CN101608973B - Automobile hydraulic electric power steering reliability test bench and program control test method - Google Patents
Automobile hydraulic electric power steering reliability test bench and program control test method Download PDFInfo
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- CN101608973B CN101608973B CN2009100600480A CN200910060048A CN101608973B CN 101608973 B CN101608973 B CN 101608973B CN 2009100600480 A CN2009100600480 A CN 2009100600480A CN 200910060048 A CN200910060048 A CN 200910060048A CN 101608973 B CN101608973 B CN 101608973B
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Abstract
The invention relates to an automobile hydraulic electric power steering reliability test bench and program control test method. An input system comprises a servo motor, a reducer and a universal joint connected with the input end of a steering gear; an output system comprises a linear hydraulic cylinder with two functions of driving and load simulation, the front pole of a hydraulic cylinder piston is provided with a pressure sensor and connected with the rocker arm of the output end of the steering gear by a coupler with a joint bearing. An eccentric shaft, an eccentric bushing and a variable frequency motor are arranged at the inner bore of the rear lug of the hydraulic cylinder to form an automobile vibration simulation system, so as to simulate real vibration of rugged road surface. The hydraulic cylinder is compact and simple in structure, system integration is high and usable range is wide. The joint bearing causes the installation to be convenient. The hydraulic loop includes a throttle valve, thus speeding up oil-taking. An industrial personal computer, a motion control card and a data acquisition card are used, so that system stability is high, measurement accuracy is high, and response speed is fast. Curves and process control can be displayed in real time, and automatic save, plotting and printing can be realized. The test bench set can complete all reliability tests of fatigue, wear, forced steering, inverse overload and overpressure.
Description
(1) technical field: the present invention relates to automobile hydraulic electric power steering reliability test bench, belong to testing of equipment class (G01M).
(2) background technology:
Automobile power steering is the critical component of automobile.It is an important project that the power steering stgear product is carried out performance test, domestic many mechanisms all possess some special knowledge to the hydraulic steering gear experimental bench system, its product respectively has characteristics: the experimental bench system of the China Measures Institute, can realize following function: the positive ability etc. of returning of input shaft moment, free clearance mensuration, steering gear sensitivity and force characteristic, steering gear when unloaded number of total coils of steering gear and unloaded moment, steering gear full load, the testing table layout is near actual, but the load that applies is the simple load of fixing, and simulate effect is smaller.The experimental bench system of Jiaotong University Of East China, structure is simpler, adopts PLC control, and reliability is higher, but simpler to the simulation of load, and adopts the cost of PLC higher relatively.As seen domestic steering gear Research on Testing System all lays particular stress on call through test.The loads of adopting the simulation rule on the structure, the road pavement simulation is limited more.
Chinese patent application: ' car steering wheel assembly duty varying experiment table system ' number of patent application: 02109786.0, the load size loads case by the steering gear input end and finishes, loading case is the torsional forces of simulating tire by a torsion spring, this kind simulation is not suitable for input end does not have sensor to represent the system of torque, can not realize the performance test to input end simultaneously by the control to the output terminal load.
Chinese patent: ' automobile hydraulic power steering gear durability experimental device ' ZL200820088910.X steering gear input end is directly connected by motor, the hydraulic system of hydraulic booster is directly controlled by Oil pump electrical machinery, resistance simulation is mainly finished by the cylinder of one group of symmetry, increases the commutation that a pair of travel switch is realized cylinder push-rod.This device can only be finished test of endurancing, and does not have Uneven road vibration simulation system.
(3) summary of the invention:
Automobile hydraulic electric power steering reliability test bench provided by the invention and program control test method, its objective is provides a testing table can finish Total Test in the fail-test standard, and has the performances such as use, installation that real Uneven road simulation becomes G system, optimization.
