CN206399671U - A kind of automobile steering-by-wire road resistance simulated experiment platform - Google Patents
A kind of automobile steering-by-wire road resistance simulated experiment platform Download PDFInfo
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- CN206399671U CN206399671U CN201720098813.8U CN201720098813U CN206399671U CN 206399671 U CN206399671 U CN 206399671U CN 201720098813 U CN201720098813 U CN 201720098813U CN 206399671 U CN206399671 U CN 206399671U
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- steering
- resistance
- knuckle
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- motor
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Abstract
The utility model announces a kind of automobile steering-by-wire road resistance simulated experiment platform, steering drag is accurately simulated by Resistance motor on stub position, highly reduction actual steering system turns to posture and dynamic characteristic, and the automobile steering-by-wire road resistance simulated experiment platform of the real-time monitoring experiment result of energy.Including support meanss, execution system, resistance simulation system, knuckle are turned to, middle control machine and signal transmit cable.The experimental bench by resistance simulation electric machine controller can carry out Torque Control to realize quick dynamic load under the torque mode of design.And by being available for the support meanss of regulation from different steering gears and adjustment, the steering of different automobile types can be simulated, with certain versatility.Simulation loading can be carried out according to actual conditions such as speed, load, wheel steering angle speed, sizes, institute's simulation load is closer to automobile practical operation situation.
Description
Technical field
The utility model is related to a kind of Automotive Steering Technology, especially a kind of automobile steering-by-wire road resistance simulated experiment
Platform.
Background technology
Automobile steer-by-wire system performance directly affects control stability in vehicle traveling process, security and comfortable
Property.Automobile steering system experienced the stages such as traditional mechanical steering, hydraulic power-assist steering system and electric boosting steering system,
Manipulation, ride experience to driver have larger lifting.The common ground of above-mentioned steering is operating mechanism and turns to execution
Exist between mechanism and mechanically connect, gearratio is fixed, and the steering characteristic of vehicle changes with speed.Current Vehicle Electronic Control
Technology fast development promotes the technical reform of automobile steering system and innovation.Steering-by-wire technology has started to be looked forward to by some cars
Accreditation and application, major motor corporations and colleges and universities have started to be studied for steering-by-wire since the last century.Steering-by-wire
System eliminates operating mechanism and turns to the mechanical connection between executing agency, turns to driver by electronic control unit and anticipates
Figure passes to steering executing agency and real-time feedback information.The electronic control unit of steering-by-wire technology can set any transmission
Than so as to break away from the limitation of conventional steering gearratio fixation so that Vehicular turn characteristic does not change with speed, lifting car
Drive active safety and stability.
Automobile steering system needed from research and development to volume production application experience physical prototyping design, bench test, real vehicle test and
A series of stages such as adjustment is perfect.Wire-controlled steering system eliminates operating mechanism and turns to the mechanical connection between executing agency,
Control logic is complex in control system, and reliability and security need further checking, therefore to avoid unnecessary peace
Entirely surprisingly, it is necessary to fully be debugged to the soft and hardware of system before real train test is carried out, until system has optimality
Energy.Therefore, the exploitation built to wire-controlled steering system of steering-by-wire hardware in loop experimental bench is particularly important.
Steering-by-wire hardware in loop experimental bench is applied on wheel to reflect that automobile is understood in steering procedure by environment
External force, so the simulation of road pavement steering drag is the important component of test-bed, to simulating vehicle steering procedure
The torque that the road surface external force that middle wheel is subject to is formed on stub position.
