the tire body damping to obtain the first relationship function; The first relational function is subjected to lateral force analysis to obtain the lateral force model.
3. The method according to claim 2, characterized in that, The step of performing lateral deformation and lateral force analysis on the tire based on tire body damping to obtain the first relationship function includes the following steps: The tire is subjected to lateral force analysis based on the lateral translational stiffness and lateral translational damping of the tire body to obtain the first lateral force function; The first lateral force function is analyzed and processed based on the forward velocity to obtain the second lateral force function; The second lateral force function is subjected to Laplace transform based on the zero initial conditions to obtain the third lateral force function; The third lateral force function is analyzed and processed based on the lateral translation relaxation length of the fetal body to obtain the first relationship function.
4. The method according to claim 2, characterized in that, The process of performing lateral force analysis on the first relational function to obtain the lateral force model includes the following steps: The tire is subjected to lateral distribution stiffness of the tread and lateral deformation of points on the tread relative to the tire body, and a second relational function is obtained. The second relation function is subjected to Laplace transform based on the zero initial conditions to obtain the third relation function; The third relation function is substituted into the second relation function based on the first relation function to obtain the lateral force model.
5. The method according to claim 1, characterized in that, The process of modeling the return torque of the tire to obtain the return torque model includes the following steps: The asymmetric distribution of lateral forces on the tire is modeled to obtain the first torque model; Based on the tire width, the asymmetric distribution model of longitudinal deformation at each point on the tire imprint is performed to obtain the second torque model; The aligning torque model is obtained based on the first torque model and the second torque model.
6. The method according to claim 1, characterized in that, The process of analyzing and processing the transfer functions under different inputs based on the lateral force model and the restoring torque model, and then performing response characteristic analysis based on the obtained transfer functions to obtain a set of frequency response functions, includes the following steps: The lateral force model and the aligning moment model are subjected to relative rotation angle analysis of lateral force and aligning moment to obtain the transfer function under rotation angle input; The lateral force model and the aligning moment model are subjected to lateral force and aligning moment relative lateral displacement analysis to obtain the transfer function under lateral displacement input; The lateral force model and the aligning moment model are subjected to lateral force and aligning moment relative to the sideslip angle analysis to obtain the transfer function under the sideslip angle input; The lateral force model and the self-aligning moment model are subjected to relative deflection rate analysis of lateral force and self-aligning moment to obtain the transfer function under deflection rate input; The complex parameters are calculated based on the path frequency. The complex parameters are then substituted into the transfer functions under the rotation angle input, the lateral displacement input, the sideslip angle input, and the deflection rate input to obtain the set of frequency response functions.
7. The method according to any one of claims 1 to 6, characterized in that, The process of simulating the unsteady lateral slip characteristics of the tire at different speeds based on the target frequency response function to obtain simulation results includes the following steps: Obtain load test quantities and air pressure test quantities; The tire is subjected to a ground imprint test based on the load test quantity and the air pressure test quantity to obtain ground length data; The tire is subjected to an unsteady lateral slip characteristic test based on the unsteady input data to obtain test data. The test frequency response function was calculated based on the test data. Parameter identification processing is performed based on the target frequency response function and the test frequency response function to obtain the identified parameters; The transfer functions at different speeds are calculated based on the identification parameters. The tire is simulated based on the transfer function to obtain the simulation results.
8. A tire unsteady-state lateral slip characteristic simulation system based on speed influence, characterized in that, The system includes: The data acquisition module is used to acquire the tire and unsteady-state input data to be simulated; The lateral force modeling module is used to perform lateral force modeling processing on the tire to obtain a lateral force model; The return torque modeling module is used to perform return torque modeling processing on the tire to obtain a return torque model; The response characteristic analysis module is used to analyze and process the transfer function under different inputs based on the lateral force model and the self-aligning torque model, and to perform response characteristic analysis and processing based on the obtained transfer function to obtain a set of frequency response functions; The characteristic simulation module is used to select a target frequency response function from the set of frequency response functions based on the unsteady input data, and to perform unsteady side slip characteristic simulation processing on the tire at different speeds based on the target frequency response function to obtain simulation results.
9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 7.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.