Technical scheme is as follows:
Automobile hydraulic electric power steering reliability test bench can be finished torture test, wear test, forced steering experiment on testing table, reverse overload and overvoltage test is characterized in that: this testing table is provided with:
A) steering gear input system provides the mechanical system of the driving of analog input signal and input end, and the servomotor, speed reduction unit and the universal joint that are in transmission connection are in turn arranged; The universal joint output terminal is connected with the steering gear input end; Steering gear and horizontal direction keep tilting; Be connected with shaft coupling between speed reduction unit and universal joint; B) the steering gear output system is the mechanical system that provides analog output signal in the steering gear experiment, the driving and the load of output terminal are provided: be provided with a double acting straight line hydraulic cylinder; This hydraulic cylinder is made up of the place ahead oil cylinder and the rear insulated chamber of mutual seal isolation, has in the oil cylinder to be fixed in the back bar that piston forward is stretched out the preceding bar of oil cylinder and extend out to insulated chamber backward; Preceding bar front end is equipped with pull pressure sensor, and is connected with steering gear output terminal rocking arm by the shaft coupling with first oscillating bearing of front end; The steering gear output terminal need set positive stop by test; C) the simulative automobile vibrational system is the vibration of simulated automotive in fatigue, wearing and tearing and forced steering test: in the hydraulic cylinder body tip designs ear endoporus is arranged, the second joint bearing is installed in the ear endoporus, dress is fixedly installed in the outer eccentric bushing of excentric shaft in the second joint bearing, and excentric shaft and variable-frequency motor output terminal are in transmission connection;
D) support system: on basic platform, be fixed with lifting table, the support that supports steering gear that supports servomotor and speed reduction unit, the bearing seat that supports excentric shaft; E) electric-control system is provided with control machine and system software, in order to control servomotor, hydraulic system solenoid valve, steering gear, pull pressure sensor and variable-frequency motor; F) hydraulic system is provided with steering gear loop and output hydraulic circuit; The double acting straight line hydraulic cylinder that comprises of output hydraulic circuit, hydraulic pump, commutation are with three position four-way electromagnetic valve and two throttling valve matching of solenoid valve therewith, and the driving and the load simulating device of configuration electric-control system formation output system.
The program control test method of above-mentioned testing table is characterized in that this method is for carrying out the synchronous collection method of multithreading analog quantity with dma mode; Industry control machine computer language compilation program, program control test method has the following steps: 1) beginning; 2) initialization: comprise the setting of the manual control of continuous and crawl control simultaneously; 3) detect automatically: comprise whether detection hardware is ready to; 3) test procedure: comprise five experiments carrying out requirement; 4) carry out the test action: be provided with the compensation revision program that is used to control double acting straight line hydraulic cylinder shock absorbing power; 5) image data: the sampling rate of setting reaches 100 times/second at least; 6) whether arrive extreme value: judge whether image data pressure, moment of torsion arrive extreme value,, get back to image data and continue to gather if do not arrive; 7) test is finished: judge whether test is finished; If do not finish.Turn back to again and carry out the test action; 8) preserve graphing; 9) log off; 10) finish.
The concrete structure of above-mentioned each system describes in detail in the back in conjunction with the accompanying drawings.
Beneficial effect of the present invention:
1) a special-purpose test platform that has merged the steering gear reliability testing of electric, machinery and hydraulic technique provided by the invention can be finished five tests (seeing Table 1) in the fail-test standard, has realized the multi-functional of system.Table 1 is according to system for use in carrying among five of the fail-test of QC/T529 " automobile power steering gear assembly bench test method " and QC/T530 " automobile power steering gear assembly technical conditions " standard-required tests and the present invention.Table 1
2) the simulative automobile vibrational system is set, at first eccentric bushing is fixedly installed in outside the excentric shaft, and both can not be relatively rotated, and when excentric shaft during by the variable-frequency motor driven in rotation, drives eccentric bushing and rotates together, forms the eccentric vibrating device of a little offset distance; Directly eccentric bushing and hydraulic cylinder are coupled together by second joint bearing and ear endoporus again, the very little compactness that takes up room, safe coupling arrangement have been formed, this eccentric analog vibration by with being connected of hydraulic cylinder ear endoporus, shake is delivered to total system, the load on more approaching actual road surface is provided, has made the test effect closing to reality.
3) because the distinctive adjustable disposition of oscillating bearing, adorn first oscillating bearing between hydraulic cylinder front end and rocking arm shaft coupling, dress second joint bearing is eliminated the influence that brings because of coaxiality error between ear endoporus and eccentric bushing, make this coupling arrangement to assembling require lowly, be easy to adjust installation.Especially being connected of vibrational system and pilot system, not only make installation simpler, and installation accuracy is effectively guaranteed.