Current resistance simulation is various informative, typical mode have spring-loaded, jack loaded type, electro-hydraulic servo formula,
Magnetic powders brake formula and motor loaded type；If application number 200820081713.5 is using one end fixation spring simulated resistance, simulation resistance
Power size and the decrement or elongation of spring are linear, once Spring Selection is completed, spring rate keeps constant, resistance
Simulation is only relevant with spring deformation amount uncontrolled, and accuracy can not meet requirement of experiment, it is impossible to reflect that actual vehicle was turned to
In journey by external force situation.Application number 201010191612.5 using electrohydraulic system carry out resistance simulation, using servo valve for
Hydraulic cylinder carries out resistance simulation control, with high costs because hydraulic system equipment requirement is higher, and space-consuming is larger, structure
Complexity, there is no method effectively to solve at present while hydraulic system has oil leak hidden danger, and hydraulic system output in addition exists certain delayed
Property, it is impossible to meet the requirement of real-time of emulation.Application number 201310274371.4 carries out resistance simulation using motor, and motor is installed
Turn in executing agency, motor output shaft is engaged to simulate steering drag with turning to executing agency's rack, it is impossible to which true reflection is existing
Truth condition external environment is to reflect steering drag by tire, and emulator is not high.
The content of the invention
The purpose of this utility model is to provide a kind of automobile steering-by-wire road resistance simulated experiment platform, can be in stub position
Put and steering drag is accurately simulated by Resistance motor, altitude simulation actual steering system turns to posture and dynamic characteristic and energy
Real-time monitoring experiment result.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is as follows：A kind of automobile steering-by-wire road roadlock
Power simulated experiment platform, including support meanss, steering execution system, resistance simulation system, two knuckles, middle control machine and signal transmission
Cable, it is characterised in that：Support meanss are provided with driving and steering system, knuckle and its mounting assembly and middle control as pedestal
Machine, it is simple in construction to be easy to laboratory to arrange；Pass through the track rod that is connected with steering gear rack ball pin in driving and steering system
Using being bolted on knuckle arm, Resistance-load motor is connected with deceleration device by housing bolts, and passes through spiral shell
Bolt is arranged in resistance simulation system supporting plate, and Resistance motor output shaft slows down to increase by decelerator to be turned round, and passes through key connection function
On king pin position, knuckle is moved under the collective effect of driving and steering system and resistance simulation system, characterizes car
Athletic posture when deflecting roller is turned to, the real vehicle steering of altitude simulation；Support meanss pass through cast aluminium corner fittings by aluminium section bar
Fixed framework is formed, and can adjust the relative position of each aluminium section bar rod member by elastic cast aluminium corner fittings on section aluminum guide rail direction,
By adjusting aluminium section bar rod member with changing steering gear, the different wheelspan of formation and steering trapezium, simulation different automobile types can be met
Steering.
Support meanss include：Bottom support frame, left and right turn section hanger bar, steering execution system supporting plate, left and right turn
Save supporting plate；Described bottom support frame includes base, turns to execution system supporting plate mounting rod, seat slide guide rod and turn
To joint arm hanger bar stabiliser bar；The base includes left-right longeron, it is preceding in after the longitudinal directions of three crossbeams and two lateral adjustments lead
To bar；The steering execution system supporting plate mounting rod is arranged on perpendicular to horizontal plane can be with longitudinally adjust on longitudinally guiding bar；
The steering execution system supporting plate is arranged on parallel to horizontal plane to be turned on execution system supporting plate mounting rod；The knuckle
Arm sling peg is arranged on the front beam of mounting seat perpendicular to horizontal plane, parallel to front beam and perpendicular to joint arm hanger bar peace
Dress knuckle arm hanger bar stabiliser bar is reinforced to whole support meanss；
The support meanss are fixed framework by cast aluminium corner fittings by aluminium section bar and formed, and can pass through on section aluminum guide rail direction
Elastic cast aluminium corner fittings adjusts the relative position of each aluminium section bar rod member, by adjusting aluminium section bar rod member and changing steering gear, is formed not
Same wheelspan and steering trapezium, can meet simulation different automobile types steering.
