CN106706345A - Steering-by-wire system road feeling analog hardware-in-the-loop simulation platform and simulation method - Google Patents
Steering-by-wire system road feeling analog hardware-in-the-loop simulation platform and simulation method Download PDFInfo
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- CN106706345A CN106706345A CN201611061326.0A CN201611061326A CN106706345A CN 106706345 A CN106706345 A CN 106706345A CN 201611061326 A CN201611061326 A CN 201611061326A CN 106706345 A CN106706345 A CN 106706345A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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Abstract
The invention discloses a steering-by-wire system road feeling analog hardware-in-the-loop simulation platform, which simulates a real vehicle and driving conditions by means of a virtual full-vehicle model and a simulated environment, adopts a PXI real-time system to realize real-time communication of a road feeling analog controller and the full-vehicle model, provides a driver with proper steering wheel torque according to vehicle driving station parameters, optimizes the steering road feeling of the driver, provides a good steering-by-wire system development and test platform, and can achieve the real vehicle testing effect in a laboratory environment. The invention further discloses a steering-by-wire system road feeling analog hardware-in-the-loop simulation method.
Description
Technical field
It is imitative in ring the present invention relates to Automotive Steering Technology field, more particularly to a kind of wire-controlled steering system road feel analog hardware
True platform and emulation mode.
Background technology
Orthodox car steering includes mechanical steering system, hydraulic power-assist steering system, electric boosting steering system, it
It is common the characteristics of be all to be between steering wheel and deflecting roller using mechanically connecting, realize the steering behavior of automobile.But this
Kind mechanically connect and to cause that angular gear ratio between steering wheel and deflecting roller is certain value, when so being difficult to take into account automobile low speed turn
Control stability during to portability and high speed, it is impossible to meet demand of the driver to hand-wheel torque under different speeds.Additionally,
When automobile jolt or potted road surface on travel when, it is easy to occur hand-wheel torque mutation or steering wheel jitter phenomenon,
But this phenomenon can cause driver to be difficult to manipulate steering wheel, cause the driving of driver to bear, this is that driver is not intended to
Occur.
And new automobile steering-by-wire (Steer-by-Wire) system is due to eliminating between steering wheel and deflecting roller
Mechanically connect, be that the design of motor turning characteristic brings very big space.The steering-by-wire compared with orthodox car steering
The advantage of system is：1st, the steering column of complexity is eliminated so that farthest alleviating steering column when there is traffic accident
The injury caused to driver, improves the driving safety of automobile；2nd, the angular gear ratio between steering wheel and deflecting roller can be with
Freely design, so as to thoroughly solve the contradiction that conventional steering system turns to " light " and " spirit ", improve the handling of automobile；
3rd, hand-wheel torque can freely be designed according to the demand of driver, according to the hand-wheel torque of motoring condition parameter designing
Can eliminate because ground is jolted or the unfavorable information of the generation such as hollow, improve the steering response and driver comfort of driver；
4th, the real-time, interactive of data and shared can be realized by bussing technique in the get on the car sensor signal of each system of real vehicle, be by
Carry out the integrated line control system in chassis and intelligent driving provides condition；5th, due to wire-controlled steering system light weight, occupy little space with
And the advantages of be easy to integrated, it will also turn into new-energy automobile and develop an essential part.
Research and development to automobile steer-by-wire system need to carry out substantial amounts of experiment, and the best way is by real vehicle road the examination of road
Test to obtain optimal steering characteristic and road feel.But vehicle road test has some obvious limitations：1st, real vehicle road the examination of road
The method cost tested is big, the construction cycle is long, and there is certain risk, it is necessary to special testing crew；2nd, real vehicle road the examination of road
Testing needs to carry out the test under different operating modes and environment, and the requirement to place is harsher, it is difficult to search out suitable place.
For these reasons, developing a wire-controlled steering system hardware-in-loop simulation platform just turns into a kind of active demand.
