Indirect measurement method and related device for swing angle of balance elbow of tracked vehicle

Abstract

This application discloses an indirect measurement method and related device for the swing angle of the balance elbow in a tracked vehicle, relating to the field of vehicle external excitation test simulation technology. The method includes: obtaining the value of a first included angle between the piston cylinder axis and the horizontal plane and the value of a second included angle between the vehicle body bottom plate plane and the horizontal plane; based on the values ​​of the first and second included angles, further determining the values ​​of a third included angle, a first and a second value of a fourth included angle, and a first and a second value of a fifth included angle; introducing differential calculation to determine the value of the fifth included angle, thereby further determining the swing angle of the balance elbow. This application obtains the values ​​of the first included angle between the piston cylinder axis and the horizontal plane and the second included angle between the vehicle body bottom plate plane and the horizontal plane by measurement. Through subsequent analysis, the swing angle of the balance elbow can be determined, thus conveniently realizing the indirect measurement of the swing angle of the balance elbow.

Description

Technical Field

[0001] This application relates to the field of vehicle external excitation test simulation technology, and in particular to an indirect measurement method and related device for the swing angle of the balance elbow of a tracked vehicle. Background Technology

[0002] When simulating external excitation tests on tracked vehicles, using the measured road surface roughness as the system input for vehicle vibration is the most direct method, which can accurately reflect the characteristics of external excitation. However, measuring road surface roughness requires relatively complex measuring devices, which are costly. The filtering effect caused by the structural characteristics of the measuring device itself will reduce the accuracy of the measurement, resulting in low accuracy. Furthermore, road surface roughness needs to pass through the tracks, road wheels, and suspension before it can act on the sprung mass of the vehicle. When the measured road surface roughness is input into the tracks, due to the filtering effect of the tracks, data processing is required before it can be used as an external excitation input to the sprung mass of the vehicle. Alternatively, a more complex theoretical model can be established for vibration analysis before it can be used as an external excitation input to the sprung mass of the vehicle. However, data processing and vibration analysis are costly and complex. Compared with the method of obtaining external excitation by measuring road surface unevenness, the displacement response after road surface unevenness is input to the track can be directly obtained by measuring the swing angle of the balance elbow. This avoids complex and inaccurate road surface unevenness measurement, filtering-based data processing, and vibration analysis based on theoretical models, and can easily provide system input for the simulation of external excitation of vehicle sprung mass.

[0003] However, for tracked vehicles equipped with suspension systems, the space constraints at the balance elbow in the suspension system prevent direct measurement of the balance elbow's swing angle. Therefore, there is an urgent need for a convenient indirect method to measure the balance elbow's swing angle. Summary of the Invention

[0004] The purpose of this application is to provide a method and related device for indirectly measuring the swing angle of the balance elbow of a tracked vehicle, which can conveniently realize the indirect measurement of the swing angle of the balance elbow.

[0005] To achieve the above objectives, this application provides the following solution.

[0006] Firstly, this application provides an indirect method for measuring the swing angle of a balance elbow in a tracked vehicle suspension system. The method measures the swing angle of the balance elbow in the suspension system of the tracked vehicle. The suspension system includes a torsion shaft, a balance elbow, a road wheel, and a shock absorber. The shock absorber includes a piston rod and a piston cylinder. One end of the torsion shaft is mounted on the vehicle body, and the other end of the torsion shaft is connected to one end of the balance elbow. The other end of the balance elbow is connected to the road wheel. One end of the piston rod extending from the piston cylinder is hinged to the balance elbow. The piston cylinder is mounted on the vehicle body. The indirect method for measuring the swing angle of the balance elbow in a tracked vehicle includes: Obtain the value of the first included angle between the piston cylinder axis and the horizontal plane and the value of the second included angle between the vehicle body bottom plate plane and the horizontal plane; Based on the values ​​of the first included angle and the second included angle, the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder is determined; the connection point is the position where the torsion shaft and the balance elbow are connected, and the hinge point is the position where the piston rod and the balance elbow are hinged. Based on the first distance from the connection point to the center point of the piston cylinder, the second distance from the connection point to the hinge point, and the value of the third included angle, the first and second values ​​of the fourth included angle between the line connecting the connection point and the hinge point and the line connecting the hinge point and the center point of the piston cylinder are calculated. Based on the value of the third included angle and the first and second values ​​of the fourth included angle, the first and second values ​​of the fifth included angle between the line connecting the connection point and the hinge point and the line connecting the connection point and the center point of the piston cylinder are calculated. Based on the first and second values ​​of the fifth included angle at the current time and the first and second values ​​of the fifth included angle at the previous time, the measured difference value of the first value and the measured difference value of the second value of the fifth included angle are determined. Calculate the difference between the value of the third included angle at the current time and the value of the third included angle at the previous time to obtain the difference value of the third included angle. Based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, determine the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle. The value of the fifth included angle is determined based on the measured difference between the first and second values ​​of the fifth included angle, as well as the analytical difference between the first and second values ​​of the fifth included angle. Based on the value of the fifth included angle, the swing angle of the balancing elbow is determined.

[0007] Optionally, based on the values ​​of the first included angle and the second included angle, the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder is determined, specifically including: Based on the vertical distance from the connection point to the vehicle body bottom plate plane and the first distance from the connection point to the piston cylinder center point, the value of the sixth included angle between the line connecting the connection point and the piston cylinder center point and the vehicle body bottom plate plane is calculated. Based on the values ​​of the first included angle, the second included angle, and the sixth included angle, the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder is calculated.

