JP3403775B2 - Steering force measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention operates a steering wheel of an automobile.
Other than when detecting the 6-component force applied to the steering wheel
Installed between the steering wheel and steering shaft
The present invention relates to a steering force measuring device. [0002] 2. Description of the Related Art The requirements for the chassis performance of an automobile are as follows.
In recent years, it has become increasingly sophisticated, for suspension and steering
Regarding this, the development of high-function and high-performance new mechanisms is prosperous.
Therefore, the measurement technology that supports these developments from the aspect is also high.
High performance and high quality are required. Evaluation of steering stability
In addition, the steering angle, steering force, etc.
A rudder force meter (hereinafter, steering angular force meter) is often used. Trial
The test itself is the steering force measured while turning the steering wheel
Steering that measures while keeping characteristics and steering wheel angle constant
It is about the force characteristics. [0003] Steering force measurement with one conventional steering angular force meter
The setting device is shown in FIG. The system configuration is
It is roughly divided into the ringing wheel section 53 and the amplifier section. Ann
The loop part is omitted in the figure. Steering wheel part 5
Reference numeral 3 has a sensor function of steering force and steering angle. Amplifier section
Is a function that converts the steering angle to the steering speed,
So-called information processing such as electric signal level conversion and display of each information amount
Has a functional function. The steering force detection method uses twisting of the torque tube.
Displacement is measured by strain gauges 53 and 54 and dynamic strain amplifier.
The signal is converted to a signal.
An encoder composed of the pickup 57 and a dedicated
Detected by the The torque signal and horn signal
Installed on the steering wheel 53 side. this
Therefore, it is necessary to take out each signal to the steering column side.
This function is performed by the slip ring 60. [0004] As a steering angular force meter using the above-described device,
Improved the basic characteristics of this device.
Has disadvantages. 1. I use a slip ring to extract the signal
The friction caused an error, and the torque
Cannot accurately measure the steering force. [0005] 2. One-part force around the handle,
Since only the moment around the handle can be measured,
Comprehensively know the force applied to the handle in relation to the steering angle
Was impossible. [0006] 3. For the driver, the characteristics of the steering wheel are driving
Is very important as a means of communicating the will of the elderly to the car
But the driver tells the steering wheel in what state
Of the driver's state and the steering wheel
Knowing the gender is even more important.
Cannot solve the problems of this system. Accordingly, the above conventional steering angular force meter is used.
A steering force measuring device that solves the problem is definitely needed.
Come. [0008] When a vehicle travels at an extremely low speed,
The steering force is very high with power steering
If the driver is light, the driver sets the operation angle as important information. Real
Vehicle motion at extremely low speeds is almost geometrically determined
Would. At this time, if you turn the handle as many times as you want,
The degree information is not well understood and the operation is difficult. High
It does not require much steering during high speed driving. Same steering
The lateral acceleration caused by the angle is very large at high speed
In order to avoid excessive steering, the steering force depends on the vehicle speed.
It must be moderately heavy and have sufficient resilience
No. [0009] Therefore, what
How you communicate your will in a state like
How a car steering responds to it
Knows quantitatively, and people who design and manufacture cars drive
What kind of force and when the person turns the steering wheel
And what kind of information is obtained from the steering wheel
Is a very important factor, and that is why
The readings of the driver on the steering wheel
And dissociate it into 6-minute force
Must be able to measure and be accurate
become. However, in the above-described conventional device, one minute which is a torque is used.
Force can only be measured and the slip ring
It was difficult to make an accurate measurement because of the use.
The object of the present invention is to operate the steering wheel.
At other, driver's operation state with 6-component force applied to steering wheel
By accurately measuring the condition, you can actually sit on the seat
Driving direction, magnitude, etc. when turning the handle
By obtaining the data as a system of
Not only the traditional geometric dimensions, but also the usability of the driver,
It is also possible to cooperate with an adjustment device that also considers operability
An object of the present invention is to provide a steering force measuring device. [0010] SUMMARY OF THE INVENTION The object of the present invention is to solve this problem.
The transmitter sets the steering angle θ from the rotation angle detector to sin θ and cos θ.
Via the output angle converter to convert received by the receiver
A vector that adds the output of the output angle converter (32) to the 6-component signal
Equipped with a converter to convert 6-component force in the rotating coordinate system into 6-component force in the stationary coordinate system
Achieved by transforming. [0011] [0012] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
The setting device will be described in detail. FIG. 1 shows the steering of the present invention.
