CN111879524B - Tank truck simulation test bed and test method thereof - Google Patents
Tank truck simulation test bed and test method thereof Download PDFInfo
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- CN111879524B CN111879524B CN202010551235.5A CN202010551235A CN111879524B CN 111879524 B CN111879524 B CN 111879524B CN 202010551235 A CN202010551235 A CN 202010551235A CN 111879524 B CN111879524 B CN 111879524B
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- G01M17/00—Testing of vehicles
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Abstract
The invention discloses a tank truck simulation test bed and a test method thereof, and belongs to the technical field of simulation. The tank truck dynamic response simulation test bed simulates collected vehicle actions by using a tank truck dynamic model, outputs simulated parameters to a data output display module, calculates shaking force generated under the vehicle actions combined by the preset liquid level height through a liquid shaking equivalent model module, controls a static load simulation device and a liquid shaking simulation device to correspondingly load a tank body, and feeds back the parameters of the collected tank body to the tank truck dynamic model module to perform tank truck dynamic response simulation operation, thereby forming a closed-loop coupling system. The test bed can simulate the dynamic characteristics of liquid in different motion states of the tank truck and the influence of liquid shaking on the running of the vehicle, and provides theoretical basis and technical support for the stability control of the tank truck.
Description
Technical Field
The invention belongs to the technical field of simulation, and particularly relates to a tank truck simulation test bed and a test method thereof.
Background
With the continuous increase of the transportation volume of liquid chemical products transported by roads in China, the yield of the liquid tank truck is rapidly increased, and the transportation safety of the liquid tank truck also needs to be continuously developed and improved.
The tank truck is used as a main tool for transporting liquid, compared with a common vehicle, the tank truck has a high gravity center position, a wheel track is too narrow relative to the height of a vehicle body, and is influenced by mutual coupling of liquid shaking in the tank and vehicle movement, so that transverse instability such as folding and shimmy and accidents such as side turning are easily caused in the process of obstacle avoidance movement, and the stability problem of the whole vehicle is more complex than that of the common vehicle. Therefore, the research on the coupling movement of the liquid and the vehicle has important practical significance on the development of the stability control system of the tank truck.
In view of the fact that a tank truck actual vehicle test has high danger, at present, impact of liquid on a tank body and vehicle-liquid coupling research are mostly carried out by adopting a mathematical modeling simulation analysis method, so that the characteristics of liquid shaking and influence on a vehicle can be reflected to a certain extent, but complex vehicle-liquid coupling motion caused by comprehensive factors such as actual running of a tank truck, manual operation of a driver and the like cannot be shown. Therefore, a test bed which can simulate liquid shaking in real time and reflect the vehicle-liquid coupling characteristics is necessary to be researched, and a platform is provided for developing a stable control system of the tank truck.
Disclosure of Invention
The invention aims to: in order to overcome the defects of the prior art, the invention provides the tank truck simulation test bed which can simulate the dynamic characteristics of liquid in different motion states of a tank truck and the influence of liquid shaking on the running of a vehicle, and provides theoretical basis and technical support for the stability control of the tank truck.
The invention also aims to provide a test method of the tank truck simulation test bed.
The technical scheme is as follows: the invention relates to a tank truck simulation test bed which comprises a driving simulation device, a liquid shaking simulation part and a tank truck simulation platform, wherein the driving simulation device comprises a driving simulation device body and a liquid shaking simulation part;
the liquid shaking simulation part comprises a tank body, a tire assembly for supporting the tank body, a static load simulation device, a liquid shaking simulation device, a force sensor, an inclination angle sensor and an acceleration sensor; the static load simulation device applies downward load to the tank body to simulate the weight of liquid, the liquid shaking simulation device applies load to the side wall of the tank body to simulate the shaking force of the liquid, the force sensor detects the vertical load of a tire, the inclination angle sensor detects the lateral inclination angle of the tank body, and the acceleration sensor detects the lateral acceleration of the tank body;
the tank truck simulation platform comprises a data acquisition card, a tank truck dynamics simulation model module, a liquid shaking equivalent model module and a data output display module; the data acquisition card acquires real-time parameters of the driving simulation device, the force sensor, the inclination angle sensor and the acceleration sensor and inputs the parameters into the tank truck dynamic simulation model module; the tank truck dynamics simulation model module simulates the real-time state of a vehicle and outputs the vehicle to the data output display module and the liquid shaking equivalent model module; the liquid shaking equivalent model module calculates shaking force of the liquid and controls the liquid shaking simulation device to apply the shaking force to the tank body.
