CN209895179U - Testing device for electronic stability control system - Google Patents
Testing device for electronic stability control system Download PDFInfo
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- CN209895179U CN209895179U CN201920469393.9U CN201920469393U CN209895179U CN 209895179 U CN209895179 U CN 209895179U CN 201920469393 U CN201920469393 U CN 201920469393U CN 209895179 U CN209895179 U CN 209895179U
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Abstract
The utility model provides a testing device, which comprises an installation frame; the X-axis rotating device comprises an X-axis rotating driving assembly, an X-axis supporting frame and an X-axis rotating hydraulic joint; the Y-axis rotating device comprises a Y-axis rotating driving assembly, a Y-axis supporting frame and a Y-axis rotating hydraulic joint; the Z-axis rotating device comprises a Z-axis rotating driving assembly, a Z-axis supporting frame and a Z-axis rotating hydraulic joint; the first group of hydraulic pipelines are used for communicating an outer ring flow path of the X-axis rotary hydraulic adapter with an inner ring flow path of the Y-axis rotary hydraulic adapter; and the second group of hydraulic pipelines are used for communicating an outer ring flow path of the Y-axis rotary hydraulic adapter with an inner ring flow path of the Z-axis rotary hydraulic adapter. According to the utility model discloses a testing arrangement can simulate and test the true condition of being surveyed the piece and carry out actual test to its hydraulic line in association.
Description
Technical Field
The utility model relates to an electronic stability control system (also called ESC, ESP etc. hereinafter abbreviated ESC) testing arrangement.
Background
The electronic stability control system (also called ESC, ESP, VSC, DTSC, etc.) is a novel active safety system of the vehicle, is a further extension of the functions of an anti-lock braking system (ABS) and a Traction Control System (TCS) of the vehicle, and ensures the lateral stability of the vehicle running by controlling the driving force and the braking clamping force of front and rear wheels and left and right wheels through the ECU.
With the rapid development of the automobile industry, the requirements for testing parts are more and more strict, and the real driving state of a vehicle is often required to be simulated.
The utility model discloses the test object to is electron stable control system. The electronic stability control system belongs to the active safety configuration of an automobile, actively senses the motion state of the automobile body when the automobile runs, and enables the automobile to keep a stable running state through the related functions of an anti-lock braking system ABS, brake clamping force distribution, brake assistance, traction control and the like, so that the driving safety and comfort are improved. The electronic stability control system generally comprises a sensing part, a control part and an execution part. The sensing part is mainly an automobile body posture sensing integrated sensor unit and is used for measuring three key automobile body posture parameters of the automobile in longitudinal acceleration, lateral acceleration and yaw velocity. The three parameters are core state sensing parameters for the electronic stability control system to control the brake. The control part is mainly an electronic control unit ECU and is responsible for intervening the traction force and the braking system of the vehicle according to a set logic, for example, if the ECU finds that the speed difference between a driving wheel and a follow-up wheel is too large during acceleration, the oil supply amount is automatically reduced, the power is reduced, and the slip is avoided; when the vehicle turns, the ECU can monitor the speed difference of the left wheel and the right wheel, and if the steering is insufficient or excessive, the ECU can automatically reduce the driving force or brake the wheels to ensure that the vehicle turns smoothly. The ECU is linked with an engine management system to intervene and adjust the power output of the engine, wherein the most core is an HCU hydraulic valve control module, and the braking hydraulic pressure of each wheel is rapidly regulated and controlled through different electromagnetic valves according to the distribution requirement of the ECU on the braking clamping force of each wheel, so that the system can independently control the braking clamping force of four wheels. The solenoid valve is used as a core actuating part in the execution part, and the performance of the solenoid valve directly influences the braking performance of the ESC.
Therefore, the comprehensive testing method for the functions and the performances of the ESC comprises the step of carrying out unified combined testing on the sensing unit, the decision control unit and the execution unit. The existing more advanced implementation schemes at present mainly comprise:
1. the sensing unit tests the performance and function of the sensor by the standard attitude generated by the mechanical motion. The mechanical motion simulates different attitude angles of the vehicle body in a three-dimensional turntable mode, so that the perception sensor system can detect the acceleration under the attitude. The typical three-dimensional turntable is realized by mainly using a servo motor to perform angular deflection on two directions of lateral direction and longitudinal direction, and the angular deflection can reach +/-90 degrees, namely, a sensor can detect an acceleration value of +/-1 g (g is gravity acceleration). In addition, the yaw angular velocity is subjected to unlimited rotation by adopting a servo motor and combining an electric slip ring mode, so that the simulation of the accumulated turn process of the vehicle around the center of the vehicle is realized in the driving process. During testing, the three motors work simultaneously according to a set program, and various motion postures possibly occurring during the running of the vehicle are simulated.
2. The decision unit tests a virtual real-time vehicle in a ring form mainly through HiL (hardware in the Loop), simulates the electric control environment of a real vehicle through an electric board card, and communicates with a control unit ECU of an electronic stability control system, so that the ECU senses that the ECU is in communication with the real vehicle, and further tests the decision logic and algorithm of the ECU.
3. And executing unit test, wherein the HCU valve control unit is tested as a main test direction, and an actual hydraulic circuit is not included. The actuating performance and the function of each solenoid valve of the valve control unit are evaluated by detecting the current of the solenoid valve in the HCU valve control unit, and the hydraulic brake pressure in each solenoid valve loop is deduced, so that the brake pressure and the brake clamping force of each wheel are obtained through simulation. Because the electromagnetic valve does not carry hydraulic load to actuate, the current of the electromagnetic valve has great error, so that the test method for deducing the hydraulic pressure and the brake clamping force by detecting the current has great test error, and the test of the electronic stability control system has unavoidable test error.
The method for jointly testing the sensing unit, the decision unit and the execution unit is also referred to as a semi-physical HiL hardware-in-loop system joint test method.
However, in the conventional ESC testing technology, on the basis of a sensing, decision-making and execution combined testing method, direct measurement and control of hydraulic brake clamping force cannot be realized in a semi-physical HiL hardware-in-loop testing environment, and brake hydraulic pressure and brake clamping force can only be deduced by collecting current signals of an HCU solenoid valve, so that a great testing error exists in the method.
