CN104180984A - Fluid-solid two-way coupling real-time simulation test bench for tank truck - Google Patents

Abstract

The invention discloses a real-time simulation test bench which can be used for the research on liquid-solid two-way coupling characteristics of liquid tank vehicles and the development of control strategies for liquid tank vehicles; Platform, human-computer interaction debugging platform, driver control device and driver visual system; the scaled liquid tank motion platform assembly is used to simulate the motion of the liquid tank, and its motion is controlled by a six-degree-of-freedom motion platform controller; liquid tank vehicles The real-time simulation platform is used to calculate the dynamic response of the liquid tank vehicle in real time, the similarity conversion between the dynamic characteristics of the scaled liquid tank and the actual liquid tank, and the signal acquisition and motion control of the scaled liquid tank motion platform; the test The platform simulates the motion and dynamic characteristics of the liquid tank vehicle through the real-time information interaction between the scaled liquid tank and the vehicle dynamic model, and truly realizes the liquid-solid two-way coupling and real-time simulation of the liquid and the vehicle body in the liquid tank vehicle.

Description

Liquid-solid two-way coupling real-time simulation test bench for liquid tank vehicles

technical field

The invention relates to a two-way coupling real-time simulation test device of a liquid tank vehicle, which is used for the research of the liquid-car body two-way coupling characteristics of the liquid tank vehicle and the development and verification of the stability control strategy of the liquid tank vehicle.

Background technique

As my country's demand for chemical products expands year by year, the volume of liquid chemical products transported by road continues to rise. According to statistics, in recent years, the annual transportation of liquid chemical products is about 200 million tons, 80% of which are completed by road transportation. Due to the mutual coupling effects of liquid sloshing in the tank and vehicle motion, lateral instability and rollover accidents such as folding and shimmy are prone to occur during obstacle avoidance. The vehicle stability of liquid tank vehicles is more complicated than that of general commercial vehicles. Therefore, it is an important research direction to improve the stability of liquid tank vehicles by studying the two-way coupling characteristics between the liquid and the vehicle and considering the liquid sloshing characteristics to develop a targeted stability control strategy.

At present, there are no mature theoretical analysis and calculation methods for the research on the impact of liquid on the tank and its motion form. Tank cars are extremely dangerous. In order to provide more accurate liquid-solid two-way coupling test data for liquid tank vehicles, and provide a real-time development platform and verification platform for control strategies, the best choice is to use a system that can reflect the two-way coupling characteristics of the liquid and the car body. At the same time, it is a liquid tank vehicle test bench that can simulate the operation of the actual liquid tank vehicle in real time.

At present, the liquid tank test bench used in most researches at home and abroad is in the form of a single excitation, which cannot show the complexity of the road conditions, the driver's manipulation and the multi-degree-of-freedom movement of the vehicle body structure during the actual driving process of commercial vehicles. Complex tank motion due to complexity.

The domestic invention patent application publication number is CN 102288348A, the name of the invention: a liquid tank dynamic test bench, the application date is July 20, 2011, the application number is 201110202742.9, and the applicant is Shandong Jiaotong University. This patent document introduces a test bench that can be used for dynamic testing of liquid tanks. By using a liquid tank test bench with bottom guide rails, the simulation of the joint working conditions of liquid tank vehicles and the impact of road surface roughness is realized. The pressure sensor analyzes the force of the liquid tank and uses the image to analyze the characteristics of the liquid movement, which is used in the lightweight design of the tank to improve safety and reliability. However, the device and method for realizing the two-way coupling of the liquid-vehicle body and the real-time simulation of the liquid tank vehicle are not provided.

In foreign patents, there is no test bench for research on the characteristics of liquid tank vehicles.

The mutual coupling between the liquid and the vehicle body is serious, and the actual driving conditions are complex. The characteristics of the liquid tank vehicle are studied by ignoring the liquid-solid two-way coupling characteristics and using the one-way coupling method, which cannot accurately reflect the dynamic characteristics of the liquid tank vehicle. , at the same time, the dynamic response of the liquid under a single working condition is much simpler than the response under the actual complex working condition. Simply using simple excitation to study the characteristics of the liquid will make the results oversimplified. The research and summary of the liquid sloshing characteristics and the dynamic characteristics of liquid tank vehicles have great constraints. In addition, the dynamic characteristics of liquid tank vehicles are very different from those of ordinary commercial vehicles. If the characteristics of liquid sloshing are ignored in the development of control algorithms, the control method will be inaccurate, and even lead to the opposite control effect, which is very dangerous.