4) double acting straight line hydraulic cylinder is particular refinement design, can easily realize the identical reciprocating power of hydraulic cylinder output, the warranty test performance.Establish the insulated chamber of stretching for behind the bar behind the piston simultaneously, when guaranteeing hydraulic cylinder works around the safety of testing crew.Hydraulic system is provided with steering gear loop and output hydraulic circuit, prevents that the iron filings in steering gear loop from entering hydraulic cylinder, keeps the cleaning of hydraulic cylinder hydraulic oil.The output hydraulic circuit is established positive and negative two throttling valve, realizes two-way oil-feed, guarantees that the continuous circulation of oil when output system is done load, warranty test performance reach and finish smoothly.Output system drives and load simulating device, and be achieved as follows two functions simultaneously: 1. drive function: in torture test, input end is fixed, and device provides acting force back and forth to drive rocking arm by hydraulic cylinder.2. loading functional: in wear test, device has been simulated the load of steering gear rocking arm under actual state by hydraulic cylinder, so this device has compact conformation, simple, the high and system's usable range height of the system integration.
5) adopt industrial computer, system software, motion control card, data collecting card and sensor etc., system stability is higher, measuring accuracy is high and response speed is fast.
6) software adopts the program and the modularization of the VC++ language compilation of company of Microsoft (MicroSoft), has good user interface, operates simplyr, shows curve in real time, requires, checks data and process of the test is controlled and adjusted; And can preserve, draw and print functions such as test report.After the dynamic test setup parameter, follow execution test action, test is finished and is carried out data preservation and drawing automatically.
(4) description of drawings:
Fig. 1 testing table physical construction front elevation;
Fig. 2 testing table physical construction vertical view (be Fig. 1 K to view, clear for drawing, this figure does not have picture basis platform vertical view lines);
Fig. 3 steering gear pivoted arm corner synoptic diagram (being Fig. 1 M partial enlarged drawing);
Fig. 4 eccentric bushing 10.2 single-piece figure;
Fig. 5 Fig. 2 A-A cut-open view;
Fig. 6 testing table electric-control system 14 block diagrams;
Fig. 7 testing table hydraulic system 15 structural drawing;
The manual part electric-control system of Fig. 8 testing table circuit Figure 16;
Fig. 9 testing table is controlled operating part circuit Figure 17 automatically;
Figure 10 system software flow process Figure 18.
(5) embodiment:
The following formation of present embodiment automobile hydraulic electric power steering reliability test bench:
See Fig. 1, Fig. 2, input system is established servomotor 1, speed reduction unit 2 and the universal joint 3 that is in transmission connection in turn; The universal joint output terminal is connected with steering gear 4 input end 4a.Steering gear 4 keeps tilting with horizontal direction, is similar to former automobile mounting means, can satisfy test products model diversity.The speed reduction unit periphery is with the installing plate 2.2 that is fixed in worm gear screw lift 2.1 upper ends, and testing table basis platform 13 is fixed in the lifter lower end, and servomotor and speed reduction unit are installed on the lifting table thus, highly can regulate arbitrarily.Between speed reduction unit and universal joint with ten thousand-subtract shaft coupling 3.1 to be connected.Steering gear 4 usefulness sectional fixture 4c (being support 4c) support fixation is in basic platform 13, and basic platform adopts T-slot that basic platform is installed.The steering gear output terminal is installed positive stop 5, be placed on the two ends of rocking arm, be electronic devices and components, be installed in one above the stationary fixture, this positive stop 5 is because be not frequent use, and can have influence on other test again, so when needing in system design process, the interim installation is in order to control steering gear output terminal Rocker arm 4
bRotation.