It is described steering execution system include turn to motor, rack and pinion steering gear, rack, left and right turn drag link,
Turn to actuating motor controller；Rack and pinion steering gear is integrally L-shaped, is horizontally set in steering supporting plate；Turn to and drive
Dynamic motor is fixed on steering gear housing, is turned to driving motor output shaft and is stretched into motor installing hole；Motor is turned to pass through
Motor rotary motion is changed into rack motion by worm and gear, rack-and-pinion double reduction mechanism；Rack two ends pass through ball
Pin is connected with track rod；The knuckle arm of each the track rod other end and knuckle is hinged；Turn to motor
Input is connected by cable with turning to the output end of drive motor controller, turns to the input of drive motor controller with
One output end of control machine is connected.
The resistance simulation system include left and right resistance simulation motor, left and right deceleration device, resistance simulation electric machine controller,
Left and right turn section and its support meanss；Speed reducer housing is bolted with resistance simulation motor support plate upper plate；Decelerator
Shell is bolted with resistance simulation motor housing；The input of resistance simulation motor passes through cable and resistance simulation motor
The output end connection of controller, the input of resistance simulation electric machine controller is connected with an output end of middle control machine.
The knuckle erecting device includes stub, knuckle supporting plate, lower bearing, upper bearing (metal), resistance simulation system branch
Fagging is constituted, and knuckle supporting plate is fixed on the outside of knuckle arm hanger bar by screw, nut, and stub passes through metal (upper quilt
It is fixed between knuckle supporting plate and resistance simulation system supporting plate and can be freely rotated around vertical；Knuckle is clamped in master
On pin, can freely it be rotated with simulated automotive deflecting roller kinematics characteristic around vertical with stub；Reducer output shaft connects with stub key
Connect, reducer input shaft is gripped with resistance simulation motor output shaft.
Improvement to above-mentioned technical proposal：Resistance simulation system uses low inertia AC servo motor, torque in design,
Under the different mode of position, torque, position control are carried out to realize quick dynamic load by resistance simulation electric machine controller, met
The requirement that resistance is accurately controlled；, can be according to the light in the integrated assembly of low inertia AC servo motor during Resistance-load
The current operation signal that photoelectric coder is collected, the experiment speed set with reference to host computer the, " steering drag based on design
Square-speed, front wheel angle " MAP carries out the moment of resistance and tabled look-up, and the torque that wheel should be acted on by road surface on stub position is made
For target loading moment, with the steering situation under the different speeds of dynamic analog, control resistance simulation motor carries out Dynamic High-accuracy
Resistance-load.
Further improvement to above-mentioned technical proposal：Control machine and host computer are total in being realized by Matlab vector hardware
Line is communicated, and Resistance-load system control parameters can be adjusted in real time using the human-computer interaction module GUI of software Matlab, and
Experimental result can be monitored in real time.
Beneficial effect：
The utility model has advantages below：
1st, the utility model can be according to the front wheel angle characterized to stub angular signal, and by tabling look-up, valuation obtains target
The moment of resistance is controlled to the drag size of resistance simulation system with direction, accurate simulation steering drag.
2nd, steering drag action mode of the present utility model is the moment of resistance acted on stub, to true steering
Steering procedure process reduction degree is higher, truly reflects wheel steering system kinematics characteristic.
3rd, the utility model can by changing resistance simulation systematic control algorithm in resistance simulation electric machine controller, with
Compare the control effect under different control algolithms, preferable control algolithm is determined for different situations.
4th, machine is controlled in the utility model to be easy to obtain corner, resistance in steering procedure with host computer real-time communication
Square information, foundation is provided for later data analysis.
5th, the utility model support device structure is simple, is available for adjustment, facilitates laboratory mounting arrangements and with certain logical
It is applied to the steering of simulation different automobile types with property.
Brief description of the drawings
Three-dimensional assembly described in a kind of Fig. 1 automobile steering-by-wire road resistance simulated experiment platforms described in the utility model
Figure
Support meanss described in a kind of Fig. 2 automobile steering-by-wire road resistance simulated experiment platforms described in the utility model
Structural representation
Rack-and-pinion described in a kind of Fig. 3 automobile steering-by-wire road resistance simulated experiment platforms described in the utility model
Steering gear schematic diagram
Knuckle peace described in a kind of Fig. 4 automobile steering-by-wire road resistance simulated experiment platforms described in the utility model
Assembling device structural representation.