The brake caliper of the vehicle is driven by hydraulic pressure to clasp and release the brake disc, so that the brake function is realized. The existing testing technology of the electronic stability control system only has an electric module executed by hydraulic pressure, and does not have a hydraulic real loop, a real brake caliper and a brake disc, and all tests are virtual vehicles built in the loop based on semi-physical HiL hardware. Equivalent simulation in a laboratory state cannot be performed on an ABS (anti-lock braking system), brake clamping force distribution, brake assistance, traction control and the like. The direct measurement of the brake fluid pressure, the clamping force of the calipers and the like cannot be realized, and only the conversion of parameters can be carried out on the basis of a virtual vehicle, so that the test effect of simulating the real vehicle state cannot be obtained.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a testing arrangement, its braking hydraulic pressure and the braking clamp force that can direct measurement electronic stability control system, with real hydraulic braking pipeline of vehicle, brake caliper, the brake disc inserts the test bench, can measure brake hydraulic pressure under the various states of vehicle, calliper clamp force, realizes direct, accurate and quick test and aassessment. In addition, the test device and method can also be used for: the device can be used for simulating different space states of a tested piece and the channel series connection of a vacuum pipeline under multiple degrees of freedom in the field of aerospace; the field of robots, which can be used for designing and manufacturing multi-degree-of-freedom manipulators which can be grabbed by hydraulic pressure or vacuum; and the field of industrial manufacturing, and can be used for designing a rotating platform with multiple degrees of freedom.
Specifically, the utility model provides a testing device, which comprises an installation frame, an X-axis rotating device, a Y-axis rotating device and a Z-axis rotating device;
the X-axis rotating device comprises an X-axis rotating driving assembly, an X-axis supporting frame and an X-axis rotating hydraulic joint; the Y-axis rotating device comprises a Y-axis rotating driving assembly, a Y-axis supporting frame and a Y-axis rotating hydraulic joint; the Z-axis rotating device comprises a Z-axis rotating driving assembly, a Z-axis supporting frame and a Z-axis rotating hydraulic joint;
the inner ring of the X-axis rotary hydraulic joint is fixedly connected with the X-axis support frame, and the outer ring of the X-axis rotary hydraulic joint is fixedly connected with the Y-axis support frame;
the inner ring of the Y-axis rotary hydraulic joint is fixedly connected with the Y-axis support frame, and the outer ring of the Y-axis rotary hydraulic joint is fixedly connected with the Z-axis support frame;
the inner ring of the Z-axis rotary hydraulic joint is fixedly connected with the Z-axis support frame, and the outer ring of the Z-axis rotary hydraulic joint is fixedly connected with the mounting frame;
the X-axis drive assembly is configured to drive the X-axis support frame to rotate about an X-axis relative to the Y-axis support frame;
the Y-axis drive assembly is configured to drive the Y-axis support frame to rotate about a Y-axis relative to the Z-axis support frame;
the Z-axis drive assembly is configured to drive the Z-axis support frame to rotate about a Z-axis relative to the mounting frame;
the test device further comprises:
the first group of hydraulic pipelines are used for communicating an outer ring flow path of the X-axis rotary hydraulic adapter with an inner ring flow path of the Y-axis rotary hydraulic adapter;
and the second group of hydraulic pipelines is communicated with an outer ring flow path of the Y-axis rotary hydraulic adapter and an inner ring flow path of the Z-axis rotary hydraulic adapter.
In a preferred embodiment, the X-axis rotating device further comprises a mounting portion for mounting an electronic stability control system at the X-axis support frame.
In a preferred embodiment, the hydraulic system further comprises a third set of hydraulic lines, and the third set of hydraulic lines communicate an inner ring flow path of the X-axis rotary hydraulic adapter with the electronic stability control system flow path.
In a preferred embodiment, the first set of hydraulic lines and the second set of hydraulic lines each comprise six hydraulic lines.
In a preferred embodiment, the first, second and third sets of hydraulic lines each comprise six hydraulic lines.
In a preferred embodiment, the first, second and third sets of hydraulic lines each include two input lines for feeding fluid into the electronic stability control system flow path and four output lines for feeding fluid out of the electronic stability control system flow path.
In a preferred embodiment, a fourth set of hydraulic lines is further included for communication with a hydraulic pressure source and a respective hydraulic brake caliper, respectively.
In a preferred embodiment, the hydraulic source is a master cylinder.
In a preferred embodiment, the hydraulic brake further comprises a fourth set of hydraulic lines, the fourth set of hydraulic lines comprising six hydraulic lines, two of the six hydraulic lines being for communication with a hydraulic pressure source to receive fluid, and four of the six hydraulic lines being for communication with respective hydraulic brake calipers.
In a preferred embodiment, the electric slip ring further comprises a slip ring rotor fixedly connected with the Z-axis support frame, and a slip ring stator fixedly connected with the mounting frame.
In a preferred embodiment, the slip ring stator is provided with stator electrical connections for connection to a power supply; and a rotor electric connector is arranged on the slip ring rotor and is used for being connected to the X-axis rotation driving assembly and the Y-axis rotation driving assembly.
In a preferred embodiment, the electric slip ring further comprises an electric slip ring, a slip ring rotor of the electric slip ring is fixedly connected with the Z-axis support frame, a slip ring stator of the electric slip ring is fixedly connected with the mounting frame, and a stator electric connector is arranged on the slip ring stator and is used for being connected to a power supply; and a rotor electric connector is arranged on the slip ring rotor and is used for being connected to the X-axis rotation driving assembly, the Y-axis rotation driving assembly and the electronic stability control system.
The utility model also provides a test method for testing electron stability control system, including following step:
providing an electronic stability control system testing device, wherein the electronic stability control system testing device is provided with a hydraulic loop;
installing an electronic stability control system into the electronic stability control system test equipment, and connecting a hydraulic pipeline of the electronic stability control system to a hydraulic loop of the electronic stability control system test equipment;
starting an electronic stability control system and acquiring a signal of a hydraulic loop of test equipment of the electronic stability control system;
and verifying the performance of the electronic stability control system according to the signal of the hydraulic circuit.