Therefore, it is necessary to develop a liquid tank vehicle test bench that can reflect the two-way coupling characteristics of the liquid and the vehicle body, and at the same time simulate the operation of the actual liquid tank vehicle in real time, for the research and development of the liquid-solid two-way coupling characteristics between the liquid and the vehicle Development of a targeted liquid tank vehicle stability control strategy.

Contents of the invention

The purpose of the present invention is to develop a test device that can effectively reflect the liquid-vehicle two-way coupling characteristics of the liquid tank vehicle and can simulate the real-time operation of the actual liquid tank vehicle, which is used for the research and development of the liquid-solid two-way coupling characteristics of the liquid tank vehicle. Development of control strategies for liquid tank vehicles.

To achieve the above object, the present invention is realized according to the following technical solutions:

A liquid-solid two-way coupling real-time simulation test bench for a liquid tank vehicle, comprising a scaled liquid tank motion platform assembly, a liquid tank vehicle real-time simulation platform, a human-computer interaction debugging platform, a driver control device and a driver visual system. Real-time information interaction is performed between the scaled liquid tank motion platform assembly and the liquid tank vehicle real-time simulation platform to realize the two-way coupled real-time simulation of the liquid tank vehicle. The scaled liquid tank motion platform assembly includes a scaled liquid tank, a liquid level gauge and a liquid pressure sensor installed inside the liquid tank, four three-way force sensors and a six-degree-of-freedom motion platform assembly for real-time simulation and measurement of liquid The movement of tanks and liquids under real conditions and the effect of liquid sloshing on vehicle dynamics. The real-time simulation platform for liquid tank vehicles includes software and hardware environments for real-time operation, data acquisition equipment, six-degree-of-freedom motion platform control equipment, and liquid tank vehicle calculation programs running in a real-time environment, which are used to simulate the movement of liquid tank vehicles in real time, Collect the force and motion signals of liquid sloshing in real time, and control the motion of the six-degree-of-freedom motion platform in real time.

The liquid tank vehicle calculation program described in the technical solution includes a liquid tank vehicle dynamics model, a similarity conversion module for data conversion between scaled liquid tanks and full-scale liquid tanks, an actuator elongation conversion module, data Timing acquisition module and control signal timing sending module, the liquid tank vehicle dynamics model adopts a model that considers the dynamic sloshing characteristics of liquid, including liquid sloshing force/moment and transient liquid centroid calculation module and vehicle dynamics model based on Trucksim RT .

The six-degree-of-freedom motion platform assembly described in the technical solution includes a six-degree-of-freedom motion platform, an oil source that provides oil for the movement of the actuator, an oil separator, and a high-pressure oil pipe. The six-degree-of-freedom motion platform includes a motion platform, a Fixed platform, six actuators, 12 actuator supports and 12 servo valves to control the hydraulic pressure of the actuators. The six-degree-of-freedom motion platform has the function of six-degree-of-freedom movement in space, and can realize the longitudinal, lateral Axial, vertical, roll, pitch, and yaw degrees of freedom can simulate the body motion state in actual driving conditions. The opening and closing of the servo valve and the opening and closing of the oil source are controlled by a six-degree-of-freedom motion platform controller.

The scaled liquid tank described in the technical solution is fixedly connected to the upper motion platform of the six-degree-of-freedom motion platform through four three-way force sensors at the four end feet. The six-degree-of-freedom motion platform assembly is placed on the ground, and the liquid tank A liquid level gauge and a liquid pressure sensor are installed inside. Four three-way force sensors are used to measure the longitudinal, lateral, and vertical shaking forces of the liquid tank on the vehicle body. The liquid level gauge and liquid pressure sensor in the liquid tank are used to measure and calculate the instantaneous liquid level position and hydraulic pressure in the tank. . The front head and the rear head in the scaled liquid tank, and the left and right sides of the middle of the scaled liquid tank are respectively equipped with a liquid level gauge, which is used to measure the free surface shape and height of the liquid in the liquid tank in real time. Liquid pressure sensors are installed on the inner walls of the front head, rear head, left tank wall and right tank wall, which are used to measure the liquid pressure at this point in real time and assist in calculating the transient liquid level.

The human-computer interaction debugging platform described in the technical solution includes the host computer and the control and debugging program of the liquid tank vehicle calculation program placed in the host computer, which are used to debug and send the liquid tank vehicle calculation program to the real-time platform, and receive data Handling; the driver's controls include the accelerator pedal, brake pedal and steering wheel.

The data acquisition equipment described in the technical solution includes a junction box and a data acquisition card. The above-mentioned liquid level sensor, liquid pressure sensor, three-way force sensor, brake pedal opening sensor, accelerator pedal opening sensor, and steering wheel angle sensor are all It is connected with the junction box, and the junction box is connected with the data acquisition card.

