Suspension test bed system based on mining trackless rubber-tyred vehicle

Abstract

A suspension test bed system based on a mining trackless rubber-tyred vehicle comprises a suspension base. A support rack; a driving mechanism; the first quality simulation mechanism is fixedly connected with the output end of the driving mechanism and is in sliding connection with the supporting rack; the bottom end of the vibration reduction system is fixedly connected with the first mass simulation mechanism; the second mass simulation mechanism is fixedly connected with the top end of the vibration reduction system; the second quality simulation mechanism is in sliding connection with the supporting rack; the signal acquisition system is arranged on the first quality simulation mechanism and the second quality simulation mechanism, and the signal acquisition system is used for acquiring motion data of the first quality simulation mechanism and the second quality simulation mechanism; the control system is used for collecting the motion data of the signal acquisition system and converting the motion data into a control signal; and the execution system is used for collecting the control signal of the control system and controlling the vibration reduction system according to the control signal.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of automobile test technology, especially based on the suspension test bench system of mine trackless rubber -tyred vehicle. BACKGROUND

[0002] The mine trackless rubber -tyred vehicle is a kind of vehicle specially designed for mine transportation, mainly used for transporting materials and personnel in the mine area. This kind of vehicle has greater flexibility because it does not rely on track system, and can work efficiently in complex mine environment. In recent years, the research on the damping performance of mine trackless rubber -tyred vehicle has attracted widespread attention, especially in improving the operation safety, comfort and transportation efficiency. As a key component that affects the damping performance, the semi-active suspension can be intelligently controlled and adjusted in real time according to the road conditions and vehicle conditions, and become the main means to improve the smoothness and safety of mine trackless rubber -tyred vehicle, so it has become the key development direction of mine trackless rubber -tyred vehicle suspension technology.

[0003] The suspension system based on changing the damping of damper or suspension stiffness to realize semi-active control is developing rapidly. Among them, the magneto-rheological damper is favored in the field of semi-active suspension because of its wide adjustable range, compact structure, rapid response and low power consumption. The magneto-rheological semi-active suspension technology uses electronic control and hydraulic device to automatically adjust the suspension hardness and height to respond to road conditions and driving needs. Compared with traditional passive suspension, it reacts more quickly and accurately, which can greatly improve the stability and ride comfort of trackless rubber -tyred vehicle. On relatively smooth road sections, the suspension will automatically become soft to provide a more comfortable ride experience, while at high speed or on rough roads, the suspension will automatically become hard to provide better stability and handling. In addition, it is very important to ensure that the body inclination is moderate during vehicle turning, and excessive inclination may cause serious accidents such as rollover. Therefore, the research on vehicle attitude stability control has important value, which can be realized by adjusting the stiffness and damping elements.

[0004] Traditional suspension test usually relies on pure software simulation, which is realized by mathematical model simulation. Although this method has the advantages of high efficiency and low cost, the model accuracy is crucial to the accuracy of simulation results, and it is difficult to fully reflect the real road environment. With the continuous improvement of modeling accuracy and simulation software function, the simulation effect has been improved, but there are still some idealized assumptions and parameter neglects, such as friction, force coupling, etc.

[0005] Therefore, it is necessary to design a suspension test bench system based on mine trackless rubber -tyred vehicle to solve the above problems. UTILITY MODEL CONTENTS

[0006] The utility model discloses a purpose is provided based on the suspension test bench system of trackless rubber -tyred vehicle of mine, the organic combination of hardware and software constructs the suspension test bench specially, and adopts the hardware in loop test method. On the one hand, the hardware in loop test can simulate the working environment of magnetorheological suspension, and the validity of control strategy and algorithm is verified, avoids the time lag problem of software simulation. On the other hand, compared with traditional real vehicle test, the hardware in loop test greatly reduces the test cost, and shortens the development cycle.

