Virtual multi-axle driving vibration test method, device and electronic equipment for truck

Abstract

The application discloses a kind of truck's virtual multi-axle drive vibration test method, device and electronic equipment. Among them, the method comprises: constructing truck vibration test virtual model, wherein truck vibration test virtual model at least includes vibration test bench virtual model and truck whole vehicle virtual model;Obtain the multi-axle drive load obtained by carrying out vibration test to truck, and equivalent load for simulating the running state of truck;Based on multi-axle drive load and equivalent load, vibration test bench virtual model is driven, and the state change data of truck whole vehicle virtual model is determined, to obtain the vibration test result of truck.The present application solves the technical problems of low accuracy and flexibility in related art for truck vibration test.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a virtual multi-axis drive vibration test method, apparatus, and electronic equipment for trucks. Background Technology

[0002] Traditional physical vibration testing methods face multiple challenges in the development and performance evaluation of railway freight cars. On the one hand, traditional experimental processes are costly and limited by actual testing conditions, making it difficult to reproduce extreme track conditions or efficiently conduct multiple iterative tests; this problem is particularly prominent for large freight cars. On the other hand, virtual simulation methods in related technologies struggle to accurately capture the complex vibration characteristics of freight cars during multi-axle operation, leading to discrepancies between simulation results and actual operating conditions. This results in low accuracy and flexibility in vibration testing of freight cars using related technologies.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a virtual multi-axis drive vibration test method, apparatus, and electronic device for trucks, to at least solve the technical problems of low accuracy and flexibility in vibration testing of trucks in related technologies.

[0005] According to one aspect of the present invention, a virtual multi-axis vibration test method for a truck is provided, comprising: constructing a virtual model for truck vibration testing, wherein the virtual model for truck vibration testing includes at least a virtual model of a vibration test bench and a virtual model of the truck as a whole; acquiring the multi-axis drive load obtained from the vibration test of the truck, and the equivalent load used to simulate the operating state of the truck; driving the virtual model of the vibration test bench based on the multi-axis drive load and the equivalent load, and determining the state change data of the virtual model of the truck as a whole, so as to obtain the vibration test results of the truck.

[0006] In this embodiment of the invention, constructing a virtual model for truck vibration testing includes: constructing a virtual model of a vibration test bench and a virtual model of the truck based on preset simulation modeling software; and connecting the virtual model of the vibration test bench and the virtual model of the truck to obtain the virtual model for truck vibration testing.

[0007] In this embodiment of the invention, a virtual model of a vibration test bench is constructed based on preset simulation modeling software. This includes: acquiring component structure data of multiple components of the vibration test bench, and motion and constraint relationship data between the multiple components. The multiple components include at least two of the following: a vertical actuator, a lateral actuator, a longitudinal constraint rod, a coupler longitudinal constraint device, and an auxiliary constraint device. The motion and constraint relationship data are used to characterize the motion and constraint relationships between the multiple components. Based on the preset simulation modeling software, component structure data, and motion and constraint relationship data, a virtual model of the vibration test bench is constructed.

[0008] In an embodiment of the present invention, the method further includes: when multiple components include a target actuator, constructing the ball joint motion relationship of the ball joint in the target actuator based on the ball joint pair, and constructing the cylinder constraint relationship of the cylinder in the target actuator based on the sliding pair, wherein the target actuator includes at least one of the following: a vertical actuator and a lateral actuator; and determining the motion and constraint relationship based on the ball joint motion relationship and the ball joint motion relationship.

[0009] In this embodiment of the invention, a virtual model of the entire truck is constructed based on preset simulation modeling software, including: constructing a virtual model of the truck body, a virtual model of the cargo, and a virtual model of the bogie based on the preset simulation modeling software; and constructing a virtual model of the entire truck based on the virtual model of the truck body, the virtual model of the cargo, and the virtual model of the bogie.

[0010] In this embodiment of the invention, a virtual model of the truck body is constructed based on a preset simulation modeling software, including: obtaining the truck's cargo load type; and constructing the virtual model of the truck body based on the cargo load type.

[0011] In this embodiment of the invention, a virtual cargo model of a truck is constructed based on preset simulation modeling software, including: constructing a cargo entity unit model and a cargo mass unit model of the truck based on preset simulation modeling software, wherein the cargo entity unit model is used to represent the physical loading characteristics of the cargo, and the cargo mass unit model is used to represent the mass distribution characteristics of the cargo; and constructing a virtual cargo model based on the cargo entity unit model and the cargo mass unit model.

[0012] According to another aspect of the present invention, a virtual multi-axis vibration testing device for a truck is also provided, comprising: a construction module for constructing a virtual model of a truck vibration test, wherein the virtual model of the truck vibration test includes at least a virtual model of a vibration test bench and a virtual model of the truck as a whole; an acquisition module for acquiring the multi-axis drive load obtained from the vibration test of the truck, and the equivalent load for simulating the operating state of the truck; and a determination module for driving the virtual model of the vibration test bench based on the multi-axis drive load and the equivalent load, determining the state change data of the virtual model of the truck as a whole, so as to obtain the vibration test results of the truck.

[0013] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0015] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0016] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0018] In this embodiment of the invention, firstly, a virtual model for truck vibration testing is constructed, which includes at least a virtual model of a vibration test bench and a virtual model of the entire truck. Next, the multi-axis drive loads obtained from the vibration test on the truck, and the equivalent loads used to simulate the truck's operating state, are acquired. Finally, based on the multi-axis drive loads and the equivalent loads, the virtual model of the vibration test bench is driven to determine the state change data of the virtual model of the entire truck, thereby obtaining the truck's vibration test results. The virtual model for truck vibration testing constructed in this application includes a virtual model of a vibration test bench and a virtual model of the entire truck. By precisely simulating the mechanical interaction and dynamic characteristics of the vibration test bench and the entire truck in space, it facilitates high-precision vibration simulation of trucks under multi-axis synchronous control scenarios under different road conditions. Acquiring and utilizing the multi-axis drive loads from actual truck vibration tests effectively enhances the convenience and reliability of the input source for the virtual test. Using equivalent loads to simulate the truck's operating state achieves an abstract simulation of actual road conditions and load conditions, enabling the virtual test to more flexibly cope with various operating conditions. By driving the virtual model of the vibration test bench with multi-axis drive load and equivalent load, the state change data of the virtual model of the truck can be determined. This ensures that the virtual test can accurately simulate the various complex vibration environments encountered by the truck in actual operation, making the state change data closer to reality. This improves the accuracy and flexibility of the vibration test results, and solves the technical problem of low accuracy and flexibility in vibration testing of trucks in related technologies. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 This is a flowchart of a virtual multi-axis vibration test method for a truck according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of an optional vibration test process for a truck according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of an optional virtual model for truck vibration testing according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of an optional virtual model of a vertical actuator according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the unit division of an optional cargo entity unit model according to an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of weld seam modeling in an optional vehicle body virtual model according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of a virtual multi-axis vibration testing device for a truck according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] According to one aspect of the present invention, a virtual multi-axis vibration test method for a truck is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] Figure 1 This is a flowchart of a virtual multi-axis vibration test method for a truck according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps:

[0031] Step S102: Construct a virtual model for truck vibration testing.