In figure：Support meanss 1, steering execution system 2, resistance simulation system 3, knuckle 4, middle control machine 5, signal transfer line
Cable 6；
Support meanss 1 include：Bottom support frame 1-1, left and right turn section hanger bar 1-2 and 1-12, steering execution system branch
Fagging 1-3, knuckle arm hanger bar stabiliser bar 1-4, left and right turn section supporting plate 1-5 and 1-6, the support of left and right resistance simulation system
Plate 1-7 and 1-8；
Base include before in after three crossbeams 1-9,1-10,1-11, seat slide guide rod 1-13 and 1-14, turn to perform
System supporting plate mounting rod 1-15 and 1-16, longitudinally guiding bar 1-17 and 1-18, left-right longeron 1-19 and 1-20；
Right turn section erecting device includes：Right turn section supporting plate 1-6, right resistance simulation system supporting plate 1-8, lower bearing
1-21, stub 1-22, upper bearing (metal) 1-23；
Driving and steering system includes：Turn to motor 2-1, rack and pinion steering gear 2-2, rack 2-3, left and right turn horizontal
Pull bar 2-4 and 2-5, turn to actuating motor controller 2-6 steering screws 2-7 and steering gear worm 2-8 mating connection, it is worm gear 2-8, small
Gear 2-9；
The knuckle arm 4-3 and 4-4 of each the track rod other end and knuckle are hinged；Turn to the input of motor
End is by cable with turning to drive motor controller 2-6；
Resistance simulation system includes：Left and right resistance simulation motor 3-1 and 3-2, left and right deceleration device 3-3 and 3-4, left and right corner
Displacement transducer 3-5 and 3-6, resistance simulation electric machine controller 3-7 and 3-8；
Knuckle includes：Left and right turn section 4-1 and 4-2, knuckle arm 4-3 and 4-4.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is further described
As shown in figure 1, a kind of automobile steering-by-wire road resistance simulated experiment platform, including support meanss 1, steering perform system
System 2, resistance simulation system 3, two knuckles 4, middle control machine 5 and signal transmit cable 6, it is characterised in that：
According to Fig. 1 and Fig. 3, support meanss 1 include：Bottom support frame 1-1, left and right turn section hanger bar 1-2 and 1-
12nd, execution system supporting plate 1-3, left and right turn section supporting plate 1-5 and 1-6 are turned to；Described bottom support frame includes base, turned
It is stable to execution system supporting plate mounting rod 1-15 and 1-16, seat slide guide rod 1-13 and 1-14 and knuckle arm hanger bar
Bar 1-4；The base includes left-right longeron 1-19 and 1-20, it is preceding in after three crossbeams 1-9,1-10,1-11 and two laterally adjust
Longitudinally guiding the bar 1-17 and 1-18 of section；The steering execution system supporting plate mounting rod 1-15 and 1-16 pacifies perpendicular to horizontal plane
Can be with longitudinally adjust on longitudinally guiding bar 1-17 and 1-18；The steering execution system supporting plate 1-3 is parallel to horizontal plane
On steering execution system supporting plate mounting rod 1-15 and 1-16；The knuckle arm hanger bar 1-2 and 1-12 perpendicular to
Horizontal plane is arranged on the front beam 1-9 of mounting seat, parallel to front beam 1-9 and perpendicular to joint arm hanger bar 1-2 and 1-12
Knuckle arm hanger bar stabiliser bar 1-4 is installed to reinforce whole support meanss；The support meanss are all passed through by aluminium section bar
Cast aluminium angle bar is formed by connecting, and there is the displacement of the lines free degree on installed track slot direction, is easy to regulation driving and steering system and resistance
Force loading system installation site.