[0007] To realize above-mentioned purpose, the utility model provides following scheme: based on the suspension test bench system of trackless rubber -tyred vehicle of mine, including

[0008] Suspension baseplate;

[0009] Supporting rack, fixedly arranged on the suspension baseplate;

[0010] Driving mechanism, fixedly arranged at the bottom end of the supporting rack;

[0011] First mass simulation mechanism, fixedly connected with the output end of the driving mechanism, and the first mass simulation mechanism is slidably connected with the supporting rack;

[0012] Damping system, fixedly connected with the first mass simulation mechanism at the bottom end;

[0013] Second mass simulation mechanism, fixedly connected with the top end of the damping system;The second mass simulation mechanism is slidably connected with the supporting rack;

[0014] Signal acquisition system, arranged on the first mass simulation mechanism and the second mass simulation mechanism, and the signal acquisition system is used for collecting the motion data of the first mass simulation mechanism and the second mass simulation mechanism;

[0015] Control system, for collecting the motion data of the signal acquisition system, and converting the motion data into control signal;

[0016] Execution system, for collecting the control signal of the control system, and controlling the damping system according to the control signal.

[0017] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mine, the driving mechanism includes actuator, the actuator includes connecting flange no. 2, connecting flange no. 2 is fixedly connected with the bottom end of the supporting rack, connecting flange no. 2 is fixedly connected with tail cylinder assembly, the detachable connection of tail cylinder assembly top end has cylinder, the detachable connection of cylinder top end has front end cover, the inside of cylinder is provided with actuator piston rod, the output end of actuator piston rod slides through front end cover and is fixedly connected with connecting flange no. 1, and the first mass simulation mechanism is fixedly connected with connecting flange no. 1.

[0018] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mining, first quality simulation mechanism includes lower fixed plate no.

[0019] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mining, the damping system includes magnetorheological damper and air spring, magnetorheological damper vertical setting and bottom with lower fixed plate no.

[0020] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mining, second quality simulation mechanism includes upper fixed plate no.

[0021] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mining, signal acquisition system includes sensor fixed plate, sensor fixed plate with bottom fixed connection of support frame, be connected with three displacement sensors on sensor fixed plate, one displacement sensor is used to collect the motion data of upper fixed plate no.

[0022] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mining, control system includes host computer and lower computer, host computer is used to collect motion data of signal acquisition system, host computer will collect motion data transmission to lower computer, and lower computer with execution system electric connection.

[0023] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mine, the execution system includes current transmitter no. 1 and current transmitter no. 2, current transmitter no. 1 with current transmitter no. 2 all with lower machine electric connection, current transmitter no. 1 with the damping system electric connection, current transmitter no. 2 with the drive mechanism electric connection.

[0024] The utility model discloses a suspension test bench system based on trackless rubber -tyred vehicle of mine, the support rack includes lower fixed plate no. 3, lower fixed plate no. 3 with suspension base top fixed connection, lower fixed plate no. 3 top four corners fixed connection has the guide pillar respectively, four the guide pillar top common fixed connection has upper fixed plate no. 1, first mass simulation mechanism with second mass simulation mechanism all with guide pillar sliding connection.

[0025] Compared with prior art, the utility model has following advantages and technical effects:

[0026] The utility model combines the superiority of two levels of hardware and software. On one hand, the hardware-in-the-loop test system can accurately simulate the state of the magnetorheological suspension in the actual working environment, verify the feasibility of the control strategy and algorithm, and solve the time delay problem existing in pure software simulation. On the other hand, compared with the traditional real vehicle road test, the hardware-in-the-loop test greatly reduces the test cost and significantly shortens the development cycle. The scheme organically integrates hardware devices and software control, ensures the authenticity and reliability of test data, improves the development efficiency and economy, and provides an efficient and economic innovation way for the research and development of the magnetorheological semi-active suspension system. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art:

[0028] Figure 1 It is the whole schematic diagram of the utility model;

[0029] Figure 2 It is the actuator schematic diagram of the utility model;

[0030] Figure 3 It is the control method flow chart of the utility model;

[0031] Figure 4 It is the control method schematic diagram of the utility model;

[0032] Figure 5 It is the hardware-in-the-loop method flow chart of the utility model.

