CN108762113B - Method for establishing retarder torque characteristic calculation model - Google Patents
Method for establishing retarder torque characteristic calculation model Download PDFInfo
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Abstract
The invention discloses a method for establishing a retarder torque characteristic calculation model. By obtaining control parameters such as air pressure, rotating speed and torque of a transmission shaft of the hydraulic retarder and taking MATLAB/Simulink as a tool to carry out deep analysis on the parameters, the optimal fitting algorithm of torque characteristic curves of different types of retarders is researched. The retarder torque characteristic data is applied to an RCU (register Control Unit) Control model, a retarder torque characteristic calculation model is built, reliable calculation of torque is achieved, and the effects of accurate Control and feedback are achieved. Based on retarber torque characteristics calculation model, build full type retarber gear calculation model, satisfy the demand of whole car braking system linkage retarber control torque data, effectively promote the brake performance that the retarber matches whole car, and then realize the upgrading optimization of retarber product, help the research and development of other types hydraulic retarber products in the future on the one hand, on the other hand is favorable to winning the good public praise of customer, makes company's brand image and market share constantly promote.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of vehicle braking, and particularly relates to a method for establishing a retarder torque characteristic calculation model.
[ background of the invention ]
Compared with other auxiliary brakes (engine brake and eddy current retarder), the hydraulic retarder has the advantages of large braking torque, stable braking, low noise, long service life and the like, can realize the functions of constant speed and graded braking, and can effectively reduce the pressure of main braking. At present, the technology of the foreign hydraulic retarder is relatively mature, but the cost is high, so that the domestic host manufacturers cannot carry out large-scale matching.
In order to further improve the performance of a hydraulic retarder product and meet the requirement of the whole vehicle brake system linkage retarder control torque data, the retarder torque characteristic data needs to be applied to a control model. The torque characteristic curve is also called as an external characteristic curve, refers to a relationship curve of air pressure-rotating speed-torque, and can reflect some performances and characteristics of the retarder from a certain level. The working condition of the hydraulic retarder on the automobile can be measured through a bench test, some important parameters of a control system, such as air pressure, rotating speed, torque and the like, are obtained, the control parameters are extracted and analyzed, the results of torque calculation and pressure calculation can be more reliable, braking force control and feedback are accurately achieved, and the overall braking performance of the retarder matching is effectively improved.
However, the bench experiment data is complex and inconvenient to use, so that the optimal fitting algorithm of torque characteristic curves of different types of retarders needs to be researched based on an advanced data algorithm and a simulation tool, a retarder torque characteristic calculation model is further built, the reliable calculation of torque is realized, and linkage control is realized.
[ summary of the invention ]
The invention aims to overcome the defects of the prior art and provides a retarder torque characteristic calculation model and an establishing method and application thereof. According to the invention, the air pressure, the rotating speed and the torque data values measured by a bench test are input into MATLAB/Simulink, a retarder torque characteristic calculation model is established, and a full-type retarder gear calculation model is further established.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a method for establishing a retarder torque characteristic calculation model comprises the following steps:
(1) collecting data signals: acquiring data signals of air pressure, rotating speed and torque through experiments; acquiring N groups of data signals of rotating speed and torque by each air pressure, and acquiring data signals of rotating speed and torque under M air pressures; m and N are integers greater than 1;
(2) signal preprocessing: filtering pulse noise of the data signals acquired in the step (1), reducing high-frequency random noise in the vibration signals, and obtaining M filtered data groups; each data set comprises N groups of rotating speed values and corresponding torque values measured under a set air pressure value;
(3) and (3) curve fitting: extracting feature points from the filtering data, fitting a relation curve of each rotating speed and each torque under different air pressures based on the feature points, wherein the same air pressure corresponds to N groups of curves; selecting and recording the torque characteristic curve with the best fitting degree corresponding to each air pressure, and recording M best torque characteristic curves in total;
(4) and (3) numerical calculation: calculating torque values within a target air pressure range and a target rotating speed range according to the M optimal torque characteristic curves recorded in the step (3), and recording results in a data table;
(5) establishing a model: and (4) importing the data table recorded in the step (4) into MATLAB/Simulink, and establishing a retarder torque characteristic calculation model through three-dimensional tabulation, wherein the retarder torque characteristic calculation model is also provided with an interpolation table look-up function.
