Method of measurement of stresses generated in the contact between the tire and the roadway by the i

专利摘要:
Method of measurement of stresses generated in the contact between the tire and the roadway by the instrumentation of the rim. Method of measuring the forces generated in the contact between the tire and the roadway from the deformations measured by deformation sensors distributed in two concentric circles with respect to the center of the wheel. Within each circle, at least four points are selected spaced angles equidistant from each other, called measurement points. A signal must be obtained per measurement point, either from a sensor placed directly on said point, or as a result of the sum of the deformations measured by two sensors located at symmetrical points with respect to the plane containing the wheel axis and to the line that joins the center of the wheel with the measuring point. The forces and moments in the pneumatic-road contact are obtained by the linear combination of the deformation signals at the measuring points of the rim with coefficients that depend on the angular position of the wheel. (Machine-translation by Google Translate, not legally binding)
公开号:ES2566048A1
申请号:ES201630032
申请日:2016-01-15
公开日:2016-04-08
发明作者:María Dolores GUTIÉRREZ LÓPEZ；Javier GARCÍA DE JALÓN DE LA FUENTE
申请人:Universidad Politecnica de Madrid；
IPC主号:

专利说明:

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DESCRIPTION
Method of measuring the stresses generated in the contact between the tire and the roadway through the instrumentation of the tire.
TECHNICAL SECTOR
The invention falls within the sector of the dynamics of automobile vehicles (cars, trucks, buses and coaches, etc.), and more specifically, in relation to the measurement of the forces and moments that are generated in the tire as a result of Your interaction with the road.
BACKGROUND OF THE INVENTION
The tires are the elements of the vehicle responsible for developing and transmitting the longitudinal traction and braking forces necessary to propel and stop the vehicle respectively; to develop the lateral forces responsible for achieving control and stability of the trajectory; and to transmit the vertical force to the road and dampen the dynamic actions caused by its irregularities. Therefore, knowledge of these forces is essential to know the dynamic behavior of the vehicle and improve its performance.
The knowledge of the forces and moments in the contact between the tire and the road is also essential to improve vehicle safety, maneuverability characteristics and comfort. Precise measures of the efforts in the pneumatic-road contact allow vehicle designers to produce safer, more reliable, efficient and durable components. In addition, tire manufacturers also need to compare the forces generated and transmitted by different tire models to determine the most appropriate construction for each application.
Also, as vehicle designers use mathematical models that represent reality in a simplified way, obtaining experimental measurements of the efforts generated in the pneumatic-road contact is necessary to verify the quality of these models and check if they conform to the reality.
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Finally, obtaining real-time measurements of the forces generated in the pneumatic-road contact could be especially important for improving the performance of the vehicle's active safety systems, such as the anti-lock brake system (ABS), the traction control system (TCS) or the electronic stability program (ESP). These systems use information on the dynamics of the vehicle to detect and minimize the impact of possible dangerous situations. Due to both technical and economic reasons, its operation is based on the indirect estimation of the dynamic variables of the vehicle through the use of sensors on board. The direct measurement of the forces in the pneumatic-road contact in series vehicles would make it possible to improve these active safety systems, since not having to be estimated indirectly by complex procedures, faster control strategies could be developed.
The forces and moments generated in the pneumatic-road contact can be measured using the so-called dynamometric wheels. In the market there is a wide variety of dynamometric wheels, all characterized by having a very high cost, being able to cost a single wheel more than the complete vehicle. This limits its exclusive use in test vehicles for R&D, and its use in series vehicles is not possible today to provide measures of the forces in the pneumatic-road contact in order to improve the performance of the systems of active security
Generally, the commercial dynamometric wheels are formed by a six-axis force transducer, which is the component in charge of measuring the three forces and the three moments that are generated in the pneumatic-road contact from the measurements provided by a given number of strain gauges (in the case of transducers based on the piezoresistive effect) or of piezoelectric sensors (in the case of transducers based on the piezoelectric effect) placed on it. An example of such transducers can be found in US Patent 6,038,933. The transducer, which is a standard element, must be able to be used in different types of vehicles regardless of how the original tire was. In order to adapt to the size of the vehicle tire and the bolt pattern of the original tire, the dynamometric tires are also composed of two adapters, called "modified tire" and "hub adapter", between which the force transducer is placed . Once the modified tire and the hub adapter are attached to the transducer, the dynamometric tire can be handled like a normal tire.
To measure the forces and moments that are generated in the contact between the tire and the road, it is necessary to replace the original tires of the vehicle with the tires
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dynamometers described above. However, said dynamometric tires have different properties than the original tires of the vehicle, that is, they have different masses, inertia, stiffnesses. As a consequence, the dynamic behavior of the vehicle is significantly altered and the contact forces measured by these tires do not correspond to the forces generated in real operating conditions.
This fact, together with the high cost of commercial dynamometric wheels, justifies the need to develop new low-cost alternatives that do not alter the dynamic behavior of the vehicle and that can open the possibility of measuring the forces and moments in the pneumatic-road contact in series vehicles with the objective of improving the performance of the vehicle's active safety systems.
With this objective, new measurement systems based on the instrumentation of the tire and the tire have been developed in recent years. Systems based on the instrumentation of the tire, commonly referred to as "intelligent tires", are in the early stages of development, without currently having products on the market. These systems use sensors such as accelerometers, magnetic sensors, optical sensors or Hall effect sensors ... embedded in the tire to measure the stresses, generally, these systems only allow the measurement of the forces each time the sensors are in a certain angular position (normally, when they pass through the contact fingerprint). It means that the stresses can only be measured once per lap, having to change the sampling frequency according to the angular speed of the wheel.
On the other hand, the instrumentation of the tire instead of the tire for measuring the stresses in the pneumatic-road contact is especially advantageous because the first one is easier to handle and is a component with less wear than the second. In addition, the placement of sensors embedded in the tire can cause greater and more irregular wear of the tire.
Among the systems based on the instrumentation of the tire, the invention object of the patent ES 201130287 can be highlighted. This invention consists of a method and a system that allows the measurement of the forces and moments that appear in the contact between the tire and the roadway from the deformations measured at different points of the tire on which said tire is mounted. To do this, the sensors that measure the deformation in the rim (such as strain gauges) are placed so that
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They are grouped into at least three measuring circumferences. Within each circumference, the sensors are placed in at least 5 points distributed in equidistant angular positions.
The measured deformations vary periodically with the change in the angular position of the wheel. In order to obtain the forces and moments that appear in the pneumatic-road contact, the deformation signals of each circumference are combined with each other so that a series of intermediate signals are obtained (referred to in the ES patent 201130287 EiS, EiA and E'iA). Although said intermediate signals may have a certain curl that varies with the angular position, it is assumed that this is negligible compared to the continuous component, and therefore said signals are assumed to be independent of the angular position of the wheel. Finally, the forces MX, FY and FZ are obtained from the EiS signals calculated in at least three circumferences and the forces FX, MY and MZ are obtained from the EiA and E'iA signals calculated in at least two and one circumference respectively solving two systems of linear equations whose coefficient matrices are constant.
To find the intermediate signals EiS, EiA and E'iA in the patent ES 201130287, it is assumed that in the Fourier series decomposition of the deformation signals generated by the forces MX, FY and FZ, only terms in cosine appear , while in the case of efforts FX, MY and MZ, only terms appear within. However, this assumption is only valid in the case in which the sensors have been placed in points of the tire that are contained in symmetry planes of the same. However, if the points where the sensors are located are not contained in symmetry planes, terms may appear in the deformation signals generated by MX, Fy and FZ and cosine terms in the signals generated by FX, MY and MZ, although smaller than the previous ones.
There are tires that do not allow, by their geometry, to place the sensors contained in symmetry planes of the same, since they do not have several symmetry planes separated equidistant angles from each other (as happens for example in the case of tires with different number of spokes that of screws). In addition, although theoretically the sensors can be glued on symmetry planes of the rim, the glue of the strain gauges is manual and therefore it is not possible to place them exactly at the points required in practice. In these cases, the amplitude of the curling of the intermediate signals EiS, EiA and E'iA can be high and if these are assumed independent of the angular position of the wheel, the errors in the measurement of the stresses are also high, since depend on the
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amplitude of this curly. On the other hand, the invention of the ES patent 201130287 assumes that two sensors of the same circumference measure the same when the wheel has turned the angle that separates them. However, it is common that in practice this does not happen if, among other possible causes, there are defects in the manufacture of the tire or errors in glueing the gauges. This also never happens when all sensors are not placed in symmetry planes of the same type of tire. This fact also causes the curling in the intermediate signals EiS, EiA and E'iA to be much greater and therefore the error in the measurement of the efforts is higher.
In the present invention, all these inconveniences are resolved by contemplating the possibility that the intermediate signals have a non-negligible curl and therefore are not independent of the angular position of the wheel. Taking this into account, in addition to the signal combinations made within each circumference, additional combinations of signals from different circumferences are made with coefficients that depend on the angular position of the wheel obtained by calibration to find the stresses in the pneumatic contact. road. Thanks to this combination of signals from different circumferences, this curl can be eliminated.
In addition, the curling of the intermediate signals EiS, EiA and E'iA depends on the number of sensors used in the circumference. Therefore, in the invention ES 201130287 it is proposed that the number of sensors to be used in each circumference be chosen so that the curling (determined by the amplitude of the harmonics not removed) of said signals was negligible. However, as in the present invention the curling of said signals can be eliminated by combining signals from different circumferences, the number of sensors used in each circumference can be reduced.