In a preferred embodiment, the electronic stability control system testing apparatus includes: the X-axis rotating device is arranged on the mounting frame;
the X-axis rotating device comprises an X-axis rotating driving assembly, an X-axis supporting frame and an X-axis rotating hydraulic joint; the Y-axis rotating device comprises a Y-axis rotating driving assembly, a Y-axis supporting frame and a Y-axis rotating hydraulic joint; the Z-axis rotating device comprises a Z-axis rotating driving assembly, a Z-axis supporting frame and a Z-axis rotating hydraulic joint;
the inner ring of the X-axis rotary hydraulic joint is fixedly connected with the X-axis support frame, and the outer ring of the X-axis rotary hydraulic joint is fixedly connected with the Y-axis support frame;
the inner ring of the Y-axis rotary hydraulic joint is fixedly connected with the Y-axis support frame, and the outer ring of the Y-axis rotary hydraulic joint is fixedly connected with the Z-axis support frame;
the inner ring of the Z-axis rotary hydraulic joint is fixedly connected with the Z-axis support frame, and the outer ring of the Z-axis rotary hydraulic joint is fixedly connected with the mounting frame;
the X-axis drive assembly is configured to drive the X-axis support frame to rotate about an X-axis relative to the Y-axis support frame;
the Y-axis drive assembly is configured to drive the Y-axis support frame to rotate about a Y-axis relative to the Z-axis support frame;
the Z-axis drive assembly is configured to drive the Z-axis support frame to rotate about a Z-axis relative to the mounting frame;
the first group of hydraulic pipelines are used for communicating an outer ring flow path of the X-axis rotary hydraulic adapter with an inner ring flow path of the Y-axis rotary hydraulic adapter;
and the second group of hydraulic pipelines is communicated with an outer ring flow path of the Y-axis rotary hydraulic adapter and an inner ring flow path of the Z-axis rotary hydraulic adapter.
In a preferred embodiment, the method further comprises:
providing a hardware-in-the-loop simulation system, wherein the hardware-in-the-loop simulation system comprises a wheel speed simulator;
the hardware-in-loop simulation system sends signals to three rotary driving components of the electronic stability control system testing device, and the three rotary driving components respectively and independently rotate according to the received control signals;
the electronic stability control system performs logic calculation according to data captured by a sensor of the electronic stability control system and transmits an execution signal to the hardware-in-the-loop simulation system and a hydraulic execution part of the electronic stability control system;
the hardware-in-the-loop simulation system is used for simulating the vehicle and acquiring the rotating speed of each tire from the wheel speed simulator at the same time, and the traction of the virtual vehicle is adjusted by combining the vehicle body posture information provided by the electronic stability control system;
at the moment, four paths of brake fluid led out from a hydraulic execution part of the electronic stability control system change the magnitude of brake clamping force of a brake caliper according to the regulation time of a hydraulic pump and a solenoid valve of the ESC, and the brake clamping force is distributed;
the caliper clamping force measuring device outputs the measured data.
In a preferred embodiment, the method further comprises:
the hardware-in-the-loop simulation system comprises a braking torque measurement module;
the brake torque measuring module calculates brake torque according to the caliper clamping force and data output by the wheel speed simulator.
The utility model discloses can introduce electronic stability control system test equipment with complete hydraulic circuit in, according to ECU to the distribution requirement of each round of braking clamp force, HCU regulates and control the brake pressure of each round through the solenoid valve, measures brake pressure under the various states of vehicle, calliper clamp force, simulates vehicle driving state more really, realizes electronic stability control system's full function test. The direct measurement of the brake hydraulic pressure and the brake clamping force in the brake hydraulic circuit of the electronic stability control system is realized, and the electromagnetic valve current measurement and the brake clamping force derivation with poor test precision are not needed any more.
In semi-physical HiL hardware-in-loop test equipment for joint test of sensing, decision-making and execution units, a hydraulic brake circuit and brake caliper units of each wheel are integrated, and real test and direct accurate measurement of the whole system of the electronic stability control system are realized by directly measuring brake hydraulic pressure and brake clamping force of each wheel, so that the test precision and consistency of test equipment are greatly improved.
Drawings
Fig. 1 is a perspective view of an electronic stability control system testing device according to the present invention.
Fig. 2A is a perspective view of an electronic stability control system testing device according to the present invention with the mounting frame removed.
Fig. 2B is a perspective view of the X-axis rotation device and the Y-axis rotation device of the testing device for electronic stability control system according to the present invention.
Fig. 3A and 3B are a longitudinal sectional view and a top view, respectively, of an electrical slip ring structure of an electronic stability control system testing apparatus according to the present invention.
Fig. 4A, 4B and 4C are a top view, a front view and a longitudinal section of a rotary hydraulic joint of an electronic stability control system testing apparatus according to the present invention.
Fig. 5 is a front view of an X-axis rotating device of an electronic stability control system testing device according to the present invention.
Fig. 6 is a front view of a Y-axis rotating device of an electronic stability control system testing device according to the present invention.
Fig. 7 is a front view of a Z-axis rotating device of an electronic stability control system testing device according to the present invention.
Fig. 8 is a wiring diagram of a Y-axis rotation driving assembly of the testing apparatus for an electronic stability control system according to the present invention.
Fig. 9A and 9B are enlarged views of a connection portion of a power supply line and an electric slip ring of the electronic stability control system testing device according to the present invention.
Fig. 10 is a wiring diagram of an X-axis rotation driving assembly of an electronic stability control system testing apparatus according to the present invention.
Fig. 11 is a power line layout of the X-axis rotation driving assembly of the testing apparatus for electronic stability control system according to the present invention.
Fig. 12 is a power line layout of an electronic stability control system of the electronic stability control system testing apparatus according to the present invention.
Fig. 13A and 13B are a perspective view and a front view of a hydraulic pipeline layout of an electronic stability control system testing device according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the invention.
In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.
Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.
Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.
In the following description, for the sake of clarity, the structure and operation of the present invention will be described with the aid of directional terms, but the terms "front", "rear", "left", "right", "outer", "inner", "outer", "inward", "upper", "lower", etc. should be understood as words of convenience and not as words of limitation. For clarity of description of the three-dimensional spatial directions, the "X-axis", "Y-axis", and "Z-axis" respectively represent the directions of three axes in a three-dimensional cartesian coordinate system.
The utility model discloses in current electron stability control system perception, decision-making, execution unit's joint test method, provide the method of direct measurement braking hydraulic pressure and braking clamping force, solve the test error that leads to because indirect measurement and unreal hydraulic load environment in the testing process. Furthermore, the utility model discloses an integrated hydraulic pressure rotary joint in three-dimensional revolving stage has solved the hydraulic pressure transmission of hydraulic circuit in the three-dimensional revolving stage of mechanical motion.