[0033] Wherein, 1, the upper fixed plate one; 2, the upper fixed plate two;3, guide column;4, the lower fixed plate one;5, the lower fixed plate two;6, sensor fixed plate;7, the lower fixed plate three;8, suspension pedestal;9, actuator;901, connecting flange one;902, spiral washer combination;903, actuator piston rod;904, front end cover;905, cylinder;906, tail tube assembly;907, micro muffler;908, connecting flange two;10, shaft sleeve;11, spring;12, air spring pedestal;13, magneto rheological damper;14, air spring;15, load;16, load fixed shaft one;17, load fixed shaft two;18, displacement sensor;19, signal acquisition system;20, DC signal isolator;21, host computer;22, control system;23, lower computer;24, current transmitter one;25, execution system;26, current transmitter two. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0036] Referring to Figures 1 to 5 The present application provides a suspension test bench system based on a mine trackless rubber-tyred vehicle, which comprises

[0037] a suspension pedestal 8;

[0038] a support rack fixedly arranged on the suspension pedestal 8;

[0039] a driving mechanism fixedly arranged at the bottom end of the support rack;

[0040] a first mass simulation mechanism fixedly connected with the output end of the driving mechanism, and slidingly connected with the support rack;

[0041] a damping system fixedly connected with the bottom end of the first mass simulation mechanism;

[0042] a second mass simulation mechanism fixedly connected with the top end of the damping system, and slidingly connected with the support rack;

[0043] A signal acquisition system 19 is arranged on the first and second mass simulation mechanisms, and is configured to acquire motion data of the first and second mass simulation mechanisms.

[0044] A control system 22 is configured to collect the motion data of the signal acquisition system 19 and convert the motion data into control signals.

[0045] An execution system 25 is configured to collect the control signals of the control system 22 and control the damping system according to the control signals.

[0046] Further, the driving mechanism includes an actuator 9, which includes a connecting flange two 908 fixedly connected with the bottom end of the support rack, a tail cylinder assembly 906 fixedly connected with the connecting flange two 908, a cylinder barrel 905 detachably connected with the top end of the tail cylinder assembly 906, a front end cover 904 detachably connected with the top end of the cylinder barrel 905, an actuator piston rod 903 arranged inside the cylinder barrel 905, and a connecting flange one 901 fixedly connected with the output end of the actuator piston rod 903 and fixedly connected with the first mass simulation mechanism.

[0047] A spiral gasket assembly 902 is arranged between the connecting flange one 901 and the actuator piston rod 903, and a micro silencer 907 is arranged on the tail cylinder assembly 906. The front surface of the cylinder barrel 905 is a servo valve interface, and the side surface is an oil inlet and outlet.

[0048] When the actuator 9 simulates the time domain curve of the road unevenness, the first and second mass simulation mechanisms vibrate up and down to generate vibration responses. The GA-LQR control algorithm calculates the expected damping force according to the vibration responses of the first and second mass simulation mechanisms. The expected damping force, the dynamic stroke and the speed of the first and second mass simulation mechanisms are input into the inverse model of the magnetorheological damper 13 based on the bidirectional long and short term memory network to generate a corresponding control current. The control current is input into the magnetorheological damper 13 to obtain the damping force, which is infinitely close to the expected damping force generated by the GA-LQR. The damping force is applied to the first and second mass simulation mechanisms to realize vibration control of the system.