On the other hand, in a given angular position of the rim, it is not possible to find two points where the first harmonic of the deformation signals generated by the stress MX is not proportional to the first harmonic of the deformation signals generated by the stress FY. Therefore, it is not possible to calculate the MX and FY stresses using only signals dependent on the first harmonic of the deformation signals, as proposed in the ES patent 201130287 (referred to as EiS in said patent). In the present invention this problem is solved by calculating in at least one of the circumferences an intermediate signal dependent on the second harmonic.
Also, if this new signal is calculated dependent on the second harmonic, it is no longer
it is necessary to obtain three signals of the EiS type as in the invention of the patent ES
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201130287, but with two is enough. As it is no longer necessary to obtain a signal of the EiS type in at least three circumferences, the number of circumferences to be used in the tire can be reduced and the sensors distributed in only two circumferences.
Finally, the present invention contemplates the possibility of using pairs of equidistant angular spaced sensors, in addition to the possibility of using equidistant angular spaced single sensors. A single signal will be taken for each pair of sensors, so that it is equal to the sum of the deformation signals at the points where the torque sensors are located, which are symmetrical with respect to the same plane. This possibility is especially useful in the case of tires with double spokes to take advantage of their symmetry conditions.
In sum, in the present invention a method of measuring the stresses in the pneumatic-road contact is proposed, which allows, on the one hand, to reduce the number of sensors to be used in the tire (while in the invention of the patent ES 201130287 it is necessary to use at least three circumferences with a minimum of five sensors each, in the present invention two circumferences should be used that have at least four sensors each) and on the other, reduce the error in the measurement of the efforts in the pneumatic-road contact. This error reduction occurs especially in the case of tires with different number of spokes and bolts and in the case of tires with double spokes. In addition, the error is significantly reduced because this invention is capable of correcting errors in the positioning of strain gauges on any type of tire.
DESCRIPTION OF THE INVENTION
The present invention is based on the measurement of the three components of the force (Fx, FY and FZ) and the three components of the moment (Mx, MY and MZ) that act on the tire as a result of their interaction with the road. The reference system used to define the forces Fx, FY and FZ and the moments Mx, MY and MZ is the one specified in FIG. 1. The origin of the reference system coincides with the theoretical point of contact (reference 1), defined as the point of intersection of the middle plane of the wheel (reference 2) and the projection of its axis of rotation (reference 3) on the rolling surface (reference 4). The X axis is that defined by the line of intersection of the middle plane of the wheel and the plane of the rolling surface, with a positive direction coinciding with the advance of the vehicle. The Z axis is the axis perpendicular to the plane of the rolling surface, in the opposite direction to the
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acceleration of gravity. The Y axis is the axis perpendicular to the previous ones, whose direction is determined by the rule of the right hand.
The forces and moments that appear in the pneumatic-road contact are obtained from the deformation signals measured at different points of the tire by appropriate sensors, which can be, for example, strain gauges. Said sensors can be positioned so that they measure the unit deformations in any direction, although preferably they will be positioned so that they measure the deformations in the radial direction. As an example, in FIG. 4 the sensors (reference 10) have been placed on the rim so that the deformation is measured in the radial direction, while in FIG. 5 (reference 10) have been placed so that they measure the deformation in the circumferential direction. The sensors can be placed on the outside (reference 5 of FIG. 2) or on the inside (reference 6 of FIG. 2) of the tire, as well as on the sides of the spokes (reference 7 of FIG 2) as appropriate, following the criteria set out below.
The sensors must be placed on the rim so that they are grouped in two concentric circumferences with respect to the center of the rim, as shown in FIG. 4 with reference 9. Therefore, all sensors located on the same circumference are at the same radial distance from the center of the wheel. It is not necessary that both circumferences be in the same part of the rim (as shown in FIG. 4, in which both circumferences have been placed on the outside, and in FIG. 6, in which the two circumferences are located on the inside), but it is possible to place one of them on the inside, while the other can be placed on the outside. For example, in FIG. 7 two images of the same wheel are shown. The upper image of the figure shows the outer part of the tire, in which the circumference of smaller diameter has been placed, while the lower image of the figure shows the inner part of the tire, in which the circumference has been placed of greater diameter. It is also possible that the sensors of one or both circumferences are placed on the sides of the tire. Said circumferences will be denoted with sub-index i and numbered from the center of the wheel outwards.
In each circle it is necessary to select a number of points equal to or greater than four spaced angles equidistant from each other. At these points, represented in FIGS. 4-11 and in FIGS. 13-16 with a cross (x), they will be called "measuring points" (reference 8 in these figures). From here on, the number of measurement points
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selected in the circle i will be denoted as NPi. Within each circumference i, the measuring points will be denoted with sub-index j and will be numbered counterclockwise from a measurement point taken as a reference.
The sensors (reference 10) will be placed on the circumference taking as reference these measuring points according to one of the following two options:
- Option 1: The sensors are placed directly at the measuring points. To
Following this option, it is necessary that the measuring points are located on the inner or outer surface of the tire or on the sides of the spokes of the same. For example, in the first circumference (the one of smaller diameter) of the rim of the upper image of FIG. 8 and in the first circumference of the center tire of said figure, the sensors have been placed according to this option.
- Option 2: In this case the sensors are not placed directly on the points of
measure. Instead, two sensors must be placed for each measuring point, so that they are located in symmetrical points with respect to the plane (reference 11 of FIG. 9) containing the wheel to the axis of rotation (reference 3 of FIG. 9) and to the straight line (reference 12 of FIG. 9) that joins the center of the wheel (reference 13 of FIG. 9) with said measuring point (reference 8 of FIG. 9). These planes (reference 11 of FIG. 9) will be called "measurement planes". As each measurement plane is associated with a specific measurement point, the measurement planes will be denoted with the same index (j) as the measurement points and correspond to the same numbering within the circumference as the one corresponding to the measurement points to which they are associated. In this case, it is not necessary for the measuring points to be on the surface of the tire. On the contrary, it is sufficient that symmetric points can be found with respect to the planes defined by the measurement points that are on the surface of the tire. For example, in the second circumference (the one with the greatest diameter) of the upper tire and the center tire, as well as in both circumferences of the lower tire of FIG. 8, the sensors have been placed following this option. In the upper tire, the measuring points are on the surface of the tire, while in the center and lower tire the measuring points are not on the surface of the tire.
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It is necessary to follow the same option at all measuring points of the same circumference. However, it is not necessary that the number of measurement points selected in both circumferences be equal or that the angular positions of the measurement points coincide in the two circumferences. Nor is it necessary to use the same option in both circles. For example, in the first circumference (the one of smaller diameter) of the rim of FIG. 10 four measuring points have been used to place four sensors in them following option 1, while in the second circumference of said rim eight measuring points have been selected in which eight sensors have been placed in accordance with option 1. On the other hand, on the tires of the upper image and the image of the center of FIG. 11 the same number of measuring points located in the same angular positions in the two circumferences has been used. However, in the lower image of said figure the measuring points of the first circumference are located in different angular positions than those of the second circumference.
The forces (Fx, FY and FZ) and moments (Mx, MY and MZ) generated in the pneumatic-road contact are obtained by following the following steps:
- Step 1: A deformation signal is obtained for each measuring point j of the circumference i, that is, a total of NPi deformation signals is obtained in each circumference i. If the sensors have been placed according to option 1, the NPi deformation signals correspond to those generated at the measurement points. To obtain these signals, the sensors will have to be connected using an appropriate circuit such as, for example,% of Wheatstone bridge (upper image of FIG. 12). On the contrary, if the circumference has been instrumented following option 2, each signal j of the circumference i corresponds to the sum of the deformations generated at the two points where the sensors of the torque corresponding to the measurement point have been placed j. This sum can be done analogically, by connecting the sensors in an appropriate circuit, such as by connecting the strain gauges in% Wheatstone bridge, as shown in the lower image of FIG. 12. Similarly, it is also possible to connect each of the torque sensors in% of Wheatstone bridge (upper image of FIG. 12) and perform the sum digitally by using a microcontroller. These signals depend on the angle turned by the wheel.
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- Step 2: The deformation signals measured in both circumferences are combined linearly to obtain the forces and moments that appear in the contact between the tire and the road by means of coefficients whose values depend on the angular position of the wheel. The coefficients also depend on the angular position of the measuring points and / or the diameters of the selected circumferences and the wheel to be instrumented. The coefficients that are characteristic of the tire and the selected circumferences must be obtained by calibration.
In sum, the object of the present invention is a method of measuring the forces and moments generated by the tire's contact with the road. Said stresses are obtained from the deformation signals measured at a plurality of points of the tire that the tire is mounted by means of a plurality of deformation sensors. The sensors are distributed in two concentric circumferences with respect to the center of the tire. To place the sensors in each of the circumferences, it is first necessary to select at least four measuring points spaced equidistant angles from each other so that the tire geometry allows the sensors to be placed directly at those points (following option 1) or at symmetrical points with respect to the plane that contains the axis of rotation of the wheel and the straight line that joins the center of the wheel with the measuring point (following option 2). In a first step, NPi signals of circumference deformation are obtained. These signals correspond to the deformations at the points where the sensors have been placed (if the sensors have been placed in accordance with option 1) or each of the NPi signals is the sum of the deformations at the points at which are placed the sensors of each pair (if the sensors have been placed following option 2). In a second step, the efforts in the pneumatic-road contact are obtained through the linear combination of the signals obtained in the two circumferences with coefficients that depend on the angular position of the wheel, the angular position of the measuring points and / or of the diameters of the selected circumferences and of the wheel to be instrumented.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 shows the forces and moments that act on the tire as a result of its interaction with the road. These forces and moments have been defined according to the reference system indicated in the figure. This figure also shows the theoretical point of contact (1), the middle plane of the wheel (2), which is orthogonal to the axis of rotation of the wheel (3) and the rolling surface (4).