The working mode of the liquid-solid two-way coupled real-time simulation test bench for liquid tank vehicles according to the present invention is as follows:

i, the human-computer interaction debugging platform sends the liquid tank vehicle calculation program to the software environment of the liquid tank vehicle real-time simulation platform;

ii. The driver operates the accelerator pedal, brake pedal and steering wheel in the driver's control device according to the driver's visual system and required working conditions;

iii. The data timing acquisition module in the liquid tank vehicle calculation program that performs real-time calculations in a real-time environment collects data on the following signals: the liquid level gauge signal in the scaled liquid tank, the liquid pressure sensor signal, and the force of the three-way force sensor signal, accelerator pedal opening signal, brake pedal opening signal and steering wheel angle signal of the driver's control device;

iv. Based on the similarity criterion, the similarity conversion module receives the collected signals of the level gauge of the scaled liquid tank, the signal of the liquid pressure sensor, and the force signal of the three-way force sensor, and converts them into corresponding signals of the full-scale liquid tank;

v, Liquid sloshing force/moment and transient liquid center of mass calculation module in the liquid tank vehicle dynamics model receives the signal of the full-size liquid tank sent by the similarity conversion module, and calculates the sloshing force/moment of the full-size liquid tank on the vehicle body moment and liquid transient center of mass;

vi, The vehicle dynamics model based on Trucksim RT receives the shaking force/moment of the full-scale liquid tank on the vehicle body and the transient center of mass of the liquid, as well as the accelerator pedal opening signal, brake pedal opening signal and steering wheel angle of the driver's control device Signal, calculate the dynamic response of the liquid tank vehicle, and calculate the motion state of the sprung mass when affected by the liquid slosh;

vii, the similarity conversion module receives the motion state of the sprung mass calculated by the vehicle dynamics model of the liquid tank, and converts it into the motion state of the scaled liquid tank;

viii, The actuator elongation conversion module receives the motion state of the scaled liquid tank calculated by the similarity conversion module, converts it into the elongation control signal of six actuators, and sends it to the six-degree-of-freedom motion platform controller ;

ix, the six-degree-of-freedom motion platform controller controls the switch of the servo valve and the oil source, controls the oil pressure of the oil source and the oil volume and oil pressure entering each actuator cylinder, and controls the movement of the actuator. Realize the movement of the spring-loaded mass of the liquid tank vehicle in six directions, and simulate and drive the scaled liquid tank to realize the real working condition movement.

Examples of application methods:

When analyzing the liquid-solid two-way coupling characteristics, the force signal, liquid level signal and hydraulic signal measured by the liquid level gauge, liquid pressure sensor and four three-way force sensors can be used to calculate the force and moment of the liquid acting on the liquid tank, Analyze the dynamic change process of the liquid free surface, the maximum amplitude and occurrence time of liquid surface sloshing, and verify the rationality of the liquid simulation model or simplified model.

When developing the control strategy for tank vehicle stability control (such as rollover control), the control strategy module is integrated into the tank vehicle dynamics model, and the scaled tank motion platform assembly and the tank vehicle real-time simulation platform are used to develop the control strategy. Interactively simulate the motion and dynamic characteristics of the actual liquid tank vehicle, use the collected liquid tank force signal, liquid pressure signal and vehicle dynamic response characteristics to analyze the state of the liquid tank vehicle rollover, carry out online debugging of the control program, and make reference Hardware-in-the-loop real-time verification of a tank vehicle model.

Compared with prior art, the beneficial effect of the present invention:

1. The present invention uses a complex liquid tank vehicle dynamics model and a scaled liquid tank for real-time information interaction, real-time collection of the sloshing characteristics of the liquid in the scaled liquid tank and its effect on the six-degree-of-freedom motion platform, and sends it to the real-time operation The liquid tank vehicle dynamics model, and the sprung motion calculated in real time according to the liquid tank vehicle dynamics model controls the motion of the scaled liquid tank motion platform, and realizes the real-time hardware for liquid-solid two-way coupling dynamics characteristics of the liquid tank vehicle In-loop simulation can reproduce the coupling effect of liquid sloshing and vehicle motion more accurately and realistically, and develop a targeted control strategy for the stability of liquid tank vehicles.

2. Using scaled tanks for simulation and similarity criteria to calculate the dynamic response of full-scale tanks avoids the slow calculation speed of numerical models and reduces development costs and complexity.

3. The six-degree-of-freedom motion platform is adopted, which can realize the movement in six directions during the actual driving process, so as to more realistically simulate the movement of the vehicle steering, line shifting, acceleration, deceleration and even the liquid tank under compound working conditions.

