CN101592557A - The detection method of automobile sideslip detector and sideslip - Google Patents
The detection method of automobile sideslip detector and sideslip Download PDFInfo
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- CN101592557A CN101592557A CNA2009100407017A CN200910040701A CN101592557A CN 101592557 A CN101592557 A CN 101592557A CN A2009100407017 A CNA2009100407017 A CN A2009100407017A CN 200910040701 A CN200910040701 A CN 200910040701A CN 101592557 A CN101592557 A CN 101592557A
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Abstract
The invention discloses the detection method of a kind of automobile sideslip detector and sideslip.This skid instrument is made up of mechanical part and electric part, and the sprocket wheel of mechanical part is fixed on the sprocket shaft, and plane carrier bar and two chain wheel set chainings are in transmission connection; Base plate is arranged on the slide plate, and slide plate links to each other by ball with board-like line slideway, and slide plate can laterally move back and forth on board-like guide rail; The sensor that moves to left of electric part is connected with amplifier respectively with the sensor that moves to right, and amplifier is connected with microprocessor by A/D converter; Rotary encoder is connected with microprocessor by counting circuit; The rotation axis of rotary encoder and the coaxial installation of sprocket shaft, left dislocation sensor and right displacement transducer fixed part are installed on the board-like line slideway.Slip indicator of the present invention is owing to amplified the detection operating range X of tested vehicle, and it is more accurate to detect; Can measure the value of sideslip under friction speed, different loads, be used for accurately mating the suspension positional parameter of steering front wheel.
Description
Technical field
The present invention relates to the detector that breaks away, specifically relate to the detection method of a kind of automobile sideslip detector and sideslip.
Background technology
When Automobile Design, deflecting roller mostly is provided with very little camber angle, its purpose is outside one's consideration except the transverse arch on the compensation elasticity (or propons elasticity) of independent suspension and stub gap and adaptation road surface, mainly be to wear the distance at place and tire print center, improve automobile brake, control stability and ease of steering when driving in order to reduce main pin axis.But, this ever-present side rake angle, can make the left and right wheels effect direction opposite with the corresponding side force of side rake angle, when tire wear is increased, cause the eccentric wear of tire, and produce extra power consumption, for fear of this situation, certain toe-in angle of deflecting roller commonly used is offset the side force that side rake angle produces during design.Facts have proved that wheel side sliding can cause resistance to rolling to increase, travel direction stability degenerates, tire increases the weight of wearing and tearing, road fuel consumption increases and hard steering, influences vehicle operation performance and fuel economy, easily causes the potential danger of driving accident.
Therefore, relevant rules have all been formulated to break away check of automobile in countries in the world.Standard GB 7258-2004 " the motor vehicle security of operation technical conditions " regulation that China is existing: with slip indicator check front-wheel sideslip amount, its value must not surpass 5m/km.Stipulate in Japan's " road transporting safety standard " 6 sections of 4: the sideslip amount of the above automobile steering roller of four-wheel, the 1m that travels is defective above 5mm.
In the automobile use,, cause the wheel alignment misalignment because the distortion and the wearing and tearing of vehicle frame, axletree, steering mechanism have changed original geometric angle and size numerical value.Destroyed the optimum matching relation between camber angle and prenex these two parameters, had only the employing dynamic testing method, simulated automotive road traveling process is readjusted camber angle and prenex matching relationship.In recent years because static wheel alignment meter adopts optical profile type or computermatic four-wheel position finder to carry out the measurement of geometric angle mostly, therefore because the tire eccentric wear that initial reason such as the static immobilization parameter matching error of tire, rigging error cause decreases less, and that the situation that eccentric wear decreases appears in the tyres for passenger cars that continues to run at high speed on highway is more, particularly occurs in many tire positional parameters and is provided with on the normal intermediate car.Trace it to its cause, will consider the particularly dynamic perfromance of tire suspension positional parameter influence that the tire eccentric wear is decreased of car load.Therefore detecting the dynamic change of camber angle and prenex positional parameter in the vehicle driving process, is to solve the vehicle tyre eccentric wear to decrease and need a key factor considering.