[0032] The virtual model for truck vibration testing includes at least a virtual model of the vibration test bench and a virtual model of the entire truck.

[0033] The aforementioned virtual model of the vibration test bench refers to a virtual model constructed using computer-aided engineering and other simulation modeling software, capable of simulating the working state and characteristics of a real vibration test bench. It may include the main mechanical parts of the vibration test bench, such as vertical actuators, lateral actuators, and longitudinal constraint rods, as well as related control system and hydraulic system models. In the virtual model of the vibration test bench, by defining the physical properties of each component, such as mass, stiffness, and damping, and their dynamic behavior, the vibration excitation applied to the vehicle by the vibration test bench, and the dynamic response of the vehicle under these vibration excitations, can be accurately simulated.

[0034] The aforementioned virtual truck model refers to a virtual model constructed using computer-aided engineering and other simulation modeling software, capable of representing the vibration characteristics and dynamic behavior of an actual truck. The virtual truck model may include components such as the vehicle body, bogies, suspension system, wheelsets, and cargo models. The construction of a virtual truck model facilitates multi-axis synchronous control virtual vibration testing, enabling users to more comprehensively analyze the vibration characteristics and dynamic behavior of trucks under various operating conditions, thereby facilitating design improvements.

[0035] The aforementioned virtual model for truck vibration testing can refer to a virtual model obtained by integrating and connecting a virtual model of the vibration test bench and a virtual model of the complete truck. By coupling the virtual model of the vibration test bench and the virtual model of the complete truck in simulation modeling software, the actual testing process of the truck on the vibration test bench can be simulated, including vibration excitation under multi-axis synchronous control and the truck's response.

[0036] In one optional embodiment, constructing a virtual model for truck vibration testing can include virtualizing the vibration test bench and the entire truck. Constructing the virtual model of the vibration test bench can include defining the physical properties and control logic of each actuator and constraint device to ensure accurate simulation of the multi-axis synchronous control capability of the physical test bench. Specifically, in simulation modeling software, a virtual model of the vibration test bench can be constructed based on the actual dimensions and structure of the test bench, including vertical actuators, lateral actuators, longitudinal constraint rods, and longitudinal constraint devices such as couplers. By adding virtual control forces to the kinematic pairs, synchronous control of the actuators is achieved, ensuring simulation of the multi-axis linkage control capability of the test bench. The establishment of the virtual model of the entire truck can consider the rigidity and flexibility characteristics of the vehicle body, the inertial properties of the cargo, and the dynamic behavior of the bogie. Through precise parameter settings and model adjustments, a dynamic response similar to that of an actual truck can be achieved. The construction of a virtual model of a freight truck can include: establishing a virtual model of the vehicle body using finite element analysis and modal synthesis to reflect the complex dynamic behavior of the vehicle; establishing a virtual model of the cargo using constitutive solid elements and mass elements to reflect the inertia of the cargo; and establishing a virtual model of the bogie using detailed kinematic pair settings and force element connections to simulate the bogie's motion and force transmission process. The construction of the entire virtual model of the freight truck ensures similarity to the actual freight truck in terms of dynamic characteristics, including mass distribution, stiffness, and damping characteristics.

[0037] In the aforementioned process, by constructing an integrated virtual model for truck vibration testing, high-precision vibration simulation of trucks under complex multi-axis synchronous control scenarios under different road conditions can be easily achieved. This saves resources and time from physical testing and can also simulate extreme working conditions that are difficult to reproduce in physical testing, providing a more comprehensive and accurate basis for truck design improvements. The construction of the virtual model for truck vibration testing overcomes the limitations of traditional physical testing, improves the flexibility and cost-effectiveness of testing, and facilitates precise multi-axis control and more comprehensive dynamic simulation.

[0038] Step S104: Obtain the multi-axis drive load obtained from the vibration test of the truck, and the equivalent load used to simulate the truck's operating state.

[0039] The aforementioned multi-axle drive load refers to the simultaneous application of vibration excitation to a truck in multiple axes, such as vertical, lateral, and longitudinal, during a whole-vehicle vibration test. The applied forces or displacements of these vibration excitations can be based on simulations of various road conditions and dynamic loads encountered by the truck in actual operation. The multi-axle drive load can include data on the forces or displacements applied by various actuators, such as vertical and lateral actuators, during vibration testing on a vibration test bench. The multi-axle drive load can be calculated based on selected road surface roughness spectra, vehicle speed, load, and other factors to simulate the complex vibration environment encountered by the truck in actual driving, thereby evaluating the truck's vibration characteristics and structural strength.

[0040] The aforementioned equivalent load refers to a load calculated through theoretical analysis, system identification, or numerical simulation that can equivalently reflect the vibration characteristics of a truck under actual operating conditions. The equivalent load can be obtained based on the truck's dynamic characteristics and the analysis of actual road unevenness or vehicle vibration characteristic data, reproducing the truck's vibration response under different road conditions in the form of a mathematical model.

[0041] In one optional embodiment, vibration excitation loads on various actuators on the test bench in different axes can be recorded and analyzed based on actual vibration test data. These vibration excitation loads can include vibration displacement, velocity, and acceleration signals of various parts of the truck body under specific operating conditions, such as specific speeds, load conditions, and specific road surfaces. Then, signal processing technology can be used to convert the recorded vibration excitation loads into a load form suitable for virtual testing, i.e., a multi-axis drive load. Furthermore, through system identification and iterative theory, using the truck body vibration acceleration data during actual road operation as the target, a load that equivalently reflects the actual operating vibration state of the truck body can be derived. This can include establishing a dynamic model of the truck and adjusting the model parameters by comparing the model with actual data, so that the output of the virtual model is close to the actual data, thereby obtaining the equivalent load. The calculation of the equivalent load improves the flexibility and efficiency of the test.

[0042] In the above process, the multi-axle drive load is directly derived from physical vibration tests, providing a direct simulation of the complex road conditions encountered by trucks in actual operation, thus ensuring the realism of the virtual test. The equivalent load, through system identification and iterative theory, can reproduce the vibration response of the truck under actual road conditions in the form of a mathematical model, compensating for the inadequacy of experimental data. This allows virtual vibration testing to easily adapt to different vehicle models, different load conditions, and various road surface conditions, providing a wider testing range for truck design and performance evaluation.

[0043] Step S106: Based on the multi-axis drive load and equivalent load, drive the virtual model of the vibration test bench to determine the state change data of the virtual model of the truck, so as to obtain the vibration test results of the truck.