4. Introduce the driver's visual system and driver's control device, use real working conditions and operations to control the vehicle, realize the human-vehicle closed-loop system, and provide a basis for the research on the liquid-solid coupling characteristics of liquid tank vehicles and the development of related control algorithms A more realistic simulated environment.

Description of drawings

Below in conjunction with accompanying drawing, the present invention will be further described:

Fig. 1 is a diagram of the overall hardware composition of the liquid-solid two-way coupling real-time simulation test platform of the liquid tank vehicle according to the present invention.

Fig. 2 is an axonometric projection view of the general structure of the moving platform assembly of the scaled liquid tank according to the present invention.

Fig. 3 is a side view of the overall structure of the moving platform assembly of the scaled liquid tank according to the present invention.

Fig. 4 is a schematic diagram of the installation position of the six-degree-of-freedom motion platform actuator support according to the present invention.

Fig. 5 is a schematic diagram of the connection of the three-way force sensor of the present invention.

Fig. 6 is a schematic structural diagram of the actuator according to the present invention.

Fig. 7 is a schematic diagram of the working method of the liquid-solid two-way coupling real-time simulation test bench system for liquid tank vehicles according to the present invention.

In the figure: scaled liquid tank motion platform assembly; II, real-time simulation platform for liquid tank vehicles; III, human interaction debugging platform; IV, driver control device; V, driver visual system; 1, scaled liquid tank; 2, liquid level gauge; 3, liquid pressure sensor; 4, three-way force sensor; 5, six degrees of freedom motion platform; 6, oil source; 7, oil separator; 8, six degrees of freedom motion platform controller; 9, Junction box; 10, data acquisition card; 11, industrial computer; 12, steering wheel; 13, brake pedal; 14, accelerator pedal; 15, servo valve; 16, fixed platform; 17, actuator; 18, actuator Support; 19, motion platform; 20, liquid tank support block; 21, liquid outlet cover of liquid tank; 22, three-way force sensor connection hole; 23, actuator ball joint; 24, actuator cylinder; 25, actuator piston; 26, actuator piston rod; 27, liquid tank vehicle calculation program; 28, liquid tank vehicle dynamics model; 29, similarity conversion module; 30, actuator elongation calculation module; 31. Data timing acquisition module; 32. Control signal timing sending module; 33. Liquid sloshing force/moment and liquid transient centroid calculation module; 34. Vehicle dynamics model based on Trucksim RT.

Detailed ways

The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, the liquid-solid two-way coupled real-time simulation test bench for liquid tank vehicles according to the present invention includes a scaled liquid tank motion platform assembly I, a liquid tank vehicle real-time simulation platform II, a human-computer interaction debugging platform III, and a driver control platform. Device IV and driver vision system V.

The scaled liquid tank motion platform assembly I includes a scaled liquid tank 1, a liquid level gauge 2 installed inside the liquid tank, a liquid pressure sensor 3, four three-way force sensors 4 and a six-degree-of-freedom motion platform assembly, six degrees of freedom The six-degree-of-freedom motion platform assembly includes a six-degree-of-freedom motion platform 5, an oil source 6 for providing oil for the six-degree-of-freedom motion platform, an oil separator 7, and a high-pressure oil pipe for real-time simulation and measurement of liquid tanks and liquids under real working conditions down the movement. The hardware of the liquid tank vehicle real-time simulation platform II includes data acquisition equipment, six-degree-of-freedom motion platform control equipment, and an industrial computer 11 for real-time environment operation. The data acquisition equipment includes a junction box 9 and a data acquisition card 10, and the six-degree-of-freedom motion platform control equipment Refers to the six-degree-of-freedom motion platform controller 8. The software part includes a real-time software environment and a liquid tank vehicle calculation program that operates in real time, and is used to run the liquid tank vehicle model in real time, perform data collection, and monitor the motion of the six-degree-of-freedom motion platform. Real-time control. Liquid tank vehicle real-time simulation platform II uses LabVIEW RT as the underlying software environment for real-time simulation, and uses NI's PXI chassis as the hardware environment for running LabVIEW RT (industrial computer 11). The calculation speed of the PXI chassis is fast enough to complete the task of real-time simulation calculation. At the same time, the PXI chassis is inserted with a data acquisition card 10 and matched with a corresponding junction box 9 . The hardware of the human-computer interaction debugging platform III mainly refers to the host computer, and the software part includes the control and debugging program of the liquid tank vehicle calculation program placed in the host computer, which is used to debug and send the liquid tank vehicle calculation program and data to the real-time platform. receiving processing. The driver control device IV includes a steering wheel 12 , a brake pedal 13 and an accelerator pedal 14 . The driver vision system V includes a display screen that shows the current perspective of the driver's perspective. It uses the ANIMATOR function of the commercial software Trucksim to generate the driver's scene when the vehicle is in motion based on the current vehicle running state calculated by the vehicle dynamics model of the liquid tank. forward view.