A kind of method for controlling road sensing motor of wire-controlled steering system (application number 201010138785.0) of patent of invention turns according to steering wheel
Angle signal and steering motor current signal obtain the object feedback torque of steering wheel, and PI controlled output voltages are carried out with actual torque
Signal is to road feel motor.Although the electric current of steering motor can fully reflect the information on road surface, also by the jolting of road surface, cheat
The unfavorable feedback of the information such as low-lying area easily causes the shake of steering wheel or the mutation of hand-wheel torque to driver, increases driver's
Turn to burden.Utility model patent Wire control steering automobile road sensing simulation executing device (application number 201120233164.0) is disclosed
A kind of road feel simulation performs device of use magnetic rheological liquid damper, torsion spring and torsion spring follower, this device is not accounted for
The actual travel state of automobile, feedback moment is provided just with the characteristic of magnetic flow liquid to driver, and the requirement to road feel is not
It is high.A kind of automobile steering-by-wire simulation testing platform steering wheel road feel simulation device (application number of patent of invention
201310278277.6) a kind of simulation testing platform steering wheel road feel simulation dress for being produced using damping motor and being damped is disclosed
Put, although the method can make driver obtain certain road feel, but only considered influence of the steering wheel angle to road feel, and
Influence of the vehicle condition such as the speed and side acceleration parameter to road feel is not accounted for, the road feel simulated is not true enough, and
And the test-bed built lacks Full Vehicle Dynamics Real-Time Model, it is impossible to enough realize VPG for real-time monitoring
Process of the test.
The content of the invention
To solve technical problem present in background technology, the present invention proposes a kind of wire-controlled steering system road feel analog hardware
Assemblage on-orbit platform.
A kind of wire-controlled steering system road feel analog hardware assemblage on-orbit platform proposed by the present invention, including：Road feel system, turn
To disk, gearshift, gas pedal, industrial computer, PXI real-time systems；
Steering wheel is provided with rotary angle transmitter, and gas pedal is provided with accelerator pedal sensor；
PXI real-time systems are connected to obtain accelerator pedal displacement letter from accelerator pedal sensor with accelerator pedal sensor
Number, PXI real-time systems are connected to obtain gear signal, PXI real-time systems and rotation angular sensing from gearshift with gearshift
Device is connected to obtain steering wheel angle signal from rotary angle transmitter, and industrial computer is provided with analogue system, the analogue system with
PXI real-time systems are connected to accelerator pedal displacement signal, the gear signal generation GES received according to PXI real-time systems
And according to GES and steering wheel angle signal generation lateral acceleration signal, and by GES and lateral acceleration signal
It is sent to PXI real-time systems；
Road feel system includes road feel motor and road feel electric machine controller, and road feel electric machine controller is connected with PXI real-time systems
From PXI real-time systems obtain GES, steering wheel angle signal, lateral acceleration signal and according to received speed letter
Number, steering wheel angle signal, lateral acceleration signal generate the target current signal of road feel motor, road feel electric machine controller and road
Sense motor connection obtains the operating current signal of road feel motor and according to the target current signal and the operating current signal
The motor work of control road feel.
Preferably, also including steering column and worm type of reduction gearing, steering wheel is arranged on steering column, rotary angle transmitter,
Torque sensor is arranged on steering column, and worm type of reduction gearing is connected with steering column, the input of worm type of reduction gearing
Output end with road feel motor is connected.
Preferably, steering column is provided with torque sensor, and PX1 real-time systems are connected to be passed from torque with torque sensor
Sensor obtains the dtc signal of steering wheel, and industrial computer obtains dtc signal by PXI real-time systems.
Preferably, PXI real-time systems are provided with data collecting card and CAN communication card, and data collecting card is used to gather torque
Signal, accelerator pedal displacement signal, gear signal simultaneously export GES, and CAN communication card is used to gather angular signal and export
Lateral acceleration signal.
Preferably, the analogue system sets up associative simulation model using CarSim softwares and LabVIEW softwares, wherein
CarSim softwares are used to set up whole vehicle model, and LabVIEW softwares are used to write data processing and display program.
The present invention also proposes a kind of emulation side based on above-mentioned wire-controlled steering system road feel analog hardware assemblage on-orbit platform
Method, it is characterised in that comprise the following steps：
The real-time working signal of S1, the working state signal of collection auxiliary object and road feel motor；
S2, vehicle running state analog signal is generated according to the working state signal that is gathered in S1, so as to generate road feel
The target operation signal of motor；
S3, road feel electric machine controller are according to the road feel obtained in the target operation signal and S1 of the road feel motor generated in S2
The corresponding feedback signal of real-time working signal output of motor.
Preferably, the working state signal of the auxiliary object includes angular signal, the gear of gearshift of steering wheel
The accelerator pedal displacement signal of signal, gas pedal.
Preferably, the vehicle running state analog signal includes GES, steering wheel angle signal, side acceleration
Signal, the target operation signal of road feel motor is the target current of road feel motor, and the real-time working signal of road feel motor is road feel
The operating current of motor.