[0044] The aforementioned state change data can refer to the dynamic response information of various components of the virtual model of the truck, such as the car body, bogie, and suspension system, under the action of multi-axis driving loads and equivalent loads in a virtual vibration test. This data may include, but is not limited to, the data on the changes of parameters such as displacement, velocity, acceleration, strain, and stress over time.

[0045] The vibration test results mentioned above can refer to the state change data of the virtual model of the entire truck, which are obtained through further analysis and processing. The vibration test results can be presented in the form of graphs, tables or data reports, and may include, but are not limited to, vibration curves, vibration amplitudes, frequency characteristics, modal analysis results, and structural response analysis of various parts of the vehicle body, such as fatigue life prediction and structural safety evaluation.

[0046] In one optional embodiment, the virtual model of the vibration test bench can be driven based on multi-axis drive loads and equivalent loads to determine the state change data of the entire truck virtual model, thereby obtaining the vibration test results of the truck. Specifically, the acquired multi-axis drive loads and calculated equivalent loads can be loaded onto the various actuators of the vibration test bench virtual model according to the input requirements of the virtual test bench. After loading the multi-axis drive loads and equivalent loads onto the vibration test bench virtual model, the solver in the simulation modeling software can be run to simulate the vibration process of the truck in the virtual environment. This process can calculate the dynamic response of each component of the truck based on the defined kinematic pairs, force elements, and the physical properties of the entire truck. During the simulation, the simulation modeling software can automatically record the state change data such as displacement, velocity, and acceleration of the entire truck virtual model, and can record the frequency and range of the data, taking into account the actual operating conditions of the truck and the required vibration characteristics. The recorded state change data can also be analyzed, including but not limited to time domain analysis, frequency domain analysis, and statistical analysis, to evaluate the vibration characteristics of the truck under specific operating conditions and obtain the vibration test results of the truck. By comparing the state change data under different driving loads, we can analyze the impact of different road conditions on the vibration characteristics of trucks, identify the main factors of vibration control, and provide data basis for the vibration control strategy of trucks.

[0047] In the aforementioned process, the use of multi-axis drive loads and equivalent loads ensures that virtual testing can accurately simulate various complex vibration environments encountered by trucks in actual operation, making the state change data closer to reality and thus improving the accuracy of vibration test results. The high efficiency of virtual vibration testing allows users to quickly acquire and analyze the vibration characteristics of trucks. In conditions that are difficult to reproduce in actual testing, such as extreme road conditions and special load conditions, virtual testing can provide effective performance evaluation.

[0048] In this embodiment of the invention, firstly, a virtual model for truck vibration testing is constructed, which includes at least a virtual model of a vibration test bench and a virtual model of the entire truck. Next, the multi-axis drive loads obtained from the vibration test on the truck, and the equivalent loads used to simulate the truck's operating state, are acquired. Finally, based on the multi-axis drive loads and the equivalent loads, the virtual model of the vibration test bench is driven to determine the state change data of the virtual model of the entire truck, thereby obtaining the truck's vibration test results. The virtual model for truck vibration testing constructed in this application includes a virtual model of a vibration test bench and a virtual model of the entire truck. By precisely simulating the mechanical interaction and dynamic characteristics of the vibration test bench and the entire truck in space, it facilitates high-precision vibration simulation of trucks under multi-axis synchronous control scenarios under different road conditions. Acquiring and utilizing the multi-axis drive loads from actual truck vibration tests effectively enhances the convenience and reliability of the input source for the virtual test. Using equivalent loads to simulate the truck's operating state achieves an abstract simulation of actual road conditions and load conditions, enabling the virtual test to more flexibly cope with various operating conditions. By driving the virtual model of the vibration test bench with multi-axis drive load and equivalent load, the state change data of the virtual model of the truck can be determined. This ensures that the virtual test can accurately simulate the various complex vibration environments encountered by the truck in actual operation, making the state change data closer to reality. This improves the accuracy and flexibility of the vibration test results, and solves the technical problem of low accuracy and flexibility in vibration testing of trucks in related technologies.

[0049] In this embodiment of the invention, constructing a virtual model for truck vibration testing includes: constructing a virtual model of a vibration test bench and a virtual model of the truck based on preset simulation modeling software; and connecting the virtual model of the vibration test bench and the virtual model of the truck to obtain the virtual model for truck vibration testing.

[0050] The aforementioned pre-defined simulation modeling software refers to software used to create and analyze multibody dynamic systems. It helps users construct virtual models of complex electrical systems and predict the dynamic behavior of these virtual models under different operating conditions through numerical simulation technology. It can also provide a physics engine and visualization tools, supporting kinematic and dynamic analysis of multibody virtual models, as well as functions such as modal synthesis and finite element analysis.

[0051] In one optional embodiment, a virtual model of the vibration test bench can be constructed in the preset simulation modeling software based on the structure and control principles of the actual vibration test bench. This virtual model can include the mechanical, control, and hydraulic systems of the vibration test bench, ensuring that it accurately replicates the multi-axis synchronous control capabilities of the test bench. For example, by defining the mechanical characteristics and control logic of the actuators, as well as the position and attributes of the constraint devices, synchronous control of the actuators can be achieved, simulating real physical excitation. In the preset simulation modeling software, virtual models of components such as the car body, cargo, and bogies can be created based on the three-dimensional structural model of the truck or directly. The virtual model of the car body can consider the flexibility of the structure, employing finite element analysis and modal synthesis to ensure that the dynamic behavior of the virtual model is similar to that of the actual car body. The virtual model of the cargo can reflect the inertia of the cargo through constitutive solid elements and mass elements. The virtual model of the bogie can simulate the interaction with the car body and the ground, including wheel-rail contact characteristics and the mechanical behavior of the suspension system. Through precise parameter settings and virtual model calibration, the resulting virtual model of the entire vehicle can accurately reflect the dynamic characteristics of the truck under different operating conditions. Next, the constructed virtual model of the vibration test bench and the virtual model of the truck can be connected in the software environment to obtain the virtual model of the truck vibration test. During the connection process, it can be ensured that the connection points and methods of the actuators on the vibration test bench virtual model and the axes of the truck virtual model conform to the actual test layout, so as to simulate real multi-axis synchronous control vibration tests in the virtual environment. This can be achieved by defining the physical properties and dynamic parameters of the connection points and setting constraints, thus obtaining the virtual model of the truck vibration test.

[0052] In the above process, by constructing an accurate virtual model in the preset simulation modeling software, the vibration characteristics of the truck under multi-axle synchronous control can be simulated more realistically, providing a more reliable basis for design improvement. Virtual testing enables rapid evaluation of different working conditions and design schemes, shortening the testing cycle and improving R&D efficiency.