[0008] Optionally, based on the first and second values ​​of the fifth included angle at the current time and the first and second values ​​of the fifth included angle at the previous time, the measured difference value of the first value and the measured difference value of the second value of the fifth included angle are determined, specifically including: Calculate the difference between the first value of the fifth included angle at the current time and the first value of the fifth included angle at the previous time to obtain the measured difference value of the first value of the fifth included angle; Calculate the difference between the second value of the fifth included angle at the current moment and the second value of the fifth included angle at the previous moment to obtain the measured difference value of the second value of the fifth included angle.

[0009] Optionally, based on the difference between the values ​​of the third included angle and the first and second values ​​of the fifth included angle, the analytical difference between the first and second values ​​of the fifth included angle is determined, specifically including: Based on the first and second values ​​of the fifth included angle, determine the first and second values ​​of the third distance from the hinge point to the center point of the piston cylinder; Based on the difference value of the third included angle, the first and second values ​​of the third distance, and the first and second values ​​of the fourth included angle, the difference value of the first value and the difference value of the second value of the fourth included angle are calculated. Based on the difference between the second distance and the first and second values ​​of the fourth included angle, the analytical difference between the first and second values ​​of the fifth included angle are calculated.

[0010] Optionally, the formula for calculating the difference between the first and second values ​​of the fourth included angle is as follows: ; in, The difference between the first value of the fourth included angle; The difference between the values ​​of the third included angle; This is the first value of the third distance; The first value of the fourth included angle; It is the difference between the second value of the fourth included angle; This is the second value of the third distance; The second value of the fourth included angle; The formulas for calculating the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle are as follows: ; in, The analytical difference value for the first value of the fifth included angle; This is the second distance; The analytical difference value is the second value of the fifth included angle.

[0011] Optionally, the value of the fifth included angle is determined based on the measured difference value of the first value and the measured difference value of the second value of the fifth included angle, as well as the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle. Specifically, this includes: Calculate the difference between the measured difference and the analytical difference of the first value of the fifth included angle to obtain the first difference; calculate the difference between the measured difference and the analytical difference of the second value of the fifth included angle to obtain the second difference. If the absolute value of the first difference is less than the absolute value of the second difference, then the first value of the fifth included angle is taken as the value of the fifth included angle; If the absolute value of the first difference is greater than or equal to the absolute value of the second difference, then the second value of the fifth included angle is taken as the value of the fifth included angle.

[0012] Optionally, based on the value of the fifth included angle, the swing angle of the balancing elbow is determined, specifically including: Based on the values ​​of the fifth and sixth included angles, the value of the seventh included angle between the balance elbow and the bottom deck plane of the vehicle body is calculated. Based on the value of the second included angle and the value of the seventh included angle, the value of the eighth included angle between the balancing elbow and the horizontal plane is calculated. The values ​​of the seventh and eighth included angles are used as the swing angles of the balancing elbow.

[0013] Secondly, this application provides an indirect measuring device for the swing angle of the balance elbow of a tracked vehicle, the indirect measuring device for the swing angle of the balance elbow of a tracked vehicle includes: a first angle sensor, a second angle sensor and a processor; The first angle sensor is mounted on the piston cylinder and is used to measure the value of the first angle between the piston cylinder axis and the horizontal plane. The second angle sensor is mounted on the vehicle body and is parallel to the plane of the vehicle body's bottom deck. The second angle sensor is used to measure the value of the second included angle between the plane of the vehicle body's bottom deck and the horizontal plane. The processor is communicatively connected to the first angle sensor and the second angle sensor respectively; the processor is used to execute the above-described indirect measurement method for the balance elbow swing angle of tracked vehicles.

[0014] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the above-described indirect measurement method for the balance elbow swing angle of a tracked vehicle.

[0015] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described indirect measurement method for the swing angle of the balance elbow of a tracked vehicle.

[0016] According to the specific embodiments provided in this application, this application has the following technical effects.

[0017] This application provides a method and related apparatus for indirectly measuring the swing angle of the balance elbow of a tracked vehicle. It obtains the values ​​of a first included angle between the piston cylinder axis and the horizontal plane, and a second included angle between the vehicle body bottom plate plane and the horizontal plane. Based on the values ​​of the first and second included angles, it determines the value of a third included angle between the line connecting the connection point and the piston cylinder center point and the line connecting the hinge point and the piston cylinder center point. Based on the first distance from the connection point to the piston cylinder center point, the second distance from the connection point to the hinge point, and the value of the third included angle, it calculates the first and second values ​​of a fourth included angle between the line connecting the connection point and the hinge point and the line connecting the hinge point and the piston cylinder center point. Based on the value of the third included angle and the first and second values ​​of the fourth included angle, it calculates the fifth included angle between the line connecting the connection point and the hinge point and the line connecting the connection point and the piston cylinder center point. The first and second values ​​of the included angle are determined. Based on the first and second values ​​of the fifth included angle at the current moment and the first and second values ​​of the fifth included angle at the previous moment, the measured difference value of the first value and the measured difference value of the second value of the fifth included angle are determined. The difference value of the third included angle at the current moment and the third included angle at the previous moment is calculated to obtain the difference value of the third included angle. Based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle are determined. Based on the measured difference value of the first value and the measured difference value of the second value of the fifth included angle, as well as the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle, the value of the fifth included angle is determined. Based on the value of the fifth included angle, the swing angle of the balance elbow is determined. This application measures the first angle between the piston cylinder axis and the horizontal plane and the second angle between the vehicle body bottom plate plane and the horizontal plane. After subsequent analysis, the swing angle of the balance elbow can be determined, thus facilitating the indirect measurement of the swing angle of the balance elbow. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an application environment diagram for an indirect measurement method of the balance elbow swing angle of a tracked vehicle provided in Embodiment 1 of this application.

[0020] Figure 2 This is a flowchart illustrating an indirect method for measuring the swing angle of the balance elbow of a tracked vehicle, as provided in Embodiment 1 of this application.

