JP2014215240A - Vehicle testing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle testing device capable of safely removing a vehicle from the state in which a position and an attitude of the vehicle testing device reaches a limit of the movable range.SOLUTION: If it is detected that any motion of the six degrees of freedom of the plurality of motion bases reaches the limit of a movable range, the past command value can be read in a reverse order from a history memory 73, and a plurality of motion controllers 3C to 7C can be driven to be restored based on the order of the read respective command values. Thus, while using an attitude command value practiced in the past and maintaining a restrained state between a vehicle testing device and a vehicle for mounting a specimen or the restrained state between the vehicle testing device and the specimen, motion bases 3 to 7 can be simply and safely restored to a state prior to becoming a stroke end state.

Description

  The present invention relates to a vehicular test apparatus that performs a performance test of automobile parts and vehicles.

  In Patent Document 1, as a vehicle test apparatus, a pair of front and rear lateral movable bases that can move in the lateral direction, and four sets of six-degree-of-freedom hydraulic cylinder groups that are provided on the upper surface of these laterally movable bases, one on each side. Four swivel lifts connected to the upper ends of these six-degree-of-freedom hydraulic cylinder groups, and four rotating belts provided on the four swivel lifts, respectively, on which the four wheels of the vehicle are placed An apparatus with which is provided is described.

JP 2008-175778 A JP 2006-138827 A JP 2009-536736 A

However, the vehicle test apparatus described in Patent Document 1 does not show a countermeasure when the position / posture of the vehicle test apparatus reaches the limit of the movable range of the hydraulic cylinder.
An object of the present invention is to provide a vehicular test apparatus that can be safely removed from the state when the position / posture of the vehicular test apparatus reaches the limit of the movable range.

  In the present invention, four axles are mounted, a test article mounting vehicle body on which a test product is mounted, the test product mounting vehicle body and the axles are supported, and the test product mounting vehicle body and the axles The present invention relates to a vehicular test apparatus including a plurality of motion bases for causing a motion of 6 degrees of freedom. This vehicle test apparatus has a control unit that gives a command value of attitude to a motion base based on a vehicle model, and a history memory that holds a history of command values. If the control unit detects that any of the motion-based motions of six degrees of freedom has reached the limit of the movable range, the control unit reads the past command values in reverse order from the history memory, Based on the order, a plurality of motion bases are driven to depart from the limit of the movable range.

  According to the configuration of the present invention, when it is detected that any of a plurality of motion-based six-degree-of-freedom motions has reached the limit of the movable range, the past command values are read in reverse order from the history memory and read. Since a plurality of motion bases are driven based on the order of each command value, the motion-based posture command value generation cycle can be reproduced one by one. In this way, since the attitude command value implemented in the past is used, the restraint state between the vehicle test apparatus and the test article mounting body or the restraint state between the vehicle test apparatus and the test article is guaranteed. In addition, it is possible to safely and safely return the motion base to the state before the stroke end state.

In the case where the motion base includes an actuator for causing a motion of 6 degrees of freedom, the limit of the movable range may mean a stroke end state of the actuator.
The control unit can arbitrarily set an end point for continuing the motion-based return drive. For example, it may be until a plurality of motion bases return to the time when the test is started.

  The motion base supports the test article mounting body and supports the first motion base for causing the test body mounting body to move in six degrees of freedom, and supports the axles. It may include four second motion bases for causing freedom of movement. According to this configuration, a force can be directly applied to the test article mounting vehicle body by the first motion base in a state where each axle is supported by the second motion base. As a result, the same force as the inertial force that acts on the vehicle body during acceleration or deceleration of the actual vehicle can be used without causing the vehicle body to travel relative to the member that supports the wheel (axle). It can be given to the mounting body. When the actual vehicle is traveling, a rotational force similar to the rotational force applied to the axle from outside such as road surface conditions can be applied to the axle.

  According to the present invention, when an actuator such as a piston or a cylinder of a vehicle test apparatus enters a stroke end state where the limit of the movable range is reached, unnecessary force or displacement is applied to a vehicle body or a machine part to be tested. Without giving, that is, while the restraint condition between the vehicle body or the machine part and the vehicle test apparatus is maintained, the vehicle test apparatus can be safely detached from the stroke end state.

