CN106644519B - Method and device for identifying parameters of vehicle vertical dynamics model - Google Patents

Method and device for identifying parameters of vehicle vertical dynamics model Download PDF

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CN106644519B
CN106644519B CN201710031200.7A CN201710031200A CN106644519B CN 106644519 B CN106644519 B CN 106644519B CN 201710031200 A CN201710031200 A CN 201710031200A CN 106644519 B CN106644519 B CN 106644519B
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CN106644519A (en
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江燕华
骆振兴
徐达
赵宇博
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BAIC Group ORV Co ltd
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Beijing Automotive Research Institute Co Ltd
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Abstract

The invention provides a method and a device for identifying parameters of a vehicle vertical dynamic model, wherein the method for identifying the parameters of the vehicle vertical dynamic model comprises the following steps: the method comprises the following steps of obtaining test result data after a vehicle is subjected to a four-column test, wherein the test result data comprise: vertical acceleration information, vertical velocity information, and vertical displacement information; obtaining an initial solution of a parameter to be identified of the half car vibration model by a linear estimation method by utilizing vertical acceleration information, vertical speed information and vertical displacement information and combining a decoupled half car vibration model; and transforming the vertical acceleration information, the vertical speed information and the vertical displacement information to a frequency domain, combining the initial solution of the parameter to be identified, performing nonlinear least square fitting, and identifying to obtain a final solution of the parameter to be identified of the semi-vehicle vibration model. The parameters of the vehicle vertical dynamic model are accurately identified through test result data of the four-column test, and therefore the smoothness characteristic of the vehicle is improved.

Description

Method and device for identifying parameters of vehicle vertical dynamics model
Technical Field
The invention relates to the field of vehicle vertical dynamic model parameter identification, in particular to a method and a device for identifying vehicle vertical dynamic model parameters.
Background
For the market competitiveness of vehicle type products, the smoothness of the vehicle is one of the most important performance indexes. Automobile enterprises often adopt a test optimization method based on prototype vehicles to improve the smoothness of the vehicles, however, the method is low in efficiency, expensive and most irreproducible. A better solution is to provide a predictive model, which requires analysis and modeling of the relationship between the external stimuli to which the vehicle is subjected and the intensity of the "discomfort". This method requires a large expenditure of time and economic costs.
In the prior art, a four-column test method is provided, in which four wheels are simultaneously excited by four actuators to further obtain the ride comfort characteristic parameters of a vehicle, but the method can only obtain the ride comfort characteristics related to the test results of the four columns, such as the flat jump natural frequency, and cannot obtain the parameters related to the ride comfort characteristics of the vehicle.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a method and a device for identifying parameters of a vehicle vertical dynamic model, which are used for accurately identifying the parameters of the vehicle vertical dynamic model through test result data of a four-column test, so as to improve the smoothness characteristics of a vehicle.
In order to solve the technical problem, the method for identifying the parameters of the vehicle vertical dynamics model provided by the embodiment of the invention comprises the following steps:
obtaining test result data after the vehicle is subjected to a four-column test, wherein the test result data comprises: vertical acceleration information, vertical velocity information, and vertical displacement information;
obtaining an initial solution of the parameter to be identified of the semi-vehicle vibration model by a linear estimation method by utilizing the vertical acceleration information, the vertical speed information and the vertical displacement information and combining a decoupled semi-vehicle vibration model;
and transforming the vertical acceleration information, the vertical speed information and the vertical displacement information to a frequency domain, combining the initial solution of the parameter to be identified, performing nonlinear least square fitting, and identifying to obtain a final solution of the parameter to be identified of the semi-vehicle vibration model.
Preferably, the step of obtaining test result data after the vehicle performs the four-pillar test includes:
obtaining the vertical acceleration information through an acceleration sensor;
obtaining the vertical speed information according to the vertical acceleration information and a first preset corresponding relation between the vertical acceleration and the vertical speed;
and obtaining the vertical displacement information according to the vertical acceleration information and a second preset corresponding relation between the vertical acceleration and the vertical displacement.
Preferably, the step of obtaining test result data after the vehicle performs the four-pillar test includes:
obtaining the vertical acceleration information through an acceleration sensor;
obtaining the vertical speed information through a speed sensor;
and obtaining the vertical displacement information through a displacement sensor.