The oil source 6 of the scaling liquid tank moving platform assembly 1 is connected to the oil separator 7 through a high-pressure oil pipe, and the oil separator divides the oil pipe pipeline into six paths, leading to six actuators 17 respectively. The actuator cylinder 24 communicates with the high-pressure oil pipe through the servo valve 15 . The six-degree-of-freedom motion platform controller 8 of the liquid tank vehicle real-time simulation platform II is connected with the control line between the servo valve 15 and the oil source 6, so that the six-degree-of-freedom motion platform controller can be used to control the opening and closing of the servo valve And the opening and closing of the oil source, so as to control the oil intake of the actuator cylinder, and also control the movement of the six-degree-of-freedom motion platform. The liquid level gauge sensor 2, the liquid pressure sensor 3 and the three-way force sensor 4 of the scale liquid tank motion platform assembly 1, the angle sensor of the steering wheel 12 in the driver's control device IV, the pedal opening sensor of the brake pedal 13 and The pedal opening sensors of the accelerator pedal 14 are all connected with the junction box 9 through signal lines, and the junction box 9 is connected with the data acquisition card 10 for data acquisition. The host computer of the human-computer interaction debugging platform III and the industrial computer (PXI chassis) 11 of the liquid tank vehicle real-time simulation platform II communicate based on the IP protocol and are connected through a network cable.

2, 3, 4, 5, 6, the six-degree-of-freedom motion platform 5 of the scaled liquid tank motion platform assembly 1 of the present invention includes six servo valves 15 for controlling the opening and closing of the actuator oil pipe, a fixed platform (lower platform) 16, six actuators 17, twelve actuator supports 18, motion platform (upper platform) 19. The six-degree-of-freedom motion platform 5 has a space six-degree-of-freedom motion function, which can realize the longitudinal, lateral, vertical, roll, pitch, and yaw degrees of freedom of the vehicle body, and can simulate the motion state of the vehicle body in actual driving conditions. The actuator 17 is composed of an actuator ball hinge 23 connected to the lower platform support, an actuator cylinder 24, an actuator piston 25, an actuator piston rod 26, and an actuator ball connected to the upper platform support. Hinge 23 forms. The fixed platform 16 is fixedly installed on the concrete ground. Six actuator supports 18 are fixedly installed on the upper surface of the fixed platform 16 , and the other six actuator supports 18 are fixedly installed on the lower surface of the moving platform 19 . The actuator bearings 18 are respectively on the three sides of the regular triangle on the upper and lower planes, and the distances between them are equal. The lower end actuator ball hinges 23 of the six actuators 17 are ball hinged with six bearings 18 on the fixed platform, and the upper end actuator ball hinges 23 of the actuators are connected with the six actuators on the lower plane of the moving platform. Bearing 18 balls are hinged, and upper motion platform 19 is just supported by six actuators like this. The scaled liquid tank 1 is fixedly connected to the upper motion platform 19 of the six-degree-of-freedom motion platform 5 through four three-way force sensors 4 at the four end feet, and the four three-way force sensors 4 are respectively located on the four sides of the scaled liquid tank. Between the bottom of two corners and the motion platform 19. There are 4 connection holes 22 on the upper end surface (forced end) of the three-way force sensor, which are fixedly connected with the liquid tank support block 20 of the scaled liquid tank by bolts, and there are four connection holes on the lower end surface of the three-way force sensor. The bolts are fixedly connected to the motion platform 19, so that the joint movement of the scaled liquid tank 1 and the six-degree-of-freedom motion platform 5 is realized. Four three-way force sensors are used to measure the longitudinal, lateral and vertical forces of the scaling liquid tank on the motion platform at the four corners. The scaled-down liquid tank is an elliptical cylinder, and its four end corners are all equipped with liquid tank holders 20 during production, so that its curved surface surface is converted into a plane, which is convenient for fixed connection with the three-way force sensor 4 . The scaled-down liquid tank 1 adopts an elliptical column shape, and a liquid inlet and a liquid tank liquid inlet cover 21 are installed on the top of the front end, so as to be convenient to change the liquid filling amount. A liquid level gauge 2 is respectively installed on the front end, the rear end, the middle left and the right side of the scaled liquid tank to measure the transient liquid free surface position at this point, and the liquid level gauge adopts a floating magnetostrictive sensor. Twelve piezoresistive liquid pressure sensors 3 are respectively installed on the inner surface of the front head and the rear head of the scaled liquid tank. Thirty (5 rows and 6 columns) piezoresistive liquid pressure sensors 3 are installed on the left and right sides of the cylinder wall of the scaled liquid tank, and these piezoresistive liquid pressure sensors are used to measure the liquid at this point in real time. Pressure, the piezoresistive liquid pressure sensor is connected with the pressure gauge joint fixed on the scaling liquid tank. The scaled liquid tank is made of transparent plexiglass material with a thickness of 13mm, which is convenient for the visualization of the internal liquid movement. In order to eliminate the boundary layer effect when the liquid moves, the size of the scaled liquid tank is 2.2m in length and 0.8m ² in cross-sectional area.

