CN116374002B - Real-time measuring device for actual rotation angle of wheel - Google Patents
Real-time measuring device for actual rotation angle of wheel Download PDFInfo
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- CN116374002B CN116374002B CN202310653757.XA CN202310653757A CN116374002B CN 116374002 B CN116374002 B CN 116374002B CN 202310653757 A CN202310653757 A CN 202310653757A CN 116374002 B CN116374002 B CN 116374002B
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- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 239000006096 absorbing agent Substances 0.000 abstract description 9
- 238000005259 measurement Methods 0.000 abstract description 8
- 230000035939 shock Effects 0.000 abstract description 7
- 238000005096 rolling process Methods 0.000 abstract description 4
- 238000004458 analytical method Methods 0.000 abstract description 3
- 238000011897 real-time detection Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a real-time measuring device for the actual rotation angle of a wheel, which comprises a sliding mechanism, a measuring mechanism, a rotating mechanism and a limiting mechanism. The steering knuckle is rigidly connected with the wheel, when the vehicle turns, the steering knuckle drives the wheel to rotate around the kingpin and simultaneously drives the shock absorber to rotate, the rotating base is fixedly connected with the steering knuckle and is connected with the fork arm through a bearing, the sliding mechanism is fixedly connected with the vehicle body through the sliding rail base, the sliding block is connected with the rotary encoder through the encoder bracket, the rotary encoder rotating shaft is fixedly connected with the rotating rod, the fork arm drives the rotating rod to rotate around the horizontal direction, the rotary encoder reads the rotating angle information of the rotating rod, and the rotating angle speed is calculated according to the rotating angle and time. The inner side of the limiting mechanism is fixedly connected with the shock absorber, and the outer side of the limiting mechanism is used for limiting the rotation of the fork arm along the rolling direction of the wheel through the rod system. The invention simplifies the measurement of the actual turning angle of the wheel, ensures the measurement precision, and can be used for the whole vehicle dynamics analysis and the real-time detection and control of the turning angle of the automatic driving wheel.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a real-time measuring device for actual rotation angle of a wheel.
Background
The existing steering-by-wire system of the automatic driving vehicle needs to detect the rotation angle and the angular speed of the front wheels so as to realize the closed-loop control of the steering process of the vehicle. The wheel actually rotates around the kingpin, but the rotation track of the wheel is an arc line in space due to the existence of the kingpin caster angle and the inward inclination angle, so that the accurate measurement difficulty of the wheel rotation angle is high, and the problems of expensive measuring device, inaccurate measuring data and the like exist in most of the prior art.
According to the definition of the wheel rotation angle by SAE Vehicle Dynamics Terminology in the United states, the rotation angle which actually affects the running of the automobile is the rotation angle of the wheel around a Z axis perpendicular to the ground.
At present, two methods for measuring the wheel rotation angle mainly exist, the first method is obtained by calculating the transmission ratio of a steering system, the method obtains the rotation angle of a steering wheel from a sensor arranged in a steering power-assisted motor, and then the wheel rotation angle is calculated by the steering transmission ratio and the steering wheel rotation angle, and the calculation of the method is complex and the error caused by uncertainty factors on the measured value of the wheel rotation angle is difficult to eliminate because the steering transmission ratio is often nonlinear.
Another method is to directly measure the rotation angle of the damper, approximate the rotation angle of the damper to the rotation angle of the wheel, and the method is applicable to vehicles in which the kingpin coincides with the damper axis, and for vehicles in which the wheel rotates around the virtual kingpin, the first method is generally adopted. The method is to connect the angle sensor with the vibration absorber, and output the rotation angle of the vibration absorber through the sensor, but the error exists between the measured rotation angle and the actual rotation angle of the wheel due to the existence of the caster angle and the internal inclination angle of the kingpin, and the error also increases along with the increase of the rotation angle of the wheel.
Both of the above-mentioned conventional methods do not consider the load of the vehicle and the change of road surface conditions, resulting in errors in measured data caused by stress deformation of the suspension and the wheels, so that both methods can only obtain rough values of wheel rotation angles, but still need to be improved in terms of accuracy.
Therefore, how to accurately measure the wheel rotation angle during the running of the vehicle and ensure the measurement accuracy is a technical problem to be solved by the person skilled in the art.