It is a figure showing a force measuring device. This is because the six-component force detector 6
7 shows a state when the device is mounted on the handle 4. In the figure,
1 is a steering shaft, 2 is a steering bearing,
3 is a fixing nut, 4 is a handle, 5 is a hand such as a horn
A power supply terminal 5 for supplying power to the upper surface of the power supply. The above part
Is exactly the same as a practical vehicle. Below
If it explains according to the reference of a surface, 6 will be a steering wheel 4 and a steering wheel.
6-component force test installed and fixed between the ring shaft 1
Dispenser, 7 fixed to handle to measure rotation angle
Magnetic disk 8 steers 6 component force detector 6 and magnetic disk 7
6 component force detector connection plate for connecting to ring bearing 2, 9
Is a hand for attaching the handle 4 to the 6-component force detector 6
Mounting plate, 10 is a rotation angle detector attached to the vehicle body,
11 is a rotation angle detector fixing plate, 12 is a rotation angle detector fixing plate
Bearing to separate 11 from the rotation of handle 4,
13 amplifies the 6-component signal of the 6-component detector and wirelessly transmits it.
Transmitter. All of the force applied to handle 4
6-component force detector 6 before reaching the tearing shaft 1
, The six-component force detector 6 acts on the handle 4
Force can be completely measured. Also, bearing 12
Is a roller bearing and there is almost no friction.
Has no effect. Rotation angle detector fixing plate 11 only rotates
And do not restrain any other movement in the other five directions.
I will support you. The output of the rotation angle detector 10 is the steering wheel 4
Rotation angle. Here, the movable part together with the handle 4
And rotate together with 13 amplifiers and transmitters, 6
6 component force detector, 7 magnetic disk, 8 6 component force detector connected
Plate, 1 steering shaft, 3 fixing nuts, etc.
And a fixed body that does not move with the handle
Those fixed to the sides are reference numerals 10, 11, and 12.
You. FIG. 2 shows the steering wheel and the seat to show the state of the driver.
3 illustrates the position of a person and the position of a human. Figure 2
1 is a steering shaft, and 6 is a steering of the present invention.
The detection unit 4 of the force measuring device is a handle. Stearin
The axial direction of the shaft 1 is defined as the Z axis, and is orthogonal to the Z axis.
The front-rear direction is the X axis when viewed from the driver on the four handles,
If the right direction is the Y axis, the surface of the handle will be the X and Y coordinates.
You. The center of the 6-component detector is far from the origin of coordinates
However, moving the acting six-component force is the place where mechanics teaches
Since it can be more easily performed, after that, X,
Fx, Fy, and Fz of forces applied to the Y and Z axes, respectively,
Mx, My, Mz of the moment
And The positional relationship between the handle, the seat, and the human is
To explain, first, the operation state of the driver is shown. Also, Han
If the distance (l) between the dollar and the driver is not appropriate, mainly X,
A force Fx, Fz or a moment My in the Z direction is generated.
You. The position of the driver's shoulder (h ') and the height of the steering wheel
If (h) is not appropriate, the forces Fx and Fz mainly in the X and Z directions
The chair generates a moment My. In addition, the handle
If the angle (θ) is not appropriate, the force of the moment My is mainly
appear. And cornering or lane chain
The degree of freedom of the driver's posture in the horizontal direction
If there is not enough restraint to leave the
It is a form that supports the body, there is no Fx, Fy, Fz, Mx
A force in the My direction is generated. Next, the 6-minute force and the angle of the handle are used.