The domestic and international at present most of side slip testers in usefulness all are slide types, and vehicle front is passed through on slide plate, detect the method for the transversal displacement amount of slide plate and check the sideslip amount.The slide type sideslip is tested platform can be divided into single slide type and two kinds of two slide types by its version, and two slide type side slip testers generally all are that two plates link.Two plate coordinated type side slip testers are measured quantitative indicating device and sideslip by mechanical part, sideslip amount detecting device, sideslip and are measured several parts such as qualitative display device and form.
Vehicle front is passed through on slide plate, check the sideslip amount with the method for the transversal displacement amount of left and right direction slide plate.According to the specification difference of side slip tester, the longitudinal length of slide plate has three kinds of 500mm, 800mm and 1000mm.The actual detected distance that is front-wheel is 0.5m, 0.8m, 1.0m.Because slide plate limited length, it is be expert at sideslip situation in crossing of simulated automotive well, and in the middle of reality was used, the error of testing result was big, repeatability is relatively poor, automobile is difficult for grasping through the standard speed (4km/h) of slide plate, and the variation of speed is very big to the measurement result influence.
Sideslip is meant because prenex and camber angle mismate in vehicle traveling process, produce a kind of interaction force between wheel and the ground, and this acting force makes tire be in the sliding state of limit rolling perpendicular to vehicle traveling direction.Definition according to the sideslip amount: the sideslip amount is: when straight-line travelling one segment distance (X), and the transversal displacement of wheel (Y).Unit: m/km, its computing formula: sideslip amount=Y/X, but because the too short 1m of simulation operating range of slide type side slip tester (or 0.5m, 0.8m), promptly measuring distance is too short, causes measuring accuracy not high, and error is very big.Simultaneously, wheel is fixed on the vehicle frame, and rubber for tire has good elasticity.In straight-line travelling, because the elasticity of rubber for tire, can the storage area strain energy of distortion, when the transversely deforming amount reaches certain value, transverse force is during greater than side-friction, resilience, transversely deforming reduces.This periodic variation has constituted the phenomenon of sliding in the rolling limit, limit of deflecting roller.Because when wheel rolled on slide plate, the deflection of tire was all different, is the reason that causes slide type slip indicator poor repeatability at every turn.
In sum, error is big, and inaccurate, poor repeatability is that the structure by slide type slip indicator itself is caused.The underlying cause is that the front-wheel distance of being travelled on slide plate is too short, cause the recoverable amount of slide type side slip tester very big, yet instream factor is really very low.
The patent No. is the side slip tester that the utility model patent of ZL200720106503.2 discloses band side force of tire releasing mechanism, and this testing table is the improvement to the slide type slip indicator.Comprise the detection slide plate that is arranged on ground horizontal slip, described detection slide plate is provided with the side force of tire releasing mechanism along the top of automobile direct of travel, and described side force of tire releasing mechanism comprises the release board of horizontal slip and the resetting means of release board.Owing to set up the side force of tire releasing mechanism before detecting slide plate, when wheel advanced in this mechanism, the lateral elasticity deformation of tire obtained discharging, and did not begin this moment to detect, and just the lateral elasticity deformation of tire was got rid of outside detecting.And when the front end that flattens section touched the detection slide plate, detection promptly began; When the front end that flattens section touches ground, detect promptly and finish, so just the tyre collapse section of non-quantitative is also got rid of outside detection limit.
Though patent Z1200720106503.2 has carried out certain improvement to the slide type slip indicator, because front-wheel is too short through the distance (the longest 1m) of slide plate, for measurand, the data of sampling are very little; Require (4km/h) too harsh to the speed of a motor vehicle that detects vehicle,, also have a strong impact on accuracy and the repeatability of sideslip because the speed during vehicle turnover slide plate can produce very big impact to the test slide plate.
