CN108009367B - Method for determining the steering angle of a motor vehicle - Google Patents
Method for determining the steering angle of a motor vehicle Download PDFInfo
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- CN108009367B CN108009367B CN201711298594.9A CN201711298594A CN108009367B CN 108009367 B CN108009367 B CN 108009367B CN 201711298594 A CN201711298594 A CN 201711298594A CN 108009367 B CN108009367 B CN 108009367B
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- G06—COMPUTING; CALCULATING OR COUNTING
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- 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]
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Abstract
S1, establishing a steering system structure model; s2, establishing a geometric model of the right steering tie rod-knuckle under the full-load working condition; s3, establishing a two-dimensional model of the steering knuckle position on the basis of an oblique projection plane based on the geometric model and the geometric theory of the right steering tie rod-steering knuckle under the full-load working condition; and obtaining the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane; and S4, simulating the movement of the steering knuckle and the right steering pull rod, and establishing a steering angle calculation two-dimensional model according to the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane to obtain the steering angle. According to the invention, the steering knuckle and the right steering pull rod are projected on the oblique projection plane, two crossed motion tracks are drawn, and the position of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane is determined. The position of the steering knuckle is determined by adopting a CAD two-dimensional modeling method, so that the steering angle is determined, and the method has the advantages of good intuition, low cost and high precision.
Description
Technical Field
The invention relates to the technical field of automobile information, in particular to a method for determining an automobile steering angle.
Background
The confirmation of the steering angle of the automobile is very critical to the intelligent control of the automobile and the improvement of the safety performance of the automobile. At present, drawing methods, function methods, three-dimensional modeling methods, and the like are common. The drawing method is to simulate steering motion on a drawing according to a drawing geometric theory and determine a steering angle. The mapping method has the characteristics of strong intuition, poor precision and low efficiency. The function method is to calculate by substituting the initial condition by establishing a mathematical model for calculating the steering angle of the steering wheel. Although the function method has high precision, the modeling is time-consuming, low in efficiency and easy to make mistakes. The CAE software method is to substitute CAE software into initial conditions for automatic calculation, but the CAE software is difficult to master, poor in intuition and easy to make mistakes. The three-dimensional modeling method utilizes three-dimensional modeling software to simulate steering movement to calculate the steering angle, has strong intuition, but is difficult to master software. Therefore, how to confirm the steering angle of the automobile is good in intuition, low in cost, high in precision and the like, and is one of important research directions in the industry.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a method for determining a steering angle of an automobile, so as to solve the problem that the requirements of intuition, cost, precision, etc. cannot be met in obtaining the steering angle of the automobile in the prior art.
The invention is realized by the following steps:
method for determining the steering angle of a motor vehicle, comprising the following steps:
s1, establishing a steering system structure model;
s2, establishing a geometric model of the right steering tie rod-knuckle under the full-load working condition based on the structural model of the steering system and the projection principle;
s3, establishing a two-dimensional model of the steering knuckle position on the basis of an oblique projection plane based on the geometric model and the geometric theory of the right steering tie rod-steering knuckle under the full-load working condition; and obtaining the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane;
the oblique projection plane is perpendicular to the central line of the right wheel kingpin and passes through the center of the spherical hinge at the outer end of the right steering pull rod;
and S4, simulating the movement of the steering knuckle and the right steering pull rod, and establishing a steering angle calculation two-dimensional model according to the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane to obtain the steering angle.
Further, in step S1, a CAD model of the steering system structure is drawn in appropriate proportions based on the three-view theory and the steering system, and the steering system part geometry, dimensions, positions and interconnection relationships are designed and expressed.
Further, in step S2, respectively simulating the geometric coupling relationship between the right tie rod and the knuckle in three views according to the size, the positional relationship and the projection principle in the structure of the steering system;
the geometric model shows a center line of a right wheel main pin, a center of a spherical hinge at the inner end of the right steering pull rod, a center of a spherical hinge at the outer end of the right steering pull rod, and an intersection point of the center line of the right wheel and the center line of the right wheel main pin, the intersection point is connected with the center of the spherical hinge at the outer end of the right steering pull rod and is represented as a steering knuckle, and the center of the spherical hinge at the inner end of the right steering pull rod and the center of the spherical hinge at the outer end of the right steering pull rod are connected and is represented.
Further, the tri-view diagram represents the geometric coupling relationship between the right tie rod and the knuckle before steering.