Referring to Fig. 7, the liquid tank vehicle calculation program 27 includes a liquid tank vehicle dynamics model 28, a similarity conversion module 29 for data conversion between scaled liquid tanks and full-scale liquid tanks, and an actuator elongation conversion module 30 , a data timing acquisition module 31 , and a control signal timing sending module 32 . The vehicle dynamics model 28 of the liquid tank adopts a model that considers the dynamic sloshing characteristics of the liquid, including a liquid sloshing force/moment and a transient liquid centroid calculation module 33 and a vehicle dynamics model 34 based on Trucksim RT software. Liquid sloshing force/moment and transient liquid center of mass calculation module 33 calculates the longitudinal, lateral swaying force and The moment of roll and pitch shake is used to estimate the instantaneous liquid center of mass at the current moment based on the liquid level signal and liquid pressure signal of the full-scale liquid tank. The similarity conversion module 29 is based on the fluid dynamics similarity criterion, and is considered together with the scaling ratio of the scaling liquid tank. The scaling ratio of the scaled liquid tank, the sensor measurement value and the motion state conversion ratio between the scaled liquid tank and the full-scale liquid tank are all based on a certain similarity criterion. The similarity criterion is determined based on the following principles: (1) geometric similarity: the ratios of length, width, and height between the scaled liquid tank and the full-scale liquid tank are equal; (2) motion similarity: the movement of each point in the scaled liquid tank The velocity and the velocity of the corresponding point in the full-scale liquid tank maintain the same ratio; (3) The power is similar; the force at the corresponding point of the scaled-down liquid tank and the full-scale liquid tank maintains the same proportional relationship, and the Reynolds similarity criterion is used here; ( 4) The initial and boundary conditions are similar: the initial conditions and boundary conditions in terms of motion and dynamics also satisfy the above similar relations.

The working mode of the liquid-solid two-way coupled real-time simulation test bench for liquid tank vehicles is as follows:

i, the human-computer interaction debugging platform III sends the liquid tank vehicle calculation program 27 to the real-time industrial computer 11;

ii. The driver manipulates the steering wheel 12, brake pedal 13 and accelerator pedal 14 in the driver's control device according to the driver's visual system V and the required working conditions;

iii, the data timing acquisition module 31 in the liquid tank vehicle calculation program 27 of real-time calculation performs data acquisition on the following signals: the liquid level gauge signal 2 in the scaled liquid tank, the liquid pressure sensor signal 3, the force signal of the three-way force sensor 4. The opening signal of the accelerator pedal 14 of the driver's control device, the opening signal of the brake pedal 13 and the rotation angle signal of the steering wheel 12;

iv, the similarity conversion module 29 receives the collected scaled liquid tank liquid level gauge signal and liquid pressure sensor signal, and the force signal of the three-way force sensor, and converts them into corresponding signals of the full-scale liquid tank;

v, liquid sloshing force/moment and transient liquid center of mass calculation module 33 in the liquid tank vehicle dynamics model 28 receives the signal of the full-size liquid tank sent by the similarity conversion module 29, and calculates the full-size liquid tank to the vehicle body Sloshing forces/moments and liquid transient centroids;

vi, The vehicle dynamics model based on Trucksim RT34 receives the shaking force/moment of the full-scale liquid tank on the vehicle body and the transient center of mass of the liquid, as well as the accelerator pedal opening signal, brake pedal opening signal and steering wheel opening signal of the driver's control device The rotation angle signal is used to calculate the dynamic response of the liquid tank vehicle, and to calculate the motion state of the sprung mass when it is affected by the liquid slosh;

vii, the similarity conversion module 29 receives the motion state of the sprung mass calculated by the vehicle dynamics model of the liquid tank, and converts it into the motion state of the scaled liquid tank;

viii, the actuator elongation conversion module 30 receives the motion state of the scaled liquid tank calculated by the similarity conversion module, converts the motion state into the elongation control signals of the six actuators, and sends them to the six degrees of freedom Motion platform controller 8;

ix, the six-degree-of-freedom motion platform controller 8 controls the switch of the oil source 6 and the servo valve 15, controls the movement of the actuator, realizes the movement of the spring-loaded mass of the liquid tank vehicle in six directions, simulates and drives the scaled liquid tank 1 Realize real working condition movement.