The test device 100 of the present invention is described in detail below with reference to the drawings. Referring to fig. 1, a test apparatus 100 is used to test an electronic stability control system 502 and includes a mounting frame 101 and a three-axis rotating apparatus 103. Wherein the three-axis rotating device 103 includes an X-axis rotating device 1031, a Y-axis rotating device 1032, and a Z-axis rotating device 1033 (see fig. 2A for details). Specifically, the mounting frame 101 has a substantially rectangular parallelepiped shape, and is constituted by a plurality of support rods connected to each other for fixing and supporting the three-axis rotating device 103. As shown in the figure by way of example, the mounting frame 101 further comprises an upper fixing plate 102 and a lower fixing plate 104 fixed to the mounting frame, wherein the upper fixing plate 102 is located above the lower fixing plate 104, and the upper fixing plate 102 and the lower fixing plate 104 are respectively used for being fixedly connected to different parts of the three-axis rotating device 103. It should be understood that the present invention is not limited thereto as long as the structure of the mounting frame 101 can be used to fix and support the three-axis rotating device 103. In addition, the outer circumference of the mounting frame 101 may be provided with a protection plate to ensure safety of peripheral operators. In addition, casters may be further disposed at the bottom of the mounting frame 101 to facilitate transition movement.
As shown in fig. 2A, the three-axis rotation device 103 includes an X-axis rotation device 1031, a Y-axis rotation device 1032, and a Z-axis rotation device 1033. Wherein the X-axis rotation device 1031 is mounted in the Y-axis rotation device 1032 and is rotatable about the X-axis relative to the Y-axis rotation device 1032; the Y-axis rotating device 1032 is installed in the Z-axis rotating device 1033 and can rotate around the Y-axis with respect to the Z-axis rotating device 1033; and the Z-axis rotating device 1033 is mounted to the mounting frame 101 and is capable of rotating about the Z-axis with respect to the mounting frame 101. Thus, the electronic stability control system 502 can be mounted to the X-axis rotation device 1031 when testing the electronic stability control system 502 to simulate lateral angular yaw and longitudinal angular yaw of the vehicle by rotation about the X-axis and rotation about the Y-axis, respectively, and to simulate steering of the vehicle by rotation about the Z-axis.
As shown in fig. 5, the X-axis rotation device 1031 includes an X-axis rotation drive assembly 204 (not shown in fig. 5, see fig. 2B and 6), an X-axis support frame 201, and an X-axis rotation hydraulic joint 207. Wherein the inner ring of the X-axis rotation hydraulic joint 207 is fixedly connected to the X-axis support frame 201 so as to be rotatable about the X-axis with the X-axis support frame 201 relative to the Y-axis support frame 202. Preferably, the X-axis support frame 201 is provided with a mounting portion for mounting the electronic stability control system 502. Preferably, the X-axis support frame 201 performs ± 90 ° reciprocating rotational motion within the Y-axis support frame 202 to simulate lateral acceleration. And the outer ring of the X-axis rotation hydraulic joint 207 is fixedly connected to the Y-axis support frame 202, so that it is fixed relative to the Y-axis support frame when its inner ring rotates about the X-axis with the X-axis support frame 201. As shown in fig. 5, the X-axis support frame 201 is connected to the X-axis rotation drive assembly 204 through a coupling 503. In the embodiment shown in FIG. 2B, X-axis rotational drive assembly 204 is a motor having a shaft coupled to coupling 503 to drive X-axis support frame 201 to rotate about the X-axis relative to Y-axis support frame 202 via coupling 503. In fig. 6, the X-axis rotation drive assembly 204 (motor) is fixedly mounted to the Y-axis support frame 202. An electronic stability control system 502 is fixedly mounted to the X-axis support frame 201. In addition, an X-axis disk 501 is provided on the X-axis support frame 201 for winding a power cord for powering the electronic stability control system 502, thereby providing slack winding space for the power cord as the electronic stability control system 502 rotates with the X-axis support frame 201.
Returning to fig. 2B, in the illustrated embodiment, to more reliably support the X-axis rotation device 1031, the X-axis support frame 201 is rotatably mounted to the Y-axis support frame 202 about the X-axis, for example, by bearings, at a position near the coupling 503 and a position near the rotary joint 207, respectively. It should be understood, however, that X-axis support frame 201 can be rotatably coupled about the X-axis relative to Y-axis support frame 202 in any other suitable manner.
Referring to fig. 6, a Y-axis rotation device 1032 is shown, the Y-axis rotation device 1032 including the Y-axis rotation drive assembly 205, the Y-axis support frame 202, and the Y-axis rotation hydraulic joint 208. Wherein the inner race of the Y-axis rotating hydraulic joint 208 is fixedly connected to the Y-axis support frame 202 so as to be rotatable about the Y-axis with the Y-axis support frame 202 relative to the Z-axis support frame 203. Preferably, the Y-axis support frame 202 performs + -90 deg. reciprocating rotational motion within the Z-axis support frame 203 to simulate longitudinal acceleration. And the outer ring of the Y-axis rotation hydraulic joint 208 is fixedly connected to the Z-axis support frame 203, so that it is fixed relative to the Z-axis support frame 203 when the inner ring thereof rotates about the Y-axis with the Y-axis support frame 202. As shown in fig. 6, the Y-axis support frame 202 is coupled to the Y-axis rotational drive assembly 205 via a coupling 604. In the embodiment shown in FIG. 2B, Y-axis rotational drive assembly 205 is a motor having a shaft coupled to coupling 604 to drive Y-axis support frame 202 about the Y-axis relative to Z-axis support frame 203 via coupling 604. In fig. 7, the Y-axis rotation drive assembly 205 (motor) is fixedly mounted to the Z-axis support frame 203. In addition, a Y-axis disk 601 is disposed on the Y-axis support frame 202 for winding a power cord for powering the X-axis rotation drive assembly 204 and/or the electronic stability control system 502, and provides a loose winding space for the power cord when the Y-axis rotation device 1032 rotates relative to the Z-axis support frame 203, preventing the power cord from being pulled.