[0049] Further, the first mass simulation mechanism includes a lower fixed plate two 5 fixedly connected with the connecting flange one 901, and the lower fixed plate two 5 is slidably connected with the support rack through a plurality of shaft sleeves 10. The lower fixed plate two 5 is fixedly connected with four springs 11 at the top corners, and the springs 11 are arranged outside the support rack. The top ends of the four springs 11 are fixedly connected with a lower fixed plate one 4, and the lower fixed plate one 4 is slidably connected with the support rack through a plurality of shaft sleeves 10. The bottom end of the damping system is fixedly connected with the top end of the lower fixed plate one 4.

[0050] Further, the damping system comprises a magneto-rheological damper 13 and an air spring 14, the magneto-rheological damper 13 is vertically arranged and the bottom end is fixedly connected with the top end of the lower fixed plate one 4, the top end of the magneto-rheological damper 13 is fixedly connected with the bottom end of the second mass simulation mechanism, the top end of the air spring 14 is fixedly connected with the bottom end of the second mass simulation mechanism, and the bottom end of the air spring 14 is fixedly connected with the top end of the lower fixed plate one 4 through the air spring base 12.

[0051] The linear quadratic regulator optimized by the genetic algorithm is combined with the inverse model of the magneto-rheological damper based on the bidirectional long and short term memory network, and is applied to vibration control of a test bench system.

[0052] The control strategy receives vibration feedback and control force of the suspension system, inputs control current to the magneto-rheological damper 13, and achieves the purpose of vibration control.

[0053] Further, the second mass simulation mechanism comprises an upper fixed plate two 2, the upper fixed plate two 2 is fixedly connected with the top end of the magneto-rheological damper 13 and the top end of the air spring 14, the upper fixed plate two 2 is slidably connected with the support rack through a plurality of shaft sleeves 10, and the top end of the upper fixed plate two 2 is provided with a load 15; the load 15 is provided with a load fixing shaft one 16 and a load fixing shaft two 17, and the load fixing shaft two 17 slidably penetrates through the top end of the support rack.

[0054] The load fixing shaft two 17 is mainly used for fixing the load 15 at the middle position of the upper fixed plate two 2 and limiting the movement of the load 15 in front, back, left and right directions, and the load fixing shaft one 16 is used for limiting the up-down movement of the load 15, so that the load 15 is limited at the fixed position.

[0055] Further, the signal acquisition system 19 comprises a sensor fixed plate 6, the sensor fixed plate 6 is fixedly connected with the bottom end of the support rack, and three displacement sensors 18 are fixedly connected with the sensor fixed plate 6; one displacement sensor 18 is used for collecting movement data of the upper fixed plate two 2, another displacement sensor 18 is used for collecting movement data of the lower fixed plate one 4, and the third displacement sensor 18 is used for collecting movement data of the lower fixed plate two 5.

[0056] The signal acquisition system 19 mainly uses the three displacement sensors 18 for acquisition, is fixed on the sensor fixed plate 6 through bolts, and the sliding shafts are connected with the upper fixed plate two 2, the lower fixed plate one 4 and the lower fixed plate two 5 through bolts, are used for collecting the up-down displacement of the three, then the 4-20mA current signals collected by the displacement sensor 18 are converted into 0-10V voltage signals by the direct current signal isolator 20, and are input to the upper computer 21, so that the vehicle body acceleration, dynamic deflection and tire dynamic load three response indexes are calculated.

[0057] Further, the control system 22 comprises a host computer 21 and a slave computer 23, the host computer 21 is used to collect the motion data of the signal acquisition system 19, the host computer 21 transmits the collected motion data to the slave computer 23, and the slave computer 23 is electrically connected with the execution system 25.

[0058] The main function of the control system 22 is to receive and process the motion signals from the signal acquisition system 19, execute the preset control algorithm, and generate the corresponding control signal according to the calculation result.

[0059] The host computer 21 is responsible for writing and managing the control algorithm, and downloading the algorithm program to the slave computer 23. The host computer 21 is usually a computer running Windows or Linux operating system, which provides a friendly graphical interface to facilitate users to design, debug and monitor the control algorithm; the slave computer 23 obtains the control algorithm program from the host computer 21, and uses its powerful computing power to execute the algorithm in real time, calculates the control amount according to the input motion signal, and finally outputs the control signal to the execution system 25.