In automobile steering roller sideslip test item, the factor that influences testing result mainly contains following several respects:
(1) influence of the speed of a motor vehicle to breakking away: two automobiles that technology status is good, may be because the vehicle difference, break away and the funtcional relationship of the speed of a motor vehicle will be not to, also difference of the sideslip of two cars amount under the same speed of a motor vehicle.For same car, speed of a motor vehicle difference also can cause different testing results.In reality is breakked away detection, owing to multiple reason is difficult to the control speed of a motor vehicle within claimed range, be easy to cause measuring error, cause wheel alignment condition judgement misalignment.At present, when utilizing side slip tester that the deflecting roller sideslip is detected, slowly by testing table, whether this speed of a motor vehicle requires reasonable with low speed (4km/h) for the regulation vehicle, is worth further and inquires into and research.
(2) influence of load to breakking away: the camber angle of deflecting roller is along with the variation of lorry loading amount changes, and it is more little that steeraxle loads the big more then steering wheel camber of load, but prenex variation is little.Especially be the independent suspension vehicle for steeraxle, load is bigger to the variable effect of camber angle.Have data to show: unbalance loading is compared during with zero load, and what steering wheel camber had differs 0.70; Steering wheel camber when on the contrary, respectively sitting a people with zero load about the automobile front row is more or less the same substantially.The variation of steering wheel camber must cause the variation of wheel side sliding.Automobile load difference, deflecting roller are breakked away also inevitable inequality.Therefore, when detecting automobile steering roller and break away, only sit a driver on the operator seat and can make vehicle unbalance-loading, steering wheel camber changes, and the sideslip testing result can not the correct response camber angle and the match condition of toe-in value.Therefore, good flare and prenex matching relationship, not only relevant with the adjustment numerical value under the empty wagons static state, and also relevant with the structural parameters and the service condition of vehicle.
(3) influence of tire pressure to breakking away: the tire pressure increase can make the wheel side sliding amount increase usually.But for truck tire, this in confused situation show, even the air pressure of some truck tire when increasing the sideslip amount reduce on the contrary.
(4) influence of motoring condition: automobile wheel under different transport conditions can be changed by the side force of acting force difference, the especially tire on ground.Therefore, when automobile crossed side slid platform with different transport conditions such as acceleration, decelerations, its testing result was just different.
(5) influence of automobile other technologies situation: the gap of automotive wheel, axle and suspension also can influence the testing result of sideslip amount.The position random variation of stub in gum cover causes the discreteness of sideslip amount testing result more outstanding in the time of can making each detection such as, main pin of automobile gum cover wearing and tearing.
In sum, error is big, and inaccurate, poor repeatability is that the structure by slide type slip indicator itself is caused, and its reason is the operating range with front-wheel, micro to 1m (or 0.5m, on slide plate 0.8m), the analogue measurement that breaks away.Though adopted the new technology and the new method of many improvement slide type dynamic test stands both at home and abroad, the influence of all can't the dynamic similation automobile vehicle dynamic being breakked away in straight-line travelling process medium velocity, load.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art, provide a kind of and can accurately test under the different speed of a motor vehicle, different loads condition, the automobile sideslip detector of the horizontal value of sideslip of deflecting roller and the detection method of sideslip.
When the operation of a kind of simulated automotive is provided, the actual motion state of automobile, thereby make the result who is detected more reasonable, more meet the device of automobile practical operation situation, for vehicle inspection and test station and vehicle maintenance, maintenance company, provide accurate sideslip amount detection means.Can diagnose out the location misalignment state of deflecting roller rapidly, and be adjusted and repair.
Purpose of the present invention is achieved through the following technical solutions:
Duplicate accordingly after claims such as this part content are determined and get final product
With respect to prior art, the present invention has following advantage and useful technique effect:
1. amplified the rolling distance of detected vehicle, detected accurately.The present invention can make the straight-line travelling of forerunner's deflecting roller automobile simulating vehicle on the chain-wheel mechanism that the plane carrier bar is formed, and operating range can be 10m or 100m, also can be amplified to 1000m, even longer distance.From detecting principle as can be known, amplify the straight-line travelling distance of tested vehicle, the sampled data of measurand is many more, and the accuracy of measurement and repeatability are then high more.