As shown in figures 1 and 3 the steering execution system include turning to motor 2-1, rack and pinion steering gear 2-2,
Rack 2-3, left and right turn drag link 2-4 and 2-5, steering actuating motor controller 2-6；Rack and pinion steering gear 2-2 is in integrally L
Shape, is horizontally set on steering supporting plate 1-3；Turn to motor 2-1 to be fixed on steering gear 2-2 housings, turn to and drive
Dynamic motor 2-1 output shafts are stretched into motor installing hole；The steering screw 2-7 that is connected on motor 2-1 output shafts is turned to, snail is turned to
Bar 2-7 and steering gear worm 2-8 is connected；The little gear 2-9 being connected in worm gear 2-8 rotary shafts and steering rack 2-3, which coordinates, to be connected
Connect；Rack 2-3 two ends are connected 2-4 and 2-5 by ball pin with track rod；Each the track rod other end and knuckle
Knuckle arm 4-3 and 4-4 are hinged；The input of steering motor is by cable with turning to the defeated of drive motor controller 2-6
Go out end connection, the input for turning to drive motor controller 2-6 is connected with an output end of middle control machine 5.
The resistance simulation system includes left and right resistance simulation motor 3-1 and 3-2, left and right deceleration dress as depicted in figs. 1 and 2
Put 3-3 and 3-4, resistance simulation electric machine controller 3-7 and 3-8, left and right turn section 4-1 and 4-2 and its support meanss 1-5,1-7 and
1-6、1-8；The knuckle erecting device by taking right side as an example include stub 1-22, knuckle supporting plate 1-6, lower bearing 1-21,
Upper bearing (metal) 1-23, resistance simulation system supporting plate 1-8 are constituted, and knuckle supporting plate 1-6 is fixed on knuckle by screw, nut
On the outside of arm sling peg 1-12, stub 1-22 is fixed on knuckle supporting plate 1-6 and resistance by metal (upper 1-21 and 1-23
It can be rotated around vertical between simulation system supporting plate 1-8 and freely；Right turn section 4-2 is clamped on right stub 1-22, can be with
Stub 1-22 is freely rotated around vertical；Decelerator 3-4 output shafts are connected with stub 1-22 keys, decelerator 3-4 output shafts and resistance
Simulated machine 3-2 output shafts are gripped；Decelerator 3-4 shells are solid by bolt with resistance simulation motor support plate 1-8 upper plates
It is fixed；Decelerator 3-4 shells are bolted with resistance simulation motor 3-2 shells；Resistance simulation motor 3-2 input passes through
Cable 6 is connected with resistance simulation electric machine controller 3-8 output end, resistance simulation electric machine controller 3-8 input and middle control
One output end of machine 5 is connected.
A kind of course of work of automobile steering-by-wire road resistance simulated experiment platform is as follows：
Driver intention signal is passed to middle control machine with steering wheel angle signal form by driver by steering wheel system
5, the progress of steering wheel angular signal is handled according to line traffic control course changing control strategy in middle control machine 5 and obtains it is expected that turning to execute instruction passes
Pass steering actuating motor controller 2-6；Turn to the expectation corner instruction that control machine 5 during actuating motor controller 2-6 is combined is transmitted
Processing calculating is carried out with the real-time front wheel angle that resistance simulation electric machine controller 3-7 and 3-8 are gathered, driving turns to actuating motor 2-
1 rotates, and slows down by worm gear, worm screw and little gear, rack double reduction mechanism, will turn to actuating motor 2-1 rotary motion
Rack 2-3 horizontal linear motion is converted into, rack 2-3 push-and-pull track rod 2-5 and 2-4 in transverse movement drive
Knuckle arm 4-3 and 4-4 so that knuckle 4-1 and 4-2 is rotated around stub, with resistance simulation motor 3-1 and 3- in rotation process
The photoelectric encoder 3-5 and 3-6 of 2 integrations, resistance simulation electric machine controller 3-7 and 3-8 are fed back to by real-time front wheel angle,
Pass to middle control machine 5 to note down and upload current front wheel angle and moment information to bus by resistance simulation electric machine controller again
It is easy to host computer to obtain coherent signal with turning to actuating motor controller 2-6, is easy to later-stage utilization host computer to be based on data analysis
Position-force control is carried out to steering motor 2-1 in real time with turning to actuating motor controller 2-6, while resistance simulation motor control
Device 3-7 and 3-8 is handled the progress of front wheel angle signal according to valuation of tabling look-up to be obtained expecting the moment of resistance, according to expectation moment of resistance driving
Resistance simulation motor 3-1 and 3-2 produce resistance, and the master of knuckle 4-1 and 4-2 installation is acted on by deceleration device 3-3 and 3-4
On pin, resistance simulation is realized.