Examples of application methods:

When analyzing the liquid-solid two-way coupling characteristics, the hardware-in-the-loop simulation test of the actual working condition of the scaled liquid tank is carried out, and the liquid level gauge 2, the liquid pressure sensor 3, the four three-way force sensors 4 and the data acquisition system are measured. The force signal, liquid level signal and hydraulic signal of the liquid tank, and the collected data are stored in the host computer, which can be used to calculate the force and moment of the liquid acting on the liquid tank, analyze the dynamic change process of the liquid free surface, the liquid level The maximum amplitude and occurrence time of sloshing can also be used to verify the rationality of the liquid simulation model or simplified model.

When developing the control strategy for tank vehicle stability control (such as rollover control), integrate the control strategy module into the tank vehicle dynamics model 28, and use the scaled tank motion platform assembly I and tank vehicle real-time simulation Platform II interactively simulates the motion and dynamic characteristics of the actual liquid tank vehicle, uses the collected liquid tank force signal, liquid pressure signal and vehicle dynamic response characteristics to analyze the state where the liquid tank vehicle rollover will occur, and conduct liquid tank vehicle stability analysis. On-line debugging of control programs and hardware-in-the-loop real-time verification of reference models.

The above discussion is only a preferred embodiment of the present invention, for the purpose of explaining and illustrating, rather than limiting the present invention itself. The invention is not limited to the specific embodiments disclosed herein, but rather is defined by the following claims. In addition, recitations related to specific embodiments in the foregoing description should not be construed as limiting the scope of the present invention or the definitions of terms used in the claims. Various other different embodiments and various modifications of the disclosed embodiments will become apparent to those skilled in the art. But all such embodiments, changes and modifications without departing from the basic concept of the present invention are within the scope of the appended claims.

Claims (10)

1. the liquid-solid bidirectional coupled real time modelling of a flow container vehicle testing table, it is characterized in that comprising that contracting is than flow container motion platform assembly, flow container vehicle real-time simulation platform, man-machine interaction debug platform, pilot control device and driver's visual system, contracting is than carrying out in real time information interaction between flow container motion platform assembly and flow container vehicle real-time simulation platform;

Contracting comprises that than flow container motion platform assembly contracting is than flow container, the liquid level gauge that is installed on flow container inside and liquid-pressure pick-up, four three-dimensional force transducers and 6-dof motion platform assembly, for real time modelling with measure flow container and motion and the liquid sloshing impact on vehicle of liquid under real working condition;

Flow container vehicle real-time simulation platform comprises to be realized soft and hardware environment, data acquisition equipment, the 6-dof motion platform opertaing device of real time execution and runs on the flow container vehicle calculation procedure in real time environment, for the force and motion signal of real time modelling flow container vehicle movement, Real-time Collection liquid sloshing, control in real time the motion of 6-dof motion platform;

Flow container vehicle compute package draw together considered liquid dynamically shake the flow container vehicle dynamic model of dynamic characteristic, for contracting than the similarity modular converter of data-switching between flow container and full-scale flow container, actuator elongation conversion module, data timing acquisition module and control signal timed sending module.

2. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, it is characterized in that described contracting is connected by the upper motion platform of four three-dimensional force transducers and 6-dof motion platform assembly at four end pin places than flow container, 6-dof motion platform assembly is positioned on ground, and liquid level gauge and liquid-pressure pick-up are installed in flow container; Four three-dimensional force transducers for measure flow container to car body longitudinally, side direction, vertical rolling power, the liquid level gauge in flow container and liquid-pressure pick-up are for transient state liquid level position in measurements and calculations tank and hydraulic pressure.

3. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, it is characterized in that described 6-dof motion platform assembly comprises 6-dof motion platform, move the oil sources of fluid is provided for actuator, separator and high-pressure oil pipe, 6-dof motion platform comprises a motion platform, a stationary platform, six actuator, the servo-valve of 12 actuator bearings and 12 control actuator oil pressure, this 6-dof motion platform has space six-freedom motion function, can realize the longitudinal of vehicle body, side direction, vertical, roll, pitching, yaw degree of freedom, can simulate the body movement state in Real-road Driving Cycle, the switching of servo-valve and the switching of oil sources are controlled by 6-dof motion platform controller.