The invention is further improved in that:
preferably, in the step (1), a bench test is adopted to collect data values of air pressure, rotating speed and torque.
Preferably, the impulse noise is filtered by median filtering in the step (2); five-point cubic filtering and smooth filtering in MATLAB are selected to reduce high-frequency random noise mixed in the vibration signal.
Preferably, in step (2), moving average method is selected to perform smooth filtering, and the filtering window length is 15.
Preferably, in the step (3), a Curve fixing Toolbox of MATLAB is selected to fit a relation Curve between the rotating speed and the torque of each piece under different air pressures; and selecting the optimal torque characteristic curve through three steps of visual inspection, verification and regression evaluation index evaluation in sequence.
Preferably, when the Curve Fitting Toolbox tool in the step (3) is fitted to the torque characteristic Curve, the regression evaluation index comprises an R square, a sum of squares of errors, a root mean square error and a degree of freedom; during recording, each best fit curve corresponds to a 1 × 1 cfit amount, and corresponds to a user-defined name, and the total M cfit amounts are stored in the mat file.
Preferably, the torque value in step (4) is calculated by: a user self-defines the rotating speed and the air pressure of the input transmission shaft, and if the air pressure is smaller than the lowest air pressure value in the experiment in the step (1), a torque value is calculated by utilizing a linear proportional relation; if the air pressure is greater than the highest air pressure value in the experiment in the step (1), calculating a torque value corresponding to the highest air pressure through a boundary method; if the air pressure value is in the air pressure range of the experiment, calculating a corresponding torque value through the optimal torque characteristic curve obtained in the step (3); the calculation process is performed by an M-file.
Preferably, the target pressure range in step (4) is: 0-300KPa, the target rotating speed range is as follows: 0-1800 rpm.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a method for establishing a retarder torque characteristic calculation model, which comprises the steps of filtering noise of data signals of air pressure, rotating speed and torque measured by experiments, carrying out curve fitting to obtain an optimal torque characteristic curve under each air pressure, simultaneously recording a calculated torque value in a data table, and establishing the retarder torque characteristic calculation model by a three-dimensional table in MATLAB/Simulink and an interpolation table look-up. The invention aims to extract and analyze control parameters such as air pressure, rotating speed and torque, so that the torque calculation result is more reliable, the control and feedback of braking force are accurately realized, and the braking performance of the hydraulic retarder matched with the whole vehicle is effectively improved. The invention takes MATLAB/Simulink as a tool, deeply studies a fitting algorithm of a retarder torque characteristic curve, establishes a retarder torque characteristic calculation model, aims to improve the reliability and stability of a product by accurately controlling and calculating the retarder torque, further realizes the upgrade and optimization of a retarder product, is beneficial to the research and development of other types of hydraulic retarder products in the future on one hand, and is beneficial to winning good praise of customers on the other hand, so that the brand image and market share of a company are continuously improved.
Furthermore, the filtering process of the invention is divided into two stages, wherein the first stage adopts median filtering to filter out impulse noise, and the second stage adopts five-point cubic filtering or smooth filtering to reduce high-frequency random noise. The acquired data signals have larger burrs before being processed, the median filter has good filtering effect on pulse noise, and particularly, the edges of the signals can be protected and are not blurred while the noise is filtered. The five-point triple filtering can remove small burrs without changing the curve change rule, fine burrs still exist in the curve after the noise is removed by using the five-point triple filtering, smooth filtering is selected for further removing the burrs, and the curve is filtered.
Further, the relationship Curve of the rotating speed and the torque under different air pressures is fitted through a Curve Fitting Toolbox tool; after N rotating speed and torque relation curves under each air pressure are fitted, firstly, the coincidence condition of the fitted curves and data points is visually checked, the curves with good coincidence degree are screened out, and then the curves with the best coincidence degree are selected as the optimal torque characteristic curves by utilizing statistical evaluation parameters such as R square, error square sum and the like in regression evaluation indexes; and each selected best fit curve corresponds to a cfit amount, and the cfit amount is stored in a mat file of MATLAB, and the cfit amount comprises a fit equation and a coefficient of each best fit curve.
