CN108009367A - Method for determining automobile steering angle - Google Patents
Method for determining automobile steering angle Download PDFInfo
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- CN108009367A CN108009367A CN201711298594.9A CN201711298594A CN108009367A CN 108009367 A CN108009367 A CN 108009367A CN 201711298594 A CN201711298594 A CN 201711298594A CN 108009367 A CN108009367 A CN 108009367A
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- pull rod
- right turn
- knuckle
- turn pull
- flexural pivot
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- Computational Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
Method for determining automobile steering angle, comprises the following steps:S1, establishes steering system structural model；S2, establishes the geometrical model of full-loading condition right turn pull rod knuckle；S3, based on the geometrical model and geometric theory of full-loading condition right turn pull rod knuckle, establishes knuckle position two dimensional model on the basis of oblique projection face；And obtain position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face；S4, the movement of simulation knuckle and right turn pull rod, according to position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face is obtained, establishes steering angle and calculates two dimensional model, obtain steering angle.The present invention draws two intersecting movement locus, determines position of the right turn pull rod outer end flexural pivot center on oblique projection face by the way that knuckle and right turn pull rod are projected on oblique projection face.Knuckle position is determined using CAD two dimension modeling methods, so that it is determined that steering angle, has the advantages that intuitive is good, cost is low, precision is high.
Description
Technical field
The present invention relates to automobile information technical field, in particular to a kind of method for determining automobile steering angle.
Background technology
The confirmation of automotive steering angle is very crucial to the intelligent control of automobile, and the lifting of vehicle safety performance.It is existing
Common method has graphing method, function method, three-dimensional modeling method etc..Graphing method is in drawing upper mold according to descriptive geometry theory
Intend divertical motion, determine steering angle.The characteristics of graphing method is that intuitive is strong, but low precision, efficiency are low.Function method is by building
The mathematical model that vertical wheel turning angle calculates, substitutes into primary condition and calculates.Although function method precision is high, modeling is time-consuming, effect
Rate is low, error-prone.CAE software method is to substitute into primary condition using CAE software to be calculated automatically, but CAE software grasp difficulty,
It is poor intuition, error-prone.Three-dimensional modeling method carries out steering angle calculating, intuitive using 3D sculpting software simulation divertical motion
By force, but software grasps difficulty.Therefore, how the confirmation of automobile steering angle realizes intuitive is good, cost is low and precision is high etc., is capable
One of industry important research direction.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of method for determining automobile steering angle, to change
The kind automobile steering angle presence of acquisition in the prior art cannot take into account the problem of intuitive, cost, precision etc. require.
What the present invention was realized in：
Method for determining automobile steering angle, comprises the following steps:
S1, establishes steering system structural model；
S2, based on the steering system structural model and projection theory, establishes full-loading condition right turn pull rod-knuckle
Geometrical model；
S3, the geometrical model and geometric theory based on full-loading condition right turn pull rod-knuckle, in oblique projection face
On the basis of establish knuckle position two dimensional model；And obtain position of the right turn pull rod outer end flexural pivot center on oblique projection face
Coordinate；
Wherein, the oblique projection face is perpendicular to right wheel king pin axis and by the right turn pull rod outer end flexural pivot
The heart；
S4, the movement of simulation knuckle and right turn pull rod, exists according to the right turn pull rod outer end flexural pivot center is obtained
Position coordinates on oblique projection face, establishes steering angle and calculates two dimensional model, obtain steering angle.
Further, in S1 steps, according to three-view diagram theory and steering, steering knot is drawn according to proper proportion
The CAD model of structure, designs and expresses steering part geometry shape, size, position and be coupled to each other relation.
Further, in S2 steps, according to size, position relationship and projection theory in steering system structural, respectively three
The geometry connecting relation of right turn pull rod and knuckle is simulated in view；
Wherein, right wheel king pin axis, right turn pull rod the inner flexural pivot center are represented in the geometrical model, is turned right
To pull rod outer end flexural pivot center, and right wheel center line and right wheel king pin axis intersection point, and outside its intersection point and right turn pull rod
The connection of end flexural pivot center is expressed as knuckle, and right turn pull rod the inner flexural pivot center and right turn pull rod outer end flexural pivot center are connected
Connect and be expressed as right turn pull rod.