4. flow container is compared in contracting as claimed in claim 2, it is characterized in that contracting and than left side and the right side at flow container middle part, a liquid level gauge is respectively housed than the front head in flow container and rear head, contracting, for measuring in real time free face shape and the height of liquid pot liquid, and liquid-pressure pick-up is all housed on the inwall of front head, rear head, left tank skin and right tank skin, for measuring in real time this fluid pressure, the auxiliary transient state liquid level that calculates.

5. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, it is characterized in that described data acquisition equipment comprises terminal box and data collecting card, above-mentioned liquid level gauge sensor, liquid-pressure pick-up, three-dimensional force transducer, brake pedal jaw opening sensor, gas pedal jaw opening sensor, steering wheel angle sensor are all connected with terminal box, and terminal box is connected with data collecting card.

6. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, it is characterized in that described man-machine interaction debug platform comprises host computer main frame and the control and the debugged program that are placed in the flow container vehicle calculation procedure in main frame, send flow container vehicle calculation procedure for debugging with to real-time platform, and the reception & disposal of data.

7. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, is characterized in that described pilot control device comprises gas pedal, brake pedal and bearing circle.

8. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, is characterized in that the working method of this testing table is:

I, man-machine interaction debug platform sends to flow container vehicle calculation procedure in the software environment of flow container vehicle real-time simulation platform;

Ii, driver handles the gas pedal in pilot control device, brake pedal and bearing circle according to driver's visual system and the operating mode needing;

Iii, the data timing acquisition module carrying out in real time environment in the flow container vehicle calculation procedure of real-time operation carries out data acquisition to following signal: contracting is than gas pedal aperture signal, brake pedal aperture signal and the steering wheel angle signal of the force signal of the liquid level gauge signal in flow container, liquid-pressure pick-up signal, three-dimensional force transducer, pilot control device;

Iv, similarity modular converter is based on similarity criterion, receives the contracting that collects than the force signal of liquid level of tank meter signal and liquid-pressure pick-up signal, three-dimensional force transducer, and is converted into the corresponding signal of full-scale flow container;

V, the signal of the full-scale flow container that the liquid sloshing power/moment in flow container vehicle dynamic model and transient state liquid centroid calculation module reception similarity modular converter send, calculates rolling power/moment and the liquid transient state barycenter of full-scale flow container to car body;

Vi, vehicle dynamic model based on Trucksim RT receives the rolling power/moment of full-scale flow container to car body and gas pedal aperture signal, brake pedal aperture signal and the steering wheel angle signal of liquid transient state barycenter and pilot control device, carry out flow container vehicle dynamic response and calculate, the motion state of the spring carried mass while calculating liquid body wobble effects;

Vii, the motion state of the spring carried mass that similarity modular converter receiving liquid tank vehicle dynamic model calculates, is converted to contracting than the motion state of flow container;

Viii, the contracting that actuator elongation conversion module reception similarity modular converter calculates, than the motion state of flow container, is scaled this motion state the elongation control signal of six actuator, sends to 6-dof motion platform controller;

Ix, the switch of 6-dof motion platform controller control servo-valve and oil sources, control the oil pressure and the fluid amount and the oil pressure that enter each actuator cylinder body of oil sources, motion to actuator is controlled, realize the motion of flow container vehicle spring carried mass six direction, simulate and drive contracting to realize real working condition motion than flow container.

9. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, while it is characterized in that carrying out liquid-solid bidirectional coupled specificity analysis, by liquid level gauge, liquid-pressure pick-up and four force signal, liquid level signal and hydraulic pressure signals that three-dimensional force transducer measures, liquid effects can be calculated in the wind tunnel of flow container, dynamic changing process, the amplitude peak of slosh and the time of generation of analysis Free Liquid Surface, and the rationality of liquid realistic model or simplified model can be verified.

10. the liquid-solid bidirectional coupled real time modelling of flow container vehicle as claimed in claim 1 testing table, while it is characterized in that carrying out the control strategy exploitation of flow container intact stability control (as rollover is controlled), by control strategy module integration in the middle of flow container vehicle dynamic model, with contracting than motion and the dynamics of the actual flow container vehicle of interactive simulation of flow container motion platform assembly and flow container vehicle real-time simulation platform, utilize the flow container force signal gathering, the state that fluid pressure signal and dynamics of vehicle Analysis of response flow container vehicle rollover will occur, carry out the on-line debugging of control program, carry out encircling real-time verification with reference to the hardware of flow container auto model.