Preferably, the method further comprises:
and obtaining the ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
Preferably, the smoothness evaluation parameters include: natural frequency and damping ratio.
Preferably, the parameters to be identified include suspension stiffness, wheel stiffness and suspension damping coefficient of the vehicle.
According to another aspect of the present invention, an embodiment of the present invention further provides a device for identifying parameters of a vertical dynamic model of a vehicle, where the device includes:
the acquisition module is used for acquiring test result data after the vehicle is subjected to a four-column test, and the test result data comprises: vertical acceleration information, vertical velocity information, and vertical displacement information;
the first obtaining module is used for obtaining an initial solution of the parameter to be identified of the semi-vehicle vibration model through a linear estimation method by utilizing the vertical acceleration information, the vertical speed information and the vertical displacement information and combining a decoupled semi-vehicle vibration model;
and the identification module is used for converting the vertical acceleration information, the vertical speed information and the vertical displacement information into a frequency domain, combining the initial solution of the parameter to be identified, performing nonlinear least square fitting, and identifying to obtain the final solution of the parameter to be identified of the semi-vehicle vibration model.
Preferably, the obtaining module includes:
the first obtaining unit is used for obtaining the vertical acceleration information through an acceleration sensor;
the second obtaining unit is used for obtaining the vertical speed information according to the vertical acceleration information and a first preset corresponding relation between the vertical acceleration and the vertical speed;
and the third obtaining unit is used for obtaining the vertical displacement information according to the vertical acceleration information and a second preset corresponding relation between the vertical acceleration and the vertical displacement.
Preferably, the obtaining module includes:
the first obtaining unit is used for obtaining the vertical acceleration information through an acceleration sensor;
the second obtaining unit is used for obtaining the vertical speed information through a speed sensor;
and the third obtaining unit is used for obtaining the vertical displacement information through the displacement sensor.
Preferably, the apparatus further comprises:
and the second obtaining module is used for obtaining the ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
Compared with the prior art, the method for identifying the parameters of the vehicle vertical dynamics model provided by the embodiment of the invention at least has the following beneficial effects:
the test result data of the test vehicle in the four-column test is combined with the acquisition mode of the semi-vehicle vibration model of the vehicle for the parameters to be identified, so that the economic cost in the measurement process is reduced, and the accuracy of the parameters to be identified of the obtained semi-vehicle vibration model is higher.
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FIG. 1 is a schematic structural diagram illustrating a method for identifying parameters of a vertical dynamics model of a vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram illustrating a method for identifying parameters of a vertical dynamics model of a vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram illustrating a method for identifying parameters of a vertical dynamics model of a vehicle according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an apparatus for identifying parameters of a vertical dynamics model of a vehicle according to a fourth embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an apparatus for identifying parameters of a vertical dynamics model of a vehicle according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a device for identifying parameters of a vertical dynamic model of a vehicle according to a sixth embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
Referring to fig. 1, a first embodiment of the present invention provides a method for identifying parameters of a vertical dynamic model of a vehicle, including:
step 101, obtaining test result data of a vehicle after a four-column test, wherein the test result data comprises: vertical acceleration information, vertical velocity information, and vertical displacement information;
102, obtaining an initial solution of a parameter to be identified of the half-car vibration model by a linear estimation method by utilizing the vertical acceleration information, the vertical speed information and the vertical displacement information and combining a decoupled half-car vibration model;
and 103, converting the vertical acceleration information, the vertical speed information and the vertical displacement information into a frequency domain, combining the initial solution of the parameter to be identified, performing nonlinear least square fitting, and identifying to obtain a final solution of the parameter to be identified of the semi-vehicle vibration model.
The vertical dynamic model of the vehicle comprises a front vehicle vibration model and a rear vehicle vibration model, and because the vibration laws of the front vehicle and the rear vehicle are different, the parameters to be identified of the front vehicle vibration model and the rear vehicle vibration model of the vehicle need to be respectively obtained.