[0021] Figure 3 This is a top view of the connection between the torsion shaft, balance elbow, and load wheel provided in Embodiment 1 of this application.

[0022] Figure 4 This is a schematic diagram of the suspension device and testing equipment provided in Embodiment 1 of this application.

[0023] Figure 5 This is a schematic diagram of the calculation of the mechanism triangle of the suspension device provided in Embodiment 1 of this application.

[0024] Figure 6 This is a multi-valued schematic diagram of the mechanism triangle of the suspension device provided in Embodiment 1 of this application.

[0025] Figure 7 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of this application.

[0026] Figure label: 1-Torque shaft; 2-Balance elbow; 3-Road wheel; 4-Piston rod; 5-Piston cylinder; 6-First angle sensor; 7-Second angle sensor; 8-Sensor cable; 9-Data acquisition front end. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Example 1 The indirect measurement method for the balance elbow swing angle of tracked vehicles provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, the terminal communicates with the server via a network. A data storage system stores the data the server needs to process. This data storage system can be set up independently, integrated into the server, or placed in the cloud or on another server. The terminal can send an indirect measurement request to be processed to the server. Upon receiving the request, the server obtains the values ​​of the first angle between the piston cylinder axis and the horizontal plane, and the second angle between the vehicle body bottom deck plane and the horizontal plane. Based on the values ​​of the first and second angles, it determines the value of the third angle between the line connecting the connection point and the piston cylinder center point and the line connecting the hinge point and the piston cylinder center point. Based on the first distance from the connection point to the piston cylinder center point, the second distance from the connection point to the hinge point, and the third angle, it calculates the first and second values ​​of the fourth angle between the line connecting the connection point and the hinge point and the line connecting the hinge point and the piston cylinder center point. Based on the third angle and the first and second values ​​of the fourth angle, it calculates the value of the line connecting the connection point and the hinge point and the line connecting the connection point and the piston cylinder center point. The server calculates the first and second values ​​of the fifth included angle between the lines connecting the center points of the piston cylinders; based on the first and second values ​​of the fifth included angle at the current moment and the first and second values ​​of the fifth included angle at the previous moment, it determines the measured difference value of the first and second values ​​of the fifth included angle; it calculates the difference between the value of the third included angle at the current moment and the value of the third included angle at the previous moment, obtaining the difference value of the third included angle; based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, it determines the analytical difference value of the first and second values ​​of the fifth included angle; based on the measured difference value of the first and second values ​​of the fifth included angle and the analytical difference value of the first and second values ​​of the fifth included angle, it determines the value of the fifth included angle; based on the value of the fifth included angle, it determines the swing angle of the balance elbow. The server can feed back this indirect measurement result of the swing angle of the balance elbow in response to the indirect measurement request to the terminal.

[0029] In addition, in some embodiments, the indirect measurement method for the balance elbow swing angle of tracked vehicles can also be implemented by a server or a terminal alone. For example, the terminal can directly process the indirect measurement request to be processed, or the server can obtain the indirect measurement request to be processed from the data storage system and process it.

[0030] In one exemplary embodiment, such as Figure 2 As shown, an indirect method for measuring the swing angle of the balance elbow of a tracked vehicle is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 1 The following steps, S1-S8, are used as an example to illustrate the process of using a server in the example.

[0031] Step S1: Obtain the value of the first included angle between the piston cylinder axis and the horizontal plane and the value of the second included angle between the vehicle body bottom deck plane and the horizontal plane.

[0032] Step S2: Based on the values ​​of the first included angle and the second included angle, determine the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder; the connection point is the position where the torsion shaft and the balance elbow are connected, and the hinge point is the position where the piston rod and the balance elbow are hinged.

[0033] Step S3: Based on the first distance from the connection point to the center point of the piston cylinder, the second distance from the connection point to the hinge point, and the value of the third included angle, calculate the first and second values ​​of the fourth included angle between the line connecting the connection point and the hinge point and the line connecting the hinge point and the center point of the piston cylinder.

[0034] Step S4: Based on the value of the third included angle and the first and second values ​​of the fourth included angle, calculate the first and second values ​​of the fifth included angle between the line connecting the connection point and the hinge point and the line connecting the connection point and the center point of the piston cylinder.

[0035] Step S5: Based on the first and second values ​​of the fifth included angle at the current time and the first and second values ​​of the fifth included angle at the previous time, determine the measured difference value of the first value and the measured difference value of the second value of the fifth included angle.

[0036] Step S6: Calculate the difference between the value of the third included angle at the current time and the value of the third included angle at the previous time to obtain the difference value of the third included angle. Based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, determine the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle.

[0037] Step S7: Determine the value of the fifth angle based on the measured difference value of the first value and the measured difference value of the second value of the fifth angle, as well as the analytical difference value of the first value and the analytical difference value of the second value of the fifth angle.

[0038] Step S8: Determine the swing angle of the balancing elbow based on the value of the fifth included angle.

[0039] By implementing steps S1 to S8 above, this embodiment can indirectly measure the swing angle of the balance elbow in the suspension device of a tracked vehicle. By directly measuring the swing angle of the shock absorber in the suspension device, the swing angle of the balance elbow in the suspension device is obtained using mathematical analysis and velocity analysis. This can then be applied to simulate the external excitation of the sprung mass of the vehicle. Compared with the method of simulating the external excitation of the sprung mass of the vehicle by measuring road surface unevenness and then using a vehicle vibration test bench, the swing angle of the balance elbow can be obtained directly by measuring the swing angle of the shock absorber. It does not require measuring road surface unevenness or passing through the track, thus avoiding the high cost caused by road surface unevenness measurement and the large error caused by the complexity of off-road surfaces. It also avoids data processing based on filtering and vibration analysis based on theoretical models. It can be further applied to the analysis of the vibration of the suspension device of the vehicle power transmission system and the simulation of external excitation, and can more directly understand the interaction mechanism between the characteristics of the suspension device and the characteristics of the vehicle power transmission system.