Claims (2)
1. a kind of automobile steering-by-wire road resistance simulated experiment platform, including support meanss, steering execution system, resistance simulation system
System, knuckle, middle control machine and signal transmit cable, it is characterised in that：The support meanss are provided with steering driving as pedestal
System, knuckle and its mounting assembly and middle control machine；Driving and steering system is horizontal by the steering being connected with steering gear rack ball pin
Pull bar, using being bolted on knuckle arm, Resistance-load motor is connected with deceleration device by housing bolts, and is led to
Bolt is crossed in resistance simulation system supporting plate, Resistance motor output shaft slows down to increase by decelerator to be turned round, and is connected by key
Act on king pin position, knuckle is moved under the collective effect of driving and steering system and resistance simulation system, branch
Support arrangement is fixed framework by cast aluminium corner fittings by aluminium section bar and formed.
2. a kind of automobile steering-by-wire road resistance simulated experiment platform according to claim 1, it is characterised in that：The resistance
Power simulation system uses low inertia AC servo motor.
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| CN201720098813.8U CN206399671U (en) | 2017-01-26 | 2017-01-26 | A kind of automobile steering-by-wire road resistance simulated experiment platform |
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| CN201720098813.8U CN206399671U (en) | 2017-01-26 | 2017-01-26 | A kind of automobile steering-by-wire road resistance simulated experiment platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279133A (en) * | 2017-12-19 | 2018-07-13 | 浙江工业大学 | A kind of Storage and circulation equipment electric boosting steering system test platform |
| CN110015342A (en) * | 2019-05-14 | 2019-07-16 | 湖北汽车工业学院 | A kind of failure emergency set and control method for steering-by-wire |
| CN110441016A (en) * | 2019-08-09 | 2019-11-12 | 江苏忠明祥和精工股份有限公司 | Sliding rail of automobile seat assembly vibration test load device |
| CN112581824A (en) * | 2020-12-30 | 2021-03-30 | 覃琦 | Disconnected auto steering system wheel corner relation teaching aid |
-
2017
- 2017-01-26 CN CN201720098813.8U patent/CN206399671U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279133A (en) * | 2017-12-19 | 2018-07-13 | 浙江工业大学 | A kind of Storage and circulation equipment electric boosting steering system test platform |
| CN110015342A (en) * | 2019-05-14 | 2019-07-16 | 湖北汽车工业学院 | A kind of failure emergency set and control method for steering-by-wire |
| CN110015342B (en) * | 2019-05-14 | 2023-12-29 | 湖北汽车工业学院 | Fault emergency device for steer-by-wire and control method |
| CN110441016A (en) * | 2019-08-09 | 2019-11-12 | 江苏忠明祥和精工股份有限公司 | Sliding rail of automobile seat assembly vibration test load device |
| CN112581824A (en) * | 2020-12-30 | 2021-03-30 | 覃琦 | Disconnected auto steering system wheel corner relation teaching aid |
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Granted publication date: 20170811 Termination date: 20190126 |