Disclosure of Invention
In the actual rotation process, the wheels rotate in an arc shape in space around the axis of the master pin, the master pins of most passenger cars are virtual master pins, and the suspension is deformed due to the addition of road impact, so that the wheel rotation angle of the vehicle in the running process is difficult to accurately measure.
In order to solve the problems, the application overcomes the defects of the prior art, provides a real-time measuring device for the actual rotation angle of a wheel, can accurately measure the rotation angle of the wheel affecting the running of an automobile, ensures the measuring precision of the rotation angle, and is further applied to the fields of vehicle dynamics analysis or automatic driving rotation angle control and the like.
The real-time wheel rotation angle measuring device comprises a sliding mechanism, a measuring mechanism, a rotating mechanism and a limiting mechanism;
the sliding mechanism comprises a sliding rail base, a sliding block frame, a sliding block and a sliding rail; the sliding rail is arranged on the vehicle body through a sliding rail base; the sliding block and the sliding rail form a sliding pair; the sliding block frame is fixed on the sliding block;
the measuring mechanism comprises a rotary encoder, an encoder bracket and a rotary rod; the rotary encoder is arranged on the sliding block frame through an encoder bracket; the rotary encoder is connected with a horizontally arranged rotary rod; the rotary encoder is vertically arranged and used for collecting the rotation angle and the rotation angular speed of the rotary rod on a horizontal plane; the rotary encoder is connected with a CAN bus of the whole vehicle, and transmits the rotation angle and the rotation angular speed of the rotary rod to the CAN bus;
the rotating mechanism comprises a fork arm, a bearing and a rotating base, wherein the rotating base is arranged on the steering knuckle shaft, and the rotating base is in interference fit with the bearing; the lower ends of the fork arms are arranged on the bearings; the upper end of the fork arm is provided with two parallel forks, and the forks are provided with through grooves for the rotating rod to horizontally pass through, and the rotating rod freely slides in the through grooves; and is restrained by the through groove to rotate in the horizontal direction; the through groove is set to counteract the up-and-down runout or vibration of the wheel.
The limiting mechanism comprises a limiting rod, a limiting rod seat, a first fixing seat and a second fixing seat; the first fixing seat and the second fixing seat form an annular clamp and are clamped on the shock absorber; the limiting rod is fixedly connected with the annular clamp through a limiting rod seat; the tail end of the limiting rod is provided with a fork-shaped structure, and the fork-shaped structure clamps the middle part of the fork arm.
The sliding mechanism does not rotate or move in space, and the measuring mechanism and the sliding mechanism can rotate and move relatively; the limiting mechanism and the rotating mechanism rotate around the axis of the master pin at the same time, the limiting mechanism and the rotating mechanism can move relatively in the vertical direction and the transverse direction, and are longitudinally and relatively fixed, and fork arms in the rotating mechanism cannot rotate along with the rolling of wheels due to the limitation of the limiting mechanism; the fork arm can drive the measuring mechanism to rotate around an axis vertical to the ground and slide transversely, and the measuring mechanism can move vertically and longitudinally relatively.
The sliding rail base is rigidly connected with the vehicle body through bolts; the sliding rail is rigidly connected with the sliding rail base through bolts; the sliding block is rigidly connected with the sliding block frame through bolts; the sliding block and the sliding rail can move relatively.
The rotary encoder is rigidly connected with the encoder bracket through bolts; the rotary encoder is connected with the rotary rod through a fastening bolt, the rotary rod is restrained by the fork arm to synchronously rotate in the horizontal direction, and the rotary rod is cylindrical. The rotating base is in interference fit with the bearing; the fork arm is matched with the bearing through a fastening bolt; the fork arm and the rotating base can rotate relatively; the fork arm does not rotate along with the rolling of the wheel due to the limitation of the limiting mechanism.
The first fixing seat is fixedly connected with the second fixing seat through a bolt, and the middle size of the first fixing seat is matched with the diameter of the shock absorber so as to be clamped on the shock absorber; the limiting rod is rigidly connected with the limiting rod seat through a bottom through hole by bolts; the front end of the annular clamp is provided with a cylindrical plug, the limiting rod seat is correspondingly provided with a round hole, and the cylindrical plug is inserted into the round hole. The size of the cylindrical plug is matched with that of the round hole of the limit rod seat, the annular clamp and the limit rod seat can rotate relatively, the effect of the annular clamp is to offset the back inclination angle of the shock absorber, the limit rod is rotated to be vertical to the ground, and the limit rod seat is fixedly connected with the annular clamp through a fastening bolt for a threaded hole on the side edge of the limit rod seat.