Specifically, the driving simulation device comprises a steering wheel angle sensor, an accelerator pedal displacement sensor and a brake pedal displacement sensor. The tank truck dynamics model module comprises a liquid shaking and liquid mass center transfer calculation module, and simulation is carried out by collecting data of the sensors in the driving simulation device.
The static load simulation device comprises a static load oil cylinder; the static load oil cylinder is provided with a fixed end and a movable end, and the movable end is hinged to the inner wall surface of the tank body. The tank body is loaded through the action of the movable end.
The static load simulation device further comprises a first support extending into the tank body from outside to inside, the fixed end of the static load oil cylinder is fixed on the first support, and the load application position of the static load oil cylinder to the tank body is located in the middle of the inner wall surface of the bottom of the tank body. The first support and the tank body are in a separated state and are not in contact with each other, the static load oil cylinder is fixed through the first support, the movable end of the first support is downwards fixed on the vertical middle line of the cross section of the middle position on the length of the tank body, the position of the first support applying load to the tank body is located in the middle of the inner wall surface of the bottom of the tank body, and the accuracy of simulation is guaranteed.
The liquid shaking simulation device comprises a second support and a double-rod oil cylinder, wherein the second support extends into the tank body from the outside, a cylinder body of the double-rod oil cylinder is fixed on the second support, two piston rods of the double-rod oil cylinder are hinged to the inner wall surfaces of the two sides of the tank body respectively, and a hinged joint is located on the cross section of the middle position of the length of the tank body. Similarly, the second support and the tank body are in a separated state and are not in contact with each other, the double-rod oil cylinder is fixed through the second support, so that two piston rods of the double-rod oil cylinder can respectively apply shaking force to the inner wall surfaces of the two sides of the tank body, and the accuracy of simulation is guaranteed.
Corresponding to the tank truck simulation test bed, the technical scheme adopted by the test method provided by the invention comprises the following steps:
collecting parameters of a steering wheel corner sensor, an accelerator pedal displacement sensor and a brake pedal displacement sensor in a driving simulation device in real time through a data acquisition card, inputting the parameters into a tank truck dynamics simulation model module, and simulating the real-time state of a vehicle;
the tank truck dynamics simulation model module outputs the motion parameters of the tank body in the real-time state of the vehicle to the liquid shaking equivalent model module;
the liquid shaking equivalent model module is combined with a preset liquid level height to calculate the shaking force of the liquid and control the tank body to apply the shaking force to the liquid shaking simulation device;
calculating the weight of the liquid according to the preset liquid level height, and applying a downward load to the tank body through a static load simulation device to simulate the weight;
parameters of the force sensor, the inclination angle sensor and the acceleration sensor are acquired in real time through a data acquisition card, fed back to a tank truck dynamics simulation model module, and subjected to tank truck dynamics response simulation operation by combining steering wheel turning angle signals, accelerator pedal displacement signals and brake pedal displacement signals to form closed-loop coupling.
Has the advantages that: compared with the prior art, the tank truck simulation test bed simulates the collected vehicle actions by using a tank truck dynamic model, outputs simulated parameters to a data output display module, calculates the shaking force generated under the vehicle actions combined by the preset liquid level height through a liquid shaking equivalent model module, controls a static load simulation device and a liquid shaking simulation device to correspondingly load a tank body, and feeds the parameters of the tank body back to the tank truck dynamic model module to perform tank truck dynamic response simulation operation, thereby forming a closed-loop coupling system. The test bed can simulate the dynamic characteristics of liquid in different motion states of the tank truck and the influence of liquid shaking on the running of the vehicle, and provides theoretical basis and technical support for the stability control of the tank truck.
Drawings
FIG. 1 is a schematic structural view of a tank truck simulation test stand of the present invention;
FIG. 2 is a spring-mass-damper system equivalent to liquid sloshing;
fig. 3 is a filling coordinate system for solving the weight of the liquid in the tank.
