CN114235279A - Method for measuring three-dimensional mass center of super-long large vehicle - Google Patents
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Abstract
The invention provides a method for measuring the three-dimensional mass center of an ultralong large vehicle, which comprises the following steps: measuring a planar two-dimensional center of mass of the vehicle in a horizontality state; selecting a straight long slope and determining the angle of the slope relative to the horizontal; and measuring a center of mass of the vehicle in a vertical direction of the vehicle in a stationary state on the slope. The method provides a simple technical scheme for measuring the three-dimensional mass center of various general vehicles, is not limited by a factory building, has strong reference and applicability, is simple and convenient in calculation concept, and particularly provides a technical approach for measuring the ultra-long large vehicles with high precision, low cost and high efficiency.
Description
Technical Field
The invention belongs to the technical field of mechanical measurement, and particularly relates to a simple measurement method for a three-dimensional mass center of an ultralong large vehicle on the spot at any time.
Background
In the technical field of mechanical mass and mass center measurement, a suspension method and a turnover platform method are generally adopted for measuring the three-dimensional mass center of an ultra-long large vehicle, and other measurement methods are adopted, but the basic principle is generally similar to the turnover platform method, and the prior art is shown in fig. 1 a-c. The suspension method is characterized in that one end of the super-long large vehicle needs to be lifted (as shown in fig. 1 a) during operation, but the problem is that the chassis of the super-long large vehicle is long, the vehicle-mounted equipment is special and heavy in a loaded state, and a crossbeam of the chassis deforms when one end of the vehicle is suspended for a certain angle, so that the three-dimensional centroid measurement accuracy, the service life of the loaded vehicle and the load safety are seriously affected.
The 'overturning platform method' mainly applies a hydraulic overturning platform to overturn a vehicle for a certain angle (as shown in fig. 1b and fig. 1 c), a special field and a complex hydraulic supporting mechanism are needed, and an array sensor is generally arranged on a test platform to serve as a main measuring unit of the mass center. Due to the large construction of the test apparatus, and the weight of large hydraulic devices, the method and apparatus are generally only applicable to field (field and centralized destination) measurements.
Regarding specific measurement data, aiming at ultra-long large vehicles, the overturning platform method needs to arrange a plurality of array sensors on a test platform to measure the tire grounding pressure of each axle and convert the tire grounding pressure into the mass of each tire, or arrange a plurality of array sensors to measure the mass of the whole vehicle, then combine a specific mathematical model to perform three-dimensional centroid calculation, and need to be equipped with a special test system and operated by a specially-assigned person. At present, an array sensor used for measuring a mass center in a turnover platform method is generally a flat plate type, and the type of the array sensor has a hard flat plate type and a soft pressure film type and outputs a grounding pressure value.
(1) The device for measuring the three-dimensional mass center by adopting the hard flat plate type sensor 'overturning platform method' is widely applied, and generally has advantages for vehicle measurement with smaller mass and length and higher requirement on the mass center precision and the like. However, the test platform is turned over by adopting a hydraulic transmission device, the structural design is complex, and the test platform needs to be built and installed in a fixed foundation plant. For the measurement of the three-dimensional mass center of a special vehicle with an overlong size (more than 15m) and/or a large weight (more than 50t), the construction cost and the maintenance cost of the test platform are too high, and the field measurement cannot be realized due to the difficulty of moving. The biggest problem is that the quantity value tracing is too difficult, at least 50t weights are transported to the site to carry out the value indicating calibration according to the standard requirement, and at present, no measuring mechanism is built with a plurality of weight sets to combine the weight not less than 50t to realize the quantity value tracing. Even if the oversized three-dimensional centroid test platform is built at high cost, each hard flat sensor can only be disassembled for independent calibration during quantity value tracing, but the disassembling process is complex, and recovery measures such as reinstallation, debugging and compensation are required after calibration. Meanwhile, the sensors are singly calibrated and then combined to be used as a test platform, so that the quantity value tracing is not direct and not strict strictly, and the accuracy is difficult to verify, so that the test precision of the sensors needs to be researched.