1 is a schematic perspective view schematically showing the appearance of a vehicle testing apparatus according to an embodiment of the present invention. 1 is a block diagram showing a schematic electrical configuration of a vehicle inspection system according to an embodiment of the present invention. It is a flowchart for demonstrating the return control procedure with respect to the motion controller which an actuator control part performs.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle testing apparatus according to an embodiment of the present invention.
The vehicle test apparatus 1 includes four axles 21S, 22S, 23S, and 24S (21S and 22S are hidden by other members) corresponding to four wheels of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel. (Not shown) and a test article mounting vehicle body 2 on which the test article is mounted, and a test piece mounting body 2 for supporting the test article mounting body 2 and causing the test article mounting body 2 to move with six degrees of freedom. One motion base 3 and four second motion bases 4, 5, 6 for supporting the axles 21S, 22S, 23S, 24S and causing the axles 21S, 22S, 23S, 24S to move with 6 degrees of freedom. , 7.

  In FIG. 1, the front end of the test article mounting vehicle body 2 is indicated by reference numeral 2f, and the rear end of the test article mounting vehicle body 2 is indicated by reference numeral 2r. At the outer ends of the four axles 21S, 22S, 23S, 24S of the test article mounting vehicle body 4, four electric motors (hereinafter referred to as "external force applying motors") 31, 32 for applying rotational force to the axles. , 33, 34 are connected to each other. Each of the electric motors 31, 32, 33, and 34 generates a rotational force similar to the rotational force (external force) applied to each axle from the outside when the actual vehicle is traveling, and the corresponding axles 21S, 22S, 23S, and 24S. It is for giving individually. The external force includes, for example, a rotational load applied to each axle due to road friction when the actual vehicle is traveling, and a rotation applied to each axle via the road surface when the actual vehicle is going down a slope. Power is included.

A test product for various automobile parts is mounted on the test product mounting body 2. In this embodiment, the test article mounting vehicle body 2 includes an electric power steering device (EPS) 40, a rear left wheel axle 23S and a right rear wheel axle 24 for driving by an electric motor. A wheel drive module 50 is mounted as a test product.
In this embodiment, the EPS 40 is a column assist type EPS. As is well known, the EPS 40 is a steering wheel 81, a turning mechanism (not shown) for turning the front wheels in conjunction with the rotation of the steering wheel 81, and steering for assisting the driver's steering. And an auxiliary mechanism 83. The steering wheel 81 and the steering mechanism 82 are mechanically connected via a steering shaft.

  The steering mechanism includes a rack and pinion mechanism including a pinion provided at the lower end of the steering shaft and a rack shaft provided with a rack that meshes with the pinion. Each end of the rack shaft is connected to the front wheel via a tie rod, a knuckle arm or the like. The steering assist mechanism 83 includes an electric motor (hereinafter referred to as “assist motor”) for generating a steering assist force, and a speed reduction mechanism for transmitting the output torque of the assist motor to the steering shaft.

Further, the EPS 40 includes an ECU (Electronic Control Unit) (hereinafter referred to as “EPS ECU”) for controlling the assist motor, and a linear displacement sensor for detecting the axial displacement position of the rack shaft. Contains.
The rear wheel drive module 50 includes an electric motor (hereinafter referred to as a “rear wheel drive motor”) for rotationally driving the rear wheel axles 23S, 24S, and the rear wheel drive motor using the rotational force of the rear wheel drive motor. A transmission mechanism for transmitting to 23S, 24S, an ECU for controlling the rear wheel drive motor (hereinafter referred to as "rear wheel drive motor ECU"), and / or one of the rear wheel axles 23S, 24S. A rotation angle sensor for detecting the rotation angle of the motor. The transmission mechanism includes a clutch and a speed reduction mechanism. The transmission mechanism may include only one of the clutch and the speed reduction mechanism.

  Each motion base 3, 4, 5, 6, 7 is fixed on a surface plate 10 placed on the floor. As is well known, each motion base 3, 4, 5, 6, 7 has a fixed base 11 fixed to the surface plate 10 and a movable base (moving base) 12 arranged above the fixed base 11. And a piston-like actuator 13 that is connected between the fixed base 11 and the movable base 12 and causes the movable base 12 to move in six degrees of freedom (back and forth, left and right, up and down, roll, pitch, and yaw movements). And a motion controller (not shown) for driving and controlling the actuator 13. The actuator 13 is composed of six electric cylinders. The motion controller is composed of a driver circuit for supplying a drive current to the drive motor built in the actuator 13 in response to the input of a signal corresponding to each motion of the six degrees of freedom.