The sliding mechanism is arranged on the rear side above the wheel and the measuring mechanism is arranged on the rear side above the wheel.
The inner end of the rotating base is fixedly connected with the wheel through a bolt used for installing the wheel at the outer side of the steering knuckle.
The top end of the fork arm adopts two branches to limit the rotating rod. The length of the limit gap at the upper end of the fork arm is larger than the up-and-down jumping travel of the wheel.
Compared with the prior art, the invention provides a real-time measuring device for the actual rotation angle of a wheel, which has the following beneficial effects:
the real-time measuring device for the actual rotation angle of the wheel is realized by adopting a mechanical device, and through software modeling and DMU animation simulation analysis, the motion interference of a mechanical structure is eliminated, and the feasibility and the reliability of the device are determined. Compared with the prior art, the method CAN eliminate the influence of the wheel rotation angle change on the measurement result caused by the suspension deformation, ensure that the measured wheel rotation angle is the rotation angle of the wheel around the Z axis perpendicular to the ground, namely the wheel rotation angle which directly influences the running state of the automobile, and realize the visualization of the output result through the CAN bus.
Drawings
FIG. 1 is a schematic diagram of wheel rotation angle;
fig. 2 is a schematic structural view of a wheel rotation angle measurement device provided in an embodiment of the present application in a use state;
FIG. 3 is a schematic structural view of a limiting mechanism;
FIG. 4 is a schematic view of the installation of the spacing mechanism;
FIG. 5 is a schematic illustration of the connection of the rotary lever, yoke, and stop lever;
FIG. 6 is an enlarged view of the mounting relationship of the rotary encoder;
the reference numerals of FIGS. 1-6 are as follows
100-a sliding mechanism; 110-a slide rail base; 120-a slider frame; 130-a slider; 140-slide rails; 200-measuring mechanism; 210-a rotary encoder; 220-encoder support; 230-rotating the rod; 300-a rotation mechanism; 310-yoke; 320-bearings; 330-rotating the base; 400-limiting mechanism; 410-a limit rod; 420-a limiting rod seat; 430-fixing the first rod; 440-fixing rod II;
5-a damper; 6-steering knuckle; 7-wheels.
Description of the embodiments
In order to better understand the technical solutions of the present application, the following description will further explain the present application in detail with reference to the specific examples of the accompanying drawings.
The real-time measurement device for the actual rotation angle of the wheel is used for measuring the rotation angle of the wheel 7 of the vehicle, the rotation angle of the wheel refers to the angle between the wheel plane and the longitudinal axis of the vehicle body on the ground projection, specifically, the rotation angle of the wheel 7 around the kingpin, as shown in fig. 1, the wheel 7 rotates from the position a to the position B, the wheel plane rotates from the position a to the position B, then the angle alpha between the position a and the position B is the rotation angle of the wheel, and the designed wheel rotation angle measurement device needs to be capable of measuring the angle alpha in real time.
As shown in fig. 2 to 4, a real-time measuring device for actual rotation angle of wheel comprises a sliding mechanism 100, a measuring mechanism 200, a rotating mechanism 300 and a limiting mechanism 400;
the sliding mechanism 100 includes a slide rail base 110, a slide block frame 120, a slide block 130, and a slide rail 140;
the sliding rail 140 is mounted on the vehicle body through the sliding rail base 110; the sliding block 130 and the sliding rail 140 form a sliding pair; the slider frame 120 is fixed on the slider 130;
the measuring mechanism 200 comprises a rotary encoder 210, an encoder bracket 220 and a rotary rod 230; as shown in fig. 6, the rotary encoder 210 is mounted on the slider frame 120 through an encoder bracket 220;
the rotary encoder 210 is connected with a horizontally arranged rotary rod 230; the rotary encoder 210 is vertically installed to collect a rotation angle and a rotation angular velocity of the rotary rod 230 on a horizontal plane; the rotary encoder 210 is in signal connection with a CAN bus of the whole vehicle, and transmits the rotation angle of the rotary rod 230 and the rotation angular speed to the CAN bus;
the rotating mechanism 300 comprises a fork arm 310, a bearing 320 and a rotating base 330, wherein the rotating base 330 is arranged on the steering knuckle 6, and the rotating base 330 and the bearing 320 are in interference fit; the lower ends of the fork arms 310 are arranged on a bearing 320; as shown in fig. 5, the upper end of the fork arm 310 has two parallel branches, each branch is provided with a through groove for the rotating rod 230 to horizontally pass through, and the rotating rod 230 freely slides in the through groove; the rotating lever 230 is restrained from rotating only in the horizontal direction by the through groove of the yoke 310;
the limit mechanism 400 comprises a limit rod 410, a limit rod seat 420, a first fixing seat 430 and a second fixing seat 440; the first fixing seat 430 and the second fixing seat 440 form an annular clamp and are clamped on the damper 5;
the limiting rod 410 is fixedly connected with the annular clamp through a limiting rod seat 420;
the end of the stop lever 410 is provided with a fork structure that snaps into the middle of the yoke 310.