(2) The device for measuring the three-dimensional mass center by adopting the soft pressure film type sensor 'overturning platform method' has less application, and the main reasons are that the soft pressure film is relatively late in domestic research and start, the technology is complex, the maturity level is relatively low, and the number of manufacturers is relatively small, so that the soft pressure film in domestic market is more imported, the price is relatively expensive, the highest precision can only reach 10%, and the precision is relatively poor in quality measurement. Meanwhile, soft pressure film sensors do not suggest long-term pressure bearing weights, otherwise the measurement accuracy would be affected and the sensor may be damaged. Secondly, the soft pressure film type sensor measures the three-dimensional mass center by methods of image recognition, pressure distribution and the like, the mathematical model algorithm is complex, and a large error accumulation effect is inevitably generated by introducing more parameters. Moreover, the soft pressure membrane sensor calibration is not available in the existing standard, a corresponding calibration device is not available in China, the problem of magnitude tracing exists, and the measurement precision needs to be actually verified.
Disclosure of Invention
In order to solve the inherent problems existing in the mass center measurement by the suspension method and the overturning platform method and aim at the mass center measurement problem of an ultralong large special vehicle, the invention provides a three-dimensional mass center horizontal and gradient combined measurement method which is high in applicability, simple in calculation, low in cost and high in reliability, wherein a three-dimensional mass center measurement system is built by applying a plurality of portable flat plate type force transducers (the measurement precision can be better than 1%), a data acquisition analyzer is used for acquiring the grounding mass of each tire of the ultralong large vehicle, and a specific mathematical model is built according to a moment balance principle to calculate the three-dimensional mass center of the ultralong large vehicle. A portable flat plate load cell version is shown in figure 2.
When the three-dimensional mass center of the super-long large vehicle is measured, the moment balance principle is used as the basis. The method is characterized in that the plane two-dimensional mass center of the vehicle is measured by a horizontal method, the mass center of the vehicle in the height direction is measured by a slope method, and the horizontal method and the slope method are combined for application, so that the three-dimensional mass center of the ultralong large vehicle can be rapidly and accurately measured.
Specifically, the invention provides a method for measuring the three-dimensional mass center of an ultralong large vehicle with i-axis 2i wheels, wherein the method comprises the following steps:
(1) measuring the plane two-dimensional mass center of the vehicle in a horizontal state;
(2) selecting a straight long slope and measuring the angle of the slope surface of the slope relative to the horizontal;
(3) the center of mass of the vehicle in the vertical direction at rest on the slope is measured.
Wherein, the portable flat plate type load cell is adopted to measure the grounding mass and the total mass of the vehicle of each wheel when the vehicle is horizontal and stationary on a slope. In step (1), the ground contact mass M of each wheel of the vehicle when the vehicle is horizontally stationary is passedLeft iAnd MRight iAnd the total mass M of the vehicle0To calculate and obtain the planar two-dimensional centroid X0And Y0(ii) a In step (3), the ground mass M 'of each wheel of the vehicle passes through when the vehicle is stationary on the slope'Left iAnd M'Right iAnd total mass M 'of vehicle'0To calculate and obtain the center of mass in the vertical directionZ0。
Specifically, in the step (1), firstly, the wheel base L between adjacent wheels on the same side is measuredi-1And the wheel track T is used for fixing the portable flat plate type force sensors with the number of the wheels on the horizontal ground according to corresponding distances, so that when the vehicle drives to the flat plate type force sensors to measure the bearing surfaces, each force sensor measures the bearing surface to be contacted with the corresponding tire, and then the grounding mass M of each wheel is obtained through the sensorsLeft iAnd MRight iAnd total mass M of the vehicle0(ii) a The centroid X in the direction of X, Y is calculated by the following equation (a)0、Y0：
In the step (2), a straight long slope ramp with a small angle is selected or built on the spot, the length of the slope ramp is determined according to the fact that the superlong large-sized vehicle to be tested can be parked at the same angle, and the angle beta is measured. The angle can be accurately measured at the vehicle reference plane using a quadrant or electronic goniometer. Preferably, the small angle range of grade is recommended to be no more than 10 ° in order to keep the vehicle stable during the test.