The vertical acceleration information in the step 101 includes vertical acceleration information of the sprung mass and vertical acceleration information of the unsprung mass, the vertical velocity information includes vertical velocity information of the sprung mass and vertical velocity information of the unsprung mass, and the vertical displacement information includes vertical displacement information of the sprung mass and vertical displacement information of the unsprung mass. By utilizing the obtained vertical acceleration information, vertical speed information and vertical displacement information of the sprung mass and the unsprung mass and combining the Newton's second law, a motion equation of a half-vehicle vibration model can be obtained, and the numerical value of the parameter to be identified is obtained by solving the equation. Because the test result data of the four-column test is the result of the test vehicle, and the related data in the half-vehicle vibration model is also the real data of the test vehicle, the acquisition of the parameters related to the smoothness of the test vehicle can be realized.
In the first embodiment of the present invention, the value of the parameter to be identified is obtained by solving twice, and since the accuracy of the initial solution of the parameter to be identified obtained by the linear estimation method is not high enough, the accuracy of the final solution of the parameter to be identified is very high by performing the nonlinear least square fitting by combining the initial solution of the parameter to be identified and the data obtained by the frequency domain transformation.
The parameters to be identified in the first embodiment of the invention comprise the suspension stiffness, the wheel stiffness and the suspension damping coefficient of the vehicle.
In the first embodiment of the invention, the parameters of the half-vehicle vibration model of the vehicle are identified by adopting the test result data of the indoor four-column test, so that the parameters to be identified of the tested vehicle can be quickly determined, the time cost and the economic cost are saved, and the accuracy of the obtained numerical value is higher.
Referring to fig. 2, a second embodiment of the present invention provides a method for identifying parameters of a vertical dynamic model of a vehicle, including:
step 201, obtaining the vertical acceleration information through an acceleration sensor;
step 202, obtaining the vertical speed information according to the vertical acceleration information and a first preset corresponding relation between the vertical acceleration and the vertical speed;
step 203, obtaining the vertical displacement information according to the vertical acceleration information and a second preset corresponding relation between the vertical acceleration and the vertical displacement;
step 204, obtaining an initial solution of the parameter to be identified of the half car vibration model by a linear estimation method by using the vertical acceleration information, the vertical velocity information and the vertical displacement information obtained in the steps 201, 202 and 203 and combining a decoupled half car vibration model;
step 205, converting the vertical acceleration information, the vertical velocity information and the vertical displacement information to a frequency domain, performing nonlinear least square fitting by combining the initial solution of the parameter to be identified, and identifying to obtain a final solution of the parameter to be identified of the semi-vehicle vibration model;
and step 206, obtaining the ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
In the second embodiment of the present invention, how to obtain the test result data of the four-column test is added on the basis of the first embodiment, and in the second embodiment, only the vertical acceleration information of the sprung mass and the unsprung mass needs to be obtained, and then the numerical values of the vertical velocity and the vertical displacement are obtained through the relationship between the acceleration, the velocity and the displacement. The method adopts the minimum four-column test result data, and can realize the acquisition of the parameters to be identified of the vehicle.
The following explains a specific working principle of the second embodiment of the present invention by taking a specific example of parameter identification of the vibration model of the leading vehicle;
step 1, obtaining test result data of a vehicle after a four-column test, which comprises the following steps: vertical acceleration information of unsprung mass
Figure BDA0001211521580000061
And vertical acceleration information of sprung mass
Figure BDA0001211521580000062
By applying the unsprung mass acceleration information
Figure BDA0001211521580000063
Integral is carried out to obtain unsprung mass velocity
Figure BDA0001211521580000064
And unsprung mass displacement z1F(ii) a By applying the sprung mass acceleration information
Figure BDA0001211521580000065
Integral to obtain sprung mass velocity
Figure BDA0001211521580000066
And sprung mass displacement z2F。
Step 2, decoupling the vertical dynamic model of the test vehicle to obtain a front vehicle vibration model and a rear vehicle vibration model of the automobile, wherein in the second embodiment of the invention, the connection quality m of the front vehicle vibration model and the rear vehicle vibration modelkIs 0.
Step 3, the vertical acceleration information of the unsprung mass obtained in the step 1 is processed
Figure BDA0001211521580000067
Vertical acceleration information of sprung mass
Figure BDA0001211521580000068
Vertical velocity of unsprung mass
Figure BDA0001211521580000069
And vertical displacement z of unsprung mass1FVertical velocity of sprung mass
Figure BDA00012115215800000610
And vertical displacement z of sprung mass2FAs input parameters, the motion equation is substituted into the motion equation 1 of the front vehicle vibration model:
Figure BDA00012115215800000611
and substituting into equation of motion 2 of the front vehicle vibration model:
Figure BDA00012115215800000612
in the above equations 1 and 2, m1FMass of front wheel, m, of vibration model of front vehicle2FSprung mass of the front vehicle, qFExciting a front wheel; k is a radical of1FFor front wheel stiffness, k2FFor front suspension stiffness, c2FFront wheel stiffness k here for front suspension damping coefficient1FFront suspension stiffness k2FAnd front suspension damping coefficient, c2FThe parameter to be identified in the second embodiment of the present invention is obtained.