The specific motion relation is as follows:
the inner end of the rotating mechanism 300 is fixedly connected with the outer side of the steering knuckle 6, so that the wheel 7 rotates and drives the rotating mechanism 300 to rotate together around the main pin, but the fork arm 310 only rotates around the main pin along with the wheel 7 and does not roll due to the bearing 320 in the rotating mechanism 300.
The rotating lever 230 in the measuring mechanism 200 is horizontally installed. Since the fork arm 310 rotates along with the rotation of the wheel 7, the rotation angle of the fork arm 310 in the direction perpendicular to the ground is the wheel rotation angle, and since the top end of the fork arm 310 is in limited installation with the rotating rod 230, the rotating rod 230 is driven to rotate while the fork arm 310 rotates, and meanwhile, since the rotating rod 230 always keeps horizontal in the moving process, the rotation angle of the rotating rod 230 is the rotation angle of the fork arm 310 around the direction perpendicular to the Z axis of the ground, the action of the rotating rod 230 can be equivalently understood as simulating the wheel axis a or b in fig. 1, and the rotation angle of the rotating rod 230 is the wheel axis change angle of the wheel 7, namely the wheel rotation angle, so that the wheel rotation angle can be obtained only by measuring the rotation angle of the rotating rod 230.
The actual movement track of the wheel 7 during actual rotation is approximately regarded as an arc, so that the movement track of the rotating rod 230 in space is also approximately regarded as an arc, which moves in the lateral direction while rotating around the autogenous axis, so that the rotation angle is measured after the degree of freedom of the movement of the rotating rod 230 in the lateral direction is offset by adding the sliding mechanism 100 when measuring the rotation angle of the rotating rod 230.
In the actual vehicle movement process, the fork arm 310 rolls along with the wheel 7 due to factors such as friction and inertia, so that the limiting mechanism 400 is introduced to limit the rolling of the fork arm 310, the damper 5 rotates along with the rotation of the wheel, and the inner side of the limiting mechanism 400 is fixed on the damper 5 in a selected manner to ensure that the fork arm 310 keeps vertical in the movement process.
As shown in fig. 2, the slide rail base 110 is rigidly connected to the vehicle body, the inner end of the slide rail 140 is fixedly connected to the slide rail base 110 through a bolt, the slide block 130 is movably connected to the slide rail 140, the slide block 130 can slide along the slide rail 140, the upper end of the slide block frame 120 is fixedly connected to the slide block 130 through a bolt, the lower end of the slide block frame is fixedly connected to the encoder bracket 220 through a bolt, the main body of the rotary encoder 210 is fixedly connected to the encoder bracket 220 through a bolt, the rotating shaft part of the rotary encoder is fixedly connected to the rotating rod 230 through a fastening bolt, the top end of the fork arm 310 is in limited connection with the rotating rod 230, the bottom end of the fork arm 310 is provided with a threaded hole, the inner side of the bearing is connected to the outer end of the rotating base 330 through a fastening bolt after being matched with the outer side of the bearing 320, and the inner end of the rotating base 330 is fixedly connected to the outer side of the wheel through a bolt.