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FIG. 2 shows a wheel with five spokes. This figure shows the outer part (5) and the inner part (6) of the rim, as well as the sides of the spokes (7) to illustrate that the sensors can be placed in any of those parts.
FIG. 3 shows the symmetry planes (14) of a five-spoke wheel. A three-dimensional image of the five-spoke wheel is shown at the top of the figure. In this image one of the planes of symmetry can be observed, which divides the wheel into two symmetrical halves with respect to itself. Said plane coincides with the middle plane of one of the spokes of the tire. This wheel has a total of five planes of symmetry like the one shown in the upper image of the figure, spaced 72 ° apart, and that coincide with the middle planes of each of the spokes. All these symmetry planes have been marked with dashed lines in the two-dimensional image of the five-spoke wheel shown at the bottom of the figure.
FIG. 4 shows a wheel with five spokes. Said wheel has five planes of symmetry (14) spaced 72 ° apart. Ten sensors (10) have been placed in the radial direction in the tire grouped in two concentric circumferences (9) located on the outside of the tire. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. The measurement points coincide with points of intersection between the circumferences and the five planes of symmetry of the tire.
FIG. 5 shows a wheel with five spokes. Said wheel has five planes of symmetry (14) spaced 72 ° apart. Ten sensors (10) have been placed on the tire in the circumferential direction grouped into two concentric circumferences (9) located on the outside of the tire. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. The measurement points coincide with points of intersection between the circumferences and the five planes of symmetry of the tire.
FIG. 6 shows a wheel with five spokes. Said wheel has five planes of symmetry (14) spaced 72 ° apart. Ten sensors (10) have been placed in the radial direction in the tire grouped in two concentric circumferences (9) located in the inner part of the tire. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. The measurement points coincide with points of intersection between the circumferences and the five planes of symmetry of the tire.
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FIG. 7 shows a wheel with five spokes. Said wheel has five symmetry pianos (14) spaced 72 ° apart. Ten sensors (10) have been placed in the radial direction in the tire grouped in two concentric circumferences (9). The circumference of smaller diameter has been placed in the outer part of the rim while the circumference of greater diameter is in the inner part of the rim. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. The measurement points coincide with points of intersection between the circumferences and the five planes of symmetry of the tire.
FIG. 8 shows three wheels with three different tire types. The three tires have five planes of symmetry (14) spaced 72 ° apart. In all of them, five measuring points (8) spaced 72 ° apart from each other in each of the two circumferences (9) have been selected, so that they coincide with points of intersection between the circumference and the symmetry planes of the tire . In the tire of the upper image of the figure, the measuring points of both circumferences are located on the outer surface of the tire. In this case, the sensors (10) have been placed in the first circumference directly on the measuring points following option 1. However, in the second circumference, five pairs of sensors (10) have been placed according to option 2. The two sensors of each pair are located in symmetrical points with respect to one of the planes of symmetry of the rim. In the tire of the center image, the measuring points of the first circumference are located on the outer surface of the tire and the sensors have been placed directly on them according to option 1. However, the measuring points of the second circumference are not on the surface of the tire, so it is only possible to place five pairs of sensors according to option 2. On the tire of the lower image of the figure the measuring points of both circumferences are not on the surface of the tire and in each of them five pairs of sensors have been placed according to option 2.
FIG. 9 shows a pair of sensors (10) placed on a circumference (9) according to option 2. The sensors are located at symmetrical points with respect to the plane (11) that contains the wheel axis (3) and the straight line (12 ) that joins the center of the wheel (13) with the measuring point (8), called the measurement plane.
FIG. 10 shows a bus wheel. Said wheel has two possible types of symmetry planes. The image of this figure shows four planes of symmetry (14) spaced 45 ° apart from each other of the same type. Twelve sensors (10) have been placed in the radial direction in the tire grouped in two concentric circumferences (9). In the first
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circumference four measurement points (8) have been selected that coincide with the four points of intersection between the vertical and horizontal symmetry pianos and the circumference. In the second circumference, eight measurement points have been selected that coincide with the points of intersection between all the symmetry planes represented in the image and the circumference. The sensors have been placed directly on the measuring points in both circumferences following option 1.
FIG. 11 shows three images of the same bus wheel. This wheel has two types of symmetry planes. The symmetry planes (14) of one of the types are shown in the image above. In said image, the measuring points (8) have been selected to coincide with the points of intersection between these planes of symmetry and the circumferences (9). The symmetry planes (14) corresponding to the other type are shown in the image of the center. In this image, the measuring points (8) coincide with the points of intersection between the symmetry planes of this second type and the circumferences (9). Finally, in the image below all the symmetry planes of the tire are shown. In the first circumference of the rim of this image, the points of intersection between the planes of symmetry of the first type mentioned (ie, the planes shown in the upper image) and said circumference have been selected as measurement points, while in The second circumference measuring points are those that result from the intersection between said circumference and the symmetry planes of the second type (that is, the planes shown in the center image). In the three images, the sensors (10) have been placed directly on the measuring points according to option 1.
FIG. 12 shows in the upper image the circuit corresponding to 1/4 Wheatstone Bridge, while in the lower image there is the circuit corresponding to 1/2 Wheatstone Bridge. In these figures, Vin is the supply voltage of the circuit, Vcr is the output voltage, Rcr (in the 1/4 Wheatstone Bridge circuit), Rcr1 and Rcr2 (in the 1/2 Wheatstone Bridge circuit) are the resistors of the strain gauges and Rg corresponds to the non-active resistors of the circuits.
FIG. 13 shows a wheel with six spokes and four screw holes. Said tire has a single plane of symmetry (14) of the same type. In the wheel twelve sensors (10) have been placed in radial direction grouped in two concentric circumferences (9) located on the outside of the rim. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. Only two measurement points of each circumference coincide with points of intersection between the circumference and the plane of symmetry.
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FIG. 14 shows a wheel with five spokes and four holes for the thymes. Said wheel has a single plane of symmetry (14) of the same type. Ten sensors (10) have been placed radially in the tire grouped in two concentric circumferences (9) located on the outside of the tire. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. Only one measurement point of each circumference coincides with the point of intersection between the circumference and the plane of symmetry.
FIG. 15 shows the definition of angular coordinates. The upper image shows the angular coordinates defined for the first circumference while the lower image shows the angular coordinates referring to the second circumference. is the angle between the reference measurement plane (16) of the circumference i (9) and the stress application plane (15). ; is the angle between the measurement plane j (11) and the plane
reference measurement of the circumference i (16). ; is the angle between the plane of
measure j (11) and the plane of application of the efforts (15). Finally, 9 is the angle between a reference plane of the wheel (17) and the plane of application of the forces (15).
FIG. 16 shows a wheel with ten spokes and five screw holes. Said wheel has five planes of symmetry (14) spaced 72 ° apart. Ten sensors (10) have been placed in the radial direction in the tire grouped in two concentric circumferences (9) located on the outside of the tire. The sensors have been placed directly on the measurement points (8) selected in each circumference following option 1. In this case the measurement points do not coincide with intersection points between the symmetry planes and the circumferences.
FIG. 17 shows the measurements taken of the FZ stress and deformations when the wheel of FIG. 16 is in the angular position 9 = 0 °, to find the value of the FZ influence functions on the deformations in that angular position, af (0 °). The
upper image shows how the FZ effort has been applied in four steps ranging from 3000 N to approximately 6000 N. The image below shows the deformations at all measuring points of the two circumferences during the application of said force steps when the wheel is in position
9 = 0 °.
FIG. 18 shows the values of the FZ influence functions on the deformations generated at all measuring points of the ten-spoke wheel of FIG. 16, af (9),
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during a complete turn of the wheel. The image on the left shows the influence functions on the first circumference while the image on the right shows the influence functions on the second circumference.
FIG. 19 shows how the element of row 2 and column 4 of matrix C varies with the change in the angular position of the ten-spoke wheel of FIG. 16.
DESCRIPTION OF A PREFERRED EMBODIMENT
A realization of the invention according to the previously noted characteristics is set forth below, without limitation.
In order to obtain the forces and moments in the contact between the tire and the roadway, it is necessary to instrument the tire that mounts said tire with a plurality of sensors grouped in two concentric circumferences with respect to the center of the wheel (reference 9 of FIG. 4). To select the most suitable diameters of these circumferences, it would be convenient to carry out a theoretical study (by means of the finite element method) or experimental. The way of carrying out this study will be explained later.
Within each circumference it will be necessary to select at least four measuring points that are spaced apart from each other. The number of measurement points selected and their position will depend on the geometry of the tire.
The sensors will be placed taking into account these measuring points in two possible ways (specified above as option 1 and option 2). The measuring points can be selected so that they are located on the surface of the tire (either on the inside of the tire, on the outside, or on the sides of the spokes). In this case, the sensors can be placed directly on the selected measuring points following option 1, as shown in the first circumference of the upper image tire and the center image tire of FIG. 8. It would also be possible in this case to place the sensors according to option 2, as shown in the second circumference of the tire of the upper image of FIG. 8. On the other hand, you can also select points of the circumference that are not located on the surface of the tire as measuring points, whenever it is possible to find two points of the symmetrical circumference with respect to each measurement plane that if be
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are located on the surface of the tire and in which therefore, the sensors can be placed following option 2.
Whenever the geometry of the tire allows it, it is preferable that the measuring points of each circumference be selected so that they coincide with the intersections between the circumference and symmetry planes of the tire. A plane of symmetry is one that divides the tire into two symmetrical halves with respect to itself, as shown in reference 14 in the upper image of FIG. 3. Specifically, the five-spoke wheel of FIG. 3 has five planes of symmetry spaced 72 ° apart. Each plane of symmetry of this wheel coincides with the middle plane of one of the spokes of the tire. In the two-dimensional view of the five-spoke wheel shown in the lower image of FIG. 3 shows the five planes of symmetry of the tire with dashed lines.