In the step (3), the axle distance L is measured according to the measured axle distancei-1And paving fixed portable flat plate type force sensors at corresponding positions of the wheel track T on the ramp, so that each force sensor measures the contact between the bearing surface and the corresponding tire when the vehicle drives to the flat plate type force sensor to measure the bearing surface, and obtaining the ramp grounding mass M 'of each wheel through the sensors'Left iAnd M'Right iAnd total vehicle ramp mass M'0Calculating the X-direction centroid X of the vehicle in the inclined state according to the following formula (b)s：
Meanwhile, the following equation (c) can be obtained according to the geometrical principle and the trigonometric function relation:
in the formula: alpha is the included angle of the projection line of the connecting line of the Z-direction mass center of the vehicle and the center of the rear wheel of the vehicle on the XOZ plane to the horizontal ground, which is the transition quantity;
r is a projection line of a connecting line of the Z-direction mass center of the vehicle and the center of the rear wheel of the vehicle on an XOZ plane, and is a transition quantity;
beta is the included angle between the long slope surface and the horizontal ground;
XSthe X-direction mass center when the included angle between the long slope surface and the horizontal ground is beta.
Thus, solving the system of equations can give the following equation (d), and the centroid position Z in the height Z direction is obtained0：
The method for measuring the three-dimensional mass center of the super-long large vehicle adopts a horizontal and gradient combined measuring method, and has the following advantages:
1. the simple technical scheme for measuring the three-dimensional mass center of various general vehicles (especially ultralong and overweight vehicles with special purposes) is provided, the method is not limited by a factory building, the referential property and the applicability are strong, the calculation concept is simple and convenient, and a technical approach is particularly provided for measuring the ultralong large vehicles with high precision, low cost and high efficiency;
2. the combined measurement method of the level and the gradient is characterized in that a force sensor is paved on the level ground or a small-angle long slope, the movement and the transportation are simple, the measurement value can be directly conveyed to a metering technical mechanism for calibration when tracing the source, and the calibration cost is lower; compared with the existing 'overturning platform method', the force sensor is fixed in the platform, and the metering mechanism needs to convey weights of dozens of tons to the field for calibration, so that time and labor are wasted, the calibration cost is high, and the quantity value tracing is difficult to realize for a large-tonnage system;
3. the small-angle long slope has heavy bearing, the manufacturing cost is far lower than that of a measuring system adopting a 'turning platform method', the angle of the slope is hardly changed in the using process, and the measuring precision of the mass center is higher; meanwhile, the horizontal and gradient combined measurement method has almost no limitation condition on the measurement of the three-dimensional mass center of the ultra-long large vehicle, and is more friendly than the application conditions of a suspension method and a turnover platform method.
From the perspective of a specific selection means, firstly, the portable flat plate type force measuring sensor adopted in the horizontal and gradient combined measuring method is generally only used for measuring mass parameters at present, the three-dimensional mass center position is a length measurement, the three-dimensional mass center position and the output mass parameters of the force sensor belong to two fields of mechanics and length, and cross subject measuring personnel are easy to ignore; the inherent cognition of a measuring person on measuring equipment determines that the small-angle long slope can not be designed and constructed almost to assist in carrying out tests, and the subjective maximum probability of the small-angle long slope is that the small angle generation is realized mainly by a mechanical structure. Secondly, compared with a turning platform method and a horizontal and gradient combined measurement method, the three-dimensional mass center measurement of the ultra-long large vehicle is realized at extremely low cost, a mathematical model is simple, and the result output can be easily calculated by common office software or manual operation; the precision of the test system depends on the precision of the portable flat plate type force measuring sensor and the gradient measurement precision (the wheel base and the wheel base can be easily measured with high precision according to the mature assembly platform of the vehicle and can be calculated according to the known value), the parameter variables are few, so that the error accumulation is small, the test system can obtain higher measurement precision, and the accuracy is easy to verify. And the horizontal and gradient combined measurement method is simple and feasible, and as long as the portable flat plate type force measuring sensors are configured a lot, the slope with small angle and long length is long enough, the surface of the slope is smooth, and the error of the included angle value between any position and the horizontal plane is stable, the axle distance, the axle number and the weight of the ultralong large vehicle are not limited when the three-dimensional mass center is measured, and the measurement value tracing is simple and direct. Finally, the 'horizontal and gradient combined measurement method' provides a complete general mathematical model, has low requirements on operator knowledge and skill, and can directly calculate the three-dimensional mass center of the vehicle with any number of axes only according to a mathematical equation.
Drawings
Fig. 1a is a schematic diagram of a suspension method for measuring the center of mass.
FIG. 1b is a schematic diagram of an apparatus for measuring the centroid by the flip-platform method.
Fig. 1c is a schematic diagram of the flip working state of the mass center measured by the flip platform method.
FIG. 2 is a diagram of the appearance of a portable flat plate load cell used in the method of the present invention.
