Research On Centroid Position Measurement Of Emergency Rescue Vehicle Based On Vehicle Body Vibration Displacement Reconstruction

This paper takes the national key R&D project “Key Technology Research and Application Demonstration of Highly Maneuvering Multi-functional Emergency Rescue Vehicles”(2016YFC0802900)as the background.Analyze and research the key technologies around the vibration displacement reconstruction of the car body.By reconstructing the vibration displacement of the vehicle body,the purpose of measuring the centroid position of the vehicle in off-road driving is achieved.When the vehicle is driving on off-road roads,the vibration frequency range is wide.In this paper,the acceleration sensor with large bandwidth and low space requirement is used to measure the vibration data.For the deficiency of the acceleration integration method,the paper will use the low-frequency attenuation integral.The algorithm restores the acceleration to displacement information under the premise of ensuring accuracy.Finally,the vibration test of the vehicle body is simulated by the vibration test bench to verify the effect of the low-frequency attenuation integral algorithm.The mathematical model of the electro-hydraulic servo valve-controlled asymmetric cylinder system was established.The dynamic characteristics of the electro-hydraulic servo system of the vibration test bench were analyzed.The valve-controlled cylinder system in the interconnected oil and gas suspension involved in the vehicle was simulated.A three-state controller was designed.The effect of the control algorithm on the system bandwidth expansion is simulated by MATLAB/Simulink software.Verify the effectiveness of the three-state controller and the system’s response to the input signal.The measurement scheme of the vehicle’s centroid position during driving is designed.Based on the national standard vehicle centroid calculation scheme,the problem of the centroid position measurement of the vehicle during off-road driving is solved.In order to overcome the frequent fluctuations in the center of mass of the vehicle while driving,it lays the foundation for improving ride comfort and handling stability.At the same time,based on the calculation method of the evaluation index of the RMS of the inertia control suspension system seat by 30%,refer to the GB/T4970-2009 vehicle ride comfort test method,which can adopt the measurement method involved in the test bench.The indicator is measured.