[0053] In this embodiment of the invention, a virtual model of a vibration test bench is constructed based on preset simulation modeling software. This includes: acquiring component structure data of multiple components of the vibration test bench, and motion and constraint relationship data between the multiple components. The multiple components include at least two of the following: a vertical actuator, a lateral actuator, a longitudinal constraint rod, a coupler longitudinal constraint device, and an auxiliary constraint device. The motion and constraint relationship data are used to characterize the motion and constraint relationships between the multiple components. Based on the preset simulation modeling software, component structure data, and motion and constraint relationship data, a virtual model of the vibration test bench is constructed.

[0054] The aforementioned auxiliary restraint devices can refer to a series of auxiliary fixing and restraint devices used to ensure the stability and safety of the freight car during testing, such as preventing the car body from deviating from the track under lateral forces, controlling the longitudinal movement range of the coupler, or limiting unnecessary relative movement between the car body and the bogie. These can include various hinges, supports, locking mechanisms, etc., which help ensure that the movement of each component during testing meets the testing requirements and guarantees the safe conduct of the test.

[0055] The aforementioned component structural data can refer to the geometric dimensions, material properties, connection methods, and control logic of each component constituting the vibration test bench, such as vertical actuators, lateral actuators, and longitudinal constraint rods. For example, the component structural data of a vertical actuator may include the actuator's stroke range, upper limit of output force, and control method; the component structural data of a lateral actuator may include the actuator's lateral displacement capacity and response speed; and the component structural data of a longitudinal constraint rod may include the length, strength, and elastic modulus of the longitudinal constraint rod.

[0056] The aforementioned motion and constraint relationship data can refer to data describing the dynamic interactions between various components within the vibration test bench, including the relative motion laws between components and constraint conditions. This can include the degrees of freedom of each component, such as translation and rotation; the mechanical properties of connection points, such as stiffness and damping; and the command response of the control system, such as the force or displacement control signals of actuators. Motion and constraint relationship data ensures that the virtual model can accurately simulate the behavior of the actual vibration test bench, such as the synchronous control of actuators and the limiting effect of constraint devices.

[0057] In one optional embodiment, structural data of the vibration test bench components can be collected, including the geometric dimensions, material properties, and control logic of each component. Data on the motion and constraint relationships between multiple components can also be obtained, which can be acquired through drawings, specifications, or direct measurement. In pre-defined simulation modeling software, a virtual model of the vibration test bench can be constructed using the component structural data and motion and constraint relationship data. This can include creating three-dimensional structural models for each component, defining physical properties such as mass, moment of inertia, stiffness, and damping, and setting kinematic pairs, such as sliding pairs and ball joints, within the three-dimensional structural models to simulate the connections and interactions between components. For example, for vertical and lateral actuators, control logic can be defined to ensure the virtual model can achieve multi-axis synchronous control. The degrees of freedom and mutual constraint conditions of each component can also be configured based on the motion and constraint relationship data of the actual vibration test bench. For example, by adjusting the elastic modulus and stiffness of the longitudinal constraint rod, the constraint effect of the longitudinal constraint rod on the longitudinal vibration of the vehicle body can be simulated; by setting the parameters of the coupler longitudinal constraint device, the displacement range of the coupler in the longitudinal direction can be controlled, thereby constructing a virtual model of the vibration test bench.

[0058] In the above process, the construction of the virtual model of the vibration test bench is based on detailed component structural data and motion and constraint relationship data. It can accurately simulate the mechanical behavior and control characteristics of the actual vibration test bench, thereby improving the accuracy and reliability of the virtual test. The virtual model is not limited by physical size and environmental conditions, and test parameters, such as actuator control logic, test speed and load conditions, can be easily adjusted, allowing for more extensive and in-depth experimental research and accelerating the iterative improvement process of truck design.

[0059] In an embodiment of the present invention, the method further includes: when multiple components include a target actuator, constructing the ball joint motion relationship of the ball joint in the target actuator based on the ball joint pair, and constructing the cylinder constraint relationship of the cylinder in the target actuator based on the sliding pair, wherein the target actuator includes at least one of the following: a vertical actuator and a lateral actuator; and determining the motion and constraint relationship based on the ball joint motion relationship and the ball joint motion relationship.

[0060] The aforementioned ball joint can refer to a connecting component that allows two components to rotate relative to each other in various directions. In vibration test bench models, ball joints can be used to connect components that need to rotate freely in multiple axes, such as the end of the target actuator and the base of the test bench or the body and bogie of a truck, in order to simulate the changes in the degree of freedom of the actuator in different axes while keeping the actuator position fixed.

[0061] The aforementioned ball joint motion relationship refers to the relative rotational relationship between two components connected by a ball joint. The establishment of the ball joint motion relationship can be based on the geometric and mechanical properties of the ball joint, such as the center position of the ball joint, the radius of rotation, and frictional resistance. In the virtual model, defining the ball joint motion relationship helps to accurately simulate the multi-axis synchronous control behavior of the actuator, ensuring that the virtual model of the vibration test bench can apply the required vibration excitation to the truck according to the preset control strategy.

[0062] The aforementioned sliding joint can refer to a connecting component that allows two parts to slide relative to each other in a specific direction while restricting movement in other directions. In the construction of a virtual model of a vibration test bench, a sliding joint can be used to connect the piston rod of an actuator to the internal structure of the actuator, ensuring that the actuator can produce smooth displacement in a specified direction while restricting the actuator's degrees of freedom in other directions. For example, for hydraulic actuators, the sliding joint can simulate the movement of the piston rod inside the cylinder, achieving precise control of the actuator's output force.

[0063] The aforementioned cylinder constraint relationship describes the relative motion constraint relationship between the piston rod and the cylinder body inside the cylinder under a sliding joint connection. This can include the piston rod's stroke range, the cylinder's inner diameter and length, and the frictional force between the piston rod and the cylinder's inner wall. When constructing virtual models of target actuators, such as vertical or lateral actuators, setting the cylinder constraint relationship helps ensure that the actuator can generate force output or displacement response according to design requirements, ensuring the accuracy and reliability of the virtual test.

[0064] In one optional embodiment, in the preset simulation modeling software, a ball joint element can be selected and applied to the end of the target actuator to ensure that the target actuator can rotate freely between the test bench or the vehicle body, bogie, and other components of a truck, while maintaining a fixed position for the target actuator. By defining parameters such as the center position and radius of rotation of the ball joint, as well as the existing frictional resistance characteristics, the motion relationship of the ball joint can be precisely configured. For hydraulic cylinder actuators, a sliding joint element can be selected and applied between the piston rod and the cylinder body to simulate the piston rod movement inside the cylinder. The sliding joint settings can include defining the stroke range of the piston rod, the inner diameter and length information of the cylinder, and setting the contact friction parameters between the piston rod and the inner wall of the cylinder, ensuring that the actuator can generate precise force output or displacement response according to the preset control logic. Based on the defined ball joint motion relationship and cylinder constraint relationship, the motion and constraint relationships of each component in the virtual model are determined through software parameter configuration and physics engine calculation. It can ensure that the target actuator can correctly execute multi-axis synchronous control commands, and coordinate with the movement of other components, such as longitudinal constraint rods and coupler constraint devices, to simulate the multi-axis linkage characteristics of a real vibration test bench.