For example, on each of the tires of FIGS. 4-8 it is possible to find five planes of symmetry (reference 14) spaced 72 ° apart. In said tires, the measurement points selected in both circumferences are those that result from the intersection of said circumferences with the five planes of symmetry of the tire. In these cases, the measurement planes coincide with symmetry planes of the tire. In the image of the center of FIG. 8 it can be seen how the points resulting from the intersections between the planes of symmetry of the tire and the second circumference are not located on the surface of the tire. Therefore, if we select these intersections as measurement points, it is not possible to place the sensors at those points following option 1. However, it is possible to place pairs of sensors according to option 2 at points on the circumference that are symmetrical with respect to each plane of symmetry. The same happens in the case of the two circumferences with which the tire of the lower image of the same figure is instrumented. Therefore, the second option is especially useful in the case of tires with double spokes such as those shown in FIG. 8.
On the other hand, FIG. 11 shows an eight-hole truck tire that has two possible types of symmetry planes spaced 45 ° apart. Two planes are considered to be of the same type when the two halves in which the tire is divided by one of them are equal to the two halves in which the tire is divided by the other. On the one hand, each plane of symmetry of the first type contains the axis of rotation of the wheel and the straight line that joins the center of the tire with the center of one of the holes of the same. Said drawings are shown with reference 14 in the image of the center of FIG. 11. On the other hand each plane of symmetry of the second type contains the axis of rotation and is angularly
equidistant from two adjacent planes of those defined in the center image. These planes
17
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are shown with reference 14 in the upper image of FIG. 11. In the case where the tire has several types of symmetry planes, as in the tire of FIG. 11, it is possible to select the measuring points in one of the circumferences according to one of the types of planes and in the other circumference according to the other type of symmetry planes, as in the image below. It is also possible to use the same type of planes for both circumferences (as in the images of the center and top of the same figure). However, it would not be convenient to select as measuring points of the same circumference those resulting from the intersection between said circumference and both types of planes.
Whenever symmetry planes of the same type can be found on the rim that intersect the circumference at least four points spaced apart from each other, it would be convenient for all measuring points to coincide with points resulting from those intersections. However, it is not necessary to select as measuring points all the points resulting from these intersections, but less points can be selected as long as the selected number is equal to or greater than four and it is fulfilled that the measuring points are spaced equidistant angles each other, as in the first circumference of the tire of FIG. 10.
However, in the case where the tire to be instrumented does not have planes of symmetry of the same type that intersect the circumference at least four points spaced apart from each other, it will not be possible for all measuring points of the same circumference coincide with points intersection between the circumference and planes of symmetry of the tire. For example, on the tire of FIG. 13 it is possible to select six measuring points spaced 60 ° apart from each other in each circumference, since said tire consists of six radii spaced apart from each other at this angle. However, since the tire does not have six screw holes, but only has four, it is only possible to find a plane of symmetry of the same type that intersects each circumference at two points. These two points have been selected as measurement points in that figure. On the other hand, like the tire of FIG. 14 has five radii equidistant from each other, it is possible to select in each circle five measuring points spaced 72 ° apart. However, since it only has four screw holes, it is only possible to find a plane of symmetry that intersects each circumference at one point. This point has been selected as the measuring point in each circumference. The rest of the points have been selected so that the point j is at an angle (j-1) 72 ° from the point that coincides with the intersection between the circumference and the
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plane of symmetry (said intersection point being used as a reference for the numbering of measurement points). Therefore, only one measurement plane coincides with a plane of symmetry of the tire.
At each circumference i, it is necessary to obtain as many deformation signals as selected measurement points, ie NPi deformation signals. If a given circumference i is formed by a total of NPi sensors placed according to option 1, a signal must be obtained for each sensor. Said signal coincides with the deformation at the point where the sensor is located. To obtain said signal, if the sensor used is an strain gauge, it can be connected using% of Wheatstone Bridge as shown in the upper image of FIG. 12. The resulting signal of said circuit is approximately proportional to the deformation signal at the point where the sensor is located, whereby said deformation can be easily obtained by dividing the output voltage of the Wheatstone Bridge% by the proportionality constant.
On the contrary, if the circumference considered is formed by NPi pairs of sensors placed therein following option 2, a deformation signal must be obtained for each pair of sensors that are placed in symmetrical points with respect to the same measurement plane. This signal will be equal to the sum of the deformations generated at both points where the sensors of the same pair are placed. This signal can be obtained analogically, by connecting the sensors of the same pair in% Wheatstone Bridge as shown in the bottom image of FIG. 12. The output of this circuit is approximately equal to a signal proportional to the sum of the deformations generated at the points where the sensors of the same pair are placed. Therefore, the required signal can be obtained by dividing the output of this circuit by the proportionality constant. Likewise, it is also possible to obtain said signal digitally. For this, the deformation signal is obtained at each of the points by connecting each of the strain gauges of the same pair in% Wheatstone Bridge and digitally adding the resulting deformation signals.
The deformation signal obtained in the circumference i and at the measurement point j is denoted as Sjj. Said signal is periodic with the angle turned by the wheel. Therefore, it can be expressed as a sum of Fourier series as follows:
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 f O yes, j (j) = FX (() (Z Aifj, k cosl V k = 0  [krij) + Z Bj k sin (k = 0 try
 f O + FY (*) (Z A (yk cos (} V k = 0  Aij) + Z BfJ, ksin ((k = 0 A, j)
 f O + FZ (*) (Z Afj, k cos (k V k = 0  '^ ij) + Z Bfjj .ksin (k k = 0 rj)
 f O + MX (*) (Z A (jk 'cos! V k = 0  (krtJ) + Z Bfj, k sinl k = 0 (kr, j
 f O + my (*) (Z Atkcos (V k = 0  O kr, j) + Z B.f5j .ksin (k = 0 kr, j
 + MZ (*) (Z Afj, k cos (V k = 0  My) + Z Bb, k sin (k = 0 'krUi
+ Gi (*)
rtJ = <* i + PU
(one)
where:
- FX, Fy and FZ are the components, in the X, Y and Z axes respectively, of the force applied in the pneumatic-road contact, as shown in FIG. one.
- MX, My and MZ are the components, in the X, Y and Z axes respectively, of the moment applied in the pneumatic-road contact, as seen in FIG. one.
- s. is the unit strain (in radial direction or in another direction, according to
appropriate) obtained at the measurement point j of the circumference i.
- A [) k is the amplitude of the term in cosine k of the deformation signal generated by a unit force FX at the measurement point j of the circumference i. Similarly, Af) k, Afjk, Af4jk, Af k and Af k are the amplitudes of the term in cosine k of the
deformation signals generated at the measurement point j of the circumference i by the unit forces FY, FZ, MX, MY and MZ respectively.
- Bf) k is the amplitude of the term within s of the deformation signal generated by a unit force FX at the measurement point j of the circumference i. Similarly, B () k, B (3jk, B (4k, B (5jk and Bfjk are the amplitudes of the term within s of the
deformation signals generated at the measurement point j of the circumference i by the unit forces FY, FZ, MX, MY and MZ respectively.
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- y is the angular position of the measurement plane j (reference 11 of FIG. 15) of the
51 u
circumference i (reference 9 of FIG. 15) with respect to the plane of application of the stresses (reference 15 of FIG. 15), which coincides with the plane YZ of the reference system represented in FIG. one.
- is the angular position of the measurement plane of the circumference i taken as
reference for the numbering of the measuring points of said circumference (that is, of the measurement plane j = 1, indicated with reference 16 in FIG. 15) with respect to the stress application plane (reference 15 of FIG . fifteen). Therefore, it is true that = yn.
- p is the angular position of the measurement plane j (reference 11 of FIG. 15) of the
circumference i with respect to the reference measurement plane for said circumference, corresponding with j = 1 (reference 16 of FIG. 15). Unlike
other angular coordinates, p does not change value with the wheel rotation and is
51 u
a multiple of 360 ° divided by the number of measuring points of the circumference, that is, Pt, j = (j -1) 3607NP.
- Q is the unit strain caused by the measurement circumference i by those
factors such as temperature, centrifugal forces, pressure ... and that does not vary with the change in the angular position of the measuring point.
If the measuring point j of the circumference i is perfectly contained in a plane of symmetry of the rim, the terms ALk, Atk, Atk, Btk, Btjk and Btkson
equal to zero. In addition, if all measurement points are perfectly contained in symmetry planes of the same type, then
Afm - Afm -
^ •, 1, k ~ ^ S ', 2, k _ • *
■ = A (mNPi, k and Bfk = Bhk = ■■■ = B (mN „, k (m = 1.2 .... 6).
As observed in the previous expression, the signals corresponding to each measurement point not only depend on the forces and the moments that are to be measured, but also depend on the angle of the measurement planes with respect to the application plane of the efforts and other factors contained in Q. Therefore, these signals cannot be
Use directly to measure the forces and moments generated in the contact between the tire and road, but it is necessary to pre-treat it.
Thus, after the amplification and filtering of the deformation signals of each circumference, these must be combined so that at least three signals of type 1 and at least three signals of type 2 are obtained between the two circumferences in order to obtain the three forces and the three moments generated in the pneumatic-road contact:
5 - Type 1 signals:
o Senal ES1, i: Senal whose continuous component is equal to the mean value of the amplitudes of the first term in cosine of the NPi signals of deformation of the circumference i, that is,
Npi Af1 Npi Npi Af3
= Fx (<) £ AjjL + F, (<)! ^ + Fz (t) £ AjF
j = 1 N Pi j = l NPi j = l N Pi
NPi Npi ^ —f5 Npi ^ —f6
+ MX (<) Elf + M, (t + MZ (t + «su (0)
j = 1 N pi j = 1 Npi j = 1 N pi
(2)
10
o Senal ES2, i: Senal whose continuous component is equal to the mean value of the amplitudes of the second term in cosine of the NPi signals of deformation of the circumference i, that is to say
Npi -f
ES2, i = FX (t) £ Aki
j = 1 N pi N pj ^ —f4
Npi Af2 Npi Af
f, (t) £ -f + Fz (,) £ -
i = i 1 ypi i = i 1 ypi
j, 2
Npi A f5 Npi A f6
+ Mx (t) £ -T + M, (t) £ -j + Mz (t) £ -j + Zs 2, i (0)
j = 1 Npi j = 1 Npi j = 1 N pi
(3)
15 - Signals of type 2:
o Senal EA1 ,: Senal whose continuous component is equal to the average value of the amplitudes of the first term within the NPi signals of deformation of the circumference i, that is,
Npi Npi Bf2 N pi Bf3
Eau = Fx (t) £ + F, (t) £ + Fz (t) £ 1,] 1
= 1 Np
; = i Npt
Npi Bf4 N pi Bfs Npi Bf6
j = 1 Npt
* i, j, 1
+ Mx (t + M, (t) £ -j + Mz (t + Z-U (0)
j = 1 N pi j = 1 Npi j = 1 N pi
or Senal EA2, i: Senal whose continuous component is equal to the average value of the amplitudes of the second term within the NPi signals of deformation of the circumference i, is dedr,
NPi NPi Bf2 NPi Bf3
EA2, i = Fx (t) £ Bj + Fy (t) I + Fz (t) t-hh2
i = 1 Npi
i = 1 Npi
i = Npi
NPi Bf4 NPi Bf5 NPi Bf6
■ "'' '"' i. j. 2 , , . (a v i • i> 2
+ M> MY M MY N
j = 1 1 ^ Pl j = 1 1 ^ Pl
Mz (tll ^ i + «A2.i (9)