[0060] The execution system 25 is connected through the network port to realize data exchange and instruction delivery. This division is conducive to improving the real-time performance, reliability and flexibility of the control system 22. Users can complete algorithm development and debugging on the host computer 21, while the slave computer 23 focuses on real-time high-speed control operation, thereby ensuring control accuracy and response speed.

[0061] Further, the execution system 25 comprises a current transmitter one 24 and a current transmitter two 26, both of which are electrically connected with the slave computer 23, the current transmitter one 24 is electrically connected with the damping system, and the current transmitter two 26 is electrically connected with the driving mechanism.

[0062] The execution system 25 is the last link of the control loop, and its role is to exert corresponding force on the test system according to the control signal output by the control system 22, so as to realize effective control of the test system.

[0063] The function of the current transmitter two 26 is to convert the 0-10V voltage signal into a 4-20mA current signal. In this system, the converted 4-20mA current signal is used to drive the servo valve, and then control the actuator 9 to move up and down, providing different road excitation signals, including sine excitation signal, cosine excitation signal, square wave excitation signal, etc.

[0064] The function of the current transmitter one 24 is to convert the 0-10V voltage signal into a 0-1A control current signal. This module is usually used to provide control current to the magnetorheological damper 13, and the damping force of the magnetorheological damper 13 is adjusted by changing the size of the current, so as to realize vibration control.

[0065] Further, the support rack comprises a lower fixed plate three 7, the lower fixed plate three 7 is fixedly connected with the top end of the suspension base 8, the top end of the lower fixed plate three 7 is fixedly connected with four guide columns 3 respectively, the top end of the four guide columns 3 is fixedly connected with an upper fixed plate one 1, and the first mass simulation mechanism and the second mass simulation mechanism are slidably connected with the guide column 3.

[0066] The length of the four guide columns 3 can be replaced according to different experimental conditions.

[0067] The whole hardware-in-the-loop test can be described as:

[0068] Firstly, the control program is developed in the upper computer 21 using Keil software, and after the developed program is compiled and debugged, it is transmitted to the lower computer 23 through Ethernet.

[0069] After receiving the control program transmitted by the upper computer 21, the lower computer 23 starts to execute these instructions and outputs the processed control signal to the signal conditioning system. The function of the signal conditioning system is to convert the control signal into a suitable signal. In the utility model, the 0-10V voltage signal output by the control system 22 is converted into a 0-40mA current signal and sent into the servo valve. The servo valve adjusts the action of the actuator 9 according to the change of the current signal, so as to simulate the excitation similar to the actual road surface and drive the suspension system to vibrate up and down.

[0070] In order to realize closed-loop control, the system needs to monitor and adjust its performance in real time, and the displacement sensor 18 plays a key role in this process. The displacement sensor 18 of the utility model is used to collect the displacement signals of the suspension, and these signals are output in the form of current, which is converted into a 0-10V voltage signal through the signal conditioning system, and then transmitted back to the control system 22. The control system 22 calculates the expected damping force according to these feedback signals, so as to accurately control the suspension system.

[0071] The calculated expected damping force signal is then converted again through the signal conditioning system, and this time it is converted into a 0-1A control current signal, and then the current signal is sent into the magnetorheological damper 13 to control the magnetorheological damper 13 to generate damping force. The magnetorheological damper 13 adjusts its damping characteristics according to the control signal to adapt to different road conditions and driving requirements, so as to realize the active control of the suspension system.

[0072] A control method of a suspension test bench system based on a mine trackless rubber-tyred vehicle, comprising

[0073] The driving mechanism outputs power;

[0074] The actuator 9 applies an excitation force to the tire, simulating the movement process of the suspension system under road excitation. By applying such excitation force, various road conditions encountered by the vehicle in actual driving can be reproduced, so as to more accurately test and analyze the dynamic response and performance of the suspension system. The brake can output different types of road signals, such as cosine, sine and the like.