[0040] The tracked vehicle in this embodiment can be a high-speed tracked vehicle, or other types of tracked vehicles, and the suspension device can be a linkage suspension device.

[0041] This embodiment is used to measure the swing angle of the balance elbow in the suspension system of a tracked vehicle, such as... Figure 3 and Figure 4 As shown, the suspension device includes a torsion shaft 1, a balance elbow 2, a road wheel 3, and a shock absorber. The shock absorber includes a piston rod 4 and a piston cylinder 5. One end of the torsion shaft 1 is mounted on the vehicle body, and the other end of the torsion shaft 1 is connected to one end of the balance elbow 2. The other end of the balance elbow 2 is connected to the road wheel 3. The piston rod 4 extends out of the piston cylinder 5 and is hinged to the balance elbow 2. The piston cylinder 5 is mounted on the vehicle body.

[0042] Specifically, such as Figure 3 As shown, the tracked vehicle is a typical off-road vehicle, with one end of the torsion shaft 1 (i.e. Figure 3 The a end of the torsion shaft 1 is fixedly installed on the vehicle body, and the other end of the torsion shaft 1 (i.e., end a) is fixedly installed on the vehicle body. Figure 3 The b end of the balance elbow 2 is supported on the vehicle body by a rolling bearing and extends out of the vehicle body. It is fixedly connected to one end of the balance elbow 2. The other end of the balance elbow 2 is connected to the road wheel 3 via a crank c. The road wheel 3 is supported on the crank c of the balance elbow 2 by a rolling bearing. During the movement of the tracked vehicle, the road wheel 3 moves up and down, causing the balance elbow 2 to swing, which in turn causes the torsion shaft 1 to twist, thus playing a spring buffering role.

[0043] like Figure 4 As shown, end a of the torsion shaft 1 is fixed, while end b undergoes torsional deformation relative to end a, which is equivalent to the balance elbow 2 and the vehicle body forming a fixed hinge point (i.e., connection point). T That is, the balancing elbow 2 can only rotate around the connection point.T As it rotates, the piston cylinder 5 of the shock absorber is fixedly hinged to the vehicle body, forming a fixed hinge point (i.e., the center point of the piston cylinder). A Piston cylinder 5 can only rotate around the center point of the piston cylinder. A When rotated, one end of the piston rod 4 is installed inside the piston cylinder 5, and the other end of the piston rod 4 is hinged to the balance elbow 2, forming a movable hinge point (i.e., the hinge point). J .

[0044] The entire suspension system constitutes a crank-rocker mechanism. During the movement of the tracked vehicle, the road wheel 3 moves up and down under the action of the road surface, and the balance elbow 2 rotates around the connection point. T As the piston rotates, the torsion shaft 1 undergoes torsional deformation, providing a buffering effect. Simultaneously, the piston rod 4 undergoes rigid planar motion, extending and retracting relative to the piston cylinder 5, dissipating vibrational energy and providing vibration damping. The piston cylinder 5 rotates around its center point... A swing.

[0045] During the operation of tracked vehicles, the excitation caused by uneven road surfaces is extremely severe, subjecting them to significant impact and vibration loads. To achieve good cushioning and vibration reduction performance, tracked vehicles widely employ linkage suspension systems (i.e.,... Figure 3 and Figure 4 The suspension device shown allows the tracked vehicle's road wheels 3 to have a larger dynamic stroke, improving the tracked vehicle's cushioning performance against road impacts. However, the larger dynamic stroke also causes greater torsional deformation of the torsion shaft 1, resulting in a larger swing angle (the same as the torsion angle of the torsion shaft 1) of the balance elbow 2, which is rigidly connected to it. Measuring the swing angle of the balance elbow 2 is often difficult due to its large angle variation range and installation space limitations, making sensor placement very challenging and preventing direct measurement of the swing angle.

[0046] The following, combined with Figure 5 and Figure 6 This embodiment provides a detailed description of the indirect measurement method for the swing angle of the balance elbow of a tracked vehicle, which includes the following steps: (a) Measurement of the first included angle and the second included angle This embodiment obtains the value of the first included angle between the piston cylinder axis and the horizontal plane and the value of the second included angle between the vehicle body bottom deck plane and the horizontal plane.

[0047] During the movement of the tracked vehicle, the balance elbow 2 swings violently, and due to the limited installation space at the balance elbow 2, the installation and fixation of the angle sensor are quite difficult. In contrast, the installation space at the shock absorber is larger, making the installation and fixation of the angle sensor much easier. Therefore, in this embodiment, the angle sensor is used to measure the value of the first included angle between the piston cylinder axis and the horizontal plane in the shock absorber. The value of the second angle between the vehicle body bottom deck plane and the horizontal plane. The swing angle of the balancing elbow 2 is obtained through mathematical analysis and velocity analysis.

[0048] Based on this, in this embodiment, a measuring device is installed at the object being measured—the linkage suspension device, such as... Figure 4 As shown, the measuring device includes two angle sensors, two sensor cables 8, and a data acquisition front-end 9. The two angle sensors are designated as the first angle sensor 6 and the second angle sensor 7. The first angle sensor 6 is installed on the piston cylinder 5 of the shock absorber and is used to measure the swing angle of the piston cylinder 5, that is, to measure the value of the first included angle between the piston cylinder axis and the horizontal plane. The first angle sensor 6 is connected to the data acquisition front end 9 via a sensor cable 8, and measures the value of the first included angle between the piston cylinder axis and the horizontal plane. The data is transmitted to the processor via the data acquisition front end 9. The second angle sensor 7 is installed on the vehicle body and parallel to the plane of the vehicle body's bottom deck. It is used to measure the pitch angle of the vehicle body, that is, to measure the value of the second angle between the plane of the vehicle body's bottom deck and the horizontal plane. The second angle sensor 7 is connected to the data acquisition front end 9 via a sensor cable 8, and measures the value of the second included angle between the vehicle body bottom deck plane and the horizontal plane. The data is transmitted to the processor via the data acquisition front-end 9.