As shown in fig. 3, a cylindrical plug is provided at the front end of the annular clip, a circular hole is correspondingly provided on the stop lever seat 420, and the cylindrical plug is inserted into the circular hole. The size of the cylindrical plug is matched with that of the round hole of the limit rod seat 420, the annular clamp and the limit rod seat 420 can rotate relatively, the effect of the annular clamp is to offset the back inclination angle of the shock absorber 5, and after the limit rod seat 420 is rotated to be vertical to the ground, the limit rod seat 420 is fixedly connected with the annular clamp through a fastening bolt for a threaded hole on the side edge of the limit rod seat 420.
As shown in fig. 4, the outer end of the stop lever 410 in the stop mechanism 400 is in stop connection with the yoke 310.
In this embodiment, the specific structure of the yoke 310 is not limited, and it may be provided as a single yoke having a certain width or in a foldable form.
The rotary encoder 210 is also capable of calculating a rotational angular velocity, that is, a rotational angular velocity of the wheel 7, from the rotational angle and time. How the rotary encoder senses the rotation angle of the rotary rod 230 and how to calculate the rotation angular velocity according to the rotation angle and time is well known in the art, and will not be described herein for the sake of economy.
In this embodiment, the rotary encoder is connected to the CAN signal receiver, and CAN transmit the rotation angle and the rotation angular velocity detected in real time to the CAN signal receiver, specifically, how the encoder is connected to the CAN signal receiver, and transmit the rotation angle and the rotation angular velocity detected in real time to the receiver, which are well known to those skilled in the art, and are not described herein for saving the space.
Although an embodiment of the present invention has been described, it will be apparent to those skilled in the art that various modifications, adaptations, substitutions and variations can be made thereto without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The real-time wheel rotation angle measuring device is characterized by comprising a sliding mechanism (100), a measuring mechanism (200), a rotating mechanism (300) and a limiting mechanism (400);
the sliding mechanism (100) comprises a sliding rail base (110), a sliding block frame (120), a sliding block (130) and a sliding rail (140); the sliding rail (140) is arranged on the vehicle body through the sliding rail base (110); the sliding block (130) and the sliding rail (140) form a sliding pair; the slide block frame (120) is fixed on the slide block (130);
the measuring mechanism (200) comprises a rotary encoder (210), an encoder bracket (220) and a rotary rod (230); the rotary encoder (210) is mounted on the slider frame (120) through an encoder bracket (220); the rotary encoder (210) is connected with a horizontally arranged rotary rod (230); the rotary encoder (210) is vertically arranged and is used for collecting the rotation angle and the rotation angular speed of the rotary rod (230) on a horizontal plane; the rotary encoder (210) is connected with a CAN bus of the whole vehicle;
the rotating mechanism (300) comprises a fork arm (310), a bearing (320) and a rotating base (330), wherein the rotating base (330) is arranged on the steering knuckle (6), and the rotating base (330) and the bearing (320) are in interference fit; the lower ends of the fork arms (310) are arranged on a bearing (320); the upper end of the fork arm (310) is provided with two parallel branches, each branch is provided with a through groove, the through grooves are used for the rotary rod (230) to horizontally pass through, and the rotary rod (230) freely slides in the through grooves and is restrained by the through grooves to rotate in the horizontal direction;
the limiting mechanism (400) comprises a limiting rod (410), a limiting rod seat (420), a first fixing seat (430) and a second fixing seat (440); the first fixing seat (430) and the second fixing seat (440) form an annular clamp, and the annular clamp is clamped on the damper (5); the limiting rod (410) is fixedly connected with the annular clamp through a limiting rod seat (420); and the tail end of the limiting rod (410) is provided with a fork-shaped structure, and the fork-shaped structure clamps the middle part of the fork arm (310).
2. The real-time measuring device for actual rotation angle of wheel according to claim 1, wherein a cylindrical plug is arranged at the front end of the annular clamp, a round hole is correspondingly arranged on the limiting rod seat (420), and the cylindrical plug is inserted into the round hole and is fixed through a fastening bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310653757.XA CN116374002B (en) | 2023-06-05 | 2023-06-05 | Real-time measuring device for actual rotation angle of wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310653757.XA CN116374002B (en) | 2023-06-05 | 2023-06-05 | Real-time measuring device for actual rotation angle of wheel |
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| CN116374002A CN116374002A (en) | 2023-07-04 |
| CN116374002B true CN116374002B (en) | 2023-08-01 |
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