2. satisfy among the GB GB7258-2004 " motor vehicle security of operation technical conditions " and detect requirement, good testing result and repeatability are arranged breakking away.Transversal displacement sensor (Y to) adopts " floating zero " metering system, by choosing the sampling time, can filter the initial elasticity lateral deviation distortion of tire and the transverse movement gap of mechanical driving part.Because the flexible distortion of tire of vehicle, mechanical driving part has movement clearance, measure transversal displacement by choosing the sampling time, can allow vehicle in the chain-wheel mechanism that the plane carrier bar is formed, travel behind one section initial distance, carry out data aggregation and sampling again, therefore need to adopt " floating zero " metering system, the value of sideslip that makes tested vehicle is good reproducibility as a result.
3. can measure the survey cunning value of forerunner's deflecting roller under sliding value of survey under the friction speed, under the different loads and the effect of different driving power.The present invention can ignore the shock effect of vehicle turnover test board to measurement result fully.Owing to can infinitely amplify the operating range of tested vehicle, therefore can measure the value of sideslip under friction speed, different loads, can be used for accurately mating the suspension positional parameter of steering front wheel.
Description of drawings
Accompanying drawing 1 is an automobile sideslip detector mechanical part structural representation;
Accompanying drawing 2 skids detect synoptic diagram;
Accompanying drawing 3 is automobile sideslip detector electrical appliance part structural representations.
Embodiment
The invention will be further described below by way of embodiments and drawings, but need to prove that embodiment does not constitute the restriction to the claimed scope of the present invention.
As shown in Figure 1, 2, the skid instrument is made up of mechanical part and electric part.Wherein, mechanical part is made up of left test board 15 and right test board 16, left side test board 15 and right test board 16 all are installed in the melt pit 14, left side test board 15 is identical with right test board 16 structures, all comprises plane carrier bar 2, back-up roller 3, bearing 4, sprocket wheel 5, sprocket shaft 6, base plate 7, location-plate 8, bearing seat 10, slide plate 11 and board-like line slideway 13.Sprocket wheel 5 is fixed on the sprocket shaft 6, and sprocket shaft 6 links to each other with bearing seat 10 by rolling bearing 4, and bearing seat 10 is fixed on the base plate 7; Plane carrier bar 2 and two sprocket wheels 5 are in transmission connection, and plane carrier bar 2, sprocket wheel 5, sprocket shaft 6, bearing 4 and bearing seat 10 are formed chain transmission; Back-up roller 3 is positioned at plane carrier bar 2 belows, supporting plane carrier bar 2, carrier bar 2 sides in plane are fixing with location-plate 8, and location-plate 8 lower ends are connected with base plate 7, back-up roller 3 is connected with location-plate 8 by sliding bearing, and location-plate 8 and bearing seat 10 all are fixed on the base plate 7 by Bolt Connection; Base plate 7 is arranged on the slide plate 11 by Bolt Connection, and slide plate 11 and board-like line slideway 13 link to each other by ball, and slide plate 11 can laterally move back and forth on board-like guide rail 13.In plane carrier bar 2 and ground level place and the surface level, the automobile steering roller 1 of and arranged on left and right sides contacts with plane carrier bar 2 on left and right two table apparatus respectively.
The rotation axis of rotary encoder 9 and sprocket shaft 6 coaxial installations are used for detecting velocity of rotation and rotation distance when slat chain rotates; Left dislocation sensor 12 and right displacement transducer 17 are selected the differential transformer type linear displacement transducer for use, comprise movable core and fixed part, movable core is affixed with slide plate 11 respectively, along with slide plate moves together, fixed part is installed on the board-like line slideway 13 by bolt, when slide plate 11 produces transversal displacement on guide rail 13, can determine the amount of displacement of slide plate 11 by the variation that detects voltage/current.