Detailed Description
As shown in fig. 1, the tank truck simulation test bed disclosed in this embodiment mainly includes a driving simulation device, a liquid shaking simulation portion, and a tank truck simulation platform.
Specifically, the driving simulation device mainly simulates the actions of a driver driving a vehicle and feeds back the actions through a steering wheel angle sensor, an accelerator pedal displacement sensor and a brake pedal displacement sensor.
The tank truck simulation platform comprises a data acquisition card, a tank truck dynamics simulation model module, a liquid shaking equivalent model module and a data output display module. The tank truck dynamics simulation model module comprises a liquid shaking and liquid mass center transfer calculation module, can simulate the real-time state of a tank truck according to data information acquired by a data acquisition card, and inputs simulated real-time parameters to a liquid shaking equivalent model module besides outputting and displaying the simulated real-time parameters to a data output display module. The liquid shaking equivalent model module calculates shaking force according to the liquid level height preset in the test and the motion parameters of the simulated tank body, and then controls the liquid shaking simulation part.
The liquid shaking simulation part comprises a tank body manufactured in equal proportion according to actual structure, a wheel assembly for supporting the tank body, a static load simulation device, a liquid shaking simulation device, a force sensor 8, an inclination angle sensor 2 and an acceleration sensor 10.
The static load simulation device comprises a first support extending into the tank body from the outside, a static load oil cylinder 9 vertically and downwards fixed on the first support, a hydraulic pump 7 matched with the static load oil cylinder 9, a reversing valve 6 and a pressure gauge 5. The first support and the tank body are kept relatively independent, the first support is used for fixing the static load oil cylinder 9 and is specifically fixed in the middle of the length direction of the tank body and on the vertical middle line of the cross section of the tank body, and the piston rod of the first support is hinged downwards to the middle of the inner wall surface of the bottom of the tank body, so that the state of liquid contained in the tank body of the liquid tank truck can be simulated more accurately when a load is applied downwards. The static load oil cylinder 9 adopts a single-piston-rod hydraulic cylinder, a reversing valve 6 is controlled by a hydraulic pump 7 to apply hydraulic pressure to a rodless cavity of the static load oil cylinder 9, the weight of liquid in a tank body is simulated, and a pressure gauge 5 is used for monitoring the pressure.
The liquid shaking simulation device comprises a second support extending into the tank body from the outside, a double-rod oil cylinder 3 fixed on the second support, a servo valve 4 and a servo valve controller 1. Similarly, the second bracket also keeps the tank body relatively independent, and has the function of fixing the cylinder body of the double-rod oil cylinder 3, two piston rods of the double-rod oil cylinder 3 are respectively hinged on the inner wall surfaces of two sides of the tank body, and the hinged point is positioned on the cross section of the middle position of the length of the tank body. The double-rod oil cylinder 3 and the static load oil cylinder 9 share one hydraulic pump 7, two oil ports of the hydraulic pump 7 are respectively connected with a working oil port A, B of the servo valve 4, parameters output by a dynamic model module of the tank truck are input to the liquid shaking equivalent model module, the liquid shaking equivalent model module calculates shaking force of the liquid, the servo valve controller 1 controls the pressure of a working oil port A, B of the servo valve 4, and the simulated shaking force of the liquid acts on the tank body through the double-piston rod.
The force sensor 8 is arranged in the middle of the contact surface of the tire and the ground and used for detecting the vertical load parameter of the tire. The inclination angle sensor 2 is arranged on the top of the middle tank body in the length direction of the tank body and used for detecting the side inclination angle of the tank body. An acceleration sensor 10 is installed on the side surface of the middle can body in the length direction of the can body for detecting the lateral acceleration of the can body. The three parts feed back the side inclination angle and the lateral acceleration of the tank body and the vertical load parameters of the tires to the tank truck simulation platform, and perform dynamic response simulation operation of the tank truck by combining steering wheel rotation angle, accelerator pedal displacement and brake pedal displacement signals, so as to realize closed-loop coupling of the system.