Further, a rotation blocking plate 602 is also provided on the Y-axis support frame 202, and the rotation blocking plate 602 is an "n" shaped frame fixed to the Y-axis support frame 202. The outer race of the X-axis rotary joint 207 is fixed to the rotation blocking plate 602 at the end remote from the X-axis support frame 201, and is thereby fixed with respect to the Y-axis support frame 202.
Returning to fig. 2A, in the illustrated embodiment, to more reliably support the Y-axis rotation device 1032, the Y-axis support frame 202 is rotatably mounted to the Z-axis support frame 203 about the Y-axis, for example, by bearings, at a position near the coupler 604 and a position near the rotary joint 208, respectively. It should be understood, however, that Y-axis support frame 202 may be rotatably coupled about the Y-axis relative to Z-axis support frame 203 in any other suitable manner.
Referring to fig. 7, a Z-axis rotation apparatus 1033 is shown, the Z-axis rotation apparatus 1033 comprising a Z-axis rotation drive assembly 206, a Z-axis support frame 203, and a Z-axis rotation hydraulic joint 209. Wherein the inner ring of the Z-axis rotating hydraulic joint 209 is fixedly connected to the Z-axis support frame 203 so as to be rotatable about the Z-axis with the Z-axis support frame 203 relative to the mounting frame 101. Preferably, the Z-axis support frame 203 is capable of 360 unlimited rotational movement about the Z-axis for simulating vehicle turning. While the outer race of the Z-axis hydraulic rotary joint 209 is fixedly connected to the mounting frame 101, and in particular to the rotation blocking plate 710, such that the outer race remains stationary relative to the mounting frame 101 as the inner race of the Z-axis hydraulic rotary joint 209 rotates. The rotation blocking plate 710 is substantially in the shape of an inverted "n" frame, and has an upper end fixedly connected to the sliding ring rotation blocking plate 709 on the mounting frame 101 and a lower end fixedly connected to the outer ring of the Z-axis rotary hydraulic joint 209.
As shown in fig. 7, the Z-axis support frame 203 is connected to the Z-axis rotation drive unit 206 via a coupling 707. In the embodiment shown in fig. 2B, the Z-axis rotation driving assembly 206 is a motor, and the rotating shaft of the motor is connected to a coupling 707 so as to drive the Z-axis support frame 203 to rotate around the Z-axis via the coupling 707. In fig. 7, the Z-axis rotation driving component 206 (motor) is fixedly mounted to the mounting frame 101, specifically, the lower fixing plate 104 of the mounting frame 101. An electrical slip ring 210 is also provided on the Z-axis support frame 203 for receiving power. In the illustrated embodiment, the electrical slip ring 210 is sleeved outside the Z-axis rotating hydraulic joint 209, and a slip ring stator 301 (see fig. 3) of the electrical slip ring 210 is fixed to the mounting frame 101, specifically, an upper slip ring blocking plate 709 fixed to the mounting frame 101; and a slip ring rotor 303 (see fig. 3) of the electric slip ring 210 is fixed to the Z-axis support frame 203 so as to be rotatable about the Z-axis with the Z-axis support frame 203. Specifically, a slip ring rotor mounting seat 701 is provided inside the slip ring rotor 303, and the slip ring rotor mounting seat 701 is cylindrical and is fixedly attached to the slip ring rotor 303. The lower end of the slip ring rotor mounting seat 701 is provided with a flange extending radially outward, and the flange is fixedly connected with the Z-axis support frame 203, thereby achieving the fixed connection between the slip ring rotor 303 and the Z-axis support frame 203. A support bearing is provided between the slip ring rotor mounting seat 701 and the upper fixing plate 102 to realize relative rotation therebetween, and the support bearing includes a support bearing inner ring 702 and a support bearing outer ring 708 which are fixedly connected to the slip ring rotor mounting seat 701 and the upper fixing plate 102, respectively. Thus, when the slip ring rotor rotates with the Z-axis support frame 203, the slip ring stator 301 remains relatively stationary with respect to the mounting frame 101.
Further, a rotation blocking plate 705 is provided on the Z-axis support frame 203, and the rotation blocking plate 705 is an inverted "n" shaped frame fixed to the Z-axis support frame 203. The outer race of the Y-axis rotary joint 208 is fixed to the rotation blocking plate 705 at the end remote from the Y-axis support frame 202, and is thus fixed with respect to the Z-axis support frame 203.
Further, a servo unit 703 for the X-axis rotation driving unit 204 and a servo unit 704 for the Y-axis rotation driving unit 205 are provided on the Z-axis support frame 203. In the illustrated embodiment, servo units 703 and 704 are mounted to opposite sides of Z-axis support frame 203, respectively, but it should be understood that they may be mounted to any suitable location on Z-axis support frame 203.
The structure of the electrical slip ring 210 is shown in fig. 3A and 3B. The electrical slip ring 210 includes a slip ring stator 301, a stator outgoing line 302, a slip ring rotor 303, a rotor outgoing line 304, a stator blocking plate 305, a blocking plate mounting bolt 306, and a rotor fixing screw 307. The slip ring stator 301 and the slip ring rotor 303 are both cylindrical, the slip ring stator 301 is sleeved outside the slip ring rotor 303, and an electric brush structure is arranged between the slip ring stator and the slip ring rotor 303. Stator outlet 302 is disposed at the top of electrical slip ring 210 and is electrically connected to slip ring stator 301, while rotor outlet 304 is disposed at the bottom of electrical slip ring 210 and is electrically connected to slip ring rotor 303. When the slip ring rotor 303 and the slip ring stator 301 rotate relatively and continuously, the electrical connection between the stator outgoing line 302 and the rotor outgoing line 304 is realized through the brush structure, so as to transmit a power supply, a signal power supply and the like. Two stator blocking plates 305 fixedly connected with the slip ring stator 301 through blocking plate mounting bolts 306 are further arranged on the top of the electric slip ring 210, and the slip ring stator 301 can be fixedly connected with the mounting frame 101 through the two stator blocking plates 305.