Pi
(5)
5 where ^ 5i.i (9), 2.i (9), £ ai.i (9) and 2.i (9) are respectively the signal curls
ESu, ES2J, EA1, i and EA2-h, that is, they are the part of these signals whose value varies with the angle turned by the wheel. This angle will be called 9.
To measure the angle turned by the wheel 9 it will be necessary to take as a reference a plane of the tire that contains the wheel axle (reference 3 of FIG. 1) and is orthogonal to the
10 mid-plane thereof (reference 2 of FIG. 1). This plane will be called a plane
reference wheel (reference 17 of FIG. 15). In this way, the angle 9 will be the angle between said reference plane and the stress application plane. Preferably, the reference plane of the wheel will coincide with the measurement plane taken as a reference for the numbering of the measurement points of one of the
15 circumferences For example, the wheel reference plane could be selected as
corresponding measurement plane with j = 1 of the circle i = 1, and in this way you have to 9 = «j. This has been done in FIG. 15, where you can see how the plans with references 16 and 17 coincide. Similarly, if the measurement plane j = 1 of the circumference i = 2 is selected as the reference plane of the wheel, then 9 = a2.
20 The type 1 and type 2 signals described above can be calculated by combining the deformation signals of the same circumference as follows:
E =
^ pi. i

‘• pi
-I
Pi j = 1
£,, COS
i. J
(i -1)
2n

N
Pi JJ
(6)
E = -
‘• pi
-I
Pi i = 1
Eu sln
(i -1)
2n

N
Pi JJ
(7)
E =
-c'P 2, i
N
‘• Pi
-z
Pi j = l
£,. COS
* 5 J
2 • (J-1)
2n
W
N
Pi JJ
(8)
E = -
Q25 N
Pi
-z
Pi J = 1
E, js'n
2 • (J-1)
2 ^

