作者：潘梦鹞¹, 陈少伟¹, 林土胜², 郇锐铁¹, 王锋¹, 刘育清³

作者单位：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

关键词：四轮定位参数;主销内倾角;主销后倾角;姿态测量

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(–0.01º，0º，–0.65º，–0.31º)，示值方差为(0.45º，0.63 º，1.00º，0.49º)。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。

Research on attitude measurement method of vehicle four wheel alignment parameters
PAN Mengyao¹, CHEN Shaowei¹, LIN Tusheng², HUAN Ruitie¹, WANG Feng¹, LIU Yuqing³
1. School of Automotive Engineering, Guangdong Polytechnic of Industry and Commerce, Guangzhou 510510, China;
2. School of Electronic and Information Engineering, South China University of Technology, Guangzhou 510640, China;
3. Guangzhou Vehicle Inspection Trade Association, Guangzhou 510410, China
Abstract: 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.
Keywords: four wheel alignment parameters;kingpin inclination angle;kingpin caster angle;attitude measurement
2021, 47(5):129-135  收稿日期: 2020-08-29;收到修改稿日期: 2020-09-21
基金项目: 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)
作者简介: 潘梦鹞(1970-),男,广东龙门县人,高级工程师,博士,主要从事机动车检测技术的研究及应用
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