[0049] (ii) Calculation of the value of the third included angle This embodiment determines the connection point based on the values ​​of the first included angle and the second included angle. T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting the points, and the connection points. T The point where the torsion shaft 1 and the balance elbow 2 connect is the hinge point. J This is the hinge point where piston rod 4 and balance elbow 2 are connected.

[0050] like Figure 5 As shown, the suspension device is a typical crank-rocker mechanism, with the three vertices of the crank-rocker mechanism (i.e., Figure 5 In T , J , A The sides of the triangular structure formed by the mechanism The length of varies with the vibration history. Through mathematical analysis, based on the mechanism triangle of the suspension device, we have: (1); In equation (1), Let be the value of the first included angle between the piston cylinder axis and the horizontal plane; For connection points T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting the points is an interior angle of the mechanism triangle. ; For connection points T and piston cylinder center point A The value of the sixth included angle between the line connecting the two sides and the plane of the vehicle's bottom deck; The value of the second included angle between the vehicle body bottom deck plane and the horizontal plane is taken as follows: positive for upward and negative for downward. To determine the value of the seventh angle between the balancing elbow 2 and the plane of the vehicle's bottom deck; The value of the eighth angle between the balancing elbow 2 and the horizontal plane; For connection points T and hinge point J Connections and connection points T and piston cylinder center point A The value of the fifth included angle between the lines connecting the points is an interior angle of the mechanism triangle. .

[0051] Based on the first formula in equation (1) , sorted out In this embodiment, the connection point is determined based on the values ​​of the first included angle and the second included angle. T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting the two points is determined by the following steps: (1) Based on connection points T Vertical distance to the bottom deck plane of the vehicle body and connection points T To the center point of the piston cylinder A The first distance is used to calculate the connection point. T and piston cylinder center point A The value of the sixth included angle between the line connecting the two sides and the plane of the vehicle's bottom deck.

[0052] In actual structures It is an acute angle, which can be calculated through mathematical analysis by measuring variables: (2); In equation (2), For connection points T and piston cylinder center point A The value of the sixth included angle between the line connecting the two sides and the plane of the vehicle's bottom deck; For connection points T The vertical distance to the plane of the vehicle's bottom deck; For connection points T To the center point of the piston cylinder A The first distance.

[0053] Although the range of the arcsine function is However, due to Since it is an acute angle, the arcsine function can be used directly for calculation.

[0054] (2) Based on the values ​​of the first included angle, the second included angle, and the sixth included angle, the connection point is calculated. T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting them.

[0055] The value of the first included angle The value of the second included angle The value of the included angle with the sixth angle Substitute into the first formula in equation (1) The value of the third included angle can then be calculated. .

[0056] (III) Calculation of possible values ​​for the fourth included angle This embodiment is based on connection points. T To the center point of the piston cylinder A First distance, connection point T To the hinge point J The values ​​of the second distance and the third included angle are used to calculate the connection point. T and hinge point J The connection and hinge point J and piston cylinder center point A The first and second values ​​of the fourth included angle between the lines connecting them.

[0057] Through mathematical analysis, the connection point T To the hinge point J The second distance can be obtained using the law of cosines: (3); In equation (3), For connection points T To the hinge point J The second distance; Hinged point J To the center point of the piston cylinder A The third distance; For connection points T To the center point of the piston cylinderA The first distance; For connection points T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting them.

[0058] However, during the movement of the tracked vehicle, the crank-rocker mechanism of the suspension system moves continuously, and the sides of the mechanism triangle... What cannot be measured is the edge; what can be measured dynamically. The angle of inclination (i.e.) ), and then the interior angles of the mechanism triangle can be calculated. ,but corresponding It is not unique; that is, the mechanism triangle of the suspension device has multiple values, such as... Figure 6 As shown, through mathematical analysis, the sine theorem is used: (4); In equation (4), For connection points T To the hinge point J The second distance; For connection points T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting them; For connection points T To the center point of the piston cylinder A The first distance; For connection points T and hinge point J The connection and hinge point J and piston cylinder center point A The value of the fourth included angle between the lines connecting them.

[0059] Clearly, the mechanism triangle It is multivalued (it can be either acute or obtuse), let Through mathematical analysis, it can be calculated that: (5); In equation (5), For connection points T and hinge point J The connection and hinge point J and piston cylinder center point A The value of the fourth included angle between the lines connecting them; For calculated values; For connection pointsT and hinge point J The connection and hinge point J and piston cylinder center point A The first value of the fourth included angle between the lines connecting them; For connection points T and hinge point J The connection and hinge point J and piston cylinder center point A The second value of the fourth included angle between the lines connecting them.

[0060] In this embodiment, the connection point is... T To the center point of the piston cylinder A First distance Connection point T To the hinge point J The second distance The value of the included angle with the third angle Substituting into equation (4), the first value of the fourth included angle can be calculated. Second value .

[0061] (iv) Calculation of possible values ​​for the fifth included angle This embodiment calculates the connection point based on the value of the third included angle and the first and second values ​​of the fourth included angle. T and hinge point J Connections and connection points T and piston cylinder center point A The first and second values ​​of the fifth included angle between the lines connecting them.