The X-axis rotary hydraulic joint 207, the Y-axis rotary hydraulic joint 208, and the Z-axis rotary hydraulic joint 209 have the same structure, as shown in fig. 4A to 4C. The size of the respective rotary hydraulic joints may be set different from each other as needed. The rotary hydraulic joint includes an outer race 401, an inner race 402, a seal ring 403, a bearing 404, a snap spring 405, and an outer race fixing hole 406. Outer ring 401 and inner ring 402 are cylindrical, and outer ring 401 is sleeved outside inner ring 402 such that the inner surface of outer ring 401 and the outer surface of inner ring 402 are opposite and in close proximity to each other. An annular oil passage is formed on the outer surface of the inner ring 402, adjacent oil passages are sealed and isolated by a sealing ring 403 positioned between the inner surface of the outer ring 401 and the outer surface of the inner ring 402, and oil through ports A1, B1, C1, D1, E1 and F1 which are respectively communicated with the annular oil passages are arranged on the outer surface of the outer ring 401 at positions corresponding to the annular oil passages on the inner ring 402. The inner ring 402 is internally provided with axial oil passages which are respectively communicated with the corresponding annular oil passages, and the lower surface of the inner ring 402 is respectively provided with oil through ports A2, B2, C2, D2, E2 and F2. The outer ring 401 is provided with a packing installation groove at a position corresponding to the packing 403 on the inner surface thereof. When the inner ring rotates relative to the outer ring 401 without limit, the oil through holes A2, B2, C2, D2, E2 and F2 of the inner ring can be respectively communicated with the oil through holes A1, B1, C1, D1, E1 and F1 of the outer ring. The hydraulic rotary joint can realize the rotary connection of hydraulic pressure, compressed air and vacuum pipelines. An outer ring fixing hole 406 is also formed at the top of the outer ring 401 for fixedly mounting the outer ring 401 to a corresponding rotation blocking plate. Bearings 404 are provided near the upper and lower ends of the rotary hydraulic joint to enable rotation between the inner and outer rings 402 and 401. Furthermore, a circlip 405 is provided immediately above the bearing 404 near the upper end to prevent longitudinal movement between the inner and outer rings 402, 401 relative to each other.
Fig. 8, 9A and 9B show the arrangement of the drive lines 802 and power lines 801 for the Y-axis rotary drive assembly 205. As shown in fig. 8, a drive line 802 and a power supply line 801 are fixed to the Z-axis support frame 203. As shown in fig. 9A and 9B, the power supply line 801 passes through an opening 2031 on the top surface of the Z-axis support frame 203 and an opening 3031 on the side wall of the slip ring rotor mount 701 to connect with the rotor outgoing line 304, and the rotor outgoing line 304 is electrically connected with the outgoing line harness from the stator outgoing line 302 via the slip ring stator 301 by a brush structure inside the electric slip ring 210. As described above, rotation of Z-axis support frame 203 causes slip ring rotor 303 to rotate, while power line 801 is stationary relative to Z-axis support frame 203 and rotor outlet 304. The power line 801 is connected to the servo unit 704, and the driving line 802 is connected to and drives the Y-axis rotation driving assembly 205 from the servo unit 704. Since the power supply line 801, the drive line 802, and the Y-axis rotation driving unit 205 are stationary with respect to the Z-axis support frame 203 when the Z-axis support frame 203 rotates, stable electrical transmission can be achieved.
Fig. 10 and 11 show the arrangement of the drive line 1002 and power supply line 1001 for the X-axis rotary drive assembly 204. As shown in fig. 10, power cord 1001 is fixed to Z-axis support frame 203 in the same manner as power cord 801 is arranged, and description thereof will not be repeated. The power line 1001 is connected to the servo unit 703, and the driving line 1002 is connected to and drives the X-axis rotation driving assembly 204 from the servo unit 703. Drive wire 1002 extends along Z-axis support frame 203 to spool 601, is attached to Y-axis support frame 202 after being loosely wound two turns on spool 601, and then is connected to X-axis rotary drive assembly 204. When the Y-axis support frame 202 rotates ± 90 ° with respect to the Z-axis support frame 203, the loosely wound driving wire 1002 on the wire coil 601 can be deformed flexibly without affecting the transmission of the current.
Fig. 12 shows an arrangement of a wire harness 1201 for the electronic stability control system 502. The electronic stability control system wiring harness 1201 is led out from the electronic stability control system 502 and then connected to the wire coil 501, is attached to the Y-axis support frame 202 after being loosely wound two turns on the wire coil 501, then connected to the wire coil 601 along the Y-axis support frame 202, is connected to the Z-axis support frame 203 after being loosely wound two turns on the wire coil 601, then is connected to the rotor outgoing line 304 of the electrical slip ring 210 through the openings 2031 and 3031 along the Z-axis support frame 203, and finally the rotor outgoing line 304 is led out from the stator outgoing line 302 through the slip ring stator 301 and through the brush structure inside the electrical slip ring 210. When Y-axis support frame 202 rotates with respect to Z-axis support frame 203 and when X-axis support frame 201 rotates with respect to Y-axis support frame 202, the loosely wound drive lines 1201 on reels 601 and 501 may be deformed flexibly to some extent without affecting the transmission of electric current.
The arrangement of the hydraulic lines of the test apparatus 100 is shown in fig. 13A and 13B. As described above for the structure of the test apparatus 100: during the rotation operation of the X-axis rotating device, the Y-axis rotating device and the Z-axis rotating device, the inner ring of the X-axis rotating hydraulic joint 207 is kept static relative to the X-axis supporting frame 201; the outer race of the X-axis rotary hydraulic joint 207 is held stationary with respect to the Y-axis support frame 202, and the inner race of the Y-axis rotary hydraulic joint 208 is held stationary with respect to the Y-axis support frame 202; the outer ring of the Y-axis rotary hydraulic joint 208 is held stationary with respect to the Z-axis support frame 203, and the inner ring of the Z-axis rotary hydraulic joint 209 is held stationary with respect to the Z-axis support frame 203; the outer race of the Z-axis rotary hydraulic joint 209 remains stationary relative to the mounting frame 101.
As shown in fig. 13, a first group of hydraulic lines 901 connects the outer ring oil passage of the X-axis rotary hydraulic joint 207 with the inner ring oil passage of the Y-axis rotary hydraulic joint 208, and a second group of hydraulic lines 902 connects the outer ring oil passage of the Y-axis rotary hydraulic joint 208 with the inner ring oil passage of the Z-axis rotary hydraulic joint 209. When the electronic stability control system 502 is fixed to the X-axis support frame, a third set of hydraulic lines 903 are also provided to communicate the hydraulic joint of the electronic stability control system 502 with the inner ring oil passage of the X-axis rotary hydraulic joint 207. Further, the outer ring oil through port of the Z-axis rotary joint 209 may be communicated with a control oil passage, a brake caliper, and the like through a fourth group hydraulic line 904. The above groups of hydraulic pipelines are relatively static during operation, and the positions of two ends of the same pipeline relative to each other are always unchanged, so that the rotational movement of the X-axis rotating device, the Y-axis rotating device and the Z-axis rotating device of the testing device 100 relative to each other has no influence on the hydraulic circuit.