[0065] In the above process, by defining the parameters of the ball joint and sliding joint, the dynamic interaction between the actuator and the truck, as well as the piston rod movement inside the cylinder, can be accurately simulated. This ensures the reliability of the virtual test results and more accurately reflects the vibration characteristics of the truck under multi-axis synchronous control. The ball joint allows the actuator to achieve free rotation along multiple axes, while the sliding joint ensures the precise displacement of the cylinder piston rod. Together, they support the implementation of the multi-axis synchronous control strategy and improve the actuator's control flexibility and response speed.

[0066] In this embodiment of the invention, a virtual model of the entire truck is constructed based on preset simulation modeling software, including: constructing a virtual model of the truck body, a virtual model of the cargo, and a virtual model of the bogie based on the preset simulation modeling software; and constructing a virtual model of the entire truck based on the virtual model of the truck body, the virtual model of the cargo, and the virtual model of the bogie.

[0067] The aforementioned virtual vehicle model refers to a truck body virtual model constructed based on pre-defined simulation modeling software. It may include the vehicle's geometric shape and dimensions, as well as its physical properties such as mass, inertia, and elastic modulus, and structural characteristics such as connection joints and rigid-flexible coupling zones. The construction of the virtual vehicle model can comprehensively utilize finite element analysis and modal synthesis to ensure accurate reflection of the vehicle's dynamic behavior during vibration tests and its response characteristics under multi-axis synchronous control.

[0068] The aforementioned virtual cargo model refers to a virtual model used to simulate the load of goods on a freight truck, and can include solid element models and mass element models. Solid element models can employ constitutive models to reflect the inertial properties of the cargo and its impact on vehicle vibration; mass element models can distribute the mass of the cargo according to its actual loading state across corresponding nodes on the chassis, simplifying calculations. The construction of the virtual cargo model can also consider the distribution, shape, and mass properties of the cargo to ensure accurate simulation of the vibration characteristics of a freight truck under load in virtual vibration tests.

[0069] The aforementioned virtual bogie model can refer to a virtual model constructed based on the structural and mechanical characteristics of a freight car bogie, which may include simulations of components such as wheelsets, bolsters, suspension systems, and connecting devices. The construction of the virtual bogie model can consider wheel-rail contact, the elastic damping characteristics of the suspension system, and the mechanical transmission relationship between the bogie and the car body, ensuring that it can reflect the dynamic response of the bogie under different operating conditions and focusing on the bogie's performance in multi-axle synchronous controlled vibration tests.

[0070] In one alternative embodiment, a virtual vehicle model can be created using finite element analysis and modal synthesis. The finite element method can simulate the elastic characteristics of the vehicle body, while modal synthesis can improve the number of degrees of freedom and increase computational efficiency. During the construction of the cargo virtual model, an appropriate modeling method can be selected based on the type and distribution of the cargo. For scenarios considering cargo inertia, constitutive solid elements can be used; for scenarios ignoring the influence of cargo inertia, a mass element model attached to the floor can be used. The cargo mass can be allocated to the model nodes of the vehicle body according to the actual loading state to ensure that the cargo virtual model accurately reflects the presence of the cargo. The bogie model can be constructed considering kinematic and dynamic characteristics, focusing on wheel-rail contact and the dynamic behavior of the suspension system. The wheelset model can include the tread shape, and the suspension system can be simulated using spring-damping elements to ensure that the bogie model accurately replicates the vibration response of the bogie under different road conditions. Next, the vehicle body virtual model, cargo virtual model, and bogie virtual model can be integrated in a pre-defined simulation modeling software. By defining the connection relationships between the components, such as hinges and constraints, a complete virtual model of the freight truck can be established. Virtual models of trucks can reflect the actual dynamic characteristics of trucks in multi-axle vibration tests, providing a basis for subsequent vibration tests and performance evaluations.

[0071] In the above process, based on the virtual models of the vehicle body, cargo, and bogie, the dynamic behavior of the truck under complex working conditions can be accurately simulated. In multi-axle synchronous control vibration tests, the mechanical interaction and overall response characteristics between various components of the truck can be realistically reflected. The construction and testing of the whole truck virtual model has high flexibility, and load conditions, cargo distribution, and bogie parameters can be easily adjusted to simulate the vibration characteristics of the truck under different road conditions and load states.

[0072] In this embodiment of the invention, a virtual model of the truck body is constructed based on a preset simulation modeling software, including: obtaining the truck's cargo load type; and constructing the virtual model of the truck body based on the cargo load type.

[0073] The aforementioned vehicle cargo load types refer to the different types of cargo and their distribution on the vehicle body that need to be considered during whole-vehicle vibration testing of trucks. This can include the type of cargo, such as liquids, solids, and bulk cargo, as well as the loading status, such as empty, half-loaded, or fully loaded, and the loading method, such as uniform distribution or off-center loading. The inertial distribution, center of gravity position, and elastic characteristics of different types of cargo will have a significant impact on the vibration characteristics of the vehicle body.

[0074] In one optional embodiment, the type of cargo load on the vehicle can be collected based on the actual usage or testing requirements of the truck. This can include the type, weight, volume, and distribution pattern of the cargo, which can be obtained from historical transportation records, testing specifications, or through actual measurements. Then, based on the collected cargo load types, a virtual vehicle model can be constructed using modeling tools and methods in a pre-defined simulation modeling software. For scenarios where cargo inertia needs to be considered, a constitutive solid element model can be used. The geometric dimensions, elastic modulus, and density parameters of each solid element can be set according to the cargo type, realistically reflecting the impact of the cargo on vehicle vibration. In scenarios where the inertial properties of the cargo are ignored, a mass element model attached to the floor can be used. The cargo mass is distributed to the corresponding nodes of the chassis according to the actual loading state and added to the virtual vehicle model in the form of mass, simplifying the calculation process and taking into account the impact of cargo distribution on vehicle vibration. To ensure the accuracy of the virtual vehicle model, model parameters such as the elastic modulus, density, and distribution pattern of the cargo can be adjusted and verified based on theoretical analysis or previous experimental data, ensuring that the virtual vehicle model can simulate the actual mechanical behavior of the cargo under different working conditions.

[0075] In the above process, the virtual vehicle model constructed based on the vehicle's cargo load type can more realistically reflect the dynamic response of cargo during transportation, including the impact of cargo load type on the vehicle's vibration characteristics. This helps to evaluate the vibration performance of trucks under specific load conditions. Through virtual experiments, the impact of different load types and distribution patterns on the truck's vibration characteristics can be analyzed, which helps to improve cargo loading strategies, reduce vehicle vibration during operation, and improve the safety and efficiency of cargo transportation.