The rotation axis of described rotary encoder and the coaxial installation of sprocket shaft are used for detecting velocity of rotation and rotation distance when slat chain rotates; Left dislocation sensor and right displacement transducer are the differential transformer type linear displacement transducer, comprise movable core and fixed part, movable core respectively with the slide plate Joint, along with slide plate moves together, fixed part is installed on the board-like line slideway; When slide plate produces transversal displacement on guide rail, determine the amount of displacement of slide plate by the variation that detects voltage/current.
As shown in Figure 3, skid instrument electric part is made up of rotary encoder 9, left dislocation sensor 17, right displacement transducer 12, sampled signal treatment circuit, microprocessor, demonstration/output, communication apparatus etc.; Realize functions such as various controls, demonstration, data acquisition, processing.The sensor 12 that moves to left is connected with amplifier 19 respectively with the sensor 17 that moves to right, and amplifier 19 is connected with microprocessor 21 by A/D converter 20; Rotary encoder 9 is connected with microprocessor 21 by counting circuit 18; Microprocessor 21 is connected with demonstration, storage and communication apparatus respectively; Specifically be that microprocessor 21 is connected with demonstration/warning device 23 by I/O interface 22; Microprocessor 21 also is connected with serial communication device 25 by optical isolation 24; Microprocessor 21 is connected with storage device 26.Microprocessor 21 is selected the MCS-51 microprocessor for use.3 function keys (reset key, manual key and status key) are set on microprocessor 21, can change the state of microprocessor input port by their closure, thus decision detection mode and detected state.Can make the program in the instrument start anew to carry out by reset key, make the sideslip detector be in normal duty.Manual key is used for the mode of setting measurement, when being in auto state, when wheel travels certain distance (for example 10 meters) on monitor station, the beginning sample detecting, transversal displacement (Y to) adopts " floating zero " metering system, sampled distance certain (for example 20 meters).Deal with data is calculated, and shows the sideslip value at last.Status key is used for judging whether automobile sails out of monitor station.
Rotary encoder is selected SZKT-40 type rotary encoder for use; The sensor 12 that moves to left can be selected differential transformer type linear displacement transducer (FX81 type) for use with the sensor 17 that moves to right.Counting circuit 18 is selected 74LS161 type counting circuit for use, and display device selects for use 4 LED charactrons to form, and warning device is selected buzzer for use; Optical isolation 24 is selected photoelectrical coupler (4N35 type) for use, links to each other with microprocessor by the RS-232 mouth; Storage device 26 can be selected RAM2764 for use, and operational amplifier is selected ICL7650 for use, and AD574 type 12 bit pads are adopted in the A/D conversion.DAC0832 is adopted in the D/A conversion.
During detection, the left and right deflecting roller of tested vehicle reaches monitor station, when the deflecting roller 1 of vehicle front driving rolls on carrier bar, drives plane carrier bar 2 and rolls on sprocket wheel, and simulated automotive is in transport condition.Break away if exist, can produce side-friction between tire and the plane carrier bar 2, driving the plane chain laterally moves, because carrier bar is subjected to the common effect of contraction of lateral register plate and sprocket wheel, can't laterally move, transverse force then passes to slide plate 10 by lateral register plate, bearing seat, and slide plate 10 will produce horizontal moving on board-like line slideway 6 under the effect of transverse force.Rolling distance with tire is an X-axis, is Y-axis with the displacement of slide plate, by detecting displacement (being the rotation distance of sprocket wheel) the Δ X of vehicle and the displacement Δ Y of slide plate in the sampling time, therefore has: sideslip amount=Δ Y/ Δ X.
