吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (6): 1765-1772.doi: 10.13229/j.cnki.jdxbgxb.20221508

• 交通运输工程·土木工程 • 上一篇    

基于车辆脉冲响应的路面不平度识别方法

张青霞1(),侯吉林2(),安新好2,胡晓阳3,段忠东3   

  1. 1.大连民族大学 土木工程学院，辽宁 大连 116600
    2.大连理工大学 建设工程学部，辽宁 大连 116024
    3.哈尔滨工业大学（深圳） 土木与环境工程学院，广东 深圳 518055
  • 收稿日期:2022-11-25 出版日期:2023-06-01 发布日期:2023-07-23
  • 通讯作者: 侯吉林 E-mail:zhangqingxia@dlnu.edu.cn;houjilin@dlut.edu.cn
  • 作者简介:张青霞（1981-），女，教授，博士.研究方向：结构健康监测.E-mail：zhangqingxia@dlnu.edu.cn
  • 基金资助:
    国家自然科学基金项目(51878118);辽宁省教育厅项目(LJKZ0031);中国-中东欧国家高校联合教育项目(2022206)

Road roughness identification method based on vehicle impulse response

Qing-xia ZHANG1(),Ji-lin HOU2(),Xin-hao AN2,Xiao-yang HU3,Zhong-dong DUAN3   

  1. 1.School of Civil Engineering，Dalian Minzu University，Dalian 116600，China
    2.Department of Construction Engineering，Dalian University of Technology，Dalian 116024，China
    3.School of Civil and Environmental Engineering，Harbin Institute of Technology，Shenzhen 518055，China
  • Received:2022-11-25 Online:2023-06-01 Published:2023-07-23
  • Contact: Ji-lin HOU E-mail:zhangqingxia@dlnu.edu.cn;houjilin@dlut.edu.cn

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摘要：

基于车辆脉冲响应，提出了利用车辆动态响应识别路面不平度的方法。首先，以路面不平度为输入，推导了基于脉冲响应函数的车辆响应计算公式。然后，将脉冲响应函数离散为矩阵的形式，建立了基于脉冲响应矩阵的不平度识别线性方程。同时，考虑前、后轮所经历的路程存在一段重合的特点，构建了前、后轮位置相关性矩阵，降低了待识别的未知数数目。接着，鉴于不平度一般为连续函数的特点，利用荷载形函数的思想，进一步降低待识别的未知数数目，并提高对噪声的鲁棒性，实现路面不平度的实时识别。最后，利用数值仿真和试验验证了本文方法的有效性。

关键词: 道路工程, 脉冲响应, 车辆动态响应, 路面不平度识别, 形函数

Abstract:

Based on the vehicle impulse response， a method of pavement roughness identification using vehicle dynamic response was proposed. First， road roughness was taken as input and the equation of vehicle response computation based on the impulse response function was derived. Then， the impulse response function was discretized into the matrix form and a linear equation for road roughness identification was established based on the impulse response matrix. Furthermore， considering that the front and rear wheels experienced the same road roughness， the correlation matrix of the front and rear wheels was constructed， which can decrease the computational work of road roughness identification. Then， take the advantage of the continuity of the road roughness， the load shape function was used to approximate it and thus not only the unknown identification number was further reduced but also the robustness of method to noise was improved， which achieved the real time identification. At last， the effectiveness of the proposed method was verified by numerical simulation and field test.

Key words: road engineering, impulse response, vehicle dynamic response, road roughness identification, shape function

中图分类号: 

  • U416

图1

半车辆模型受力图"

图 2

前后轮位移相关性"

图3

不平度曲线的形函数"

表1

车辆固有频率"

模态阶数1234
频率/Hz1.2812.02812.40214.932

图4

路面不平度曲线"

图5

模拟的车辆加速度响应"

图6

识别的路面不平度"

图7

识别误差"

图8

利用理论无噪声响应的识别结果"

图9

利用含噪响应的识别结果"

图10

利用降噪后响应识别的不平度"

表2

不同方法的识别误差 (cm)"

方法理论响应含噪声响应去噪响应
直接法0.0121.5270.140
形函数法0.0690.1370.139

表3

采用含噪声响应得到的识别误差 (response with noise)"

噪声水平/%51525355070
误差/cm0.0870.1960.3200.4470.6380.895

图11

形函数法利用含噪响应识别的路面不平度"

图12

路面不平度在线识别结果"

图13

车辆测量响应"

图14

测试区域内路面不平度的在线识别结果"

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