The test article mounting vehicle body 2 is fixed to the movable base of the first motion base 3 with the central portion of the test article mounting vehicle body 2 placed thereon. That is, the center part of the lower surface of the test article mounting vehicle body 2 is attached to the upper surface of the movable base of the first motion base 3. That is, the test article mounting vehicle body 2 is supported by the first motion base 3.
The motor bodies of the external force applying motors 31, 32, 33, and 34 are fixed to the movable bases 12 of the second motion bases 4, 5, 6, and 7 via the elastic sheet member 30, respectively. . That is, the motor bodies of the external force applying motors 31, 32, 33, 34 are supported by the second motion bases 4, 5, 6, 7 via the elastic sheet member 30. In other words, the axles 21S, 22S, 23S, 24S are connected to the second motion bases 4, 5, 6, 7 via the elastic seat member 30 and the motor bodies of the corresponding external force applying motors 31, 32, 33, 34, respectively. It is supported by. In addition, motor control devices 35, 36, 37, and 38 (see FIG. 2) for controlling the respective external force addition motors 31, 32, 33, and 34 are mounted on the test article mounting vehicle body 2.

By these external force addition motors 31, 32, 33, and 34, a rotational force similar to the rotational force (external force) applied to each axle from the outside when the actual vehicle is running is applied to the corresponding axles 21S, 22S, It can be individually assigned to 23S and 24S. This makes it possible to reproduce the driving load and suspension behavior according to the actual driving situation.
Further, in this vehicle test apparatus 1, various body postures are obtained by driving and controlling the actuator 13 of the first motion base 3 and individually driving and controlling the actuators 13 of the second motion bases 4, 5, 6, and 7. Can be made. Therefore, by controlling the actuators 13 of the motion bases 3, 4, 5, 6, and 7 as a whole, various vehicle traveling postures including rolling, pitching, and yawing can be reproduced.

FIG. 2 is a block diagram showing a schematic electrical configuration of the vehicle inspection system 100.
The vehicle inspection system 100 includes a driving simulator 60, a vehicle test apparatus 1, and an actuator control unit 70. The driving simulator 60 virtually simulates driving of a vehicle and is operated by a driver. The vehicle test apparatus 1 includes an assist motor 41, an EPS ECU 42 for controlling the assist motor 41, a rear wheel drive motor 51, a rear wheel drive motor ECU 52 for controlling the rear wheel drive motor 51, and each motion base. Motion controllers 3C, 4C, 5C, 6C and 7C for driving 3, 4, 5, 6 and 7 and motor control devices 35, 36, 37 and 38 are mounted. The motor control devices 35, 36, 37, and 38 are devices that drive the external force applying motors 31, 32, 33, and 34, respectively.

  The actuator control unit 70 is a motor controller mounted on the motion controllers 3C, 4C, 5C, 6C, and 7C of the motion bases 3, 4, 5, 6, and 7 of the vehicle test apparatus 1 and the vehicle test apparatus 1. The devices 35, 36, 37, and 38 are controlled, and the control function of the actuator controller 70 is realized by a program installed in a computer.

The EPS ECU 42 includes a linear displacement sensor (not shown) for detecting the axial displacement position of the rack shaft. The rear wheel drive motor ECU 52 includes a rotation angle sensor (not shown) for detecting the rotation angle of both or one of the rear wheel axles 23S and 24S.
The driving simulator 60 outputs steering angle information (steering wheel angle information), accelerator opening information, brake pedaling force information, and the like corresponding to the driving operation of the driver. The steering angle information output from the driving simulator 60 is sent to the EPS ECU 42 mounted on the vehicle test apparatus 1. The accelerator opening information output from the driving simulator 60 is sent to the rear wheel drive motor ECU 52 mounted on the vehicle test apparatus 1. The brake pedal force information output from the driving simulator 60 is sent to the actuator controller 70. The brake depression force information may be brake depression amount information.

  The EPS ECU 42 determines a steering torque based on the steering angle information sent from the driving simulator 60, and drives and controls the assist motor 41 according to the determined steering torque. Further, the EPS ECU 42 based on the output signal of the linear displacement sensor, the axial displacement amount (hereinafter referred to as “rack shaft displacement amount”) of the rack shaft included in the EPS 40 and the axial displacement speed ( (Hereinafter referred to as “rack shaft displacement speed”) is measured and sent to the actuator controller 70.