Further, the three-view diagram represents that the right turn pull rod couples with the geometry between the knuckle before turning to
Relation.
Further, in S3 steps, following steps are specifically included：
S31, coordinate system is established on the oblique projection face, and according to Theory of Projections, right wheel center is represented on coordinate system
Line and right wheel king pin axis intersection point, and right turn pull rod the inner flexural pivot center；
S32, draws the rotary track of the knuckle, and the movement locus of the right turn pull rod in a coordinate system,
The intersection point of the two is position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face；
S33, solves position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face, obtains knuckle position
Put.
Further, in S4 steps：The movement of knuckle and right turn pull rod when simulation turns to, and obtained according to step S3
Position coordinates after the right turn pull rod outer end flexural pivot zero turn radius；Further according to projection theory, in the geometrical model
The projection after the knuckle turns forward projection and turns to is represented in top view respectively；Measure the knuckle and turn forward
The angle of projection and the projection after steering, obtains steering angle.
The beneficial effects of the invention are as follows：
By the way that knuckle and right turn pull rod are projected on oblique projection face, two intersecting movement locus are drawn, are determined
Position of the right turn pull rod outer end flexural pivot center on oblique projection face, further by turning to the two of forward and backward calculating steering angle
The expression of dimension module, calculates the steering angle of knuckle.Knuckle position is determined using CAD two dimension modeling methods, so that it is determined that
Steering angle, has the advantages that intuitive is good, cost is low, precision is high.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is automobile steering system structural front view of the embodiment of the present invention；
Fig. 2 is the left view of automobile steering system structure of the embodiment of the present invention；
Fig. 3 is the top view of automobile steering system structure of the embodiment of the present invention；
Fig. 4 is full-loading condition of embodiment of the present invention right turn pull rod-knuckle geometrical model front view；
Fig. 5 is full-loading condition of embodiment of the present invention right turn pull rod-knuckle geometrical model left view；
Fig. 6 is full-loading condition of embodiment of the present invention right turn pull rod-knuckle geometrical model top view；
Fig. 7 is knuckle of embodiment of the present invention position two dimensional model schematic diagram；
Fig. 8 is steering angle two dimensional model schematic diagram of the embodiment of the present invention.
Embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.
Method for determining automobile steering angle, including:
S1, establishes steering system structural model；
S2, based on the steering system structural model and projection theory, establishes full-loading condition right turn pull rod-knuckle
Geometrical model；
S3, the geometrical model and geometric theory based on full-loading condition right turn pull rod-knuckle, in oblique projection face
On the basis of establish knuckle position two dimensional model；And obtain position of the right turn pull rod outer end flexural pivot center on oblique projection face
Coordinate；
Wherein, the oblique projection face is perpendicular to right wheel king pin axis and by the right turn pull rod outer end flexural pivot
The heart；
S4, the movement of simulation knuckle and right turn pull rod, exists according to the right turn pull rod outer end flexural pivot center is obtained
Position coordinates on oblique projection face, establishes steering angle and calculates two dimensional model, obtain steering angle.
By the way that knuckle and right turn pull rod are projected on oblique projection face, two intersecting movement locus are drawn, are determined
Position of the right turn pull rod outer end flexural pivot center on oblique projection face, further by turning to the two of forward and backward calculating steering angle
The expression of dimension module, calculates the steering angle of knuckle.Knuckle position is determined using CAD two dimension modeling methods, so that it is determined that
Steering angle, has the advantages that intuitive is good, cost is low, precision is high.
In step S1, according to three-view diagram theory and steering, according to the CAD moulds of proper proportion drafting steering system structural
Type, designs and expresses steering part geometry shape, size, position and be coupled to each other relation.Wherein steering system structural has
Body is as follows：
Steering system structural includes：Steering wheel transmission tubing string 1, direction disc holder 3, steering wheel 8, steering wheel tubular pipe 12, flower
Key converter 14, steering wheel, steering wheel rack pull rod 22, ball pin 20, right turn section rocking arm 23, right turn pull rod 25, right turn
Section 25, track rod 26, left steering section 27, left steering pull rod 28, left steering section rocking arm 29；
Steering wheel 8 is installed on the end of steering wheel tubular pipe 12, and steering wheel tubular pipe 12 is connected in direction disc holder 3, lock core
10 are installed on steering wheel tubular pipe 12, and for fixing control direction coil pipe column 12, steering wheel tubular pipe shell 11 is coated on direction coil pipe
The outside of column 12, is protected for being formed to steering wheel tubular pipe 12.