In the present invention, the wire-controlled steering system road feel analog hardware assemblage on-orbit platform and emulation mode for being proposed pass through
Virtual whole vehicle model and simulated environment simulate real car and driving cycle, and realize that road feel is simulated using PXI real-time systems
The real-time communication of controller and whole vehicle model, suitable hand-wheel torque is provided according to motoring condition parameter to driver,
Optimize the steering response of driver, there is provided good wire-controlled steering system exploitation and test platform, can be in laboratory ring
Border is issued to the effect of real steering vectors.
Brief description of the drawings
Fig. 1 is a kind of structural representation of wire-controlled steering system road feel analog hardware assemblage on-orbit platform proposed by the present invention
Figure.
Fig. 2 is a kind of the double of the experiment one of wire-controlled steering system road feel analog hardware assemblage on-orbit platform proposed by the present invention
The curve map of knob thread test result.
During Fig. 3 is a kind of experiment two of wire-controlled steering system road feel analog hardware assemblage on-orbit platform proposed by the present invention
The curve map of heart district attribute testing result.
Specific embodiment
Reference picture 1, a kind of wire-controlled steering system road feel analog hardware assemblage on-orbit platform proposed by the present invention, including：Road
Sensing system, steering wheel 1, gearshift 8, gas pedal 9, industrial computer, PXI real-time systems；
Steering wheel 1 is provided with rotary angle transmitter 2, and gas pedal 9 is provided with accelerator pedal sensor 10；
PXI real-time systems are connected to obtain gas pedal position from accelerator pedal sensor 10 with accelerator pedal sensor 10
Shifting signal, PXI real-time systems and gearshift 8 are connected to obtain gear signal from gearshift 8, PXI real-time systems with turn
Angle transducer 2 is connected to obtain steering wheel angle signal from rotary angle transmitter 2, and industrial computer is provided with analogue system, described imitative
True system is connected to accelerator pedal displacement signal, gear signal generation according to the reception of PXI real-time systems with PXI real-time systems
GES simultaneously generates lateral acceleration signal, and GES and side acceleration are believed according to GES and angular signal
Number it is sent to PXI real-time systems；
Road feel system includes road feel motor 6 and road feel electric machine controller 7, and road feel electric machine controller 7 connects with PXI real-time systems
Connect from PXI real-time systems obtain GES, angular signal, lateral acceleration signal and according to the GES for being received, turn
The target current signal of angle signal, lateral acceleration signal generation road feel motor 6, road feel electric machine controller 7 connects with road feel motor 6
Obtain the operating current signal that takes road feel motor 6 and according to the target current signal and operating current signal control road feel
Motor 6 works.
In the present embodiment, the wire-controlled steering system road feel analog hardware assemblage on-orbit platform for being proposed, by virtual whole
Vehicle model and simulated environment simulate real car and driving cycle, and realize road feel analog controller using PXI real-time systems
With the real-time communication of whole vehicle model, suitable hand-wheel torque is provided to driver according to motoring condition parameter, optimized
The steering response of driver, there is provided good wire-controlled steering system exploitation and test platform, can reach in laboratory environments
To the effect of real steering vectors.
In the specific work process of the wire-controlled steering system road feel analog hardware assemblage on-orbit platform of the present embodiment, operator
Member is driven by steering wheel, gas pedal, gearshift simulating vehicle, so that the analog signal needed for exporting vehicle traveling, institute
Stating analog signal includes accelerator pedal displacement signal, gear signal, steering wheel angle signal θsw, CarSim on industrial computer with
LabVIEW associative simulations model obtains above-mentioned analog signal by PXI real-time systems, and simulating vehicle driving cycle simultaneously generates vehicle
Transport condition parameter signal, the transport condition parameter signal of the vehicle includes GES v, lateral acceleration signal ay,
Road feel electric machine controller is according to GES v, lateral acceleration signal ayWith steering wheel angle signal θswReal-time judge vehicle
Transport condition, so that road feel electric machine controller is according to above-mentioned signal generation road feel motor target current Itarget, while road feel motor
Controller obtains the operating current I of road feel motor from road feel motorfact, then road feel electric machine controller is according to road feel motor target
Electric current ItargetWith road feel motor working current IfactPI closed-loop current controls are carried out, road feel motor is exported feedback moment to driving
The person of sailing, realizes the road feel simulation of wire-controlled steering system.