  The rear wheel drive motor ECU 52 determines the torque command value of the rear wheel drive motor 51 based on the accelerator opening information sent from the driving simulator 60, and the rear wheel drive motor 51 according to the determined torque command value. Is controlled. Further, the rear wheel drive motor ECU 52 measures the rotational speeds of the rear wheel axles 23S, 24S (hereinafter referred to as “axle rotational speed”) based on the output signal of the rotational angle sensor, and the actuator controller 70. Send to.

The actuator controller 70 includes a vehicle model 71, a command value generator 72, a history memory 73, and a changeover switch SW.
The vehicle model 71 includes brake pedal force information output from the driving simulator 41, rack shaft displacement amount and rack shaft displacement speed sent from the EPS ECU 42, and axle rotation speed sent from the rear wheel drive motor ECU 52. Entered. Based on the input information, the vehicle model 71 generates the position / posture of the vehicle body, the position / posture of each wheel, and the external force applied to each axle according to the driving situation simulated by the driving simulator 41. To do.

  Based on the position / posture of the vehicle body generated by the vehicle model 71 and the position / posture of each wheel, the command value generation unit 72 generates posture command values for the motion bases 3, 4, 5, 6, and 7 at regular intervals. Generate for each. The cycle for generating the attitude command value is referred to as “command value generation cycle”. Further, the command value generation unit 72 generates torque command values for the respective external force addition motors 34, 35, 36, and 37 based on the external force applied to each axle generated by the vehicle model 71.

The history memory 73 is composed of, for example, a first-in first-out memory. The history memory 73 stores posture command values for each command value generation cycle output from the command value generation unit 72 in order of time.
The changeover switch SW is controlled to be changed by the command value generation unit 72. The change-over switch SW is configured so that the command value generation unit 72 transmits the posture command value to the motion controllers 3C, 4C, 5C, 6C, and 7C, and the posture command value stored in the history memory 73 as the motion controller 3C, 4C, It is a switch for switching between routes to be transmitted to 5C, 6C, and 7C. It may be a mechanical switch or an electronically configured switch.

  The posture command values for the respective motion bases 3, 4, 5, 6 and 7 generated by the command value generation unit 72 are the motion controllers 3C, 4C, 5C, and To 6C and 7C. Each of the motion controllers 3C, 4C, 5C, 6C, and 7C controls the corresponding actuator 13 based on the attitude command value given from the command value generation unit 72. As a result, the movable bases 12 of the motion bases 3, 4, 5, 6, and 7 move so as to have a posture corresponding to the posture command value.

Torque command values for the external force addition motors 31, 32, 33, 34 generated by the command value generation unit 72 are given to the corresponding motor control devices 35, 36, 37, 38. Each motor controller 35, 36, 37, 38 based on torque command value ^given from the command value generating unit 72, controls the corresponding external force applying motor 31, 32, 33 and 34. Thereby, motor torque according to the torque command value is generated from each of the external force addition motors 31, 32, 33, 34.

  The motion of 6 degrees of freedom of any of the motion bases 3, 4, 5, 6, and 7 may reach the limit of the movable range. That is, either the actuator 13 of the first motion base 3 or the actuator 13 of the second motion base 4, 5, 6, 7 is in a state where the cylinder is extended to the limit or the cylinder is contracted to the limit ("stroke end" State ”). In this case, if the vehicle test apparatus 1 continues to move any more, the actuator 13 in the stroke end state can no longer move, while the actuators 13 in other stroke end states can still move. The test apparatus 1 may be in an unexpected posture.

  In the vehicle test apparatus 1, the test article mounting body 2 is supported by the first and second motion bases 3, 4, 5, 6, and 7. It is required to do. However, in this state, the relative positional relationship cannot be maintained. This is a dangerous state, and it is necessary to immediately stop the test and to remove the test article mounting vehicle body 2 or the test article from the limit of the movable range.

  Therefore, the motion controllers 3C, 4C, 5C, 6C, and 7C have a limit sensor attached to the actuator 13 in order to detect that the actuator 13 has reached the limit of the movable range. The motion controllers 3C, 4C, 5C, 6C, and 7C can detect that the actuator 13 has reached the limit of the movable range by monitoring the detection signal of the limit sensor. When the motion controller 3C, 4C, 5C, 6C, 7C detects the detection signal of the limit sensor, the actuator 13 has reached the limit of the movable range from the motion controller 3C, 4C, 5C, 6C, 7C to the command value generation unit 72 An alarm signal indicating is sent.