An example of a method for analyzing the movements of both hands of the driver
As shown below, A.I. First, when operating the handle with one hand
Consider the state of (I) radius R as shown in FIG.₀Any point on the handle of
P₁(X₁, Y₁) To Fz₁Is applied, the point P₁of
If the angle made is θ, Fz₁, Mx₁(= Fz₁× y₁), My₁(= Fz ×
(-X₁)) It is. Conversely, when outputs of Fz, Mx, and My are output, the force
The action point of Y₁= Mx₁/ Fz₁      x₁= -My₁/ Fz₁ Is required. Then, R₀ ²= X₁ ²+ Y₁ ²so
is there. (Ii) Fz₁When = 0, the result is as shown in FIG. In the figure, P₁(X₁, Y₁) To F₁of
If you apply a large amount of force, you can get 6 minutes
Force output is Fx₁, Fy₁, Mz₁It is. Where F₁= Fx₁ ^Two+ Fy₁ ^Two, Mz₁= F₁× R₁
(Sign omitted) Fx as in (i)₁, Fy₁, Mz₁The output of
The point of action when 1. Fx₁, Fy₁More F₁’. | F₁'| = | F₁’| 2. R₁= Mz₁/ F₁’Than R₁Ask for. 3. F₁’And R₁Draw parallel lines just apart. 4. Radius R₀Intersection P with₁And P₁’
Round. This P₁, P_TwoIs the point of action. (iii) Generally, Fz₁= 0 is impossible, so
Calculate for both (i) and (ii), and the point that satisfies both
Action point P₁It is. B. The state when the other hand is also operated with one hand
Is considered in the same way as A, and its action point is P_Two(X₁,
y₁). C. Next, consider the state when operating with both hands. FIG. 8 is an explanatory diagram at that time. (I) P₁, P₂Is the position of each hand and its coordinates
To P₁(X₁, Y₁), P₁(X₁, Y₁). (Ii) Let P be the center of the force applied by both hands and let its coordinates be
Let P (x, y). (Iii) P point is P₁, P₂On a straight line connecting. (Iv) Point P is determined from the 6-component force output. (V) There is always a one-handed steering wheel while driving. That
The applied points x and y of the resultant force calculated from the hour and six minute force output are x²+ Y²= R₀ ² Becomes At this time, x and y are the effects of the force of the one-handed handle.
Point P₁(X₁, Y₁) (X₁, Y₁) Or x_Two, Y_Two)
It is. (vi) Then the first hand is a two-handed hand while holding the handle
When you become x^Two + Y^Two ≠ R₀ ^Two (vii) The position of the other hand at this time is P in (v)₁And P
It is the intersection of the passing straight line and the handle circle. (viii) The handle is moving because the handle is operated by hand
However, since the angle is measured, P in (v)₁of
Movement is self-evident. (iX) Position P of each hand₁, P_TwoIs obtained from (vii)
The 6-component output Fx to Mz
Point of operation F₁(Fx₁, Fy₁, Fz ₁),
F_Two(Fx_Two, Fy_Two, Fz_TwoCan be broken down into
Becomes (X) P obtained by (v)₁When you slide your hand,
The analysis value has an error, but automatically when the handle becomes one-handed.
If (v) is calculated, errors accumulate in the analysis results
do not do. As described above, according to the present invention, the hand
Steering torque and steering according to the state of the driver operating the steering wheel.
Not only the steering angle, that is, the entire steering wheel
Not only the 6-minute force, but also the driver's hand
It is possible to accurately measure and analyze up to the action point
I understand. The method of finding the action point is based on the drawing method
Explained, but almost continuously using a computer
And handle and driver as one system.
Can be grasped. In addition, the data and the force to rotate the handle
By combining the data of (Mz), the handle
Not only the body design but also the position between the driver and the steering wheel 4
6-component signal detected by the 6-component detector 6 resulting from the relationship
To optimize for ergonomics
Handle angle adjustment device, seat height, front and rear of the seat
Seat adjustment equipment such as the angle in
Can be used for the design of
From the steering wheel and seat
Can be used to design the port and its adjustment mechanism
Becomes In addition, during cornering and lane change operations
6-component force caused by the driver shifting left and right on the seat
The signal excluding Mz detected by the detector 6 is made as small as possible.
In order to make adjustments
Bundling restraints can also cooperate. FIG. 3 shows a six-component force Fx 'acting on the handle 4.
~ Mz 'as a 6-component electric signal
1 shows a block diagram of a system. In FIG. 3, 21 is a 6-component force.
The detector corresponds to reference numeral 10 in FIG.
Each component Fx ', Fy', Fz ', Mx', My ', M
It includes a detector for z '. 22 is an amplifier, 23
Is a transmitter for wireless transmission, each of which corresponds to reference numeral 13 in FIG.
I do. Reference numeral 24 denotes an output from the receiver. Send, receive
As a means, there is a method using light in addition to radio waves. or,
PCM and the like can be used for radio waves in addition to AM and FM. Receiving
There is a zero sensitivity adjustment function built into a normal amplifier
included. FIG. 4 shows a rotational coordinate base of the steering shaft.
The 6-component force signals Fx 'to Mz', which are quasi-standard, are converted into 6
FIG. 3 is a block diagram illustrating conversion into signal outputs Fx to Mz. In the figure
Here, 31 is a rotation angle detector corresponding to the reference numeral 10 in FIG.
The output 32 converts the output angle θ into sin θ and cos θ.