In order to carry out quantitative analysis to simulation results, torque sensor, PX1 real-time systems are additionally provided with steering wheel 1
The dtc signal from torque sensor acquisition steering wheel 1 is connected to torque sensor, industrial computer is obtained by PXI real-time systems
Take dtc signal；In simulation process, torque sensor by data collecting card by dtc signal feed back to CarSim with
The simultaneously display in simulation model of LabVIEW associative simulations model, forms hardware-in-loop simulation, so as to realize simulation results
Quantitative and visualization.
In the specific design of steering wheel, steering wheel 1 is arranged on steering column 3, rotary angle transmitter 2, torque sensor
It is arranged on steering column 3, improves the authenticity of road feel simulation.
In the specific data transfer of PXI real-time systems, PXI real-time systems are provided with data collecting card and CAN communication card,
Data collecting card is used for Real-time Collection and sends dtc signal, accelerator pedal displacement signal, gear signal, GES, and CAN leads to
News card is used for Real-time Collection steering wheel angle signal, lateral acceleration signal.
In other specific embodiments, the analogue system sets up joint using CarSim softwares and LabVIEW softwares
Simulation model, wherein CarSim softwares are used to set up whole vehicle model, and LabVIEW softwares are used to write signal handler.
The present embodiment also proposes a kind of imitative based on above-mentioned wire-controlled steering system road feel analog hardware assemblage on-orbit platform
True method, comprises the following steps：
The real-time working signal of S1, the working state signal of collection auxiliary object and road feel motor 6；
S2, vehicle running state analog signal is generated according to the working state signal that is gathered in S1, so as to generate road feel
The target operation signal of motor 6；
S3, road feel electric machine controller 7 are according to the road obtained in the target operation signal and S1 of the road feel motor 6 generated in S2
The corresponding feedback signal of real-time working signal output of electrification machine 6.
In a specific embodiment, the working state signal of the auxiliary object includes the angular signal of steering wheel 1, gearshift
The gear signal of device 8, the accelerator pedal displacement signal of gas pedal 9, the vehicle running state analog signal include speed
Signal v, steering wheel angle signal θsw, lateral acceleration signal ay, the target operation signal of road feel motor 6 is road feel motor 6
Target current, the real-time working signal of road feel motor 6 is the operating current I of road feel motor 6fact.The operating current of road feel motor 6
IfactIt is multiplied with road feel motor electromagnetic moment coefficient and worm type of reduction gearing speed reducing ratio, obtains road feel motor feedback to steering wheel
Torque.
Two experiments below by above-mentioned wire-controlled steering system road feel analog hardware assemblage on-orbit platform are further detailed
Illustrate wire-controlled steering system road feel analog hardware assemblage on-orbit platform.
Experiment one：Lemniscate is tested, and is mainly used in investigating hand-wheel torque and steering wheel angle when automobile runs at a low speed
Relation, according to standard GB/T/T 6323-2014, chooses lemniscate operating condition of test in CarSim.Open road feel motor control
Device 7, pilot control gear shift device 8 and gas pedal 9 make speed reach 10km/h, and starting rotation steering wheel 1 makes vehicle
Along the route running for providing, while road feel electric machine controller 7 receives GES, steering wheel angle signal and lateral acceleration
Degree signal, is calculated target current Itarget, and by road feel motor working current IfactWith target current ItargetCarry out PI electricity
Stream closed-loop control output voltage signal makes road feel motor 6 export feedback moment to driver to road feel motor 6, and in LabVIEW
In draw hand-wheel torque-steering wheel angle characteristic curve, as shown in Figure 2.Fig. 2 is a kind of steering-by-wire system proposed by the present invention
The curve map of the lemniscate result of the test of the experiment one of system road feel analog hardware assemblage on-orbit platform.