See Fig. 1, Fig. 2, output system is provided with a double acting straight line hydraulic cylinder 9; Be made up of the place ahead oil cylinder 9.2 and rear insulated chamber 9.5, the centre is a seal isolation plate 9.6; Have in the oil cylinder 9.2 be fixed in piston 9.3 and stretch out bar 9.1 before the piston of oil cylinder forward and extend out to the piston of insulated chamber backward after bar 9.4.The bar front end is equipped with pull pressure sensor 8 before the piston.See Fig. 2, Fig. 4, the first oscillating bearing 7a of pull pressure sensor front end is made up of the hollow ball in bearing outside 7.2 and the overcoat 7.1; Shaft coupling 6 main shafts 6.1 pass Rocker arm 4 b endoporus and hollow ball 7.1 endoporus simultaneously, and an end is fixing with back-up ring 6.4 and nut 6,3, and the other end is tightened with nut 6.2, then the hydraulic cylinder piston front end is connected with steering gear Rocker arm 4 b.It is 20MPa that high workload oil pressure is designed in the steering gear loop, and average operating oil pressure 13.7MPa sees Fig. 2, double acting straight line hydraulic cylinder diameter D
9Be taken as 80mm, the hydraulic cylinder length L
9Be taken as 760mm.The design considerations hydraulic cylinder realizes that reciprocating frequency is 0.5～1.2Hz, and steering gear flow size is 16L/min, by formula: the flow T=π * (D of per second
9/ 2)
2, obtain hydraulic cylinder diameter D as calculated
9Be 80mm.See Fig. 3, the pivot angle amplitude of rocking arm is 90 ° (45+45) in being undertaken by test, and brachium L=250mm, straight line hydraulic cylinder travel are S, according to formula: S=L/Sin45 °, calculate S=350mm, consider reality, and design runlength is 500mm.Consider that the straight line hydraulic cylinder has that twin shaft is two to stretch out design, the cylinder body that extended, getting L9 is 760mm.
See Fig. 1, Fig. 2, Fig. 4 and Fig. 5, double acting straight line hydraulic cylinder 9 rear end of the cylinder block ear endoporus 9A pass an eccentric shaft 10.1, the outer dress of axle eccentric bushing 10.2, and eccentric bushing is fixedly installed on the excentric shaft, and both can not be relatively rotated; Dress second joint bearing 7b between eccentric bushing 10.2 and ear endoporus 9A, its hollow ball 7.1 inner hole sleeves are outside eccentric bushing 10.2, and second joint bearing outer ring 7.2 is loaded in the ear endoporus 9A.The double-row radial ball bearing 10.3 that excentric shaft two ends dress supports, bearing seat 10.4 is installed on the basic platform 13; Excentric shaft 10.1 one ends are by becoming-inclined to one side shaft coupling 11 and variable-frequency motor 12 output shaft driving coupling.See Fig. 4, eccentric bushing 10.2 diameter of bores and outside diameter distance of center circle Δ are 1mm.Form eccentric simulative automobile vibrational system by above structure.
See Fig. 6, solid line is represented mechanical connection, and dotted line is represented control signal.Electric-control system 14 following formation: 1. be provided with industrial computer 14.4, system software.2. be provided with MPC motion control card 14.3 control servomotors 1 in the industrial computer.3. establish the three position four-way electromagnetic valve 14.7 (being the reversal valve 15.5b among Fig. 7) of motion control expansion card 14.6 control double acting straight line hydraulic cylinders 9 oil circuits and the two-position four-way solenoid valve 14.8 (being reversal valve 15.5a among Fig. 7) in steering gear loop; Two solenoid valves, 14.7,14.8 pipelines drive the oil circulation by the pump with the Hydraulic Station hydraulic pump with drive motor 14.10 and 14.11 respectively.4. data collecting card 14.2 is selected for use and is ground magnificent PCL818L type, directly gathers pull pressure sensor pressure and gathers the pressure in steering gear 4 loops by pressure unit 14.9; And the frequency converter 14.1 (frequency converter is selected Delta VFD037B43A for use) by data collecting card 14.2 control of conversion motors 12.It is by the ISA interface that data collecting card 14.2 provides data to industrial computer.
See Fig. 7, hydraulic system 15 is established steering gear loop 15A and output hydraulic circuit 15B, is respectively equipped with fuel tank 15.1a and 15.1b, filtrator 15.2a and 15.2b, hydraulic pump 15.3a and 15.3b, surplus valve 15.4a and 15.4b, reversal valve 15.5a and 15.5b, throttling valve 15.6a and 15.6b (two), tensimeter 15.7a and 15.7b in two loops.The oil pressure transmitter 14.9 that the steering gear loop is equipped with flowmeter 15.8a and is gathered oil pressure directly is communicated with and need adorns the refrigeratory 15.9a of cool cycles oil with working chambers in the steering gear 4.The output hydraulic circuit is at reversal valve 15.5b inlet end dress flow speed control valve 15.8b.Cooperate reversal valve 15.5b that two throttling valve 15.6b are set in the output hydraulic circuit, realize two-way oil-feed, guarantee that the continuous circulation of oil when output system is done load, experimental performance reach and finish smoothly.