[0076] In this embodiment of the invention, a virtual cargo model of a truck is constructed based on preset simulation modeling software, including: constructing a cargo entity unit model and a cargo mass unit model of the truck based on preset simulation modeling software, wherein the cargo entity unit model is used to represent the physical loading characteristics of the cargo, and the cargo mass unit model is used to represent the mass distribution characteristics of the cargo; and constructing a virtual cargo model based on the cargo entity unit model and the cargo mass unit model.

[0077] The aforementioned cargo solid element model refers to a model that uses solid elements to represent the three-dimensional shape and physical properties of cargo in virtual vibration tests. Solid elements can reflect the cargo's volume, mass, elastic modulus, and other characteristics, providing accurate moments of inertia and center of gravity positions in space. This is suitable for scenarios requiring detailed consideration of the cargo's actual shape and inertial effects. During modeling, parameters such as the size, density, and elastic constants of the solid elements can be adjusted according to the type and state of the cargo to ensure the accuracy of the virtual cargo model and the simulation effect.

[0078] The aforementioned cargo mass element model refers to a model that uses mass elements to represent the mass distribution of cargo. This model can be used to consider the impact of cargo mass on vehicle vibration characteristics. In virtual vibration tests with multi-axis synchronous control, by distributing cargo mass according to its actual loading state to corresponding nodes on the chassis, the impact of different load distributions on the vehicle's dynamic response can be quickly assessed.

[0079] In one optional embodiment, a cargo solid element model can be constructed using the solid element tool in a pre-defined simulation modeling software, based on the actual type and loading characteristics of the cargo. The simulation modeling software allows defining attributes such as geometric dimensions, elastic modulus, density, and shear correction coefficients for the solid elements, ensuring the cargo solid element model accurately reflects the physical properties of the cargo. A mass element model can also be used to reflect the mass distribution characteristics of the cargo. In the simulation modeling software, mass attributes for the mass elements can be defined and placed on various nodes of the vehicle chassis according to the actual loading state of the cargo, simplifying the construction process of the virtual cargo model while retaining mass distribution information that affects vehicle vibration. Next, the constructed solid element model and mass element model can be integrated to construct a virtual cargo model. During the integration of the virtual cargo model, the rationality of the connections between elements and the overall mechanical consistency of the model can be considered. Based on simulation results and experimental requirements, the model parameters are improved and adjusted to enhance the accuracy and reliability of the virtual vibration test.

[0080] In the above process, by constructing a cargo entity unit model, the physical characteristics of the cargo, such as moment of inertia and elastic behavior, can be simulated in detail, which helps to reflect the real vibration characteristics of the truck under multi-axis synchronous control. Using a cargo mass unit model simplifies the computational complexity of the model, improves the efficiency of virtual testing, and is suitable for scenarios requiring rapid assessment of the impact of different load distributions on vehicle vibration.

[0081] The technical solution proposed in this application is described below with reference to an optional embodiment. This application proposes a method and apparatus for virtual truck vibration testing based on multi-axis synchronous control. By constructing a highly realistic virtual truck model and employing multi-axis synchronous control technology, the coordinated vibration of each axle of the truck under various complex working conditions is accurately simulated. This enables efficient, comprehensive, and accurate evaluation of the vibration performance of the entire truck, providing a reliable basis for improved truck design, safe operation, and reduced maintenance costs. The multi-axis synchronous control virtual truck vibration test of this application includes a virtual model of the vibration test bench, a virtual model of the entire truck, and shared driver files for physical and virtual experiments.

[0082] Figure 2 This is a schematic diagram of an optional vibration test process for a truck according to an embodiment of the present invention, as shown below. Figure 2As shown, structural data of multiple components of the vibration test bench and data on the motion and constraint relationships between these components are acquired. Based on pre-set simulation modeling software, the structural data, and the motion and constraint relationship data, a virtual model of the vibration test bench is constructed. Using the pre-set simulation modeling software, virtual models of the truck body, cargo, and bogie are constructed. Based on these virtual models, a virtual model of the entire truck is then constructed. The virtual model of the vibration test bench and the virtual model of the entire truck are connected to obtain the virtual model of the truck vibration test. Multi-axis drive loads obtained from vibration tests on the truck, as well as equivalent loads used to simulate the truck's operating state, are acquired. Based on the multi-axis drive loads and equivalent loads, the virtual model of the vibration test bench is driven to determine the state change data of the virtual model of the entire truck, thus obtaining the vibration test results of the truck.

[0083] Figure 3 This is a schematic diagram of an optional virtual model for truck vibration testing according to an embodiment of the present invention, such as... Figure 3 As shown, the virtual model for truck vibration testing can include a virtual model of the vibration test bench and a virtual model of the entire truck.

[0084] A virtual model of a vibration test bench is provided, which can be composed of a mechanical system, a control system, and a hydraulic system. The mechanical system of the physical test bench mainly consists of 4 sets of vertical actuators, 4 sets of lateral actuators, 8 sets of longitudinal constraint rods, 1 set of coupler longitudinal constraint device, and other auxiliary constraint devices. Multibody dynamics theory can be used to model the mechanical system of the physical test bench. The software platform can import computer-aided design models of each component of the test bench, calculate the mass, center of mass, and moment of inertia of the structure. Based on the kinematic and constraint relationships between components, drives and constraints are added to the components. Each actuator component of the vibration test bench can be composed of two types of moving parts: ball joints and hydraulic cylinders. Taking the vertical actuator as an example, the ball joint can be used to establish the kinematic relationship; the hydraulic cylinder has a unidirectional degree of freedom and can be used to establish the constraint relationship using a sliding joint. The hydraulic cylinder contains hydraulic oil, which has good lubrication, so friction of the sliding joint does not need to be considered. Drives are added to the established sliding joints to achieve multi-axis synchronous control of the hydraulic cylinder.

[0085] Figure 4 This is a schematic diagram of an optional virtual model of a vertical actuator according to an embodiment of the present invention, such as... Figure 4 As shown in the figure, the sliding joint 402, two ball joints 401 and 403 are shown in the virtual model of the vertical actuator.

[0086] The virtual model of a freight truck can include a virtual model of the vehicle body, a virtual model of the cargo, and a virtual model of the bogie. For the cargo virtual model, a solid element model with a DP constitutive model that reflects the cargo's inertia and a mass element model with an attached floor that does not consider the cargo's inertial properties can be used. The mass of the mass element model distributes the load to the corresponding nodes of the frame according to the actual loading state of the cargo. The virtual prototype in this application undergoes comprehensive test modal analysis and finite element analysis to adjust the prototype model and establish a finite element model capable of accurately and reliably predicting the dynamic characteristics of the mechanical structure. The parameter settings for the DP granular elements are shown in Table 1 below.