Experiment two：Center attribute testing, be mainly used in investigate galloping when maneuverability and road feel, turned
To the characteristic curve of disk torque-side acceleration, as shown in Figure 3.According to standard GB/T/T6323-2014, in CarSim
Selection Center zone properties operating condition of test.Pilot control gear shift device 8 and gas pedal 9 make speed reach 80km/h, turn
Dynamic steering wheel 1 makes steering wheel angle be input into near sinusoidal, by automobile side angle Acceleration Control within 0.3g.Road feel is electric simultaneously
Machine controller 7 receives GES, steering wheel angle signal and lateral acceleration signal, is calculated target current Itarget, and
By road feel motor working current IfactWith target current ItargetCarry out PI closed-loop current controls output voltage signal and give road feel motor
6, road feel motor 6 is exported feedback moment to driver, and hand-wheel torque-side acceleration characteristic is drawn in LabVIEW
Curve.Fig. 3 is a kind of center of the experiment two of wire-controlled steering system road feel analog hardware assemblage on-orbit platform proposed by the present invention
The curve map of zone properties result of the test.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (8)
1. a kind of wire-controlled steering system road feel analog hardware assemblage on-orbit platform, it is characterised in that including：Road feel system, steering
Disk (1), gearshift (8), gas pedal (9), industrial computer, PXI real-time systems；
Steering wheel (1) is provided with rotary angle transmitter (2), and gas pedal (9) is provided with accelerator pedal sensor (10)；
PXI real-time systems are connected to obtain gas pedal position from accelerator pedal sensor (10) with accelerator pedal sensor (10)
Shifting signal, PXI real-time systems are connected to obtain gear signal, PXI real-time systems from gearshift (8) with gearshift (8)
It is connected to obtain steering wheel angle signal from rotary angle transmitter (2) with rotary angle transmitter (2), industrial computer is provided with emulation system
System, the analogue system is connected to accelerator pedal displacement signal, shelves according to the reception of PXI real-time systems with PXI real-time systems
Position signal generation GES and according to GES and steering wheel angle signal generation lateral acceleration signal, and speed is believed
Number and lateral acceleration signal be sent to PXI real-time systems；
Road feel system includes road feel motor (6) and road feel electric machine controller (7), road feel electric machine controller (7) and PXI real-time systems
Connection obtains GES, steering wheel angle signal, lateral acceleration signal and according to the speed for being received from PXI real-time systems
Signal, steering wheel angle signal, the target current signal of lateral acceleration signal generation road feel motor (6), road feel motor control
Device (7) is connected the operating current signal of acquisition road feel motor (6) with road feel motor (6) and according to the target current signal and institute
State operating current signal and control road feel motor (6) work.
2. steering-by-wire road feel analog hardware assemblage on-orbit platform according to claim 1, it is characterised in that also including turning
To post (3) and worm type of reduction gearing (5), steering wheel (1) on steering column (3), rotary angle transmitter (2), torque sensing
Device (4) is arranged on steering column (3), and worm type of reduction gearing (5) is connected with steering column (3), worm type of reduction gearing (5)
Input is connected with the output end of road feel motor (6).
3. steering-by-wire road feel analog hardware assemblage on-orbit platform according to claim 2, it is characterised in that steering column
(3) torque sensor (4) is provided with, PX1 real-time systems are connected to be obtained from torque sensor (4) with torque sensor (4)
The dtc signal of steering wheel (1), industrial computer obtains dtc signal by PXI real-time systems.
4. wire-controlled steering system road feel analog hardware assemblage on-orbit platform according to claim 1, it is characterised in that PXI
Real-time system is provided with data collecting card and CAN communication card, and data collecting card is used to gather dtc signal, accelerator pedal displacement letter
Number, gear signal and export GES, CAN communication card is used to gather angular signal and exports lateral acceleration signal.
5. wire-controlled steering system road feel analog hardware assemblage on-orbit platform according to claim 1, it is characterised in that described
Analogue system sets up associative simulation model using CarSim softwares and LabVIEW softwares, and wherein CarSim softwares are used to set up whole
Vehicle model, LabVIEW softwares are used to write data processing and display program.
6. a kind of emulation side of the wire-controlled steering system road feel analog hardware assemblage on-orbit platform based on described in claim 1-5
Method, it is characterised in that comprise the following steps：
The real-time working signal of S1, the working state signal of collection auxiliary object and road feel motor (6)；
S2, vehicle running state analog signal is generated according to the working state signal that is gathered in S1, so as to generate road feel motor
(6) target operation signal；
S3, road feel electric machine controller (7) are according to the road obtained in the target operation signal and S1 of the road feel motor (6) generated in S2
The corresponding feedback signal of real-time working signal output of electrification machine (6).
7. wire-controlled steering system road feel analog hardware assemblage on-orbit method according to claim 6, it is characterised in that described
The working state signal of auxiliary object includes angular signal, gear signal, the gas pedal of gearshift (8) of steering wheel (1)
(9) accelerator pedal displacement signal.
8. wire-controlled steering system road feel analog hardware assemblage on-orbit method according to claim 7, it is characterised in that described
Vehicle running state analog signal includes GES v, steering wheel angle signal θsw, lateral acceleration signal ay, road feel motor
(6) target operation signal is the target current I of road feel motor (6)target, the real-time working signal of road feel motor (6) is road feel
The operating current I of motor (6)fact。
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