Further, the step S3 specifically includes the following steps:
s31, establishing a coordinate system on the oblique projection surface, and according to the projection theory, displaying the intersection point of the center line of the right wheel and the center line of the right wheel kingpin and the center of the spherical hinge at the inner end of the right steering pull rod on the coordinate system;
s32, drawing a turning track of the steering knuckle and a motion track of the right steering pull rod in a coordinate system, wherein the intersection point of the turning track and the motion track of the right steering pull rod is the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod on an inclined projection plane;
and S33, solving the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane to obtain the position of the steering knuckle.
Further, in step S4: simulating the movement of a steering knuckle and a right steering pull rod during steering, and obtaining the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod after steering according to the step S3; respectively showing the projection before steering and the projection after steering of the steering knuckle in a top view in the geometric model according to a projection principle; and measuring an included angle between the projection of the steering knuckle before steering and the projection of the steering knuckle after steering to obtain a steering angle.
The invention has the beneficial effects that:
the steering angle of the steering knuckle is calculated by projecting the steering knuckle and the right steering pull rod on an oblique projection plane, drawing two crossed motion tracks, determining the position of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane, and further calculating the representation of a two-dimensional model of the steering angle before and after steering. The position of the steering knuckle is determined by adopting a CAD two-dimensional modeling method, so that the steering angle is determined, and the method has the advantages of good intuition, low cost and high precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a front view of a steering system of an automobile according to an embodiment of the present invention;
FIG. 2 is a left side view of the structure of a steering system of an automobile according to an embodiment of the present invention;
FIG. 3 is a top view of a steering system configuration for a vehicle according to an embodiment of the present invention;
FIG. 4 is a front view of a geometric model of a right steering linkage-knuckle under full load conditions in accordance with an embodiment of the present invention;
FIG. 5 is a left side view of a right steering linkage-knuckle geometric model under full load conditions in accordance with an embodiment of the present invention;
FIG. 6 is a top view of a geometric model of a right steering link-knuckle under full load conditions in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a two-dimensional model of a knuckle location according to an embodiment of the present invention;
FIG. 8 is a schematic view of a two-dimensional model of a steering angle in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Method for determining the steering angle of a motor vehicle, comprising:
s1, establishing a steering system structure model;
s2, establishing a geometric model of the right steering tie rod-knuckle under the full-load working condition based on the structural model of the steering system and the projection principle;
s3, establishing a two-dimensional model of the steering knuckle position on the basis of an oblique projection plane based on the geometric model and the geometric theory of the right steering tie rod-steering knuckle under the full-load working condition; and obtaining the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane;
the oblique projection plane is perpendicular to the central line of the right wheel kingpin and passes through the center of the spherical hinge at the outer end of the right steering pull rod;
and S4, simulating the movement of the steering knuckle and the right steering pull rod, and establishing a steering angle calculation two-dimensional model according to the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane to obtain the steering angle.
The steering angle of the steering knuckle is calculated by projecting the steering knuckle and the right steering pull rod on an oblique projection plane, drawing two crossed motion tracks, determining the position of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane, and further calculating the representation of a two-dimensional model of the steering angle before and after steering. The position of the steering knuckle is determined by adopting a CAD two-dimensional modeling method, so that the steering angle is determined, and the method has the advantages of good intuition, low cost and high precision.
In step S1, a CAD model of the steering system structure is drawn in an appropriate scale based on the three-view theory and the steering system, and the geometry, size, position and interconnection of the steering system parts are designed and expressed. The steering system has the following specific structure:
the steering system structure includes: the steering wheel comprises a steering wheel transmission pipe column 1, a steering wheel bracket 3, a steering wheel 8, a steering wheel pipe column 12, a spline converter 14, a steering gear rack pull rod 22, a ball pin 20, a right steering knuckle rocker arm 23, a right steering pull rod 25, a right steering knuckle 25, a steering tie rod 26, a left steering knuckle 27, a left steering pull rod 28 and a left steering knuckle rocker arm 29;
the steering wheel 8 is installed at the tip of steering wheel tubular column 12, and steering wheel tubular column 12 is connected on steering wheel bracket 3, and lock core 10 is installed on steering wheel tubular column 12 for fixed control steering wheel tubular column 12, steering wheel tubular column shell 11 cladding are in the outside of steering wheel tubular column 12, are used for forming the protection to steering wheel tubular column 12.