Each of the above-described sets of hydraulic lines 901, 902, 903, and 904 includes six hydraulic lines that communicate with each other, respectively. Two of which are input lines for feeding brake fluid from, for example, a vehicle brake master cylinder into the electronic stability control system 502, and four of which are output lines for feeding brake fluid from the electronic stability control system 502 into the respective hydraulic brake calipers.
The hydraulic circuits of the hydraulic pipelines of each group reach the HCU from the brake master cylinder through the three rotary joints, the HCU respectively adjusts the brake hydraulic pressure of the oil passages of each wheel after receiving the control signal of the ECU, and the hydraulic pipelines respectively reach the brake calipers of each wheel through the three rotary joints.
The testing device 100 of the utility model can directly measure the brake clamping force, thereby greatly improving the measurement precision; this testing arrangement who contains hydraulic circuit can test all modules and the key unit of electron stability control system completely, better carries out accurate evaluation to electron stability control system entire system. The hydraulic circuit in the braking system of the electronic stability control system can be directly integrated into a semi-physical HiL testing system, so that the real measurement of the braking hydraulic pressure and the braking clamping force is realized. Therefore, the real test of the whole module of the electronic stability control system is realized, and the test precision is greatly improved.
Furthermore, the utility model provides an electron stability control system test method, this method is based on above-mentioned electron stability control system testing arrangement to electron stability control system perception, decision-making, execution joint test, through integrated hydraulic braking return circuit, realizes the direct measurement to brake hydraulic pressure, braking clamp force. The method can truly simulate the working condition of the electronic stability control system in the real vehicle state.
The electronic stability control system is mainly built by three functional modules: the device comprises a sensing part, a control part ECU and an execution part. The sensing part is mainly an automobile body posture sensing integrated sensor unit and is used for measuring three key automobile body posture parameters of the automobile in longitudinal acceleration, lateral acceleration and yaw velocity; each wheel is provided with a wheel speed sensor, and the sensors are used for monitoring and acquiring the motion state of the automobile in real time. Corresponding to this is a sensor that monitors and analyzes the driver's driving intention: usually, a steering wheel angle sensor is arranged on a steering column below a steering wheel, and a brake master cylinder connected with a brake pedal is provided with a hydraulic pressure sensor at an oil outlet.
The electronic stability control system performs prejudgment by calculating data of various sensors, once the tail flick, the side tilting and the steering are insufficient (excessive), the electronic stability control system intervenes in control in advance, mainly controls the braking clamping force and controls the engine torque as assistance, and the whole driving process adjusts the driving state of the vehicle at any time. Specifically, the sensors acquire vehicle running data captured by the sensors at any time, the vehicle running data are transmitted to a control part ECU of the electronic stability control system for analysis and processing, and the ECU performs coordination control on each control module according to the logic of internal processing data. When the ECU judges that the automobile motion state is not consistent with the driving intention of a driver or the automobile has potential safety hazards, the ECU sends a signal instruction to the control modules of each executing mechanism, and the engine throttle valve and the brake caliper electromagnetic valve can make corresponding actions according to the signal instruction to help the automobile to return to a safe driving track. For example, after a driver steps on a brake pedal to avoid a vehicle and swerves a steering, a brake master cylinder connected with the brake pedal generates oil pressure, brake fluid enters a hydraulic execution unit of an electronic stability control system, a control part ECU performs data processing on each wheel speed and brake clamping force corresponding to the brake oil pressure and then sends out a control signal, a hydraulic pump of the hydraulic execution unit controls an instruction to adjust the system oil pressure according to the control part ECU, the brake clamping forces of four wheels are rapidly adjusted respectively, and meanwhile, the torque output of an engine is reduced, so that dangerous conditions such as sideslip and the like cannot occur even if the wheel with the worst attachment condition is used.
When testing is performed using the test apparatus 100 described above, it is first necessary to mount the electronic stability control unit 502 to the test apparatus 100, specifically, the X-axis support frame 201. And then the electric wire harness and the hydraulic pipeline are connected. And then, the caliper clamping force measuring devices are respectively arranged and fixed according to the position of the whole vehicle. The HiL hardware-in-loop simulation system, the electronic stability control system 502 and the three rotary driving assemblies are connected in series through the electric slip ring 210 to form an electric wiring harness. Two brake fluid pipelines output by the brake master cylinder are connected with two oil through ports on the outer ring of the Z-axis rotary hydraulic joint 209 through hydraulic pipelines; the two paths of brake fluid reach a hydraulic execution part of the electronic stability control system after passing through the three rotary hydraulic joints, and the four oil through ports of the hydraulic execution part of the electronic stability control system enable the brake fluid to reach the other four oil through ports on the outer ring of the Z-axis rotary hydraulic joint 209 after passing through the three rotary hydraulic joints again; the four paths of brake fluid are respectively connected with the caliper clamping force measuring device through brake fluid pipelines. At this time, the mounting work of the test stage is completed. And starting up the HiL hardware-in-loop simulation system, and starting working of related software and hardware according to a set program, wherein the virtual vehicle is established at the moment. The tester sends a braking signal by stepping on the brake pedal, or can simulate the braking operation of stepping on the brake pedal through the displacement of a hydraulic cylinder, an air cylinder or an electric cylinder, so that brake fluid is sent to a hydraulic execution part of the electronic stability control system to provide braking pressure.