See Fig. 8, automatically controlled manual part 16.Exchange 380V one phase terminal ground connection, form the 220V AC power.KM1～KM5 is a contactor, controls by switch, and contactor gets electric startup corresponding apparatus 16.1～16.9, and contactor is provided with self-locking, and button is pressed recording status automatically.Among the figure: SB6～SB7 is locking press button band green light L6.SB1A～SB5A is locking press button not.SB1B～SB5B is locking press button band green light L not
1～L
5Equipment 16.1 is Switching Power Supply; 16.2 be pump drive motor 14.10; 16.3 be pump drive motor 14.11; 16.4 be Switching Power Supply; 16.5 be hydraulic oil well heater (being loaded on hydraulic cylinder 9 inside among Fig. 7); 16.6 for the air-cooled equipment of hydraulic pressure (be installed on the pipeline outside cold oil of steering gear oil pressure oil circuit, see refrigeratory 15.9a among Fig. 7) 16.7 is variable-frequency motor 12 and driver; 16.8 be the variable-frequency motor fan; 16.9 be servomotor 1 and driver.
See Fig. 9, automatically the operating part 17 of control.KM10-KM12, KM15-KM16 are that relay is controlled by motion control expansion card 14.6 (selecting MPC08), and solenoid valve 14.8 (being reversal valve 15.5a) gets electric hydraulic starting; Solenoid valve 14.7 (being reversal valve 15.5b) is left and right control respectively hydraulic cylinder about action, remaining control alarm lamp 14.5.
See Figure 10, the program control test method that automobile hydraulic electric power steering reliability test bench adopts, this method is for carrying out the synchronous collection method of multithreading simulation volume with dma mode; Industry control machine computer language compilation program, program control test method has the following steps: 1) beginning; 2) initialization: comprise simultaneously continuously and the setting of the manual control of crawl; 3) detect automatically: comprise whether detection hardware is ready to; 3) test procedure: comprise five experiments carrying out requirement; 4) carry out the test action: be provided with the compensation revision program that is used to control double acting straight line hydraulic cylinder 9 shock absorbing power; 5) image data: the sampling rate of setting reaches 100 times/second at least; 6) whether arrive extreme value: judge whether image data pressure, moment of torsion arrive extreme value,, get back to image data and continue to gather if do not arrive; 7) test is finished: judge whether test is finished; If do not finish to turn back to again and carry out the test action; 8) preserve graphing; 9) log off; 10) finish.
There is industrial computer to be provided with the programming module of following VC++ language: the main interface module that is used for man-machine interaction; Be used to contain initialization load module manually continuous or crawl control; Be used to gather the data acquisition module of steering gear and cell pressure, control of conversion motor; Be used to control motion-control module and image display module, data preservation enquiry module and the report output module of servomotor, solenoid valve.
Claims (5)
1. automobile hydraulic electric power steering reliability test bench is characterized in that this testing table is provided with:
A) steering gear input system: the servomotor (1), speed reduction unit (2) and the universal joint (3) that are in transmission connection are in turn arranged; The universal joint output terminal is connected with steering gear (4) input end; Steering gear and horizontal direction keep tilting; Be connected with shaft coupling (3.1) between speed reduction unit and universal joint;
B) steering gear output system: be provided with a double acting straight line hydraulic cylinder (9); This hydraulic cylinder is made up of the place ahead oil cylinder (9.2) and the rear insulated chamber (9.5) of mutual seal isolation, has in the oil cylinder of the place ahead to be fixed in the back bar (9.4) that piston (9.3) stretches out the preceding bar (9.1) of the place ahead oil cylinder forward and extend out to the rear insulated chamber backward; Preceding bar front end is equipped with pull pressure sensor (8), and is connected with steering gear output terminal rocking arm (4b) by the shaft coupling with first oscillating bearing (7a) (6) of front end; The steering gear output terminal need set positive stop (5) by test;
C) simulative automobile vibrational system: double acting straight line hydraulic cylinder (9) cylinder body tip designs has ear endoporus (9A), second joint bearing (7b) is installed in the ear endoporus, dress is fixedly installed in the outer eccentric bushing (10.2) of excentric shaft (10.1) in the second joint bearing, and excentric shaft and variable-frequency motor (12) output terminal is in transmission connection;
D) support system: on basic platform (13), be fixed with lifting table (2.1), the support (4C) that supports steering gear that supports servomotor and speed reduction unit, the bearing seat (10.4) that supports excentric shaft;
E) electric-control system (14) is provided with industrial computer, system software, in order to control servomotor, three position four-way electromagnetic valve (15.5b) and two-position four-way solenoid valve (15.5a), steering gear, pull pressure sensor and variable-frequency motor;
F) be provided with steering gear loop (15A) and output hydraulic circuit (15B) in the hydraulic system (15); Double acting straight line hydraulic cylinder (9) in the output hydraulic circuit, hydraulic pump (15.3b), commutation form the driving and the load simulating device of steering gear output system with the electric-control system of three position four-way electromagnetic valve (15.5b), two throttling valve (15.6b) that match with three position four-way electromagnetic valve and configuration.