[0087] Table 1 Parameters of DP granular elements

[0088]

[0089] Figure 5 This is a schematic diagram of the unit division of an optional cargo entity unit model according to an embodiment of the present invention, as shown below. Figure 5 As shown, the unit division diagram of the cargo entity unit model includes two side walls of the truck body and the chassis of the truck body, coordinate axes x and y, and two small elastic modulus regions A and large elastic modulus regions B.

[0090] For the virtual car body model, the mid-surface of the steel structure plates is extracted, and the plate and shell elements of the finite element model are used for modeling. The virtual car body model should allow for weld shapes; butt joints and fillet welds can be selectively created, and lap joints are connected by plate and shell elements to link the neutral layers of the two lap plates. Modal test results are used to verify the simplification of the model and the rationality of the parameter settings. Considering the large load of freight cars, a whole-vehicle vibration test bench can be used as the excitation source for working modal testing. Since the modal test results naturally include the influence of the bench constraints themselves, the adjusted car body model better meets the requirements of virtual testing. Based on the modal synthesis method, a modal set of the loaded car body is established using the finite element model of the car body loaded with cargo. The number of principal modes in the modal synthesis method can be selected according to the car type. For heavy-haul railway freight cars, since there is no vibration effect in the car body, the number of principal modes can be minimized; for express freight cars, when the vibration effect of the car body needs to be considered, the number of principal modes can be maximized according to the computational capability.

[0091] Figure 6 This is a schematic diagram of weld modeling in an optional vehicle body virtual model according to an embodiment of the present invention, such as... Figure 6 As shown, the vehicle body structure in the figure can be modeled using the weld modeling method shown in the figure. The vehicle body structure includes parameters of 6mm, 50mm, 400mm and 500mm shown in the figure. The weld modeling model includes the 6mm parameter shown in the figure, as well as beam elements used to construct the weld modeling model.

[0092] For the virtual bogie model of a freight car, multi-rigid-body theory can be used for modeling, and the primary and secondary damping systems of the bogie are input according to actual experimental values. Since the test bench cannot simulate curved running, the center plate of the bogie bolster mainly completes the vertical and lateral load transfer, and rotational resistance does not need to be considered. During the test, the effect of center plate detachment can be considered, and the center plate model can be simplified to a four-point single-sided spring with relatively high stiffness, which can ensure that the center plate plays a role in vertical and lateral load transfer while taking into account the change of the center plate's planar point of application. The side bearings on the bogie bolster are in a constant contact state. The clearance between the upper surface of the side bearing and the roller can be determined according to actual needs, so the stiffness of the side bearing is a function of the roller clearance. When the side bearing surface is in contact with the roller, the stiffness becomes larger and can be set to a larger value.

[0093] The virtual vibration test is driven directly by the multi-axis drive load from the actual vehicle vibration test as the input drive. The multi-axis drive from the actual vehicle vibration test can be converted from a spatial domain trajectory spectrum to a time domain trajectory spectrum usable by the test bench. Taking the unevenness of the track elevation in the trajectory spectrum as an example, the fitting formula for the trajectory spectrum can be:

[0094] ;

[0095] in, For the power spectral density in the spatial domain, For safety margin, a value of 0.25 can be used. This is a parameter representing the magnitude of track irregularities. To cut off the frequency, This refers to the spatial frequency.

[0096] Taking an uneven track as an example, if the root mean square values ​​of the power spectra in the spatial and temporal frequency domains are equal within the corresponding spectral bandwidths, then... The vehicle was traveling at a speed Through space When a wave is generated, the frequency is The incentive, namely Therefore, the power spectrum of orbital irregularities is:

[0097] ;

[0098] Based on the inverse fast Fourier transform and the periodogram method for estimating power spectral density using time series, the relationship between the discretized power spectral density and the time series is inversely deduced to obtain simulated samples of the time-domain function of track irregularities. Based on system identification and iteration theory, and using the vehicle vibration acceleration test data from track operation tests as the target, equivalent loads that can reproduce the vehicle's operating state on a virtual vibration test bench can be directly obtained.

[0099] This application eliminates the need for physical test benches, large-scale physical prototype preparation, and the consumption of fuel and other materials. Testing can be completed through virtual simulation, significantly reducing equipment purchase, maintenance, and material costs. It avoids safety risks associated with physical testing, such as vehicle component damage and personnel injuries. Extreme vibration conditions can be simulated in the virtual space, ensuring a safe and controllable testing process. Test variables such as multi-axis vibration parameters, road conditions, and load conditions can be flexibly adjusted, easily simulating complex scenarios that are difficult to cover with traditional physical testing, providing a comprehensive assessment of the truck's overall vibration performance. The virtual testing system can accurately collect and record various data during the vibration process, with strong data traceability, providing a reliable basis for truck vibration characteristic analysis and structural improvements. Virtual vibration testing can be conducted in the early stages of truck design, allowing for timely identification and improvement of design flaws, avoiding the cost waste of modifying after physical prototype production. Virtual test data can be combined with improvement algorithms to achieve intelligent improvement design of truck structures, suspension systems, etc., enhancing the truck's vibration comfort, reliability, and durability.

[0100] According to another aspect of the present invention, a virtual multi-axis vibration testing device for trucks is also provided. This device can perform the virtual multi-axis vibration testing method for trucks described in the above embodiments. The specific implementation method and preferred application scenarios are the same as those described in the above embodiments, and will not be repeated here.

[0101] Figure 7 This is a schematic diagram of a virtual multi-axis vibration testing device for a truck according to an embodiment of this application, as shown below. Figure 7 As shown, the device includes the following: a construction module 702, an acquisition module 704, and a determination module 706.

[0102] The system includes a construction module 702 for constructing a virtual model for truck vibration testing, which includes at least a virtual model of a vibration test bench and a virtual model of the truck as a whole; an acquisition module 704 for acquiring the multi-axis drive loads obtained from the vibration test on the truck, as well as the equivalent loads used to simulate the truck's operating state; and a determination module 706 for driving the virtual model of the vibration test bench based on the multi-axis drive loads and the equivalent loads, determining the state change data of the virtual model of the truck as a whole, in order to obtain the vibration test results of the truck.

[0103] The construction module is also used to build a virtual model of the vibration test bench and a virtual model of the truck based on the preset simulation modeling software; and to connect the virtual model of the vibration test bench and the virtual model of the truck to obtain a virtual model of the truck vibration test.

[0104] The construction module is also used to acquire component structural data of multiple components of the vibration test bench, and motion and constraint relationship data between multiple components. The multiple components include at least two of the following: vertical actuator, lateral actuator, longitudinal constraint rod, coupler longitudinal constraint device, and auxiliary constraint device. The motion and constraint relationship data is used to characterize the motion and constraint relationships between multiple components. Based on the preset simulation modeling software, component structural data, and motion and constraint relationship data, a virtual model of the vibration test bench is constructed.