One end of the steering wheel pipe column 12 far away from the steering wheel 8 is sequentially connected with a steering wheel transmission pipe column 1, a spline converter 14, a steering gear rack pull rod 22 and a right steering knuckle rocker arm 23. Specifically, the steering wheel drive column 1 is connected to a spline converter 14 by a column lock nut 13. The spline converter 14 is connected to a steering gear rack tie rod 22 through a steering gear, and the steering gear rack tie rod 22 is connected to a right knuckle rocker arm 23 through a steering gear rack tie rod pin 15 and a rack tie rod nut 16. The right steering knuckle rocker arm 23 and the left steering knuckle rocker arm 29 are respectively arranged on the steering knuckle rocker arm support 21 and can rotate around the steering knuckle rocker arm support 21, the steering knuckle rocker arm support 21 is fixedly connected to the vehicle frame, and the steering gear rack pull rod 22 can drive the right steering knuckle rocker arm 23 and the left steering knuckle rocker arm 29 to rotate together.
The right and left knuckle arms 23 and 29 are connected to tie rods 26, respectively, and both ends of the tie rods 26 are connected to right and left tie rods 24 and 28, respectively, through ball pins 20. The end of the right tie rod 24 remote from the tie rod 26 is connected to a right knuckle 25 by a ball pin, the right knuckle 25 being connected to the right steering wheel of the vehicle. The end of the left tie rod 28 remote from the tie rod 26 is connected to a left knuckle 27 by a ball pin 20, the left knuckle 27 being connected to the left steered wheel of the vehicle.
When the steering gear rack bar 22 drives the right knuckle rocker 23 to rotate, the tie rod 26 drives the right steering rod 24 and the left steering rod 28 to rotate, the right steering rod 24 drives the right knuckle 25 and the right steering wheel to rotate together, and the left steering rod 28 drives the left knuckle 27 and the left steering wheel to rotate together.
The steering system works as follows: the driver drives the steering wheel 8 by hand to make the steering system input power, circular motion and torque, the steering wheel 8 transmits the motion and torque to the steering wheel column 12, the steering wheel column 12 transmits the motion and torque to the steering wheel transmission column 1, the steering wheel transmission column 1 transmits the motion and torque to the spline converter 14, the spline converter 14 transmits the motion and torque to the steering gear rack pull rod 22 through the steering gear, the steering gear rack pull rod 22 transmits the motion and torque to the right steering knuckle rocker arm 23, the right steering knuckle rocker arm 23 transmits the motion and torque to the tie rod 26 through the pin, the tie rod 26 transmits the motion and torque to the right steering pull rod 24 and the left steering pull rod 28 through the ball pin, the right steering pull rod 24 transmits the motion and torque to the right steering knuckle 25 and the right steering wheel through the ball pin, the left steering pull rod 28 transmits the motion and torque to the left steering knuckle 27 and the left steering wheel through the ball pin, the left and right steering wheels move simultaneously to realize the steering of the automobile.
In step S2, respectively simulating the geometric connection relationship between the right steering rod and the steering knuckle in three views according to the size, the position relationship and the projection principle in the steering system structure;
the geometric model shows a center line of a right wheel main pin, a center of a spherical hinge at the inner end of the right steering pull rod, a center of a spherical hinge at the outer end of the right steering pull rod, and an intersection point of the center line of the right wheel and the center line of the right wheel main pin, the intersection point is connected with the center of the spherical hinge at the outer end of the right steering pull rod and is represented as a steering knuckle, and the center of the spherical hinge at the inner end of the right steering pull rod and the center of the spherical hinge at the outer end of the right steering pull rod are connected and is represented.
Further, referring to the drawings, the right wheel kingpin centerline is indicated by l1, the knuckle is indicated by the BP line i 2, and the right steer rod is indicated by the AB line i 3. Wherein, point A represents the center of the spherical hinge at the inner end of the right steering pull rod 24, point B represents the center of the spherical hinge at the outer end of the right steering pull rod 24, point P represents the intersection point of the center line of the right wheel and the center line of the master pin of the right wheel, and three projection views A, B, P, BP and AB are drawn by projecting according to the size of the steering system structural model and the projection theory.