[0062] Through mathematical analysis, the interior angles of the mechanism triangle It can be represented as: (6); In equation (6), For connection points T and hinge point J Connections and connection points T and piston cylinder center point A The value of the fifth included angle between the lines connecting them; For connection points T and piston cylinder center point A The connection and hinge point J and piston cylinder center point A The value of the third included angle between the lines connecting them; For connection points T and hinge point J The connection and hinge point J and piston cylinder center point A The first value of the fourth included angle between the lines connecting them; For calculated values; For connection points T and hinge point J Connections and connection points T and piston cylinder center point A The first value of the fifth included angle between the lines connecting them; For connection points T and hinge point J The connection and hinge point J and piston cylinder center point A The second value of the fourth included angle between the lines connecting them; For connection points T and hinge point J Connections and connection points T and piston cylinder center point A The second value of the fifth included angle between the lines connecting them.

[0063] In this embodiment, the value of the third included angle is... and the first value of the fourth included angle Second value Substituting into equation (6), the first value of the fifth included angle can be calculated. Second value .

[0064] (v) Calculation of measured difference This embodiment determines the measured difference value of the first value and the measured difference value of the second value of the fifth angle based on the first and second values ​​of the fifth angle at the current time and the first and second values ​​of the fifth angle at the previous time.

[0065] Through mathematical analysis and based on measured data, the crank angular displacement difference of the balance elbow 2 is calculated as follows: (7); In equation (7), The measured difference value of the first value of the fifth included angle; For the current moment The first value of the fifth included angle; For the previous moment The first value of the fifth included angle; The measured difference value of the second value of the fifth included angle; For the current moment The second value of the fifth included angle; For the previous moment The second value of the fifth included angle.

[0066] It should be noted that "time" refers to the measurement time, and the time interval between two adjacent times is the sensor sampling interval.

[0067] In this embodiment, based on the first and second values ​​of the fifth included angle at the current moment and the first and second values ​​of the fifth included angle at the previous moment, the measured difference value of the first value and the measured difference value of the second value of the fifth included angle are determined, specifically including the following steps: (1) Calculate the difference between the first value of the fifth angle at the current time and the first value of the fifth angle at the previous time to obtain the measured difference value of the first value of the fifth angle.

[0068] (2) Calculate the difference between the second value of the fifth angle at the current time and the second value of the fifth angle at the previous time, and obtain the measured difference value of the second value of the fifth angle.

[0069] (vi) Analyzing the calculation of differences In this embodiment, the difference between the value of the third included angle at the current moment and the value of the third included angle at the previous moment is calculated to obtain the difference value of the third included angle. Based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle are determined.

[0070] Through mathematical analysis, the interior angles of the mechanism triangle are calculated. Difference: (8); In equation (8), The difference between the values ​​of the third included angle; For the current moment The value of the third included angle; For the previous moment The value of the third included angle.

[0071] In this embodiment, based on the difference between the values ​​of the third included angle and the first and second values ​​of the fifth included angle, the analytical difference between the first and second values ​​of the fifth included angle is determined, specifically including the following steps: (1) Determine the hinge point based on the first and second values ​​of the fifth included angle. J To the center point of the piston cylinder A The first and second values ​​of the third distance.

[0072] Since the lengths of two sides and the values ​​of the three interior angles are known for the mechanism triangle, the hinge points can be determined using the sine or cosine theorem. J To the center point of the piston cylinder A The first value of the third distance Second value .

[0073] (2) Based on the difference value of the third included angle, the first and second values ​​of the third distance, and the first and second values ​​of the fourth included angle, the difference value of the first value and the difference value of the second value of the fourth included angle are calculated.

[0074] Through mathematical analysis, the interior angles of the mechanism triangle are calculated. The formulas for calculating the two possible differences, namely the difference between the first and second values ​​of the fourth included angle, are as follows: (9); In equation (9), The difference between the first value of the fourth included angle; The difference between the values ​​of the third included angle; This is the first value of the third distance; The first value of the fourth included angle; It is the difference between the second value of the fourth included angle; This is the second value of the third distance; It is the second value of the fourth included angle.

[0075] (3) Based on the difference between the first value and the second value of the second distance and the fourth included angle, the analytical difference between the first value and the second value of the fifth included angle are calculated.

[0076] Through velocity analysis, the crank angular displacement difference of the balance elbow 2 is calculated. The formulas for calculating the analytical difference value of the first and second values ​​of the fifth included angle are as follows: (10); In equation (10), The analytical difference value for the first value of the fifth included angle; This is the second distance; The analytical difference value is the second value of the fifth included angle.

[0077] (vii) Calculation of the value of the fifth included angle This embodiment determines the value of the fifth included angle based on the measured difference value of the first value and the measured difference value of the second value of the fifth included angle, as well as the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle.

[0078] (11); In equation (11), This is the first difference; The analytical difference value for the first value of the fifth included angle; The measured difference value of the first value of the fifth included angle; The second difference; The analytical difference value for the second value of the fifth included angle; The measured difference value is the second value of the fifth included angle.

[0079] Based on the calculation results, if... ,Pick ;if ,Pick .

[0080] In this embodiment, the value of the fifth included angle is determined based on the measured difference between the first and second values ​​of the fifth included angle, as well as the analytical difference between the first and second values ​​of the fifth included angle. This determination specifically includes the following steps: (1) Calculate the difference between the measured difference and the analytical difference of the first value of the fifth included angle to obtain the first difference. Calculate the difference between the measured difference and the analytical difference of the second value of the fifth included angle to obtain the second difference.

[0081] (2) If the absolute value of the first difference is less than the absolute value of the second difference, then the first value of the fifth included angle shall be taken as the value of the fifth included angle.

[0082] (3) If the absolute value of the first difference is greater than or equal to the absolute value of the second difference, then the second value of the fifth included angle shall be taken as the value of the fifth included angle.

[0083] (viii) Calculation of the swing angle of the balance elbow 2 This embodiment determines the swing angle of the balancing elbow 2 based on the value of the fifth included angle.