Further, when a retarder torque characteristic calculation model is established, calculating the torque with the air pressure range of 0-300Kpa and the rotating speed range of 0-1800rpm according to the best fitting curve fit by the steps; the specific algorithm takes input air pressure as a boundary line, and obtains a torque value by the input rotating speed value and the input air pressure value through different algorithms; when the air pressure and the rotating speed input by the user are smaller than the experimental range, calculating a torque value through a linear proportional relation; when the air pressure and the rotating speed input by a user are larger than the experimental range, directly outputting a maximum torque value by a boundary value method; when the torque value is accurately calculated, the output maximum torque is ensured not to exceed the rated maximum torque of the retarder; during practical use, a user only needs to input the air pressure and the rotating speed value, the model can accurately obtain the torque value of the retarder in a table look-up mode through interpolation, the calculating speed is high, and the effects of accurate control and feedback can be achieved.
[ description of the drawings ]
FIG. 1 is a model diagram of the torque characteristic calculation of the present invention;
FIG. 2 is a block diagram of a torque characteristic calculation of the present invention;
FIG. 3 is a model diagram of a gear calculation for a full-type retarder according to the present invention;
FIG. 4 is a block diagram of the calculation of the torque characteristics of the full-type retarder according to the present invention;
FIG. 5 is a graph of a percent torque conversion module of the present invention.
[ detailed description ] embodiments
The invention is described in further detail below with reference to the accompanying drawings:
the invention discloses a method for establishing a retarder torque characteristic calculation model, which comprises the following steps:
(1) collecting signals: each retarder has a certain working air pressure range, a certain rotating speed range and a certain torque range; when data are acquired through a bench test, M common working air pressure values are set firstly, N groups of corresponding rotating speeds and torques are measured aiming at each air pressure value, and all acquired and measured data values are input into an MATLAB program and are converted into data signals; m and N are integers more than 1, and the specific selection is according to the actual experiment requirement; such as: the working air pressure of the retarder is 0-300KPa, the air pressure can be selected at an interval of 10, and M is 30; taking 5 as an interval, and taking 60 as M; n can be determined according to the number of groups that need to be measured experimentally.
(2) Signal preprocessing: the step is divided into two stages, wherein the first stage is to perform median filtering on data signals acquired by a bench test, and the method can effectively filter impulse noise as a nonlinear smoothing technology, and particularly can protect the edges of the signals while filtering the noise. And in the second stage, five-point three-time filtering is performed, and the processing method has the main effect of reducing high-frequency random noise mixed in the vibration signal on the time domain signal to obtain a smoother relationship curve of air pressure, rotating speed and torque. Considering that a part of data signals still have more and more fine waveform jitter, which affects the subsequent processing effect, smooth filtering is adopted for the situation;
the smooth filtering includes six processing methods: the moving 'method', 'lowess', 'loess', 'rloves' and 'rloess' are verified to have the best effect of the moving average method in the six methods, so that the method is selected for smoothing filtering, and the length of the filtering window is set to be 15.
This step obtains M filtered data sets; each data set comprises N groups of rotating speed values and corresponding torque values measured under the set air pressure value.
(3) And (3) curve fitting: extracting a plurality of characteristic points from the filtering data in the step (2), wherein each curve can be divided into a plurality of stages according to the change rule of the curve because the fitted curves mostly have the same change rule, and the characteristic point is a point selected in each stage and can be a point representing that the slope of the curve is unchanged or an inflection point with a sudden change in the slope in the stage; each speed and torque relationship curve at different air pressures was fitted using the CurveFitting Toolbox tool of MATLAB based on these feature point data. Fitting a torque characteristic curve of each type of retarder to a data set, visually checking and verifying the coincidence condition of the fitted curve and data points, screening out a fitted curve with good coincidence degree, comprehensively considering a series of regression evaluation indexes provided by an MATLAB tool, including indexes such as R square, error square sum, root mean square error, freedom degree and the like, evaluating the fitting goodness, and selecting a torque characteristic curve with the best fitting degree by synthesizing the evaluation indexes; each best fit curve corresponds to a 1 x 1 cfit quantity, the quantity comprises all information of a curve fit equation and coefficients thereof, a custom name is correspondingly arranged, M cfit quantities are stored in a mat file, and the value of any point on the fit torque characteristic curve can be obtained by directly calling the cfit variable with the custom name in an M file of MATLAB.