The three views comprise a front view, a top view and a left view, and the views from the three views are used for representing the geometrical coupling relation between the steering front right steering pull rod and the steering knuckle. x, y and z are coordinate axes, the origin of the coordinate is o, and the arrow points to the positive direction. A1, A2 and A3 are projection points of the point A in the front view, the top view and the left view respectively. B1, B2 and B3 are projection points of the point B in the front view, the top view and the left view respectively. P1, P2 and P3 are projection points of the P point in the front view, the top view and the left view respectively. α represents a kingpin centerline caster (°), positive clockwise; beta represents the kingpin centerline inclination (°), positive clockwise. K-K represents the oblique plane of projection position and orientation.
In step S3, the method specifically includes the following steps:
s31, establishing a coordinate system on the oblique projection surface, and according to the projection theory, displaying the intersection point of the center line of the right wheel and the center line of the right wheel kingpin and the center of the spherical hinge at the inner end of the right steering pull rod on the coordinate system;
s32, drawing a turning track of the steering knuckle and a motion track of the right steering pull rod in a coordinate system, wherein the intersection point of the turning track and the motion track of the right steering pull rod is the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod on an inclined projection plane;
and S33, solving the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane to obtain the position of the steering knuckle.
Furthermore, on the basis of the geometric model established in step S2, the motion of the lower knuckle driven by the right tie rod is simulated according to the drawing geometric theory, and the motion trajectory of the knuckle and the motion trajectory of the right tie rod are projected onto a K-K slope to obtain a two-dimensional model of the position of the knuckle.
Wherein x and y are coordinate axes on the K-K inclined plane, the origin of the coordinate is o, and the arrow points to the positive direction. P4 is the projection of the point P on the central line of the knuckle on the K-K inclined plane, and is obtained by adopting a drawing geometric method according to the position of the point P and the inclined plane K-K. A4 is the projection point of the center A point of the spherical hinge at the inner end of the right steering pull rod 24 on the K-K inclined plane, and is obtained by the same drawing method and geometry.
R1 is the radius of a projection circle of a steering knuckle revolution track on a K-K inclined plane, the actual length PB of the steering knuckle is taken as a hypotenuse, the distance PP4 from a point P to a point P4 is taken as a right-angle side, and another right-angle side P4B4, namely R1, is obtained by a drawing geometric method. R2 is the projection circle radius of the motion trail of the right steering pull rod on the K-K inclined plane, similarly, the actual length AB of the right steering pull rod is taken as the inclined plane, the distance AA4 from the point A to the point A4 is taken as a right-angle side, and another right-angle side A4B4, namely R2, is obtained by a drawing geometric method. And the AB and BP real lengths are obtained by adopting a drawing geometric method according to A, B, P coordinates. The two circles R1 and R2 are plotted to find the position coordinates of the intersection point B4 as the knuckle position.
In step S4: simulating the movement of a steering knuckle and a right steering pull rod during steering, and obtaining the position coordinate of the center of a spherical hinge at the outer end of the right steering pull rod according to the step S3; respectively showing the projection before steering and the projection after steering of the steering knuckle in a top view in the geometric model according to a projection principle; and measuring an included angle between the projection of the steering knuckle before steering and the projection of the steering knuckle after steering to obtain a steering angle.
Specifically, on the basis of the geometric model, the motion of the knuckle BP and the right tie rod AB during steering is simulated, and the coordinates XB 'and YB' of the point B after steering are obtained according to the method in step S3.
And establishing a steering angle calculation two-dimensional model and drawing a two-dimensional graph. Wherein, A2, B2 and P2 are projected on the top view of points A, B and P before turning. A21, B21 and P21 are projected on a plan view after steering, and Δ γ (°) is a steering angle. In the figure, the angle Δ γ between P21B21 and P2B2 is measured, i.e., the steering angle, and the clockwise direction is positive, indicating a right steering.
The following further explains the calculation of the steering angle of the vehicle.
In table 1, the coordinate system is shown in fig. 2, XA, YA and ZA are x, y and z coordinates of the point a before turning in the coordinate system, XB, YB and ZB are x, y and z coordinates of the point B before turning in the coordinate system, and XP, YP and ZP are x, y and z coordinates of the point P before and after turning in the coordinate system. XA ', YA ' and ZA ' are the x, y and z coordinates of the steered a point in the coordinate system, respectively. Alpha is the included angle between the central line of the kingpin and the z-axis in the front view, and the clockwise direction is positive (the central line of the kingpin is inclined backwards); beta is an included angle between the central line of the master pin and the z-axis in the left view, and the clockwise direction is positive (the central line of the master pin inclines inwards); the above data is given by the design.