  When an alarm signal indicating that the actuator 13 has reached the limit of the movable range is sent from the motion controllers 3C, 4C, 5C, 6C, and 7C to the command value generation unit 72, the command value generation unit 72 By operating the switch SW, the path for transmitting the attitude command value to the motion controllers 3C, 4C, 5C, 6C, and 7C is cut off, and the past command values stored in the history memory 73 are read in the reverse order and read. Based on the order of the command values, the actuator 13 of the first motion base 3 and the actuators 13 of the second motion bases 4, 5, 6, and 7 are driven. Thereby, it can return to the state before the actuator 13 will be in a stroke end state, maintaining the restraint with the test device 1 for vehicles, the vehicle body 2 for test article mounting, or a test article.

  FIG. 3 is a flowchart for explaining a return control procedure for the motion controllers 3C, 4C, 5C, 6C, and 7C performed by the actuator control unit 70. First, the counter B corresponding to each of the motion bases 3, 4, 5, 6, and 7 is set to 1 (step S1), and the first motion-based motion controller is checked (step S2). It is confirmed whether or not even one of the first motion-based actuators 13 is in the stroke end state (step S3). If neither is the stroke end state, the other motion-based actuator 13 is inspected. If not, the other motion-based actuator 13 is inspected. In this way, the five motion controllers 3C, 4C, 5C, 6C, and 7C are inspected (steps S2 to S5).

  If any of them is in the stroke end state, the test is stopped (step S6), and the storage history of the history memory 73 is read. Based on the read storage history, all the actuators of all the motion controllers 3C, 4C, 5C, 6C, and 7C are returned to the previous state (step S8). This is repeated to return to the state before N cycles (step S9). Here, N is an integer of 1 or more. For example, when returning to the test start position, N is the number of steps executed from the start of the test to the time when the test was stopped. N may be set to a predetermined value in advance.

When the test is performed again without changing the test conditions, it is expected that the stroke end state will occur again when returning to the state N cycles ago. It is preferable to carry out.
In the return control procedure described above, the past command values are read in the reverse order, and the actuator is driven based on the order of the read command values. That is, the command value generation cycle is reproduced one by one. is important. Other methods, such as ignoring past command values at all and calculating a new posture command value to return to the state before the stroke end state, can be considered. It is necessary to prepare a program to do.

As in the embodiment of the present invention, if the attitude command values implemented in the past are used, it is possible to cooperate while maintaining the relative positional relationship between the multiple support points of the vehicle testing apparatus 1 and the test article mounting body 2. Therefore, the first motion base 3 and the second motion bases 4, 5, 6, and 7 can be easily and safely returned to the state before the stroke end state.
Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments, and various design changes can be made within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Test apparatus for vehicles, 3 ... 1st motion base, 4-7 ... 2nd motion base, 13 ... Actuator, 21-24 ... Wheel, 21S-24S ... Axle, 70 ... Actuator control part, 71 ... Vehicle model, 72: Command value generation unit, 73: History memory

Claims (4)

4 axles are mounted, a test article mounting vehicle body on which a test product is mounted, and the test product mounting vehicle body and the axles are supported, and each of the test product mounting vehicle body and the axles has 6 freedoms. A test apparatus for a vehicle including a plurality of motion bases for performing a degree of motion,
Based on a vehicle model, a control unit that gives a command value of attitude to the motion base, and a history memory that holds a history of the command value,
If the control unit detects that any of the motion-based motions of six degrees of freedom has reached the limit of the movable range, the control unit reads past command values in reverse order from the history memory, and reads each command A test apparatus for a vehicle, wherein the plurality of motion bases are driven based on the order of the values so as to be separated from the limit of the movable range.   The vehicle test apparatus according to claim 1, wherein the motion base includes an actuator for causing a motion of six degrees of freedom, and the limit of the movable range corresponds to a stroke end state of the actuator.   The vehicle test apparatus according to claim 1, wherein the control unit continues the return drive of the motion base until the plurality of motion bases return to a test start time. The motion base is
A first motion base for supporting the test article mounting body and causing the test article mounting body to move in six degrees of freedom; supporting each axle; and causing each axle to move in six degrees of freedom. The vehicle test apparatus according to claim 1, comprising four second motion bases.

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