(4) And (3) numerical calculation: loading a mat file containing a torque characteristic curve fitting equation and cfit quantity of coefficient information of the torque characteristic curve fitting equation, operating an M file for executing a torque calculation function, calculating a plurality of torque values with a rotating speed range of 0-1800rpm and an air pressure range of 0-300KPa in batches, and recording numerical calculation results in an Excel table; the algorithm for the torque calculation is: the user self-defines the input transmission shaft rotating speed and the air pressure, if the air pressure is smaller than the lowest air pressure value measured by the bench test, the torque point falls in the range smaller than the lowest air pressure, and the torque value is calculated by using a linear proportional relation, wherein the specific calculation method comprises the following steps: assuming the lowest pressure X of the bench test1At a rotational speed of Y1The corresponding torque value is Z in the case of1(ii) a It is necessary to calculate the air pressure as X2(X2<X1) At a rotational speed of Y1Torque value Z of2Then Z is2＝(X2/X1)×Z1Calculating a torque value in the range by the method; if the air pressure is greater than the highest air pressure value measured by the bench test, the torque point falls in a range greater than the highest air pressure, and the output torque value is directly set as the torque value at the highest air pressure, namely a boundary method; if the air pressure is between the lowest and the lowestAnd between high air pressure values, finding a torque range corresponding to the range of the air pressure, and then calculating an exact torque value according to a linear relation.
(5) Establishing a model: the method comprises the specific steps of performing three-dimensional tabulation in an MATLAB/Simulink environment according to the relation among air pressure, rotating speed and torque, establishing a retarder torque characteristic calculation model, and combining an interpolation table look-up, so that the corresponding retarder braking torque under any vehicle transmission shaft rotating speed and any air pressure can be obtained through the model. The interpolation lookup table is that the air pressure, rotating speed and torque data stored in the three-dimensional lookup table are limited, and the torque corresponding to the rest part of air pressure and rotating speed is calculated by a linear interpolation method.
Referring to fig. 1 and 2, the retarder torque characteristic calculation model includes input transmission shaft rotation speed, air pressure, torque characteristic calculation module and output torque value; in the torque characteristic calculation module, a Fraster series hydraulic retarder FH400B is used as a basis, a bench test is carried out to obtain an accurate air pressure-rotating speed-torque relation curve, three-dimensional tabulation and interpolation tabulation are carried out in an MATLAB/Simulink environment, and the rotating speed and the air pressure of a transmission shaft can be converted into the braking torque of the retarder.
Applying the established model to a gear calculation model of a full-type retarder, namely respectively carrying out bench experiments aiming at different types of retarders, and establishing an independent retarder torque characteristic calculation model; and combining the torque characteristic calculation models of the plurality of retarders together to obtain a gear calculation model of the full-type retarder.
Referring to fig. 3, the established retarder torque characteristic calculation model is applied to a full-type retarder gear calculation model, and the full-type retarder gear calculation model includes:
an input module: the method comprises the steps of inputting a retarder type and a target air pressure value;
the torque characteristic calculation module of the full-type retarder comprises: according to different types of the retarders, the rotating speed of the transmission shaft and the target air pressure are converted into the target torque of the retarders, the maximum torque of the retarders is obtained, and the maximum torque of each retarder is a rated value.
A torque percentage conversion module: for converting the retarder torque capacity and the target torque into torque percentages, i.e. gears.
A proportion conversion module: the torque percentage is converted into an ERC1 message according to the relationship that the ERC1(Electronic Retder Controller 1) message value and the torque percentage value are 2.5 times.
Referring to fig. 4, in the torque characteristic calculation module of the full-type retarder, based on the first retarder (FHB 360 parallel retarder), the second retarder (FHB 320B parallel retarder) and the third retarder (FH 400B series retarder), each retarder performs a large number of bench tests to obtain air pressure-rotational speed-torque relationship curves of the three types of retarders, performs three-dimensional table making and interpolation table checking in MATLAB/Simulink environment, and can convert the rotational speed of the transmission shaft and the target air pressure into a target torque according to different types of retarders and output the maximum torque.
Referring to fig. 5, in the torque percentage conversion module, it is considered that the torque percentage result directly calculated according to the maximum torque and the target torque contains a decimal instead of an integer, so that the torque percentage calculation result needs to be converted from a non-integer type to an integer type through the rounding module, the remainder operation module and the If-Else condition judgment module, and the torque percentage of the integer type is a gear.