In the test method, in order to ensure the real-time performance of simulation, an equivalent method is adopted to simulate the shaking of the liquid. Specifically, the liquid sloshing equivalent model employs a spring-mass-damping system as shown in fig. 2. Wherein, a preset liquid level is taken as the xoy plane of a coordinate system in the figure, m i 、k i 、c i 、z i Respectively the ith order liquid shaking equivalent mass, the spring stiffness, the damping coefficient and the distance from the equivalent mass to the xoy plane, m 0 For equivalently fixing the mass of the mass block, I 0 For equivalent moment of inertia of the fixed mass to its own centre of mass, z 0 To fix the distance of the mass to the xoy plane, z cg Is the distance from the center of mass of the liquid to the xoy plane;
each parameter in the equivalent model is determined by adopting the formula (1)
In the formula, omega is the characteristic frequency of free shaking of the liquid, m is the mass of the liquid in the tank body, and is determined by the formula (3);
a i ＝ρ∫ S rH i dS，b i ＝ρ∫ ∑+S rφ i dS，μ i ＝ρ∫ S H i φ i dS，
wherein rho is the liquid density, r is the radius of the tank body, S is the steady-state liquid level, Sigma is the wet surface of the tank body, H is the liquid shaking wave height mode function, and phi is the liquid shaking mode function;
damping coefficient c i Determined by the formula (2)
Calculating the weight of liquid in the tank body with different liquid level heights, and establishing a tank body liquid filling coordinate system shown in fig. 3, wherein a point O is the center point of the top of the vehicle, an axis x points to the front of the vehicle along the length direction of the tank body, an axis y passes through the point O and points to one side (the left side in the embodiment) of the tank body, and an axis z passes through the point O and points to the upper part of the vehicle and passes through the mass center of the static liquid; wherein h is the height of the liquid level, h 0 The distance from the liquid level to the xOy plane is defined, and theta is an included angle between a connecting line of the intersection point of the liquid level tank body and the origin of coordinates and the z axis; defining the liquid filling ratio k as h/r, then theta is calculated by the formula (3):
inputting the radius r of the tank body, the length L of the tank body and the liquid level h, and calculating the weight of liquid in the tank body with different liquid level heights through a formula (4):
during the test, after the weight of the liquid in the tank body is obtained according to the preset value of the liquid level h, a downward load is applied to the tank body through the static load oil cylinder to simulate the weight of the liquid in the tank body; the dead load cylinder pressure is determined by equation (5):
P＝m/A (5)
in the formula, A is the area of a piston of a rodless cavity of the static load oil cylinder.
Claims (6)
1. A tank truck simulation test bed is characterized by comprising a driving simulation device, a liquid shaking simulation part and a tank truck simulation platform;
the liquid shaking simulation part comprises a tank body, a tire assembly for supporting the tank body, a static load simulation device, a liquid shaking simulation device, a force sensor, an inclination angle sensor and an acceleration sensor; the static load simulation device applies a downward load to the tank body to simulate the weight of liquid, the liquid shaking simulation device applies a load to the side wall of the tank body to simulate the shaking force of the liquid, the force sensor detects the vertical load of a tire, the inclination angle sensor detects the lateral inclination angle of the tank body, and the acceleration sensor detects the lateral acceleration of the tank body;
the tank truck simulation platform comprises a data acquisition card, a tank truck dynamics simulation model module, a liquid shaking equivalent model module and a data output display module; the data acquisition card acquires real-time parameters of the driving simulation device, the force sensor, the inclination angle sensor and the acceleration sensor and inputs the parameters into the tank truck dynamic simulation model module; the tank truck dynamics simulation model module simulates the real-time state of a vehicle and outputs the vehicle to the data output display module and the liquid shaking equivalent model module; the liquid shaking equivalent model module calculates the shaking force of the liquid and controls the liquid shaking simulation device to apply the shaking force to the tank body;
the static load simulation device comprises a static load oil cylinder; the static load oil cylinder is provided with a fixed end and a movable end, and the movable end is hinged to the inner wall surface of the tank body; the static load simulation device also comprises a first support extending into the tank body from outside to inside, the fixed end of the static load oil cylinder is fixed on the first support, and the load application position of the static load oil cylinder to the tank body is positioned in the middle of the inner wall surface at the bottom of the tank body;
the liquid shaking simulation device comprises a second support and a double-rod oil cylinder, the second support extends into the tank body from the outside, a cylinder body of the double-rod oil cylinder is fixed on the second support, two piston rods of the double-rod oil cylinder are respectively hinged to the inner wall surfaces of two sides of the tank body, and a hinge point is positioned on the cross section of the middle position of the length of the tank body; the liquid shaking simulation device also comprises a servo valve connected with the double-rod oil cylinder and a servo valve controller; the liquid shaking equivalent model module controls the double-rod oil cylinder to apply shaking force to the tank body through the servo valve controller.