The one end of steering wheel tubular pipe 12 away from steering wheel 8 be connected with turn steering wheel transmission tubing string 1, spline converter 14,
Steering wheel, steering wheel rack pull rod 22, right turn section rocking arm 23.Specifically, steering wheel transmission tubing string 1 passes through tubing string locking nut
13 are connected with spline converter 14.Spline converter 14 is connected by steering wheel with steering wheel rack pull rod 22, steering wheel rack
Pull rod 22 is connected to right turn section rocking arm 23 by steering wheel rack stay rod pin 15, rack pull-rod nut 16.Right turn section rocking arm
23 and left steering section rocking arm 29 be separately mounted on knuckle rocker arm support 21, and can be rotated around knuckle rocker arm support 21,
Knuckle rocker arm support 21 is fixedly connected on vehicle frame, and steering wheel rack pull rod 22 can drive right turn section rocking arm 23 and left steering
Section rocking arm 29 rotates together.
Right turn section rocking arm 23 and left steering section rocking arm 29 are respectively connected to track rod 26, and the two of track rod 26
End is connected by ball pin 20 with right turn pull rod 24 and left steering pull rod 28 respectively.Right turn pull rod 24 is away from track rod 26
One end be connected by ball pin with right turn section 25, right turn section 25 is connected to the right turn wheel of automobile.Left steering pull rod 28 is remote
One end from track rod 26 is connected by ball pin 20 with left steering section 27, and left steering section 27 is connected to the left steering of automobile
Wheel.
When steering wheel rack pull rod 22 drives right turn section rocking arm 23 to rotate, track rod 26 drives right turn pull rod
24 and left steering pull rod 28 rotate, right turn pull rod 24 drives right turn section 25 and right turn wheel to rotate together, left steering pull rod
28 drive left steering sections 27 and left steering wheel rotate together.
The steering course of work is as follows：Driver's hand-drive steering wheel 8 make steering input power, circular motion and
Moment of torsion, steering wheel 8 will move and moment of torsion passes to steering wheel tubular pipe 12, and steering wheel tubular pipe 12 is again by movement and the moment of torsion side of passing to
Tubing string 1 is driven to disk, movement and moment of torsion are passed to spline converter 14, spline converter 14 by steering wheel transmission tubing string 1 therewith
It will be moved by steering wheel and moment of torsion pass to steering wheel rack pull rod 22, steering wheel rack pull rod 22 will move and moment of torsion transmission
To right turn section rocking arm 23, right turn section rocking arm 23 will be moved by pin and moment of torsion passes to track rod 26, turns to horizontal drawing
Bar 26 will be moved by ball pin and moment of torsion passes to right turn pull rod 24 and left steering pull rod 28 at the same time, and right turn pull rod 24 is last
It will be moved by ball pin and moment of torsion pass to right turn section 25 and right turn wheel, left steering pull rod 28 will be moved finally by ball pin
Left steering section 27 and left steering wheel are passed to moment of torsion, left and right turn wheel moves realize motor turning at the same time.
In step S2, according to size, position relationship and projection theory in steering system structural, simulated respectively in three-view diagram
The geometry connecting relation of right turn pull rod and knuckle；
Wherein, right wheel king pin axis, right turn pull rod the inner flexural pivot center are represented in the geometrical model, is turned right
To pull rod outer end flexural pivot center, and right wheel center line and right wheel king pin axis intersection point, and outside its intersection point and right turn pull rod
The connection of end flexural pivot center is expressed as knuckle, and right turn pull rod the inner flexural pivot center and right turn pull rod outer end flexural pivot center are connected
Connect and be expressed as right turn pull rod.
Further, referring to shown in figure, right wheel king pin axis is represented with l1, BP lines, that is, l2 represents knuckle, with AB lines
That is l3 represents right turn pull rod.Wherein A points represent the inner flexural pivot center of right turn pull rod 24, and B points are represented outside right turn pull rod 24
Hold flexural pivot center, P points represent right wheel center line and right wheel king pin axis intersection point, according to the size of steering system structural model and
Theory of Projections projects A, B, P, BP, AB, paint projection three-view diagram.