N
Pi JJ
(9)
Esiii = EP1, i COS (a, -) - Eqi * i sin (a, -) (10)
ES2, i = EP2, i COS (2ai) - EQ2, i sin (2ai) (11)
5 Eai, i = Epi, i sin (a) + EQ1, i COS (a) (12)
Ea2, i = Ep2, i sin (2at) + Eq2, t cos (2a) (13)
Preferably, the ESV signals (using equations (6), (7) and (10)) and EA1i (applying equations (6), (7) and (12)) will be calculated on the two circumferences, and signals ES2 , i 10 (through equations (8), (9) and (11)) and EA2, i (with equations (8), (9) and (13)) in at least one of the circumferences. The number of circumferences in which the ES1J, EA1J, ES2, i and EA2 signals are calculated, i will be denoted respectively as nS1, nA1, nS2 and nA2. The number of circumferences in which each of the signals is calculated may be different but it must always be observed that nS1 + nS2> 3 and nA1 + nA2> 3.
fifteen
The stresses generated in the contact between the tire and the road are obtained by the linear combination of the signals of the ES1J, EA1J, ES2, i and EA2 types, calculated in the two circumferences with which the tire has been instrumented. The coefficients that are used to make said linear combination are characteristic of the wheel that one wants to implement and therefore, are different for each type of wheel. These coefficients also depend on the diameters of the measurement circumferences. For these reasons, these coefficients must be obtained through calibration.
From here on, we will call f the vector that contains all the efforts:
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f (t) = [Fx (t) F, (t) Fz (t) Mx (t) M, (t) Mz (t) J (14)
and e to the vector containing all the signals of types ES1J, EA1J, ES2i and EA2i calculated in the different measurement circumferences. For example, if signals ES1J, EA1J, ES2i and EA2i have been calculated in both circles, the vector e can be expressed as follows:
e =
[ES1,1
^ S 1.2
^ S 2.1
^ S 2.2
-'AW
'A1.2
-'A 2.1
image 1
(fifteen)
It will be necessary to obtain by calibration a matrix of coefficients C dependent on the angle turned by the wheel 9 so that it is fulfilled,
f = C (9) e
(16)
The coefficients of matrix C obtained by calibration can be used to obtain each of the stresses contained in vector f. In this way the element m (m = 1, 2, ... 6) of the vector f, fm, can be obtained from the linear combination of the signals ES1J, EA1J, ES2i and EA2i calculated in the two circumferences of the following mode:
n 1 ^ n 2 ^ fti 1 ^ fti 2
fm = S Cm, „(9K, m = 1-, 6 (17)
n = 1
where cm, n (9) is the element located in row m and column n of matrix C, fm is the element m of vector f (for example f2 = FY) and in is element n of vector e (for example , in the specific case in which the vector e has the expression of equation (15), e3 = ES21). The number of elements of the vector e is equal to the sum nS1 + nS2 + nA1 + nA2.
In order to carry out the method set forth in the present invention, it is necessary to previously carry out a calibration process such as the one set forth below to obtain each of the cmn (9) coefficients. This calibration process consists of the following steps:
Step 1: Determination of influence functions.
In the first place, it is necessary to know all the deformation signals generated in the two circumferences when each of the pneumatic-road contact is applied
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efforts with a unit value keeping the rest of the efforts equal to zero. The deformations generated under these conditions will be known as influence functions. The function of influence of the stress fm on the deformation generated at the measurement point j of the circumference i has the following expression:
af (e) = ZAf, kcos (kyt, j) + ZBifm, ksin (kyt, j) (18)
k = 0 k = 0
For example, af (e) is the deformation generated in the circle i by the sensor or torque
of sensors located at the measuring point j when the wheel is in the angular position e and a moment MX equal to 1 N m (rest of efforts equal to zero) is applied to the contact between the tire and the road.
Thus, for example, to find the influence functions of the stress fm on the deformations in the tire, a test procedure such as the following can be carried out:
- The wheel is placed in a certain angular position. In the case of the first test, the wheel is positioned so that the reference plane of the wheel is zero degrees from the plane of stress application (e = 0 °).
- With the wheel placed in said angular position, at least one step of known magnitude of the force fm is applied in the contact between the tire and the rolling surface. If possible, it would be preferable to apply several steps of different magnitude of the fm effort or even repeat the same step (or steps) to be able to have more data from which to find the influence functions by solving a system of overdetermined equations . The deformations coming from all the sensors must be acquired during the application of said step (or steps). The applied stress must also be measured (for example, by a load cell), as well as the angular position of the wheel e.
- Once the application of the effort ceases, the wheel must turn a certain angle
Ae.
- When the wheel is in the new angular position, the effort is reapplied as it was when the wheel was located in the previous angular position.
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- The described process is repeated every A9 radians until a complete turn of the wheel is completed, that is until the wheel reaches an angular position 9 = 2n radians.
If Ne steps of the effort fm have been applied in the contact between the tire and the rolling surface when the wheel is in an angular position 9, the value of the function of influence of the effort fm on the deformations at the measuring point j of the circumference i for said angular position can be calculated by solving the following system of equations, which is overdetermined if Ne> 1:
 eleven    1 CD "V * 1____
 ^ •••  II QS A ■ (9)
 eleven_____    1 QS w _____1
(19)
where the superindice used in the elements of the coefficient matrix and the vector of independent terms refers to the step applied. Each of the values of the coefficient matrix (which includes the measures of the stresses in the steps) or of the vector of independent values (which includes the measures of the deformations) can correspond to the value in an instant of time or to the mean value of a time interval of the step specified with the super index. This process should be carried out for each of the six efforts, so that the influence functions of all the efforts are obtained.
In the case where it is not possible to apply an effort fm in an isolated manner and it is necessary to apply Nf stresses at the same time (for example, it would be difficult to apply an effort MX without applying at the same time a force FZ displaced a certain distance in direction Y with respect to the theoretical point of contact), such efforts should be applied simultaneously in at least as many steps as efforts are being applied at the same time (ie Ne> Nf). The magnitudes of
the efforts in the steps so that the influence functions of the Nf efforts could be obtained by solving the following system of equations, which is overdetermined if N> Nf:
e J
 "f1 f1 • f2 f2 •  '"s • ^ w ^ - _________________________i <' at (6) at (6) ------ V * II [-1 (9) 1 <(*)
 i ^ ’’ is ..  1 aj 6 1 w _____________1
Step 2: Linear combination of influence functions.
(twenty)
In a second step, the influence functions obtained in the previous step must be combined so that a matrix D of dimension (nsl + nS2 + nAl + nA2) x 6 is obtained.
5 element of row v and column w of matrix D is calculated according to the following expressions:
f f
dv, w (0) = ^ S (9) C0S ^ + (j ~ l) N
NPi j = 1 V v N
2%
X
Pi J J
if ev = EslJ (21)
f f
dvw (6) = ^ Z afW (6) cos 2a + 2 ij - 1) M
NPi j = 1 V V N
2%