2. by the described testing table of claim 1, it is characterized in that being equiped with in the industrial computer motion control card (14.3), the three position four-way electromagnetic valve (15.5b) of controlled hydraulic system and the motion control expansion card (14.6) of two-position four-way solenoid valve (15.5a) of control servomotor; The data collecting card (14.2) of the frequency converter (14.1) of control steering gear (4), pull pressure sensor (8) and control of conversion motor.
3. by claim 1 or 2 described testing tables, it is characterized in that double acting straight line hydraulic cylinder diameter D9 is taken as 80mm, the long L9 of double acting straight line hydraulic cylinder is taken as 760mm.
4. by claim 1 or 2 described testing tables, it is characterized in that industrial computer is provided with the programming module of following computerese: the main interface module that is used for man-machine interaction; Be used to contain initialization load module manually continuous or crawl control; Be used to gather the data acquisition module of the frequency converter of steering gear and pull pressure sensor, control of conversion motor; Be used to control motion-control module and image display module, data preservation enquiry module and the report output module of servomotor, three position four-way electromagnetic valve (15.5b) and two-position four-way solenoid valve (15.5a).
5. by the program control test method of the described testing table of claim 1, it is characterized in that this method is for carrying out the synchronous collection method of multithreading analog quantity with dma mode; Industry control machine computer language compilation program, program control test method has the following steps:
1) beginning; 2) initialization: comprise the setting of the manual control of continuous and crawl control simultaneously; 3) detect automatically: comprise whether detection hardware is ready to; 3) test procedure: comprise following five experiments of carrying out requirement: torture test, wear test, forced steering test, reverse overload test and overvoltage test; 4) carry out the test action: be provided with the compensation revision program that is used to control double acting straight line hydraulic cylinder shock absorbing power; 5) image data: the sampling rate of setting reaches 100 times/second at least; 6) whether arrive extreme value: judge whether image data pressure, moment of torsion arrive extreme value,, get back to image data and continue to gather if do not arrive; 7) test is finished: judge whether test is finished; If do not finish, turn back to again and carry out the test action; 8) preserve graphing; 9) log off; 10) finish.
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| CN2009100600480A CN101608973B (en) | 2009-07-20 | 2009-07-20 | Automobile hydraulic electric power steering reliability test bench and program control test method |
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| CN101608973B true CN101608973B (en) | 2011-08-17 |
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| CN103364208A (en) * | 2012-04-01 | 2013-10-23 | 浙江万达汽车方向机有限公司 | Service-life test stand used for electric-power steering system |
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| CN109084162B (en) * | 2018-10-31 | 2023-09-26 | 四川大学 | Cutting fluid selectable lubrication system and lubrication method |
| CN109470494A (en) * | 2018-11-23 | 2019-03-15 | 湖北荣屹昊机器人科技有限公司 | A kind of steering assembly performance test stand |
| CN111964566B (en) * | 2020-08-31 | 2022-07-15 | 东科克诺尔商用车制动技术有限公司 | Stable and effective measurement method for free clearance of power steering gear |
| CN112697464B (en) * | 2020-12-10 | 2022-10-21 | 煌太阳科技有限公司 | Forward durable wear detection method for electric power steering column |
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-
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- 2009-07-20 CN CN2009100600480A patent/CN101608973B/en not_active Expired - Fee Related
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