After the test bench is built, the following test steps are executed:
1. the HiL hardware-in-loop simulation system sends signals to three rotary driving assemblies of the test equipment 100 when running the virtual vehicle, and the three rotary driving assemblies respectively and independently run according to the received control signals so as to simulate the posture of the vehicle body in various running states including the longitudinal acceleration, the lateral acceleration and the yaw rate of the vehicle;
2. the electronic stability control system control part performs logic calculation according to data captured by the sensor and transmits an execution signal to the HiL hardware-in-the-loop simulation system virtual vehicle and the hydraulic execution part;
3. the method comprises the following steps that a HiL hardware-in-the-loop simulation system simulates a vehicle and obtains the rotating speed of each tire from a wheel speed simulator at the same time, and the traction of the virtual vehicle is adjusted by combining vehicle body posture information provided by an electronic stability control system;
4. at the moment, four paths of brake fluid led out from the hydraulic execution part of the electronic stability control system change the magnitude of the brake clamping force of the brake calipers according to the adjusting time of the hydraulic pump and the electromagnetic valve, and distribute the brake clamping force; specifically, the ABS prepares to perform braking operation at any time according to the command of the ECU, and keeps the vehicle running stably;
5. and the measured brake fluid pressure, the clamping force value and other relevant data are output through the caliper clamping force measuring device.
In addition, the HiL hardware-in-the-loop simulation system may further include a wheel speed simulator and a brake torque measurement module, and the brake torque measurement module may calculate a brake torque according to data output by the caliper clamping force measurement device and a wheel speed from the wheel speed simulator.
Through the test data, test research personnel can verify the reliability of the product and carry out other in-depth researches.
While the preferred embodiments of the present invention have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.
These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.
Claims (12)
1. The testing device is characterized by comprising a mounting frame, an X-axis rotating device, a Y-axis rotating device and a Z-axis rotating device;
the X-axis rotating device comprises an X-axis rotating driving assembly, an X-axis supporting frame and an X-axis rotating hydraulic joint; the Y-axis rotating device comprises a Y-axis rotating driving assembly, a Y-axis supporting frame and a Y-axis rotating hydraulic joint; the Z-axis rotating device comprises a Z-axis rotating driving assembly, a Z-axis supporting frame and a Z-axis rotating hydraulic joint;
the inner ring of the X-axis rotary hydraulic joint is fixedly connected with the X-axis support frame, and the outer ring of the X-axis rotary hydraulic joint is fixedly connected with the Y-axis support frame;
the inner ring of the Y-axis rotary hydraulic joint is fixedly connected with the Y-axis support frame, and the outer ring of the Y-axis rotary hydraulic joint is fixedly connected with the Z-axis support frame;
the inner ring of the Z-axis rotary hydraulic joint is fixedly connected with the Z-axis support frame, and the outer ring of the Z-axis rotary hydraulic joint is fixedly connected with the mounting frame;
the X-axis drive assembly is configured to drive the X-axis support frame to rotate about an X-axis relative to the Y-axis support frame;
the Y-axis drive assembly is configured to drive the Y-axis support frame to rotate about a Y-axis relative to the Z-axis support frame;
the Z-axis drive assembly is configured to drive the Z-axis support frame to rotate about a Z-axis relative to the mounting frame;
the test device further comprises:
the first group of hydraulic pipelines are used for communicating an outer ring flow path of the X-axis rotary hydraulic adapter with an inner ring flow path of the Y-axis rotary hydraulic adapter;
and the second group of hydraulic pipelines is communicated with an outer ring flow path of the Y-axis rotary hydraulic adapter and an inner ring flow path of the Z-axis rotary hydraulic adapter.
2. The testing device of claim 1, wherein the X-axis rotation device further comprises a mounting portion on the X-axis support frame for mounting an electronic stability control system.
3. The test device of claim 2, further comprising a third set of hydraulic lines for communicating an inner race flow path of the X-axis rotary hydraulic adapter with the electronic stability control system flow path.
4. The test device of claim 1, wherein the first set of hydraulic lines and the second set of hydraulic lines each comprise six hydraulic lines.
5. The test device of claim 3, wherein the first, second, and third sets of hydraulic lines each comprise six hydraulic lines.
6. The test device of claim 5, wherein the first, second, and third sets of hydraulic lines each include two input lines for sending fluid into the electronic stability control system flow path and four output lines for sending fluid out of the electronic stability control system flow path.
7. The test device of claim 6, further comprising a fourth set of hydraulic lines for communicating with a source of hydraulic pressure and a corresponding hydraulic brake caliper, respectively.
8. The test device of claim 6, further comprising a fourth set of hydraulic lines, the fourth set of hydraulic lines including six hydraulic lines, two of the six hydraulic lines for communicating with a hydraulic pressure source to receive fluid, four of the six hydraulic lines for communicating with respective hydraulic brake calipers.
9. The test apparatus of claim 8, wherein the hydraulic pressure source is a vehicle brake master cylinder.
10. The testing device of claim 1, further comprising an electrical slip ring having a slip ring rotor fixedly connected to the Z-axis support frame and a slip ring stator fixedly connected to the mounting frame.
11. The test apparatus of claim 10, wherein the slip ring stator has stator electrical connections thereon for connection to a power source; and a rotor electric connector is arranged on the slip ring rotor and is used for being connected to the X-axis rotation driving assembly and the Y-axis rotation driving assembly.
12. The test device of claim 2, further comprising an electrical slip ring having a slip ring rotor fixedly connected to the Z-axis support frame and a slip ring stator fixedly connected to the mounting frame, the slip ring stator having stator electrical connectors thereon for connection to a power source; and a rotor electric connector is arranged on the slip ring rotor and is used for being connected to the X-axis rotation driving assembly, the Y-axis rotation driving assembly and the electronic stability control system.
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109960245A (en) * | 2019-04-09 | 2019-07-02 | 上海顺试汽车科技有限公司 | A kind of electronic stabilizing control system test method and test device |
CN113295436A (en) * | 2021-06-24 | 2021-08-24 | 中国第一汽车股份有限公司 | Rack wire harness assembly system and connecting method of rack wire harness assembly |
-
2019
- 2019-04-09 CN CN201920469393.9U patent/CN209895179U/en not_active Withdrawn - After Issue
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109960245A (en) * | 2019-04-09 | 2019-07-02 | 上海顺试汽车科技有限公司 | A kind of electronic stabilizing control system test method and test device |
CN109960245B (en) * | 2019-04-09 | 2024-05-07 | 上海顺试汽车科技有限公司 | Electronic stability control system testing method and testing device |
CN113295436A (en) * | 2021-06-24 | 2021-08-24 | 中国第一汽车股份有限公司 | Rack wire harness assembly system and connecting method of rack wire harness assembly |
CN113295436B (en) * | 2021-06-24 | 2022-09-06 | 中国第一汽车股份有限公司 | Rack wire harness assembly system and connecting method of rack wire harness assembly |
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