Step 4, obtaining the vertical acceleration { a ] of the wheel center of the front wheel through the time sequence of the vertical acceleration information of the unsprung massFw,tObtaining the vertical speed { v } of the wheel center of the front wheel through the time sequence of the vertical speed information of the unsprung massFw,tObtaining vertical displacement z of the wheel center of the front wheel through the time sequence of the vertical displacement information of the unsprung massFw,t}; obtaining vertical acceleration { a) of a vehicle body at a front axle center through a time series of vertical acceleration information of a sprung massFs,tAcquiring the vertical speed { v ] of the vehicle body at the center of the front axle through the time sequence of the vertical speed information of the sprung massFs,tObtaining vertical displacement z of the vehicle body at the center of the front axle through the time sequence of the vertical displacement information of the sprung massFs,tT total time length, t 1, …, N.
Based on the data obtained above, equation 1 in step 3 is converted into an overdetermined equation in the following equation 3:
Figure BDA0001211521580000071
converting equation 2 in step 3 to an overdetermined equation in the following equation 4:
Figure BDA0001211521580000072
solving equation 3 can obtain column vector c2F/m2Fk2F/m2F]TThe value of (d); solving formula 4 to obtain column vector c2F/m1Fk2F/m1Fk1F/m1F]TThe numerical value of (c).
The front wheel rigidity k can be obtained by the numerical values of the formula 3 and the 4 column vectors1FFront suspension stiffness k2FFront overhang damping coefficient c2FThe initial solution of (a).
Step 5, performing frequency domain transformation on the formula 1 in the step 3 to obtain a formula 5:
Figure BDA0001211521580000073
performing frequency domain transformation on the formula 2 in the step 4 to obtain a formula 6:
Figure BDA0001211521580000074
substituting equation 5 into equation 6, the transfer function of the vertical displacement of the unsprung mass to the front wheel excitation is obtained, represented by equation 7:
Figure BDA0001211521580000075
by converting equation 7, the transfer function of the unsprung mass vertical acceleration to the front wheel excitation can be obtained, which is expressed by equation 8:
Figure BDA0001211521580000076
converting the formula 8 and the formula 5 to obtain a transfer function of the vertical acceleration of the sprung mass to the excitation of the front wheel;
fourier transform is carried out on the obtained vertical acceleration of the sprung mass to the transfer function of front wheel excitation, amplitude-frequency characteristics of the vertical acceleration of the sprung mass are obtained, and the amplitude-frequency characteristics are expressed by a formula 9:
Figure BDA0001211521580000081
and 6, taking the initial solution of the parameter to be identified obtained in the step 3 as an initial value, and performing nonlinear least square fitting on the amplitude-frequency characteristic of the vertical acceleration of the sprung mass obtained in the step 5 to obtain a final solution of the parameter to be identified, wherein when the nonlinear least square fitting is performed, the fitting effect is reflected through a formula 10:
Figure BDA0001211521580000082
in the above
Figure BDA0001211521580000083
When the value of (a) is minimum, the least square fitting effect is the best, and the given front wheel rigidity k is obtained at the moment1FFront suspension stiffness k2FAnd front overhang damping coefficient c2FThe value of (d) is the final solution of the parameters of the fitting.
Step 7, utilizing the rigidity k of the front wheel obtained in the step 61FFront suspension stiffness k2FAnd front overhang damping coefficient c2FBy equation 11:
Figure BDA0001211521580000084
obtaining front axle natural frequency v2F；
By equation 12:
Figure BDA0001211521580000085
obtaining the damping ratio D of the front vehicle2F。
In step 6 above, the transfer function of the vertical acceleration of the sprung mass to the front wheel excitation obtained by the equations 8 and 5 is based on the principle that the transfer function of the vertical acceleration of the sprung mass to the front wheel excitation is obtained by converting the equation 5 to obtain the ratio of the vertical acceleration of the sprung mass to the vertical acceleration of the unsprung mass, which is the same as the result in the equation 5, and multiplying the equation 8 by the ratio of the vertical acceleration of the sprung mass to the vertical acceleration of the unsprung mass to obtain the transfer function of the vertical acceleration of the sprung mass to the front wheel excitation.