[0105] The construction module is further used to construct the ball joint motion relationship of the ball joint in the target actuator based on the ball joint pair, and to construct the cylinder constraint relationship of the cylinder in the target actuator based on the sliding joint, wherein the target actuator includes at least one of the following: a vertical actuator and a lateral actuator; and to determine the motion and constraint relationship based on the ball joint motion relationship and the ball joint motion relationship.

[0106] The construction module is also used to construct virtual models of the truck body, cargo, and bogie based on preset simulation modeling software; and to construct a virtual model of the entire truck based on the virtual models of the truck body, cargo, and bogie.

[0107] The construction module is also used to obtain the vehicle cargo load type of the truck; and to construct a virtual model of the vehicle body based on the vehicle cargo load type.

[0108] The construction module is also used to build cargo entity unit models and cargo mass unit models of trucks based on preset simulation modeling software. The cargo entity unit model is used to represent the physical loading characteristics of the cargo, and the cargo mass unit model is used to represent the mass distribution characteristics of the cargo. Based on the cargo entity unit model and the cargo mass unit model, a virtual cargo model is constructed.

[0109] Embodiments of this application also provide an electronic device, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention during runtime.

[0110] The aforementioned memory can refer to devices inside a computer used to store data and programs, including RAM, hard disks, etc. RAM can be used to temporarily store running programs and data, while hard disks can be used to store programs and data long-term. Memory enables the computer to read and write data and execute programs. The aforementioned processor is responsible for executing instructions in computer programs and performing data processing. It can also be responsible for controlling and executing various operations, including arithmetic operations, logical operations, and data transmission.

[0111] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0112] The aforementioned computer storage media can refer to the media used in computer memory to store certain discontinuous physical quantities. Computer storage media mainly include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser discs, etc. Computer-readable storage media include stored programs, which can be a set of instructions that a computer can recognize and execute, running on an electronic computer to meet certain information needs.

[0113] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0114] The aforementioned computer program products can refer to software programs that have been written, tested, and released, and can run on computers or other devices. Computer program products can include application programs, operating systems, utility software, etc., used to achieve specific functions or solve specific problems.

[0115] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0116] The aforementioned non-volatile computer-readable storage medium can refer to a medium for storing data. Non-volatile computer-readable storage media can retain data without loss when power is off and can be used to store long-term data, such as operating systems, applications, and user files. Non-volatile storage media can include hard disk drives, solid-state drives, optical disks, and flash memory storage devices, etc.

[0117] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0118] The aforementioned computer program can refer to a set of instructions used to tell the computer to perform specific tasks or operations. Computer programs can be written by programmers using specific programming languages ​​and can include algorithms, data structures, logic, and control flow. Computer programs can be used for a variety of purposes, including application software, operating systems, etc.

[0119] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection between units or modules can be electrical or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0124] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A virtual multi-axis vibration test method for trucks, characterized in that, include: A virtual model for truck vibration testing is constructed, wherein the virtual model for truck vibration testing includes at least a virtual model of a vibration test bench and a virtual model of the entire truck. Obtain the multi-axis drive load obtained from vibration testing of the truck, and the equivalent load used to simulate the truck's operating state; Based on the multi-axis drive load and the equivalent load, the virtual model of the vibration test bench is driven to determine the state change data of the virtual model of the truck, so as to obtain the vibration test results of the truck.

2. The virtual multi-axis vibration test method for trucks according to claim 1, characterized in that, Constructing a virtual model for truck vibration testing includes: Based on the preset simulation modeling software, construct the virtual model of the vibration test bench and the virtual model of the truck; The virtual model of the vibration test bench and the virtual model of the truck are connected to obtain the virtual model of the truck vibration test.

3. The virtual multi-axis vibration test method for trucks according to claim 2, characterized in that, Based on preset simulation modeling software, a virtual model of the vibration test bench is constructed, including: Obtain structural data of multiple components of a vibration test bench, and motion and constraint relationship data between the multiple components, wherein the multiple components include at least two of the following: a vertical actuator, a lateral actuator, a longitudinal constraint rod, a coupler longitudinal constraint device, and an auxiliary constraint device, and the motion and constraint relationship data is used to characterize the motion and constraint relationships between the multiple components; Based on the preset simulation modeling software, the component structural data, and the motion and constraint relationship data, a virtual model of the vibration test bench is constructed.

4. The virtual multi-axis vibration test method for trucks according to claim 3, characterized in that, The method further includes: When the plurality of components include a target actuator, the ball joint motion relationship of the ball joint in the target actuator is constructed based on the ball joint pair, and the cylinder constraint relationship of the cylinder in the target actuator is constructed based on the sliding pair, wherein the target actuator includes at least one of the following: the vertical actuator and the lateral actuator; Based on the ball joint motion relationship and the ball joint motion relationship, the motion and constraint relationship are determined.

5. The virtual multi-axis vibration test method for trucks according to claim 2, characterized in that, Based on preset simulation modeling software, a virtual model of the entire truck is constructed, including: Based on the preset simulation modeling software, construct the truck body virtual model, cargo virtual model and bogie virtual model; Based on the vehicle body virtual model, the cargo virtual model, and the bogie virtual model, a complete truck virtual model is constructed.

6. The virtual multi-axis vibration test method for trucks according to claim 5, characterized in that, Based on the aforementioned preset simulation modeling software, a virtual model of the truck body is constructed, including: Obtain the vehicle cargo load type of the truck; Based on the vehicle's cargo load type, a virtual model of the vehicle body is constructed.

7. The virtual multi-axis vibration test method for trucks according to claim 5, characterized in that, Based on the preset simulation modeling software, a virtual model of the cargo of the truck is constructed, including: Based on the preset simulation modeling software, a cargo entity unit model and a cargo mass unit model of the truck are constructed, wherein the cargo entity unit model is used to characterize the physical loading characteristics of the cargo, and the cargo mass unit model is used to characterize the mass distribution characteristics of the cargo. Based on the cargo entity unit model and the cargo quality unit model, the cargo virtual model is constructed.

8. A virtual multi-axis vibration testing device for trucks, characterized in that, include: A construction module is used to construct a virtual model for truck vibration testing, wherein the virtual model for truck vibration testing includes at least a virtual model of a vibration test bench and a virtual model of the entire truck. The acquisition module is used to acquire the multi-axis drive load obtained from the vibration test of the truck, as well as the equivalent load used to simulate the operating state of the truck. The determination module is used to drive the virtual model of the vibration test bench based on the multi-axis drive load and the equivalent load, determine the state change data of the virtual model of the truck, and obtain the vibration test results of the truck.

9. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, executes the virtual multi-axis vibration test method for trucks according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the virtual multi-axis vibration test method for a truck as described in any one of claims 1 to 7.

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