The force-angle converter 33 is a six-component force signal Fx 'to M in a rotating coordinate system.
z ′ is converted into a stationary coordinate system six-component force signal output Fx to Mz
It is a vector converter. The receiver 24 is a rotation angle detector
Convert steering angle θ from 7, 10, 31 to sin θ, cos θ
Received by the receiver 24 via the output angle converter 32
To add the output of the output angle converter 32 to the 6-component force signal
And a stationary coordinate system 6
Converted to component force. The conversion formula at this time is the Z axis as the rotation axis,
If the coordinate system is a right-handed system, it is expressed as follows. Fx = Fx'cos θ-Fy'sin θ Fy = Fx'sin θ + Fy'cos θ Fz = Fz ' Mx = Mx′cos θ−My′sin θ My = Mx'sin θ + My'cos θ Mz = Mz ' This vector converter can be used for analog, digital, and software
Any of the hardware processing may be used. Until now
When the driver operates the steering wheel,
Total component force applied to the steering wheel by the driver in the stop coordinate system
(Ie, resultant force) and the angle of the handle can be measured. FIG. 5 shows a conventional steering angular dynamometer provided with the above-described steering angular force meter.
This is a steering force measuring device, the description of which is as described above. [0028] As described above, according to the present invention, the hand
The steering torque and steering angle when operating the dollar
And the state of the driver acting on the entire steering wheel
6-component force can be measured, as well as transmitter and receiver
Each hand is not using a slip ring.
Can accurately measure and analyze the force applied to the steering wheel
It turns out that it becomes. Therefore, the force when turning the handle
Direction, size, etc.
Not only the geometric dimensions of the vehicle, but also the usability and operability of the driver
A layout design that takes into account is possible. Further according to the invention
In addition to the above effects, if a person
And the response of the steering wheel to humans.
Output as much as possible. That is, on the handle
When measuring the six-component force, which is all the acting force,
The signal is transmitted wirelessly from the steering wheel to the measuring instrument, so
Accurate measurement is possible because there is no error such as rubbing. Also rotate
By converting the 6-component force of the coordinate system into the 6-component force of the stationary coordinate system,
A 6-component signal independent of the steering angle can be measured.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a specific example of a steering force measuring device according to the present invention. FIG. 2 is a diagram showing a position of a steering force measuring device according to the present invention and a positional relationship between a steering wheel, a seat, and a person to show a state of a driver. FIG. 3 shows a block diagram of an electric system according to the present invention. FIG. 4 is a block diagram showing a case where a six-component output of the steering force measuring device according to the present invention is converted into a stationary coordinate system. FIG. 5 is a diagram showing a conventional steering angular force meter. FIG. 6 is a diagram showing a force relationship when an arbitrary point on the steering wheel is operated with one hand in the steering force measuring device according to the present invention. FIG. 7 is a diagram showing a state when the external force of the steering force measuring device according to the present invention is 0. FIG. 8 is a diagram showing a state in which the steering wheel of the steering force measuring device according to the present invention is operated with both hands. [Description of Signs] 1 steering shaft 2 steering bearing 3 fixing nut 4 handle 5 horn power terminal 6 6 component force detector 7 magnetic disk 8 6 component force detector connection plate 9 handle mounting plate 10 rotation angle detector 11 Rotation angle detector fixing plate 12 Cross roller bearing 13 Amplifier and transmitter 21 6-component force detector 22 Amplifier 23 Transmitter 24 Receiver 31 Rotation angle detector 32 Output angle converter 33 Vector converter

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-50-54374 (JP, A) JP-A-5-79950 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01L 5/16 G01M 17/16 B62D 1/04

Claims (1)

(57) [Claim 1] A six-component force detector (6) installed between a steering wheel (4) and a steering shaft (1) detects a six-component force generated in a steering wheel by a driver's operation. 6, 21)
A transmitter (13, 23) for wirelessly transmitting the six-component force detected by the component force detector (6, 21) as a six-component signal is fixed to a movable portion together with the handle (4), and the transmitter (13, 23) ), A receiver (24) that receives and outputs a six-component signal from the steering force measuring device fixed to a fixed portion that does not move together with the steering wheel (4). The output angle converter (32) converts the steering angle θ from (7, 10, 31) into a 6-component signal received by the receiver (24) via an output angle converter (32) that converts the steering angle θ into sin θ and cos θ. A steering force measuring device comprising a vector converter (33) for adding the output of (1), and converting a six-component force in a rotating coordinate system into a six-component force in a stationary coordinate system.