Three-view diagram includes front view, top view, left view, and the view at three visual angles is used to represent to turn to front right steering linkage
Geometry connecting relation between knuckle.X, y, z are reference axis, and coordinate origin o, arrow meaning is positive direction.A1、A2、
A3 is respectively subpoint of the A points in front view, top view and left view.B1, B2, B3 are respectively B points in front view, top view
With the subpoint in left view.P1, P2, P3 are respectively subpoint of the P points in front view, top view and left view.α represents master
Pin center back rake angle (°), clockwise for just；β represents king pin axis leaning angle (°), clockwise for just.K-K represents tiltedly to throw
Shadow face position and direction.
In step s3, following steps are specifically included：
S31, coordinate system is established on the oblique projection face, and according to Theory of Projections, right wheel center is represented on coordinate system
Line and right wheel king pin axis intersection point, and right turn pull rod the inner flexural pivot center；
S32, draws the rotary track of the knuckle, and the movement locus of the right turn pull rod in a coordinate system,
The intersection point of the two is position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face；
S33, solves position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face, obtains knuckle position
Put.
Further, it is theoretical according to descriptive geometry on the basis of the geometrical model established in step s 2, simulate right turn
The lower knuckle movement of pull rod driving, knuckle movement locus and right turn pull rod movement locus are projected on K-K inclined-planes, obtained
Knuckle position two dimensional model.
Wherein, x, y are reference axis on K-K inclined-planes, and coordinate origin o, arrow meaning is positive direction.P4 is knuckle center
Projection of the P points on K-K inclined-planes on line, is obtained according to the position of P points and inclined-plane K-K using descriptive geometry method.A4 is right-hand rotation
To subpoint of the inner flexural pivot center A points of pull rod 24 on K-K inclined-planes, obtained using descriptive geometry same method.
R1 is projection radius of circle of the knuckle rotary track on K-K inclined-planes, using knuckle physical length PB as bevel edge, P
The distance PP4 of point to P4 points is right-angle side, and another right-angle side P4B4, i.e. R1 are obtained using descriptive geometry method.R2 is right turn
Projection radius of circle of the pull rod movement locus on K-K inclined-planes, equally, using right turn pull rod physical length AB as bevel edge, A points to A4
Distance AA4 be right-angle side, another right-angle side A4B4, i.e. R2 are obtained using descriptive geometry method.AB, BP true length are according to A, B, P
Coordinate is obtained using descriptive geometry method.Draw two circles of R1 and R2 and obtain 4 position coordinates of intersection points B, as knuckle position.
In step s 4：The movement of knuckle and right turn pull rod when simulation turns to, and the right side is obtained according to step S3
The position coordinates at steering linkage outer end flexural pivot center；Further according to projection theory, in the top view in the geometrical model respectively
Represent the projection after the knuckle turns forward projection and turns to；After measuring the forward projection of the knuckle turn and turning to
Projection angle, obtain steering angle.
Specifically, on the basis of geometrical model, knuckle BP and right turn pull rod AB movements when simulation turns to, according to step
B point coordinates XB ', YB ' after the method for rapid S3 is turned to.
Establish steering angle and calculate two dimensional model, draw X-Y scheme.Wherein, A2, B2, P2 are A before steering, and B, P point are overlooked
Projected on figure.A21, B21, P21 are A after steering, and B, P are projected on top view, and Δ γ (°) is steering angle.In figure, measurement
P21B21 and P2B2 angle Δ γ, are steering angle, clockwise for just, expression turns to the right.
Case is calculated below by automobile steering angle, is further illustrated.
In table 1, coordinate system such as Fig. 2, XA, YA and ZA are respectively A points x, y and z coordinate in a coordinate system, XB, YB before turning to
It is respectively B points x, y and z coordinate in a coordinate system before turning to ZB, XP, YP and ZP are respectively that P points are in a coordinate system before and after turning to
X, y and z coordinate.XA ', YA ' and ZA ' are respectively A points x, y and z coordinate in a coordinate system after turning to.α is in stub on front view
Heart line and z-axis angle, clockwise for just (king pin axis hypsokinesis)；β is king pin axis and z-axis angle, up time on left view
Pin is just (king pin axis introversion)；Data above is provided by designing.