FIG. 3 is a schematic diagram of the setup of step 1 in the measurement method of the present invention.
Fig. 4 is a schematic diagram of the measurement of Z-centroid by the hill slope measurement method of step 3 in the measurement method of the present invention.
Fig. 5 is a simplified analysis model of the "combined level and slope measurement" of the measurement of the present invention.
Detailed Description
The "level and slope combined measurement" of the present invention is further described with reference to the accompanying drawings.
Taking a typical super-long large vehicle 4-axle 8-wheel as an example, the following test method can be referred to for implementation. The 8 portable flat plate type load cells are fixedly arranged on the horizontal ground/long slope according to the wheel track and the wheel base, and are driven to be arranged right below each wheel, the mass center positions in two directions are measured X, Y in a horizontal method (as shown in figure 3), and the mass center position in a Z direction is measured in a combined measurement method of the horizontal and the gradient (as shown in figure 4). Fig. 5 is a mathematical principle diagram of mass center measurement of a very long large vehicle. The measuring and evaluating method comprises the following steps:
1. measuring the two-dimensional mass center of a plane by a horizontal method: the portable flat plate type force measuring sensors are paved and fixed at a specified position on the horizontal hard ground according to the wheel base and the wheel track of the vehicle, the vehicle is driven to the measuring bearing surface of the flat plate type force measuring sensors, and the measuring bearing surface of each force sensor is ensured to be in contact with the corresponding tire, as shown in figure 3. The 4 axles of the vehicle are in contact with 8 tires in total and the force-bearing surface measured by the force sensor, and the data acquisition analyzer respectively outputs the grounding mass M corresponding to each tireLeft 1、MLeft 2、MLeft 3、MLeft 4、MRight 1、MRight 2、MRight 3、MRight 4The total mass of the output vehicle is M0. The wheel base of the vehicle is respectively L1、L2、L3The track is T, which are known design values, according to the moment balance principleCenter of mass X in the direction of X, Y0、Y0Can be calculated according to the following formula:
2. gradient construction: a simple small-slope long slope is arbitrarily built or selected, the included angle between any position of the long slope and the horizontal plane is ensured to be a fixed small angle beta, the length is based on the fact that an ultra-long large vehicle can be parked, and the small angle beta of the long slope can be accurately measured on a vehicle reference plane by using a quadrant instrument or an electronic angle instrument.
3. Measuring height and mass center by a slope method: according to vehicle wheel base L1、L2、L3And 8 portable flat plate type force measuring sensors are paved and fixed at a designated position by the wheel track T, and the vehicle is driven to the flat plate type force measuring sensor measuring surface of the long slope, so that the force bearing surface measured by each force sensor is ensured to be in contact with the corresponding tire, as shown in figure 4. According to the moment balance principle, the mass center position Z in the height Z direction is calculated0Measuring the X-direction mass center X of the vehicle in the inclined stateSAs shown in fig. 5, the following formula holds:
meanwhile, an equation set can be obtained according to the geometrical principle by a trigonometric function relation:
in the formula: alpha is the included angle of a plane formed by the Z-direction mass center of the vehicle and the projection line on the XOZ plane of the central connecting line of the two rear wheels of the vehicle to the horizontal plane, and is the transition quantity;
r is a projection line of a connecting line of the Z-direction mass center of the vehicle and the center of the rear wheel of the vehicle on an XOZ plane, and is a transition quantity;
beta is the included angle between the long slope surface and the horizontal ground;
XSthe X-direction mass center when the included angle between the long slope surface and the horizontal ground is beta.
The centroid position Z in the Z direction of the height can be obtained by solving the equation set0：
The three-dimensional centroid measurement method provided by the invention has a simple mathematical model, and the error sources are only the precision of the portable flat plate type force transducer and the small-angle gradient measurement precision. The precision of the portable flat plate type force transducer can be calibrated to be less than 1% by a high-grade weight or a force standard machine independently, a correction value is accurately given, and the precision is improved by one order of magnitude when the correction value is used; the small-angle gradient measuring instrument can be calibrated to the angular second level by a standard angle calibration device.
However, the "roll-over platform method" applies a complex hydraulic device and an array sensor to realize three-dimensional centroid measurement, the error sources are more, the mathematical model is complex, and the sensor calibration tracing is not easy to realize, so that the output value of the sensor cannot be accurately corrected, and the measurement accuracy of the system is difficult to accurately evaluate.