Through the contents recorded in the steps 1 to 7, the ride comfort evaluation parameters of the front vehicle can be obtained only through the sprung mass acceleration information and the unsprung mass acceleration information of the four-column test, and the ride comfort of the front vehicle is judged by analyzing the ride comfort evaluation parameters of the front vehicle.
Meanwhile, in the second embodiment of the present invention, the parameter to be identified of the rear vehicle vibration model may also be obtained based on the same principle as in the above steps 1 to 6, so as to obtain the ride comfort evaluation parameter of the rear vehicle, which is not described herein again.
When the parameters to be identified of the vibration model of the whole vehicle need to be obtained, the vibration model of the whole vehicle, which is equivalent to a quarter of the vehicle, needs to be calculated.
Referring to fig. 3, a third embodiment of the present invention provides a method for identifying parameters of a vertical dynamic model of a vehicle, including:
and 301, obtaining the vertical acceleration information through an acceleration sensor.
Step 302, obtaining the vertical speed information through a speed sensor.
And 303, acquiring the vertical displacement information through a displacement sensor.
And 304, obtaining an initial solution of the parameter to be identified of the half-car vibration model by a linear estimation method by using the vertical acceleration information, the vertical velocity information and the vertical displacement information obtained in the steps 301, 302 and 303 and combining a decoupled half-car vibration model.
And 305, transforming the vertical acceleration information, the vertical speed information and the vertical displacement information to a frequency domain, combining the initial solution of the parameter to be identified, performing nonlinear least square fitting, and identifying to obtain a final solution of the parameter to be identified of the semi-vehicle vibration model.
And step 306, obtaining a ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
The third embodiment of the present invention is different from the second embodiment in that the third embodiment of the present invention has a different method for acquiring the test result data of the four-pillar test, and in the third embodiment of the present invention, the vertical acceleration information, the vertical velocity information, and the vertical displacement information are acquired by the sensors, so that the actual four-pillar test data can be acquired by the acquisition method, and the accuracy of the acquired parameters to be identified and the vehicle ride comfort evaluation parameters is higher.
Referring to fig. 4, according to another aspect of the present invention, an embodiment of the present invention further provides a vehicle vertical dynamics model parameter identification apparatus, where the apparatus includes:
the acquisition module is used for acquiring test result data after the vehicle is subjected to a four-column test, and the test result data comprises: vertical acceleration information, vertical velocity information, and vertical displacement information.
And the first obtaining module is used for obtaining an initial solution of the parameter to be identified of the semi-vehicle vibration model by utilizing the vertical acceleration information, the vertical speed information and the vertical displacement information and combining a decoupled semi-vehicle vibration model through a linear estimation method.
And the identification module is used for converting the vertical acceleration information, the vertical speed information and the vertical displacement information into a frequency domain, combining the initial solution of the parameter to be identified, performing nonlinear least square fitting, and identifying to obtain the final solution of the parameter to be identified of the semi-vehicle vibration model.
According to the vehicle vertical dynamics model parameter identification device provided by the fourth embodiment of the invention, the parameters to be identified of the half vehicle vibration model of the test vehicle are obtained by using the test result data of the four-column test, the whole operation process is very simple and convenient, and the finally obtained precision of the parameters to be identified of the test and measurement half vehicle vibration model is higher.
Referring to fig. 5, preferably, the obtaining module includes:
the first obtaining unit is used for obtaining the vertical acceleration information through an acceleration sensor.
And the second obtaining unit is used for obtaining the vertical speed information according to the vertical acceleration information and the first preset corresponding relation between the vertical acceleration and the vertical speed.
And the third obtaining unit is used for obtaining the vertical displacement information according to the vertical acceleration information and a second preset corresponding relation between the vertical acceleration and the vertical displacement.