[0075] The signal acquisition system 19 collects the motion data of the first mass simulation mechanism and the second mass simulation mechanism, and transmits the motion data to the control system 22;

[0076] The signal acquisition system 19 uses three displacement sensors 18 to collect the displacement of the upper fixed plate two 2, the lower fixed plate one 4 and the lower fixed plate two 5 in real time. Then, the 4-20mA current signal collected by the displacement sensor 18 is converted into a 0-10V voltage signal by the DC signal isolator 20, and input to the lower computer 23. The lower computer 23 calculates the three response indexes of vehicle body acceleration, dynamic deflection and tire dynamic load using these signals.

[0077] The control system 22 converts the collected motion data into control signals and transmits the control signals to the execution system 25;

[0078] The control system 22 receives and processes the motion signals from the signal acquisition system 19. The system executes the preset control algorithm to analyze and calculate the received motion data. These control signals ensure that the system can accurately simulate various dynamic working conditions and provide reliable data support. The accuracy and real-time response capability of the control system are the key to ensure the successful implementation of the entire hardware-in-the-loop test method.

[0079] The execution system 25 controls the damping system according to the received control signals.

[0080] After receiving the control signals from the control system 22, the execution system 25 drives the magneto-rheological damper 13 to adjust the damping of the suspension system, so as to achieve the control target of damping and the like.

[0081] Specifically, the execution system 25 is the last link of the control loop. According to the control signals output by the control system 22, it first converts the 0-10V voltage signal into a 4-20mA current signal using the current transmitter two 26, which is used to drive the servo valve, so as to control the actuator 9 to move up and down, simulate different road excitation, such as sine, cosine and square wave signals. Then, the 0-10V voltage signal is converted into a 0-1A control current by the current transmitter one 24, which provides a control current for the magneto-rheological damper 13, and changes the damping force by adjusting the current size to realize vibration control.

[0082] With this closed-loop control strategy, the suspension system can respond to changes in external excitation and internal state in real time, providing optimal ride comfort and vehicle handling. At the same time, it also significantly improves the adaptive ability and robustness of the system, enabling it to maintain stable performance in various complex environments.

[0083] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0084] The above-described embodiments are only preferred modes of the utility model, and do not limit the scope of the utility model, and various modifications and improvements to the technical solutions of the utility model made by those skilled in the art without departing from the design spirit of the utility model shall fall within the protection scope of the utility model.

Claims

1. A suspension test bench system based on a mine trackless rubber-tyred vehicle, characterized in that, Comprising suspension base (8); supporting frame fixedly arranged on the suspension base (8); drive mechanism fixedly arranged at the bottom end of the supporting frame; first mass simulation mechanism fixedly connected with the output end of the drive mechanism, the first mass simulation mechanism being in sliding connection with the supporting frame; damping system fixedly connected with the first mass simulation mechanism at the bottom end; second mass simulation mechanism fixedly connected with the top end of the damping system, the second mass simulation mechanism being in sliding connection with the supporting frame; signal acquisition system (19) arranged on the first mass simulation mechanism and the second mass simulation mechanism, the signal acquisition system (19) being used to acquire motion data of the first mass simulation mechanism and the second mass simulation mechanism; control system (22) used to collect the motion data of the signal acquisition system (19) and convert the motion data into control signals; execution system (25) used to collect the control signals of the control system (22) and control the damping system according to the control signals.

2. The mine tramcar based suspension test bed system of claim 1, wherein, The drive mechanism comprises an actuator (9), the actuator (9) comprises a second connecting flange (908), the second connecting flange (908) is fixedly connected with the bottom end of the supporting frame, the second connecting flange (908) is fixedly connected with a tail cylinder assembly (906), the tail cylinder assembly (906) is detachably connected with a cylinder barrel (905) at the top end, the cylinder barrel (905) is detachably connected with a front end cover (904) at the top end, the cylinder barrel (905) is provided with an actuator piston rod (903) inside, the output end of the actuator piston rod (903) is in sliding connection with the front end cover (904) and is fixedly connected with a first connecting flange (901), and the first mass simulation mechanism is fixedly connected with the first connecting flange (901).