In addition, XB ', YB ' and ZB ' are respectively the x, y and z coordinates of the B point in the coordinate system after steering; XP4, YP4 and ZP4 are P4 point coordinates; XA4, YA4 and ZA4 are the coordinates of point a 4.Δ γ, R1, R2 are as before. And (4) calculating by a two-dimensional modeling method.
TABLE 1 calculation scheme and results of the steering angle of a vehicle
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. Method for determining the steering angle of a motor vehicle, characterized in that it comprises the following steps:
s1, establishing a steering system structure model;
s2, establishing a geometric model of the right steering tie rod-knuckle under the full-load working condition based on the structural model of the steering system and the projection principle;
s3, establishing a two-dimensional model of the steering knuckle position on the basis of an oblique projection plane based on the geometric model and the geometric theory of the right steering tie rod-steering knuckle under the full-load working condition; and obtaining the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane;
the oblique projection plane is perpendicular to the central line of the right wheel kingpin and passes through the center of the spherical hinge at the outer end of the right steering pull rod;
s4, simulating the movement of a steering knuckle and a right steering pull rod, respectively showing the projection before steering and the projection after steering of the steering knuckle in a top view in the geometric model according to the position coordinates of the center of the spherical hinge at the outer end of the right steering pull rod on an oblique projection plane and the projection principle, measuring the included angle between the projection before steering and the projection after steering of the steering knuckle, and establishing a steering angle to calculate a two-dimensional model so as to obtain the steering angle.
2. The method for determining a steering angle of an automobile according to claim 1, wherein in the step S1, a CAD model of a steering system structure is drawn to scale based on a three-view theory and a steering system, and a steering system part geometry, size, position and interconnection relation are designed and expressed.
3. The method for determining a steering angle of an automobile according to claim 2, wherein in the step S2, the geometrical coupling relationship between the right tie rod and the knuckle is simulated in three views respectively according to the size, the positional relationship and the projection principle in the structure of the steering system;
the geometric model shows a center line of a right wheel main pin, a center of a spherical hinge at the inner end of the right steering pull rod, a center of a spherical hinge at the outer end of the right steering pull rod, and an intersection point of the center line of the right wheel and the center line of the right wheel main pin, the intersection point is connected with the center of the spherical hinge at the outer end of the right steering pull rod and is represented as a steering knuckle, and the center of the spherical hinge at the inner end of the right steering pull rod and the center of the spherical hinge at the outer end of the right steering pull rod are connected and is represented.
4. The method for determining the steering angle of an automobile of claim 3, wherein the tri-view plot represents a geometric coupling relationship between the right tie rod and the knuckle before steering.
5. The method for determining the steering angle of the automobile according to claim 4, wherein the step S3 specifically comprises the following steps:
s31, establishing a coordinate system on the oblique projection surface, and according to the projection theory, displaying the intersection point of the center line of the right wheel and the center line of the right wheel kingpin and the center of the spherical hinge at the inner end of the right steering pull rod on the coordinate system;
s32, drawing a turning track of the steering knuckle and a motion track of the right steering pull rod in a coordinate system, wherein the intersection point of the turning track and the motion track of the right steering pull rod is the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod on an inclined projection plane;
and S33, solving the position coordinate of the center of the spherical hinge at the outer end of the right steering pull rod on the oblique projection plane to obtain the position of the steering knuckle.
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| JP2007038728A (en) * | 2005-08-01 | 2007-02-15 | Hino Motors Ltd | Steering linkage structure |
| CN102358317B (en) * | 2011-09-14 | 2013-12-11 | 南车株洲电力机车有限公司 | Light rail vehicle and hinged steering frame thereof |
| CN102901468B (en) * | 2012-11-14 | 2015-01-21 | 安徽巨一自动化装备有限公司 | Car turning angle laser measuring instrument |
| CN104149568B (en) * | 2014-08-14 | 2017-03-29 | 徐州重型机械有限公司 | A kind of control arm assembly |
| CN106874619B (en) * | 2017-03-08 | 2019-12-06 | 厦门理工学院 | method for determining toe-in change of automobile steering wheel |
| CN107256305B (en) * | 2017-06-08 | 2020-07-24 | 厦门理工学院 | Method for determining turning radius of vehicle steering knuckle |
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