Using the above-mentioned automobile sideslip detector method that detects of breakking away comprises the steps:
(1) front-wheel of forerunner's deflecting roller automobile (the left and right wheel) reaches monitor station; The front-wheel of automobile drives plane carrier bar 2 and sprocket wheel 4 motions with the 3-30KM/h straight-line travelling, and under the effect of the side force that produces between tire and the plane carrier bar 2, slide plate 11 drives the above gear train of slide block and slides on board-like line slideway;
(2) input signal of the displacement transducer on the left and right line slideway through amplifying, send A/D converter respectively, advances microprocessor, detects the transversal displacement amount Δ Y of left and right slide plate;
(3) the rotary encoder pulse signal converts vehicle speed value (KM/h) operating range (M) respectively to through counter, detects the velocity of rotation v of sprocket wheel and the rotation distance Δ X of sprocket wheel (equaling the straight-line travelling distance of vehicle front-wheel);
(4) microprocessor calculates,
In the formula: Z
A left sideSideslip amount for the left steering wheel; Unit can be mm/m; Δ Y
A left sideBe the transversal displacement amount (mm) of left side slide unit slide plate, can stipulate that the inside transversal displacement of left and right slide plate is "+", outwards transversal displacement is "-".Δ X is the rotation distance (m) of side slid platform sprocket wheel, promptly equals the direct operating range of vehicle front-wheel, in like manner, also can handle through oversampled signals, just calculates Z
Right, Z
RightSideslip amount for the right turn wheel.At last, show, store, export the testing result of left and right wheel side sliding amount.If detect Z
A left side〉=5m/km or Z
Right〉=5m/km, then sideslip amount overload alarm.Can monitor dynamic measuring data in real time by serial communication interface and PC.
Slip indicator of the present invention is compared with the slide type slip indicator, owing to amplify the detection operating range X of tested vehicle, detects more Accurately; Can measure the value of sideslip under friction speed, different loads, be used for accurately mating the suspension location ginseng of steering front wheel Number.
Claims (6)
1, a kind of skid instrument is made up of mechanical part and electric part; It is characterized in that: described mechanical part is made up of left test board and right test board, left side test board and right test board all are installed in the melt pit, its structure is identical, all comprises plane carrier bar, back-up roller, bearing, sprocket wheel, sprocket shaft, base plate, location-plate, bearing seat, slide plate and board-like line slideway; Sprocket wheel is fixed on the sprocket shaft, and sprocket shaft links to each other with bearing seat by rolling bearing, and bearing seat is fixed on the base plate; The plane carrier bar is connected and forms chain-drive mechanism with two chain sprocket drive; Back-up roller is positioned at carrier bar below, plane, the supporting plane carrier bar, and carrier bar side, plane is fixed with location-plate, and the location-plate lower end is connected with base plate, and back-up roller is connected with location-plate by sliding bearing, and location-plate and bearing seat all are fixed on the base plate; Base plate is arranged on the slide plate, and slide plate links to each other by ball with board-like line slideway, and slide plate can laterally move back and forth on board-like guide rail;
Described electric part comprises rotary encoder, left dislocation sensor, right displacement transducer, sampled signal treatment circuit, microprocessor, demonstration/output device; The sensor that moves to left is connected with amplifier respectively with the sensor that moves to right, and amplifier is connected with microprocessor by A/D converter; Rotary encoder is connected with microprocessor by counting circuit; Microprocessor is connected with demonstration, storage and communication apparatus respectively;
The rotation axis of described rotary encoder and the coaxial installation of sprocket shaft are used for detecting velocity of rotation and rotation distance when slat chain rotates; Left dislocation sensor and right displacement transducer are the differential transformer type linear displacement transducer, comprise movable core and fixed part, movable core respectively with the slide plate Joint, along with slide plate moves together, fixed part is installed on the board-like line slideway; When slide plate produces transversal displacement on guide rail, determine the amount of displacement of slide plate by the variation that detects voltage/current.
2, skid instrument according to claim 1 is characterized in that: described rotary encoder is selected SZKT-40 type rotary encoder for use, and counting circuit is a 74LS161 type counting circuit.
3, skid instrument according to claim 1, it is characterized in that: described location-plate and bearing seat all are fixed on the base plate by Bolt Connection.
4, skid instrument according to claim 1, it is characterized in that: described base plate is arranged on the slide plate by Bolt Connection.