3. The mine tramcar based suspension test bed system of claim 2, wherein, The first mass simulation mechanism comprises a second lower fixed plate (5), the second lower fixed plate (5) is fixedly connected with the first connecting flange (901), the second lower fixed plate (5) is in sliding connection with the supporting frame through a plurality of shaft sleeves (10), the second lower fixed plate (5) is fixedly connected with springs (11) at the top end of four corners respectively, the springs (11) are sleeved outside the supporting frame, the top ends of four springs (11) are fixedly connected with a first lower fixed plate (4) in common, the first lower fixed plate (4) is in sliding connection with the supporting frame through a plurality of shaft sleeves (10), and the bottom end of the damping system is fixedly connected with the top end of the first lower fixed plate (4).

4. The mine tramcar based suspension test bed system of claim 3, wherein, The damping system comprises a magneto-rheological damper (13) and an air spring (14), the magneto-rheological damper (13) is vertically arranged and fixedly connected with the top end of the first lower fixed plate (4) at the bottom end, the top end of the magneto-rheological damper (13) is fixedly connected with the bottom end of the second mass simulation mechanism, the top end of the air spring (14) is fixedly connected with the bottom end of the second mass simulation mechanism, and the bottom end of the air spring (14) is fixedly connected with the top end of the first lower fixed plate (4) through an air spring base (12).

5. The mine tramcar based suspension test bed system of claim 4, wherein, The second mass simulation mechanism comprises an upper fixed plate two (2), which is fixedly connected with the top end of the magnetorheological damper (13) and the top end of the air spring (14), and is slidingly connected with the support rack through a plurality of shaft sleeves (10), and a load (15) is arranged at the top end of the upper fixed plate two (2), and a load fixed shaft one (16) and a load fixed shaft two (17) are arranged on the load (15), and the load fixed shaft two (17) slidingly penetrates through the top end of the support rack.

6. The mine tramcar based suspension test bed system of claim 5, wherein, The signal acquisition system (19) comprises a sensor fixed plate (6), which is fixedly connected with the bottom end of the support rack, and three displacement sensors (18) are fixedly connected on the sensor fixed plate (6), one displacement sensor (18) is used to collect the motion data of the upper fixed plate two (2), another displacement sensor (18) is used to collect the motion data of the lower fixed plate one (4), and the third displacement sensor (18) is used to collect the motion data of the lower fixed plate two (5).

7. The mine tramcar based suspension test bed system of claim 1, wherein, The control system (22) comprises an upper computer (21) and a lower computer (23), the upper computer (21) is used to collect the motion data of the signal acquisition system (19), the upper computer (21) transmits the collected motion data to the lower computer (23), and the lower computer (23) is electrically connected with the execution system (25).

8. The mine tramcar based suspension test bed system of claim 7, wherein, The execution system (25) comprises a current transmitter one (24) and a current transmitter two (26), the current transmitter one (24) and the current transmitter two (26) are electrically connected with the lower computer (23), the current transmitter one (24) is electrically connected with the damping system, and the current transmitter two (26) is electrically connected with the driving mechanism.

9. The mine tramcar based suspension test bed system of claim 1, wherein, The support rack comprises a lower fixed plate three (7), which is fixedly connected with the top end of the suspension base (8), and a guide column (3) is fixedly connected with the top end of the lower fixed plate three (7) at four corners, and an upper fixed plate one (1) is commonly fixedly connected with the top ends of four guide columns (3), and the first mass simulation mechanism and the second mass simulation mechanism are slidingly connected with the guide column (3).

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