[0084] The angle of inclination of the balancing elbow 2 relative to the horizontal plane is calculated according to equation (1). And the angle of inclination of the balance elbow 2 relative to the plane of the vehicle's bottom deck. .

[0085] In this embodiment, the swing angle of the balancing elbow 2 is determined based on the value of the fifth included angle, specifically including the following steps: (1) Based on the values ​​of the fifth and sixth included angles, the value of the seventh included angle between the balance elbow 2 and the bottom deck plane of the vehicle body is calculated.

[0086] The value of the fifth included angle The value of the included angle with the sixth angle Substitute into the third formula in equation (1) The value of the seventh included angle can then be calculated. .

[0087] (2) Based on the values ​​of the second included angle and the seventh included angle, the value of the eighth included angle between the balance elbow 2 and the horizontal plane is calculated.

[0088] The value of the second included angle The value of the included angle with the seventh angle Substitute into the second formula in equation (1) The value of the eighth included angle can then be calculated. .

[0089] (3) The values ​​of the seventh and eighth included angles are used as the swing angles of the balancing elbow 2.

[0090] This embodiment is a method for indirectly measuring the swing angle of the balance elbow 2 of a tracked vehicle. An angle sensor can be placed on the shock absorber with a small swing amplitude to indirectly measure the swing angle of the balance elbow 2 when the swing is violent. It is not necessary to place the angle sensor directly on the balance elbow 2. The swing angle of the balance elbow 2 is indirectly measured by mathematical analysis and velocity analysis. Furthermore, the method of combining differential calculation and velocity analysis solves the problem of determining multiple values ​​in the calculation.

[0091] This embodiment allows for direct measurement of the swing angle of the shock absorber in the suspension system. By employing mathematical and velocity analysis, the swing angle of the balance elbow 2 in the suspension system can be obtained. This method can be applied to simulate the external excitation of the sprung mass of a vehicle. Compared to methods that use road surface roughness measurement followed by a vehicle vibration test bench to simulate the external excitation of the sprung mass, this method directly measures the swing angle of the balance elbow 2 through the shock absorber's swing angle. It eliminates the need to measure road surface roughness or use tracks, avoiding the high costs associated with road surface roughness measurement and the large errors caused by the complexity of off-road terrain. It also avoids data processing based on filtering and vibration analysis based on theoretical models. Furthermore, it can be applied to the analysis of vibration and external excitation simulation of the suspension system in a vehicle powertrain. This provides a more direct understanding of the interaction mechanism between the characteristics of the suspension system and the characteristics of the vehicle powertrain system. It not only reduces the complexity of system modeling and the difficulty of theoretical analysis but also provides a more accurate and convenient method for simulating the external excitation of the sprung mass of a vehicle.

[0092] This application also provides an application scenario in which the above-described indirect measurement method for the swing angle of the tracked vehicle's balance elbow is applied. Specifically, the indirect measurement method for the swing angle of the tracked vehicle's balance elbow provided in this embodiment can be applied in an external excitation simulation scenario. The external excitation simulation scenario includes a measurement stage and a testing stage. The measurement stage is used to determine the swing angle of the balance elbow, and the testing stage is used to simulate external excitation based on the swing angle of the balance elbow. The indirect measurement method for the swing angle of the tracked vehicle's balance elbow provided in this embodiment belongs to the measurement stage.

[0093] Example 2 This embodiment provides an indirect measuring device for the swing angle of the balance elbow of a tracked vehicle. The indirect measuring device for the swing angle of the balance elbow of a tracked vehicle includes: a first angle sensor, a second angle sensor, and a processor.

[0094] The first angle sensor is installed on the piston cylinder and is used to measure the value of the first angle between the piston cylinder axis and the horizontal plane.

[0095] The second angle sensor is installed on the vehicle body and is parallel to the plane of the vehicle body's bottom deck. The second angle sensor is used to measure the value of the second included angle between the plane of the vehicle body's bottom deck and the horizontal plane.

[0096] The processor is communicatively connected to the first angle sensor and the second angle sensor, and is used to execute the indirect measurement method for the swing angle of the tracked vehicle balance elbow as described in Embodiment 1.

[0097] Example 3 In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 7 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a method for indirectly measuring the swing angle of the balance elbow of a tracked vehicle.

[0098] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0099] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the indirect measurement method for the balance elbow swing angle of the tracked vehicle in Embodiment 1.

[0100] Example 4 In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the indirect measurement method for the balance elbow swing angle of a tracked vehicle in Embodiment 1.

[0101] Example 5 In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the indirect measurement method for the balance elbow swing angle of a tracked vehicle in Embodiment 1.