5, application rights requires the method that each described skid instrument of 1-4 breaks away and detects, and it is characterized in that comprising the steps:
(1) the left and right front-wheel of forerunner's deflecting roller automobile reaches monitor station; The left and right front-wheel of automobile drives the motion of plane carrier bar and sprocket wheel with the 3-30KM/h straight-line travelling, and under the effect of the side force that produces between tire and the plane carrier bar, slide plate drives gear train and slides on board-like line slideway;
(2) input signal of the displacement transducer on the left and right line slideway through amplifying, is transformed into digital signal by A/D converter respectively, and input microprocessor detects the transversal displacement amount Δ Y of left and right slide plate;
(3) the rotary encoder pulse signal converts vehicle speed value and operating range respectively to through counter, detects the velocity of rotation v of sprocket wheel and the rotation distance Δ X of sprocket wheel;
(4) microprocessor calculates,
In the formula: Z
A left sideSideslip amount for the left steering wheel; Δ Y
A left sideBe the transversal displacement amount of left side slide unit slide plate, Δ X is the rotation distance of side slid platform sprocket wheel, calculates Z through same processing
RightZ
RightFor the sideslip amount of right turn wheel, if detect Z
A left side〉=5m/km or Z
Right〉=5m/km, sideslip amount overload alarm.
6, the using vehicle slip indicator according to claim 5 method of breakking away and detecting, it is characterized in that: the rotation distance of described side slid platform sprocket wheel equals the direct operating range of vehicle front-wheel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100407017A CN101592557B (en) | 2009-06-30 | 2009-06-30 | Automobile sideslip detector and method for detecting sideslip |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100407017A CN101592557B (en) | 2009-06-30 | 2009-06-30 | Automobile sideslip detector and method for detecting sideslip |
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| CN105486519A (en) * | 2016-01-15 | 2016-04-13 | 吉林大学 | Integrated testing device for inter-wheel sideslip and inter-shaft sideslip of double-steering-shaft automobile |
| CN105486520A (en) * | 2016-01-15 | 2016-04-13 | 吉林大学 | Testing and adjusting integrated device for steering wheel side force of multiple-steering-shaft automobile |
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| JP2000111454A (en) * | 1998-10-06 | 2000-04-21 | Nissan Altia Co Ltd | Concern evaluating device of vehicle behavior |
| CN2418066Y (en) * | 1999-11-18 | 2001-02-07 | 陈明环 | Machine for testing and maintaining of braking and side-sliding of automobile |
| JP2002156313A (en) * | 2000-11-16 | 2002-05-31 | Altia Co Ltd | Test method for side slip or the like of vehicle, and its testing device |
| JP2002372480A (en) * | 2001-06-14 | 2002-12-26 | Altia Co Ltd | Apparatus and method for inspection of vehicle |
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| CN105486519A (en) * | 2016-01-15 | 2016-04-13 | 吉林大学 | Integrated testing device for inter-wheel sideslip and inter-shaft sideslip of double-steering-shaft automobile |
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| CN110285789A (en) * | 2019-05-28 | 2019-09-27 | 丽水市特种设备检测院 | A kind of vehicle comprehensive detector, detection system and detection method |
| CN111366380A (en) * | 2020-05-06 | 2020-07-03 | 吉林大学 | Synchronous detection device for sideslip components of multi-shaft automobile wheel and shaft |
| CN111366380B (en) * | 2020-05-06 | 2024-05-07 | 吉林大学 | Synchronous detection device for components of sideslip of multi-shaft automobile wheel and shaft |
| CN112345147A (en) * | 2020-10-30 | 2021-02-09 | 广东科学技术职业学院 | Automobile four-wheel lateral force detector |
| CN113029599A (en) * | 2021-04-12 | 2021-06-25 | 长春速建新技术开发有限公司 | Test bed for detecting and adjusting double front axle vehicle |
| CN113029599B (en) * | 2021-04-12 | 2024-03-26 | 长春速建新技术开发有限公司 | Be used for two front axle vehicle detection and adjustment test bench |
| CN117516961A (en) * | 2024-01-05 | 2024-02-06 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving automobile lateral stability testing device |
| CN117516961B (en) * | 2024-01-05 | 2024-04-05 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving automobile lateral stability testing device |
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| CN101592557B (en) | 2011-12-28 |
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