Pi J J
if ev = It's 2, i (22)
f f
dv, w (6) = - S afw (6) without a + (j-1)
NPJ V V Npi j j
2%
\
if ev = UAE
(2. 3)
10
O NPi (('J-r W
dv, w (6) = - S afW (6) without 2ai + 2 • (j-1) TT
NPi j = 1 V V NPi JJ
if ev = EA2, i
(24)
For example, in the case where all the signals in the two circumferences have been calculated and there is a vector e with the expression of equation (15), matrix D is obtained by the following expression:
D =
NP,
NP, '
L at'cos (/, j)
J = 1 Np, '
L ° Jj'C0S (/ 2, j)
J = 1
Np
L O ^ j-cos (2 / i, J)
J = 1
Np,
L a2! J'C0S (2/2, j)
J = 1
Np
L ai! J'sin (/, j)
j = 1
Np
L a2'.j'sin (/ 2, j)
j = 1
Np,
L a ,, / sin (2/1, j)
j = 1
Np,
L a2! J 'sin (2/2, j)
Np ^
L a1f2j'c0s (/, j)
J = 1
L a22j'c0s (/ 2, j)
J = 1
Np,
L c0s (2/1, j)
J = 1
Np,
L a2 J C0S (2/2, j)
J = 1
Np,
L a6'sin (/, j)
J = 1
Np,
L a22j 'sin (/ 2, j)
J = 1
Np
L <2 sin (2/1, j)
J = 1
Np,
L at 'sin (2/2, j)
N »
L 'c0s (/ 1, j)
J = 1
L a ^ j-c0s (/ 2, j)
J = 1
Np
L aTj-c0s (2/1, j)
j = 1
Np
L a23j-c0s (2/2, j)
J = 1
Np,
L 'without (/ 1, j)
J = 1
Np,
L a2 J'sin (/ 2, J) J = 1
Np
L <j-sin (2/1, j)
j = 1
Np
L a2Vsin (2/2, j)
L c0s (/ 1, j)
J = 1
Np, '
L a2: j -c0s (/ 2, j)
j = 1
Np,
L (2/1, j)
J = 1
Np
L at / c0s (2/2, j)
j = 1
Np,
L °, 'j' sin (/ 1, j)
j = 1
Np,
L at 'sin (/ 2, j)
J = 1
Np,
L sin (2/1, j)
J = 1
Np
L a2Aj'sin (2/2, j)
N »
L a1fj-c0s (/ 1, j)
j = 1 Np '
L a25j-c0s (/ 2, j)
J = 1
Np
L 'c0s (2/1, j)
J = 1
Np
L (2/2, j)
J = 1
Np,
L a1 ^ i'sin (/ 1, j)
j = 1
Np,
L a2: j-sin (/ 2, j)
j = 1
Np,
L jin (2/1, j)
J = 1
Np
L jn (2/2, j)
N *
L (/ 1, j)
J = 1
L a2Aj'C0S (/ 2, J)
J = 1
Np,
L -c0s (2/1, j)
j = 1
Np,
L a2, j -c0s (2/2, j)
j = 1
Np,
L a22'sin (/ 1, j)
J = 1
Np,
L a Ysin (/ 2, j)
j = 1
Np,
L-without (2/1, j)
j = 1
Np,
L a2, j -sin (2 / 2j)
(25)
where,
/ i, j = a, + (j -1)
2n
NT
Step 3; Obtaining the coefficients of matrix C.
(26)
5 Finally, matrix C is obtained as the inverse on the left of matrix D by the appropriate mathematical method, such as the Moore-Penrose pseudoinverse:
C (0) = D (0) *
(27)
2
where D (0) * is Moore-Penrose's pseudoinverse of D (0).
If the aforementioned calibration process is followed, only values of the coefficients 10 cm „(0) are obtained in those angular positions 0 in which tests have been performed for
Calculate influence functions. If you want to measure the stresses in other intermediate angular positions, you can obtain the cmn (0) coefficients that must be used in
said positions by interpolation of the values obtained through the aforementioned calibration process.
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25
30
So that the error in the measurement of the stresses that appear in the pneumatic-road contact is low and this is not very sensitive to errors in the calibration or in the measurements of the deformation signals, it is necessary that the matrix C (or D ) have a good numerical conditioning. Since the coefficients of the matrix C depend on the position of the selected measurement points, it is necessary to choose the diameters of the circumferences that result in a matrix C with good numerical conditioning. For this, it is recommended to carry out a theoretical study (through an analysis by the finite element method) or an experimental analysis prior to the final instrumentation of the tire that allows to select some measurement points grouped in circumferences that result in a matrix C with a good numerical conditioning. This study should include the following steps:
- Several circumferences (more than two) and tire measurement points are selected where the sensors can be placed following the first or second option. If a theoretical study is chosen, a finite element model of the wheel should be carried out. If the experimental study is chosen, the grouped sensors should be placed in the selected circumferences and following the measurement points chosen according to the first or second option.
- The influence functions of each of the efforts on the selected measurement points are calculated. If the experimental study is chosen, these influence functions must be calculated as previously described in the calibration process. If the theoretical option is chosen, a procedure similar to the previous one must be performed, but in this case the tests must be replaced by an analysis by the finite element method in which the deformations at each of the possible points are calculated of measurement applying different load conditions on the tire in different angular positions of the wheel.
- Two possible circumferences of those analyzed are selected, matrix D (from the influence functions using equations (21) - (24)) or C (as the inverse of the left of D) is calculated for this combination of circumferences and the condition number of one of these matrices is obtained.
- The previous step is repeated for the remaining possible combinations of analyzed circles.
- The combination of circumferences and measurement points that have resulted in a D or C matrix with a lower number of conditions is selected.
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30
35
In summary, to carry out the invention set forth in this patent the NP1 signals of deformations obtained in circumference 1 and the NP2 signals measured in circumference 2 must be processed using the expressions of equations (6) - (13) to obtain between the two circumferences at least three signals of type 1 (preferably, the signal of type ES1i in both circles and signal ES2i in at least one of the circumferences is calculated) and three signals of type 2 (preferably, the signal of the type EA1i in both circles and signal EA2i in at least one circle). Subsequently, the signals calculated in both circumferences are combined with each other using the expression of equation (17) to determine the three forces and the three moments in the pneumatic-road contact.
Although it is possible to perform this processing in a control unit located inside the vehicle, it is recommended that such processing be carried out in a microcontroller located on the wheel, due to the high amount of deformation signals that should be transmitted to the unit of vehicle control otherwise (NP1 + NP2 + 1 signals). Therefore, it is advisable to introduce these signals into a microcontroller through the corresponding Analog / Digital converter, which must have at least NP1 + NP2 + 1 channels to process the deformation signals according to equations (6) - (13) and ( 17).
The deformation signals can be obtained by means of a suitable sensor, such as strain gauges, piezoelectric sensors ... The deformation signals are of very low level, so amplification is necessary. The use of linear strain gauges glued in radial direction is recommended. It is not necessary to condition the strain gauges to perform temperature compensation, as this is compensated directly by signal processing performed by applying equations (6) - (13).
If one sensor is used per measuring point (that is, option 1 is described below), each of the strain gauges can be conditioned in% Wheatstone bridge. However, if one pair of sensors is used for each measuring point (that is, the strain gauges are glued to the rim following option 2), the two sensors of the same pair can be conditioned in% Wheatstone bridge, obtaining a deformation signal for each pair of sensors. On the contrary, if each sensor of the same pair is conditioned following% Wheatstone bridge, the two deformation signals
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resulting from both Wheatstone bridges must be added into the microcontroller before applying equations (6) - (13).
As we have seen, it is also necessary to measure the angular position (d) of some reference plane of the tire. The most suitable sensors for measuring this angular position are the "resolvers" and the "encoders".
Finally, to transmit the signals obtained in the wheel to the control unit located in the vehicle, it is necessary to use some telemetry system or friction ring equipment.
INDUSTRIAL APPLICATION
Below is an example of the application of the present invention to a tire
of ten spokes like the one in FIG. 16. This is a 712 '17 # forged aluminum rim on which a 205/40 R17 tire is mounted.
Said rim consists of ten spokes and five holes for the screws, resulting in five planes of symmetry (reference 14 of FIG. 16). Said tire has been instrumented with the smallest possible number of sensors to be able to carry out the method proposed in the present invention with this tire, that is, ten strain gauges distributed in two circumferences have been placed on the tire. Within each circumference, five measuring points have been selected, located on the outer surface of the spokes of the rim, as shown in FIG. 16. The sensors are placed directly on the measuring points following option 1. In this case both circumferences have been instrumented with the same number of sensors placed in the same angular positions.
Once the tire has been instrumented following the selected measurement points, it is necessary to carry out a calibration process that allows obtaining the elements of the matrix C described above. To do this, it is necessary to first know the previously defined influence functions of each of the efforts.
As an example, the procedure to be followed in order to obtain the influence functions on the deformations at the measurement points of the tire of one of the stresses (in particular, the procedure for finding the influence functions is described below) of FZ). For this, the following test procedure can be followed:
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- The wheel is positioned so that the reference plane coincides with the stress application plane. Said angular position of the wheel will be taken as 9 = 0 °.
- Four vertical force steps are applied to the tire (approximately 3000 N, 4000 N, 5000 N and 6000 N), with an approximate duration of 25 seconds each. In the upper image of FIG. 17 the measurements of the applied forces are shown, while in the lower image of FIG. 17 shows all deformation signals obtained at the measurement points of the tire.
- Once the four strength steps have been applied, the 9th wheel is turned and the four strength steps are reapplied with the wheel fixed in the new angular position.
- The procedure of applying forces in four steps every 9 ° is repeated again until a complete turn of the wheel is completed.
From the measurements made during the described tests, the 9 ° values of the FZ stress influence functions on the deformation at the different tire measurement points can be obtained. To find the value of the influence function a3 (9) in the angular position 9, a system of overdetermined equations can be solved like the one that follows by the method of the square mmimo:
Fz Fz Fz _ Fz
one
2
3
4
to
f (9)
image2
(9)
(9)
(9)
(0) J
(28)
where Fze is the average value of the stress applied during step e and S, j (9) is the average value of the deformation at the measuring point j of the circumference i during step e. In the image on the left of FIG. 18 shows the influence functions of the FZ stress on the deformation signals obtained in the first circumference, while the image on the right of FIG. 18 shows the influence functions of the FZ stress on the deformation signals of the second circumference. The rest of the influence functions can be obtained by following a similar procedure.
For each angular position of the wheel 9 in which values of the
influence functions, a matrix D must be obtained through combinations of
33
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influence functions expressed in equations (21) - (24). The matrix D to be obtained depends on the composition of the vector e. As described above, to carry out the above method, it is necessary to obtain at least three signals of type 1 (nS1 + nS2> 3) and at least three signals of type 2 (nA1 + nA2> 3) between the two circumferences. Assuming that all signals (ES1J, EA1J, ES2, i and EA2,) are to be calculated in the two circles to obtain the six stresses, the vector would have the form expressed in equation (15). In this case, the matrix D must be obtained by combining the influence functions of each effort on the deformations of the same circumference according to equations (25) and (26).
The calibration process is terminated by obtaining the matrix C. This matrix can be obtained as the Moore-Penrose pseudoinverse of D. For example, in FIG. 19 shows how the element in row 2 and column 4 of matrix C varies with the change in the angular position of the wheel.
In order to carry out the method set forth in this invention, the signals obtained at the measurement points indicated in FIG. 16. To do this, at each instant of time in which the efforts generated in the contact between the tire and the roadway are to be obtained, the signal vector of type 1 and type 2 of the equation would be obtained first (15 ) by the deformation signal combinations of the measuring points expressed in equations (6) - (13). In a second step, the efforts in the pneumatic-road contact are obtained by combining the vector signals (15) with calculated coefficients interpolating the elements of the matrix C obtained by means of the calibration procedure described for the angular position 9 in which the wheel, as shown in equation (17). It is recommended that the combinations of deformation signals of the measurement points by means of equations (6) - (13), and the combination expressed in equation (17) be performed on the wheel by using a microcontroller and transmitted directly the efforts in the pneumatic-road contact through a telemetry system to a computer in the vehicle.