It should be understood that the directional indications "left, right" etc. described herein are divided in the direction of the large vehicle itself in the examples shown in fig. 3 and 4. It should be understood that the terms left, right, front and back are used interchangeably in the embodiments of the present invention, and do not limit the spirit of the embodiments.
Likewise, it should be understood that reference herein to "horizontal, vertical" is primarily with reference to the ground/horizontal plane, i.e., "horizontal" means parallel to the ground/horizontal plane and "vertical" means perpendicular to the ground/horizontal plane.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A method for measuring the three-dimensional mass center of an ultralong large vehicle is characterized by comprising the following steps:
(1) measuring a planar two-dimensional center of mass of the vehicle in a horizontality state;
(2) selecting a straight long slope and determining the angle beta of the slope relative to the horizontal; and
(3) measuring a center of mass of the vehicle in a vertical direction of the vehicle at rest on the slope.
2. The method for measuring the three-dimensional centroid of the very long large vehicle according to claim 1, wherein, in the step (1), the contact patch mass M of each wheel of the vehicle when the vehicle is horizontally static is passedLeft iAnd MRight iAnd a total mass M of the vehicle0To calculate and obtain the two-dimensional centroid X of the plane0And Y0。
3. The method for measuring the three-dimensional centroid of the very long large vehicle according to claim 1 or 2, wherein in step (3), the grounding mass M 'of each wheel of the vehicle when stationary on the slope is passed'Left iAnd M'Right iAnd a total mass M 'of the vehicle'0To calculate and obtain the center of mass Z in the vertical direction0。
4. The method for measuring the three-dimensional mass center of an ultralarge vehicle according to any one of claims 1 to 3, wherein the grounding mass of each wheel of the vehicle and the total mass of the vehicle at a horizontal standstill and at a standstill on the slope are measured by using a portable flat plate type load cell.
5. The method for measuring the three-dimensional mass center of the very long large vehicle according to claim 2, wherein the measurement of the two-dimensional mass center in the step (1) is obtained by: obtaining the wheel base L between the adjacent wheels at the same sidei-1And the wheel track T, fixing the portable flat plate type force measuring sensors with the number of the wheels on the horizontal ground according to corresponding distances, and measuring the grounding mass M of each wheel through the sensorsLeft iAnd MRight iAnd the total mass M of said vehicle0(ii) a The centroid X in the direction of X, Y is calculated by the following equation (a)0、Y0：
6. The method for measuring the three-dimensional centroid of the very long large vehicle according to claim 3, wherein the centroid Z in the vertical direction in step (3)0Obtained by the following method: according to said wheel base Li-1And the wheel track T is paved and fixed on the ramp, the portable flat plate type force measuring sensor is fixed, and the ramp grounding mass M 'of each wheel is obtained through the sensor'Left iAnd M'Right iAnd total ramp mass M 'of the vehicle'0Calculating the X-direction centroid X of the vehicle in the inclined state according to the following formula (b)S：
From the following formula (d), the centroid Z in the height Z direction is obtained0：
7. The method for measuring the three-dimensional centroid of the very long large vehicle according to any one of claims 1 to 6, wherein the principle from the formula (b) to the formula (d) is as follows: from equation (b), the trigonometric relationship yields the equation set of equation (c), from which solving equation (c) ultimately yields the centroid result of equation (d):
in the formula: alpha is the included angle of the projection line of the connecting line of the Z-direction mass center of the vehicle and the center of the rear wheel of the vehicle on the XOZ plane to the horizontal ground, which is the transition quantity;
r is a projection line of a connecting line of the Z-direction mass center of the vehicle and the center of the rear wheel of the vehicle on an XOZ plane, and is a transition quantity;
beta is the included angle between the long slope surface and the horizontal ground;
XSthe X-direction mass center when the included angle between the long slope surface and the horizontal ground is beta.
8. The method for measuring the three-dimensional mass center of the ultra-long large vehicle as claimed in any one of claims 1 to 7, wherein in the step (2), a straight long slope with a small angle is selected or built on the spot, and the angle β is measured based on the fact that the ultra-long large vehicle to be measured can be parked at the same angle.
9. The method for measuring the three-dimensional mass center of the very-long large vehicle according to any one of claims 1 to 8, wherein the angle β is accurately measured on a vehicle reference plane by using a quadrant sensor or an electronic angle sensor.
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