2. The tank truck simulation test stand of claim 1, wherein the driving simulation device comprises a steering wheel angle sensor, an accelerator pedal displacement sensor, and a brake pedal displacement sensor.
3. A method of testing a tank truck simulation test stand according to any one of claims 1 to 2, comprising:
collecting parameters of a steering wheel corner sensor, an accelerator pedal displacement sensor and a brake pedal displacement sensor in a driving simulation device in real time through a data acquisition card, inputting the parameters into a tank truck dynamics simulation model module, and simulating the real-time state of a vehicle;
the tank truck dynamics simulation model module outputs the motion parameters of the tank body in the real-time state of the vehicle to the data output display module and the liquid shaking equivalent model module;
the liquid shaking equivalent model module is combined with a preset liquid level height to calculate the shaking force of the liquid and control the tank body to apply the shaking force to the liquid shaking simulation device;
calculating the weight of the liquid according to the preset liquid level height, and applying a downward load to the tank body through a static load simulation device to simulate the weight;
parameters of the force sensor, the inclination angle sensor and the acceleration sensor are collected in real time through a data acquisition card, fed back to a tank truck dynamics simulation model module, and tank truck dynamics response simulation operation is carried out by combining steering wheel rotation angle, accelerator pedal displacement and brake pedal displacement signals to form closed-loop coupling.
4. The test method according to claim 3, wherein the liquid sloshing equivalent model in the liquid sloshing equivalent model module adopts a spring-mass-damping system; wherein m is i 、k i 、c i 、z i Respectively the ith-order liquid shaking equivalent mass, the spring stiffness, the damping coefficient, the distance from the equivalent mass to the preset liquid level, m 0 For equivalently fixing the mass of the mass block, I 0 For equivalent moment of inertia of fixed mass to its own centre of mass, z 0 For fixing the distance of the mass to a predetermined liquid level, z cg The distance from the center of mass of the liquid to a preset liquid level;
each parameter in the equivalent model is determined by adopting the formula (1)
In the formula of omega i The characteristic frequency of free shaking of the ith-order liquid, m is the mass of the liquid in the tank body,
a i ＝ρ∫ S rH i dS，b i ＝ρ∫ Σ+S rφ i dS，μ i ＝ρ∫ S H i φ i dS，
where ρ is the liquid density, r is the tank radius, S is the steady state liquid level, Σ is the wet surface of the tank, H i Is the ith order liquid sloshing wave height modal function, phi i Is the ith order liquid sloshing mode function;
damping coefficient c i Determined by the formula (2)
5. The test method as claimed in claim 4, wherein the weight of the liquid in the tank at different liquid levels is calculated by first establishing a liquid filling coordinate system of the tank, wherein the point O is the center point of the top of the vehicle, the x-axis points to the front of the vehicle along the length direction of the tank, the y-axis points to one side of the tank after passing the point O, and the z-axis points to the upper part of the vehicle after passing the point O and passes the center of mass of the static liquid; defining h as the height of the liquid surface, h 0 The distance from the liquid level to the xOy plane is shown, and theta is an included angle between a connecting line of the intersection point of the liquid level tank body and the origin of coordinates and the z axis; defining the liquid filling ratio k as h/r, then theta is calculated by the formula (3):
inputting the radius r of the tank body, the length L of the tank body and the liquid level h, and calculating the weight of liquid in the tank body with different liquid level heights through a formula (4):
6. the test method according to claim 5, wherein during the test, after the weight of the liquid in the tank body is obtained according to the preset value of the liquid level h, the weight of the liquid in the tank body is simulated by applying a downward load to the tank body through the static load oil cylinder; the static load oil cylinder pressure is determined by the formula (5)
P＝m/A (5)
In the formula, A is the area of a piston of a rodless cavity of the static load oil cylinder.
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