According to the method, control parameters such as air pressure, transmission shaft rotating speed and braking torque of the hydraulic retarder are obtained, MATLAB/Simulink is used as a tool to carry out deep analysis on the parameters, an optimal fitting algorithm of torque characteristic curves of different types of retarders is researched, and finally an optimal curve comprising the rotating speed and the torque under multiple air pressures is obtained; during practical use, a user only needs to input air pressure and a rotating speed value, the model can accurately obtain the torque of the retarder through a table look-up mode, the retarder torque characteristic data are applied to an RCU (register Control Unit) retarder Control model, a retarder torque characteristic calculation model is built, reliable calculation of torque/gear is achieved, and the effects of accurate Control and feedback are achieved. Based on a retarder torque characteristic calculation model, a full-type retarder gear calculation model is built, the requirement of a whole vehicle braking system linkage retarder for controlling torque data is met, and the braking performance of the retarder matched with a whole vehicle is effectively improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. A method for establishing a retarder torque characteristic calculation model is characterized by comprising the following steps:
(1) collecting data signals: acquiring data signals of air pressure, rotating speed and torque through experiments; acquiring N groups of data signals of rotating speed and torque by each air pressure, and acquiring data signals of rotating speed and torque under M air pressures; m and N are integers greater than 1;
(2) signal preprocessing: filtering pulse noise of the data signals acquired in the step (1), reducing high-frequency random noise in the vibration signals, and obtaining M filtered data groups; each data set comprises N groups of rotating speed values and corresponding torque values measured under a set air pressure value;
selecting median filtering to filter out impulse noise in the step (2); five-point cubic filtering and smooth filtering in MATLAB are selected to reduce high-frequency random noise mixed in the vibration signal;
selecting a moving average method to carry out smooth filtering in the step (2), wherein the length of a filtering window is 15;
(3) and (3) curve fitting: extracting feature points from the filtering data, fitting a relation curve of each rotating speed and each torque under different air pressures based on the feature points, wherein the same air pressure corresponds to N groups of curves; selecting and recording the torque characteristic curve with the best fitting degree corresponding to each air pressure, and recording M best torque characteristic curves in total;
in the step (3), a Curve fixing Toolbox of MATLAB is selected to fit a relation Curve of the rotating speed and the torque of each piece under different air pressures; selecting an optimal torque characteristic curve through three steps of visual inspection, verification and regression evaluation index evaluation in sequence;
when the Curve Fitting Toolbox tool is used for Fitting a torque characteristic Curve in the step (3), regression evaluation indexes comprise R square, error square sum, root mean square error and degree of freedom; during recording, each best fit curve corresponds to a 1 x 1 cfit amount, a user-defined name corresponds to the best fit curve, and M cfit amounts are stored in a mat file;
(4) and (3) numerical calculation: calculating torque values within a target air pressure range and a target rotating speed range according to the M optimal torque characteristic curves recorded in the step (3), and recording results in a data table;
(5) establishing a model: and (4) importing the data table recorded in the step (4) into MATLAB/Simulink, and establishing a retarder torque characteristic calculation model through three-dimensional tabulation, wherein the retarder torque characteristic calculation model is also provided with an interpolation table look-up function.
2. The method for establishing the retarder torque characteristic calculation model according to claim 1, wherein in the step (1), a bench test is adopted to collect data values of air pressure, rotating speed and torque.
3. The method for establishing a retarder torque characteristic calculation model according to claim 1, wherein the torque value in the step (4) is calculated by: a user self-defines the rotating speed and the air pressure of the input transmission shaft, and if the air pressure is smaller than the lowest air pressure value in the experiment in the step (1), a torque value is calculated by utilizing a linear proportional relation; if the air pressure is greater than the highest air pressure value in the experiment in the step (1), calculating a torque value corresponding to the highest air pressure through a boundary method; if the air pressure value is in the air pressure range of the experiment, calculating a corresponding torque value through the optimal torque characteristic curve obtained in the step (3); the calculation process is performed by an M-file.
4. A method for establishing a model for calculating torque characteristics of a retarder according to any of claims 1-3, wherein the target air pressure range in step (4) is: 0-300KPa, the target rotating speed range is as follows: 0-1800 rpm.
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