In addition, XB ', YB ' and ZB ' are respectively B points x, y, z coordinate in a coordinate system after turning to；XP4, YP4 and ZP4 are P4
Point coordinates；XA4, YA4 and ZA4 are the coordinate of A4 points.Δ γ, R1, R2 is the same.Obtained by two-dimentional modeling method.
1 automobile steering angle numerical procedure of table and result
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. the method for determining automobile steering angle, it is characterised in that comprise the following steps:
S1, establishes steering system structural model；
S2, based on the steering system structural model and projection theory, establishes the geometry of full-loading condition right turn pull rod-knuckle
Model；
S3, the geometrical model and geometric theory based on full-loading condition right turn pull rod-knuckle, the base in oblique projection face
Knuckle position two dimensional model is established on plinth；And obtain position of the right turn pull rod outer end flexural pivot center on oblique projection face and sit
Mark；
Wherein, the oblique projection face perpendicular to right wheel king pin axis and passes through the right turn pull rod outer end flexural pivot center；
S4, the movement of simulation knuckle and right turn pull rod, is tiltedly throwing according to the right turn pull rod outer end flexural pivot center is obtained
Position coordinates on shadow face, establishes steering angle and calculates two dimensional model, obtain steering angle.
2. the method according to claim 1 for determining automobile steering angle, it is characterised in that in S1 steps, according to three
View theory and steering, the CAD model of steering system structural is drawn according to proper proportion, designs and expresses steering zero
Part geometry, size, position and it is coupled to each other relation.
3. the method according to claim 2 for determining automobile steering angle, it is characterised in that in S2 steps, according to turn
Size, position relationship and projection theory into system structure, simulate the several of right turn pull rod and knuckle in three-view diagram respectively
What connecting relation；
Wherein, right wheel king pin axis, right turn pull rod the inner flexural pivot center, right turn drawing are represented in the geometrical model
Bar outer end flexural pivot center, and right wheel center line and right wheel king pin axis intersection point, and its intersection point and right turn pull rod outer end ball
The connection of hinge center is expressed as knuckle, by right turn pull rod the inner flexural pivot center and right turn pull rod outer end flexural pivot center connection table
It is shown as right turn pull rod.
4. the method according to claim 3 for determining automobile steering angle, it is characterised in that the three-view diagram represents to turn
Geometry connecting relation between the right turn pull rod and the knuckle forward.
5. the method according to claim 4 for determining automobile steering angle, it is characterised in that in S3 steps, specific bag
Include following steps：
S31, coordinate system is established on the oblique projection face, according to Theory of Projections, represented on coordinate system right wheel center line with
Right wheel king pin axis intersection point, and right turn pull rod the inner flexural pivot center；
S32, draws the rotary track of the knuckle, and the movement locus of the right turn pull rod in a coordinate system, the two
Intersection point be position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face；
S33, solves position coordinates of the right turn pull rod outer end flexural pivot center on oblique projection face, obtains knuckle position.
6. the method according to claim 5 for determining automobile steering angle, it is characterised in that in S4 steps：Simulation turns
To when knuckle and right turn pull rod movement, and after obtaining the right turn pull rod outer end flexural pivot zero turn radius according to step S3
Position coordinates；Further according to projection theory, the knuckle is represented in the top view in the geometrical model respectively and is turned to
Projection after preceding projection and steering；The angle of the projection after the knuckle turns forward projection and turns to is measured, is turned
To angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711298594.9A CN108009367B (en) | 2017-12-08 | 2017-12-08 | Method for determining the steering angle of a motor vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711298594.9A CN108009367B (en) | 2017-12-08 | 2017-12-08 | Method for determining the steering angle of a motor vehicle |
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| CN108009367A true CN108009367A (en) | 2018-05-08 |
| CN108009367B CN108009367B (en) | 2021-04-06 |
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ID=62057597
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| CN201711298594.9A Expired - Fee Related CN108009367B (en) | 2017-12-08 | 2017-12-08 | Method for determining the steering angle of a motor vehicle |
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| CN113359455A (en) * | 2021-06-16 | 2021-09-07 | 江铃汽车股份有限公司 | Modeling method for automobile steering system |
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| CN113359455A (en) * | 2021-06-16 | 2021-09-07 | 江铃汽车股份有限公司 | Modeling method for automobile steering system |
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| Publication number | Publication date |
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| CN108009367B (en) | 2021-04-06 |
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