[0102] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of the relevant data are carried out in compliance with the relevant data protection laws and policies of the country where the location is located, and with the authorization granted by the owner of the corresponding device.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for indirectly measuring the swing angle of a balance elbow in a tracked vehicle, used to measure the swing angle of a balance elbow in a tracked vehicle's suspension system. The suspension system includes a torsion shaft, a balance elbow, a road wheel, and a shock absorber. The shock absorber includes a piston rod and a piston cylinder. One end of the torsion shaft is mounted on the vehicle body, and the other end of the torsion shaft is connected to one end of the balance elbow. The other end of the balance elbow is connected to the road wheel. One end of the piston rod extending out of the piston cylinder is hinged to the balance elbow. The piston cylinder is mounted on the vehicle body. The method is characterized in that... The indirect measurement method for the balance elbow swing angle of the tracked vehicle includes: Obtain the value of the first included angle between the piston cylinder axis and the horizontal plane and the value of the second included angle between the vehicle body bottom plate plane and the horizontal plane; Based on the values ​​of the first included angle and the second included angle, the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder is determined; the connection point is the position where the torsion shaft and the balance elbow are connected, and the hinge point is the position where the piston rod and the balance elbow are hinged. Based on the first distance from the connection point to the center point of the piston cylinder, the second distance from the connection point to the hinge point, and the value of the third included angle, the first and second values ​​of the fourth included angle between the line connecting the connection point and the hinge point and the line connecting the hinge point and the center point of the piston cylinder are calculated. Based on the value of the third included angle and the first and second values ​​of the fourth included angle, the first and second values ​​of the fifth included angle between the line connecting the connection point and the hinge point and the line connecting the connection point and the center point of the piston cylinder are calculated. Based on the first and second values ​​of the fifth included angle at the current time and the first and second values ​​of the fifth included angle at the previous time, the measured difference value of the first value and the measured difference value of the second value of the fifth included angle are determined. Calculate the difference between the value of the third included angle at the current time and the value of the third included angle at the previous time to obtain the difference value of the third included angle. Based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, determine the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle. The value of the fifth included angle is determined based on the measured difference between the first and second values ​​of the fifth included angle, as well as the analytical difference between the first and second values ​​of the fifth included angle. Based on the value of the fifth included angle, the swing angle of the balancing elbow is determined.

2. The method of claim 1, wherein, Based on the values ​​of the first and second included angles, the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder is determined, specifically including: Based on the vertical distance from the connection point to the vehicle body bottom plate plane and the first distance from the connection point to the piston cylinder center point, the value of the sixth included angle between the line connecting the connection point and the piston cylinder center point and the vehicle body bottom plate plane is calculated. Based on the values ​​of the first included angle, the second included angle, and the sixth included angle, the value of the third included angle between the line connecting the connection point and the center point of the piston cylinder and the line connecting the hinge point and the center point of the piston cylinder is calculated.

3. The method of claim 1, wherein: Based on the first and second values ​​of the fifth included angle at the current moment and the first and second values ​​of the fifth included angle at the previous moment, the measured difference value of the first value and the measured difference value of the second value of the fifth included angle are determined, specifically including: Calculate the difference between the first value of the fifth included angle at the current time and the first value of the fifth included angle at the previous time to obtain the measured difference value of the first value of the fifth included angle; Calculate the difference between the second value of the fifth included angle at the current moment and the second value of the fifth included angle at the previous moment to obtain the measured difference value of the second value of the fifth included angle.

4. The method of claim 1, wherein, Based on the difference value of the third included angle and the first and second values ​​of the fifth included angle, the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle are determined, specifically including: Based on the first and second values ​​of the fifth included angle, determine the first and second values ​​of the third distance from the hinge point to the center point of the piston cylinder; Based on the difference value of the third included angle, the first and second values ​​of the third distance, and the first and second values ​​of the fourth included angle, the difference value of the first value and the difference value of the second value of the fourth included angle are calculated. Based on the difference between the second distance and the first and second values ​​of the fourth included angle, the analytical difference between the first and second values ​​of the fifth included angle are calculated.

5. The method of claim 4, wherein, The formula for calculating the difference between the first and second values ​​of the fourth included angle is as follows: ； in, The difference between the first value of the fourth included angle; The difference between the values ​​of the third included angle; This is the first value of the third distance; The first value of the fourth included angle; It is the difference between the second value of the fourth included angle; This is the second value of the third distance; The second value of the fourth included angle; The formulas for calculating the analytical difference value of the first value and the analytical difference value of the second value of the fifth included angle are as follows: ； in, The analytical difference value for the first value of the fifth included angle; This is the second distance; The analytical difference value is the second value of the fifth included angle.

6. The method of claim 1, wherein, Based on the measured difference between the first and second values ​​of the fifth included angle, and the analytical difference between the first and second values ​​of the fifth included angle, the value of the fifth included angle is determined, specifically including: Calculate the difference between the measured difference and the analytical difference of the first value of the fifth included angle to obtain the first difference; calculate the difference between the measured difference and the analytical difference of the second value of the fifth included angle to obtain the second difference. If the absolute value of the first difference is less than the absolute value of the second difference, then the first value of the fifth included angle is taken as the value of the fifth included angle; If the absolute value of the first difference is greater than or equal to the absolute value of the second difference, then the second value of the fifth included angle is taken as the value of the fifth included angle.

7. The method of claim 2, wherein, Based on the value of the fifth included angle, the swing angle of the balancing elbow is determined, specifically including: Based on the values ​​of the fifth and sixth included angles, the value of the seventh included angle between the balance elbow and the bottom deck plane of the vehicle body is calculated. Based on the value of the second included angle and the value of the seventh included angle, the value of the eighth included angle between the balancing elbow and the horizontal plane is calculated. The values ​​of the seventh and eighth included angles are used as the swing angles of the balancing elbow.

8. An indirect measurement device for the oscillation angle of the balance arm of a tracked vehicle, characterized in that The indirect measuring device for the swing angle of the tracked vehicle's balance elbow includes: a first angle sensor, a second angle sensor, and a processor; The first angle sensor is mounted on the piston cylinder and is used to measure the value of the first angle between the piston cylinder axis and the horizontal plane. The second angle sensor is mounted on the vehicle body and is parallel to the plane of the vehicle body's bottom deck. The second angle sensor is used to measure the value of the second included angle between the plane of the vehicle body's bottom deck and the horizontal plane. The processor is communicatively connected to the first angle sensor and the second angle sensor respectively; the processor is used to execute the indirect measurement method for the balance elbow swing angle of the tracked vehicle as described in any one of claims 1-7.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement the indirect measurement method for the balance elbow sway angle of a tracked vehicle according to any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, When executed by a processor, the computer program implements the indirect measurement method for the balance elbow swing angle of a tracked vehicle as described in any one of claims 1-7.

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