Referring to fig. 5, preferably, the apparatus further comprises:
and the second obtaining module is used for obtaining the ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
In the fifth embodiment of the invention, the acquisition mode of the test result data of the four-column test is limited, and by the device in the embodiment, the final solution of the parameter to be identified can be obtained only by acquiring one item of information of the vertical acceleration of the four-column test, so that the device is the simplest.
Referring to fig. 6, preferably, the obtaining module includes:
the first obtaining unit is used for obtaining the vertical acceleration information through an acceleration sensor.
And the second obtaining unit is used for obtaining the vertical speed information through the speed sensor.
And the third obtaining unit is used for obtaining the vertical displacement information through the displacement sensor.
The difference between the sixth embodiment of the present invention and the apparatus described in the fifth embodiment of the present invention is that, in the sixth embodiment of the present invention, the four-pillar test result is obtained by directly measuring the four-pillar test result by the first obtaining unit, the second obtaining unit, and the third obtaining unit, and the measurement mode makes the obtained test result data of the four-pillar test more accurate, and further makes the obtained smoothness evaluation parameter of the vehicle more accurate.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A method for identifying parameters of a vehicle vertical dynamics model is characterized by comprising the following steps:
obtaining test result data after the vehicle is subjected to a four-column test, wherein the test result data comprises: the vertical acceleration information comprises vertical acceleration information of the sprung mass and vertical acceleration information of the unsprung mass, the vertical speed information comprises vertical speed information of the sprung mass and vertical speed information of the unsprung mass, and the vertical displacement information comprises vertical displacement information of the sprung mass and vertical displacement information of the unsprung mass;
obtaining an initial solution of the parameter to be identified of the semi-vehicle vibration model by a linear estimation method by utilizing the vertical acceleration information, the vertical speed information and the vertical displacement information and combining a decoupled semi-vehicle vibration model;
transforming the vertical acceleration information, the vertical velocity information and the vertical displacement information to a frequency domain, and performing nonlinear least square fitting by combining with an initial solution of the parameter to be identified, wherein the method comprises the following steps: taking the initial solution of the parameter to be identified as an initial value, and performing nonlinear least square fitting on the amplitude-frequency characteristic of the sprung mass vertical acceleration; identifying to obtain a final solution of the parameters to be identified of the half-car vibration model; wherein a transfer function of unsprung mass vertical acceleration to front wheel excitation is obtained
Figure FDA0002358749330000011
A transfer function of the vertical acceleration of the sprung mass to the excitation of the front wheel is obtained,
Figure FDA0002358749330000012
is the vertical acceleration information of the unsprung mass,
Figure FDA0002358749330000013
is the vertical acceleration information of the sprung mass, m1FMass of front wheel, m, of vibration model of front vehicle2FSprung mass of the front vehicle, qFFor front wheel excitation, k1FFor front wheel stiffness, k2FFor front suspension stiffness, c2FThe front suspension damping coefficient;
fourier transform is carried out on the vertical acceleration of the sprung mass to the transfer function of the front wheel excitation, and amplitude-frequency characteristics of the vertical acceleration of the sprung mass are obtained
Figure FDA0002358749330000014
{aFs,tIs the vertical acceleration of the body at the center of the front axle, k is the coefficient;
taking the initial solution of the parameter to be identified as an initial value, carrying out nonlinear least square fitting on the amplitude-frequency characteristic of the sprung mass vertical acceleration, and when carrying out nonlinear least square fitting, carrying out nonlinear least square fitting by a formula
Figure FDA0002358749330000021
The effect of the fitting is reflected in the effect of the fitting,
Figure FDA0002358749330000022
the least squares fit works best when the value of (a) is the smallest, given the front wheel stiffness k1FFront suspension stiffness k2FAnd front overhang damping coefficient c2FThe value of (c) is the final solution of the parameters of the fit.
2. The method of claim 1, wherein the step of obtaining test result data after the vehicle has undergone a four-pillar test comprises:
obtaining the vertical acceleration information through an acceleration sensor;
obtaining the vertical speed information according to the vertical acceleration information and a first preset corresponding relation between the vertical acceleration and the vertical speed;
and obtaining the vertical displacement information according to the vertical acceleration information and a second preset corresponding relation between the vertical acceleration and the vertical displacement.
3. The method of claim 1, wherein the step of obtaining test result data after the vehicle has undergone a four-pillar test comprises:
obtaining the vertical acceleration information through an acceleration sensor;
obtaining the vertical speed information through a speed sensor;
and obtaining the vertical displacement information through a displacement sensor.
