汽车四轮定位参数姿态测量方法研究  

Research on attitude measurement method of vehicle four wheel alignment parameters

作　　者：潘梦鹞 陈少伟[1] 林土胜[2] 郇锐铁 王锋 刘育清 PAN Mengyao;CHEN Shaowei;LIN Tusheng;HUAN Ruitie;WANG Feng;LIU Yuqing(School of Automotive Engineering,Guangdong Polytechnic of Industry and Commerce,Guangzhou 510510,China;School of Electronic and Information Engineering,South China University of Technology,Guangzhou 510640,China;Guangzhou Vehicle Inspection Trade Association,Guangzhou 510410,China)

机构地区：[1]广东工贸职业技术学院汽车工程学院,广东广州510510 [2]华南理工大学电子与信息学院,广东广州510640 [3]广州市机动车检测行业学会,广东广州510410

出　　处：《中国测试》2021年第5期129-135,共7页China Measurement & Test

基　　金：教育部科技发展中心高校产学研创新基金(2018A01002);广东省普通高校特色创新项目(2019GKTSCX024)。

摘　　要：汽车四轮定位参数是保证汽车直线行驶操纵稳定性的重要指标,针对传统四轮定位参数测量方法的主销内倾角、主销后倾角计算模型采用几何关系进行间接、近似计算等存在问题,提出四轮定位参数姿态测量新方法,通过在车轮安置一个智能三维加速度传感单元,对车轮定位角度进行姿态测量,建立全新的主销内倾角、主销后倾角姿态计算模型获得四轮定位参数。验证结果表明,实验条件下车轮定位参数(γ_(w),α_(w),γ_(k),θ_(k))的示值误差为(–0.01°,0°,–0.65°,–0.31°),示值方差为(0.45°,0.63°,1.00°,0.49°)。该新方法能够直接、准确、快速测量汽车四轮定位参数,性能指标达到较好测量精度,可实现便携式远程测量。Four wheel alignment parameters are important indexes in providing handling stability when automobiles drive in straight line.Addressing the problems of traditional four wheel alignment measurement kingpin inclination angle and kingpin caster angle are calculated indirectly and approximately through using approximate geometrical relationships.This paper proposes a new attitude measurement method to obtain the four-wheel alignment parameters by means of installing an intelligent triple-axis acceleration sensor unit on a wheel,The attitude measurement of wheel alignment angle is carried out,and through this process,a new attitude calculation model of kingpin inclination angle and kingpin caster angle is established,and four-wheel alignment parameters are obtained.The experiment results indicate that under controlled conditions,the indication error of wheel alignment parameter(γ_(w),α_(w),γ_(k),θ_(k))is(–0.01°,0°,–0.65°,–0.31°),and the indication variance is(0.45°,0.63°,1.00°,0.49°).This new method can be adopted to directly,accurately and quickly measure four-wheel alignment parameters,with more robust performance index measurements,realizing more portable remote measurements.

关 键 词：四轮定位参数 主销内倾角 主销后倾角 姿态测量 

分 类 号：TP201.6[自动化与计算机技术—检测技术与自动化装置] TB9[自动化与计算机技术—控制科学与工程]