权利要求:
Claims (14)
[1]
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1. Method of estimating the stresses generated by the contact of a tire with the roadway comprising the steps of:
- obtain deformation signals by means of a plurality of deformation sensors distributed following a plurality of measurement points;
- process the deformation signals as signals of forces and signals of moments generated in the contact between the tire and the roadway;
characterized in that the measuring points are distributed following two concentric circumferences with respect to the center of the tire, with at least four measuring points distributed so that they are spaced equidistant angles within each circumference and because the step of processing the signals comprises combining linearly the deformation signals of the measuring points of the different circumferences by means of coefficients that depend on the angular position of the points and the number of sensors, obtained by means of previous calibration.
[2]
2. Method according to claim 1, wherein the measurement points are selected so that they coincide with the points of intersection between the circumferences and the plane of symmetry of the tire.
[3]
3. Method according to claims 1 or 2, wherein a deformation sensor is placed at each measuring point of the same circumference; and the deformation signal of the measuring point corresponds to the deformation generated at the point where the sensor is placed.
[4]
4. Method according to claim 3, wherein the sensors are conditioned in a 1/4 of Wheatstone Bridge.
[5]
5. Method according to claims 1 or 2, wherein one pair of sensors is placed per measuring point of the same circumference, so that the two sensors of the same pair are located at symmetrical points with respect to the plane containing the axis of the It already rolls the straight line that joins the center of the wheel with the measuring point and the deformation signal of the measuring point corresponds to the sum of the deformation signals at the points where the sensors are placed.
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[6]
6. Method according to claim 5, wherein the sensors of the pair of sensors placed in symmetrical points with respect to the same plane that contains the wheel axis and the straight line that joins the center of the wheel with the measuring point are conditioned in 1 / 2 Wheatstone Bridge.
[7]
7. Method according to claims 3 or 5, wherein the deformation signals of the same circumference are linearly combined with each other by means of coefficients that depend on the number of measurement points used and the angular position thereof.
[8]
8. Method according to claim 7, wherein:
- at least three signals between the two circumferences, each of which is characterized in that its continuous component is equal to the average value of the amplitude of the first or second term in cosine of the deformations of one of the circumferences (designated respectively ES1i and ES2,).
- and at least three other signals between the two circumferences, each of which is characterized in that its continuous component is equal to the average value of the amplitude of the first or second term within the deformations of one of the circumferences (named respectively EA1i and EA2,).
[9]
9. Method according to claim 8, wherein the calibration process consists in finding a matrix C containing the coefficients that are used to obtain the stresses in the pneumatic-road contact by means of the combination of signals ES1J, ES2J, EA1i and EA2j obtained in the three circumferences, so that,
f = Ce (29)
where f is the vector that contains all the forces ordered in an arbitrary manner and e the vector that contains all the signals ES1J, ES2J, EA1i and EA2j calculated in the three circumferences ordered arbitrarily,
and understand the steps of:
- obtain values of the influence functions of each effort on the deformations at each measuring point when the wheel is in different
angular positions, where the function of influence of a given effort at a given measuring point is the deformation of said measuring point caused when said stress has a unit value and the rest of the stresses are equal to zero;
- calculate the matrix D in the angular positions in which there are values of the 5 influence functions by means of the linear combination of said values with coefficients that depend on the number of measuring points of each circumference and the angular position of these, where the element of row v and column w of said matrix, dvw, has the following form:
10
d = -------- and
v, w AT / —i
N Pi j = 1
(f
afw. cos
*, J
to
+ (j-i)
2%
X
N
Pi J J
yes = ESU
NPi f C
d = —y
v, w AT Lu
N Pi j = i
afw cos
*, J
2a, + 2 • (j -i)
2%
N
Pi J J
if ^ v = ES 2, i
NPi (f
Pi j = i
dvw = Y ~ and af without a + (j-i)
2%
Y
N
Pi J J
if ^ v = EAi, i
d = —y
v, w T ^
NPi j = i
NPi ((
af without
*, j
2a, + 2 • (j - i)
2%
N
Pi J J
if ^ v = EA2, i
where i is the number assigned to the circumference, j the number assigned to the measurement point, NPi the number of measurement points of the circumference i, at the angle of a plane of measurement taken as a reference for the circumference i with respect to the plane of stress application, f is the element at position w of the stress vector f and afw is the
influence function of the stress f on the deformation at the measuring point j of the circumference i;
- calculate the matrix C of coefficients from the matrix D in the angular positions 20 in which there are values of the influence functions, where the matrix C is the inverse to the left of the matrix D.
[10]
10. Method according to claim 9, characterized in that for obtaining the value of the influence functions of a given effort on the deformations in a certain angular position of the wheel said effort is applied in isolation or simultaneously with other efforts in the contact between the tire and the surface of
5 rolling with the wheel located in said angular position in at least as many steps as efforts are applied at the same time.
[11]
11. Method according to claim 9, wherein the values of the coefficients of the matrix C in angular positions of the wheel where no values of the influence functions are obtained are obtained by interpolation of the values of said coefficients in the
10 angular positions in which if values of the influence functions have been obtained.
[12]
12. Method according to claim 9, characterized in that the condition number of the matrix C or D is calculated for several possible locations of the circumferences and measuring points, and those resulting in circumferences and measuring points are chosen as results. a C or D matrix with the lowest condition number of
15 all possibilities analyzed.
[13]
13. Method according to any one of the preceding claims, characterized in that the deformation sensors are placed in the radial direction.
[14]
14. Method according to any one of the preceding claims, wherein the strain sensors are strain gauges.

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ES2566048B2|2016-09-20|

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US4448083A|1981-04-13|1984-05-15|Yamato Scale Company, Ltd.|Device for measuring components of force and moment in plural directions|

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US5894094A|1996-07-06|1999-04-13|Bayerische-Motoren Werke Aktiengesellschaft|Wheel force measuring hub assembly|

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ES2363400A1|2011-03-03|2011-08-02|Universidad Politécnica de Madrid|Method and system for estimating the effort generated by the contact of a tire with the road in an instrumented tire|EP3273216A1|2016-07-22|2018-01-24|Technische Universität Darmstadt|Measuring rim and evaluation unit for determining of mounting forces in tyre assembling|

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ES201630032A|ES2566048B2|2016-01-15|2016-01-15|Method of measuring the stresses generated in the contact between the tire and the roadway through the instrumentation of the tire|ES201630032A| ES2566048B2|2016-01-15|2016-01-15|Method of measuring the stresses generated in the contact between the tire and the roadway through the instrumentation of the tire|

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PCT/ES2017/070019| WO2017121917A1|2016-01-15|2017-01-13|Method for measuring forces generated in the contact between a tyre and the road by means of the wheel rim|