4. The method of claim 1, further comprising:
and obtaining the ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
5. The method of claim 4, wherein the ride-comfort evaluation parameters comprise: natural frequency and damping ratio.
6. The method of claim 1, wherein the parameters to be identified include suspension stiffness, wheel stiffness, and suspension damping coefficient of the vehicle.
7. An apparatus for vehicle vertical dynamics model parameter identification, the apparatus comprising:
the acquisition module is used for acquiring test result data after the vehicle is subjected to a four-column test, and the test result data comprises: the vertical acceleration information comprises vertical acceleration information of the sprung mass and vertical acceleration information of the unsprung mass, the vertical speed information comprises vertical speed information of the sprung mass and vertical speed information of the unsprung mass, and the vertical displacement information comprises vertical displacement information of the sprung mass and vertical displacement information of the unsprung mass;
the first obtaining module is used for obtaining an initial solution of the parameter to be identified of the semi-vehicle vibration model through a linear estimation method by utilizing the vertical acceleration information, the vertical speed information and the vertical displacement information and combining a decoupled semi-vehicle vibration model;
the identification module is used for converting the vertical acceleration information, the vertical speed information and the vertical displacement information into a frequency domain, and performing nonlinear least square fitting by combining with an initial solution of the parameter to be identified, and comprises: taking the initial solution of the parameter to be identified as an initial value, and performing nonlinear least square fitting on the amplitude-frequency characteristic of the sprung mass vertical acceleration; identifying to obtain a final solution of the parameters to be identified of the semi-vehicle vibration model, and obtaining a transfer function of the unsprung mass vertical acceleration to the front wheel excitation
Figure FDA0002358749330000031
A transfer function of the vertical acceleration of the sprung mass to the excitation of the front wheel is obtained, wherein,
Figure FDA0002358749330000032
is the vertical acceleration information of the unsprung mass,
Figure FDA0002358749330000033
is the vertical acceleration information of the sprung mass, m1FMass of front wheel, m, of vibration model of front vehicle2FSprung mass of the front vehicle, qFFor front wheel excitation, k1FFor front wheel stiffness, k2FIs frontSuspension stiffness, c2FThe front suspension damping coefficient;
fourier transform is carried out on the vertical acceleration of the sprung mass to the transfer function of the front wheel excitation, and amplitude-frequency characteristics of the vertical acceleration of the sprung mass are obtained
Figure FDA0002358749330000034
{aFs,tIs the vertical acceleration of the body at the center of the front axle, k is the coefficient;
taking the initial solution of the parameter to be identified as an initial value, carrying out nonlinear least square fitting on the amplitude-frequency characteristic of the sprung mass vertical acceleration, and when carrying out nonlinear least square fitting, carrying out nonlinear least square fitting by a formula
Figure FDA0002358749330000035
The effect of the fitting is reflected in the effect of the fitting,
Figure FDA0002358749330000036
the least squares fit works best when the value of (a) is the smallest, given the front wheel stiffness k1FFront suspension stiffness k2FAnd front overhang damping coefficient c2FThe value of (c) is the final solution of the parameters of the fit.
8. The apparatus of claim 7, wherein the obtaining module comprises:
the first obtaining unit is used for obtaining the vertical acceleration information through an acceleration sensor;
the second obtaining unit is used for obtaining the vertical speed information according to the vertical acceleration information and a first preset corresponding relation between the vertical acceleration and the vertical speed;
and the third obtaining unit is used for obtaining the vertical displacement information according to the vertical acceleration information and a second preset corresponding relation between the vertical acceleration and the vertical displacement.
9. The apparatus of claim 7, wherein the obtaining module comprises:
the first obtaining unit is used for obtaining the vertical acceleration information through an acceleration sensor;
the second obtaining unit is used for obtaining the vertical speed information through a speed sensor;
and the third obtaining unit is used for obtaining the vertical displacement information through the displacement sensor.
10. The apparatus of claim 7, further comprising:
and the second obtaining module is used for obtaining the ride comfort evaluation parameter of the vehicle according to the final solution of the parameter to be identified obtained by identification and a third preset corresponding relation between the parameter to be identified and the ride comfort evaluation parameter of the vehicle.
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