CN102176291B - Steering wheel road feel simulating device with adjustable rotating angle range - Google Patents
Steering wheel road feel simulating device with adjustable rotating angle range Download PDFInfo
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- CN102176291B CN102176291B CN 201110024298 CN201110024298A CN102176291B CN 102176291 B CN102176291 B CN 102176291B CN 201110024298 CN201110024298 CN 201110024298 CN 201110024298 A CN201110024298 A CN 201110024298A CN 102176291 B CN102176291 B CN 102176291B
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Abstract
The invention discloses a steering wheel road feel simulating device with an adjustable rotating angle range. The device comprises a steering wheel, a bracket, a moment sensor, a motor system and a rack, wherein one end of the moment sensor is connected with the steering wheel through a first coupler, and the other end of the moment sensor is connected with a motor shaft in the motor system through a second coupler; a damping system is arranged between the first coupler and the steering wheel; the other end of the moment sensor is connected with the motor shaft in the motor system through the second coupler, a gear shaft and a third coupler; two sets of double-thread double-regulation mechanisms which are completely same are arranged on the rack which is in the vertical direction of the axes of the gear shaft; a rack shaft is arranged between the two sets of double-thread double-regulation mechanisms which are completely same; and a gear on the gear shaft is engaged with a rack on the rack shaft. By the device, the steering wheel has a damping effect along the axial direction, vibration from a simulator is reduced, the rotating angle range of the steering wheel can be adjusted, and the maximum resistant moment can be adjusted. The device is suitable for simulators of different types of vehicles.
Description
Technical field
The present invention relates to a kind of bearing circle road feel analogue means, especially relate to the adjustable bearing circle road feel analogue means of a kind of angle range.
Background technology
Vehicle simulator is specially at various vehicles, and the platform of a driving experience sensation in virtual environment is provided to the driver.The effect of vehicle simulator increases day by day, is used for training driver person, research and development tests virtual prototype, has all shown its significance especially as recreational facilities etc.Aspect training driver person, it is dangerous to utilize vehicle simulator can significantly reduce training, reduces the requirement to the training site, effectively saves the space; Aspect the research and development virtual prototype, can in virtual environment, test various design parameters and can meet the demands or whether have a good performance, for further optimal design foundation is provided; Aspect recreational facilities, an athletics event platform such as traffic congestion etc. is provided for vast vehicle fan, demonstrated its powerful recreational and commercial value potentiality.
Vehicle simulator will farthest be given the feeling of immersion and the sense of reality.Man-machine interaction is to realize one of important content of the feeling of immersion and the sense of reality.Road feel analogue means involved in the present invention is applied in the middle of the vehicle simulator exactly, is that driver and simulator carry out mutual important interface.The pilot control bearing circle, the road feel analogue means can provide the moment of resistance according to current vehicles state parameter, ground parameter, makes the driver obtain as much as possible information of road surface, strengthens the feeling of immersion and the sense of reality.Dissimilar vehicles are also inequality to the requirement of bearing circle slewing area, requirement to the maximum resistance square is also different, therefore invent and a kind ofly can regulate the steering wheel angle scope within the specific limits, and the road feel analogue means that can change the maximum resistance square under the situation of not changing motor has the very significance of reality.
Chinese scholars is very deep to the research of road feel, mainly concentrates on the design etc. of electronic commutator of road feel simulation, the engineering truck of various servo steering systems in simulation to simulative automobile device bearing circle aligning torque, the real vehicles.The aligning torque simulation system that is applied in the simulative automobile device that Jilin University is designed is made up of real-time computer, feedback control system, torque motor and bearing circle, focuses in the control of motor; The V D Mills and the J R Wagner scholar of the U.S. further investigate theoretically to automobile hydraulic electric power steering system, electric boosting steering system, for the design of road feel analogue means provides good theoretical foundation; Domestic have some scholars also at the wire-controlled steering system in the real vehicles, utilize torque motor to generate device as road feel, because wire-controlled steering system has been cancelled the mechanical connection between bearing circle and the pivoted wheels on vehicle, bearing circle road feel analogue means in this and the simulator has closely similar characteristics, therefore has good reference; Jiangsu University had once designed a kind of electronic commutator at engineering truck, and its force characteristic has been carried out experimental study and analysis.Owing to there is the self-aligning program, therefore designed electronic commutator is not considered the generation of aligning torque in the middle of the engineering truck, and its mechanical hook-up mainly is made up of bearing circle, torque sensor, magnetic damper and rotary encoder.In sum, to the design studies of vehicle simulator road feel analogue means, two kinds of situations have appearred: the one, and whole in early days road feel analogue means only is made up of spring-damp system and bearing circle, does not have control system.That this device is suitable for is less demanding to road feel, installing space is extremely under the condition of limited; The 2nd, stress control system, the moment that emphasis is concentrated on motor generates in the control, and mechanical part only is made up of bearing circle, torque motor, torque sensor and the necessary device that is connected and fixed.Second kind of situation had tangible progress than first kind, and it utilizes motor to generate parts as moment, and can take into full account influences the various factors that moment generates.But second kind of situation still has deficiency, and it is embodied in:
1) the steering wheel angle scope is non-adjustable, can not adapt to various users' requirement;
2) there is not degree of freedom in bearing circle at axial direction, does not promptly have shock-absorbing function, and it all passes to staff with the vibration of simulator;
3) under the situation of not changing motor, the maximum resistance square is non-adjustable, can not satisfy the requirement of various dissimilar vehicle simulators, and adaptability is bad.
Summary of the invention
Have at being applied to bearing circle road feel analogue means in the vehicle simulator at present that the steering wheel angle scope is non-adjustable, bearing circle does not have shock-absorbing function, the nonadjustable deficiency of maximum resistance square at axial direction, the invention provides the adjustable bearing circle road feel analogue means of a kind of angle range that can address these problems.
The technical solution used in the present invention is:
The present invention includes bearing circle, support, torque sensor, electric system and stand, an end of torque sensor is connected with bearing circle through first shaft coupling, and the other end of torque sensor is connected with motor shaft in the electric system through second shaft coupling.Between first shaft coupling and the bearing circle shock mitigation system is housed, the other end of torque sensor is connected with motor shaft in the electric system through second shaft coupling, gear shaft and the 3rd shaft coupling; With the two governor motions of identical pair of screw thread of two covers are installed on the stand of gear shaft axis normal direction, between the two governor motions of identical pair of screw thread of two covers rack shaft is housed, the tooth bar on the wheel and rack axle on the gear shaft is meshed.
Described shock mitigation system comprises sliding sleeve axle, damping spring, end cap and the axis of guide; The sliding sleeve axle has stepped bore away from bearing circle one end, and the axis of guide is installed damping spring near the also perforate of bearing circle one end between the sliding sleeve axle and the axis of guide, forms and is slidingly matched with feather key, groove between the sliding sleeve axle and the axis of guide; The other end of sliding sleeve axle is connected with bearing circle, and the other end of the axis of guide is connected with first shaft coupling.
The described two governor motions of two screw threads comprise interior regulating shaft, regulate guide pin bushing, spring and outer bush; Outer bush and adjusting guide pin bushing constitute screw pair, and interior regulating shaft also constitutes screw pair with the adjusting guide pin bushing, the axle head of regulating shaft in an end of spring is fixed on, and the other end of spring withstands on the end face of rack shaft, also can not contact with the end face of rack shaft; In like manner, the two governor motions of described another pair screw thread and this mechanism are about the axis symmetric arrangement of gear shaft.
The invention has the beneficial effects as follows:
1, this analogue means makes bearing circle have damping effect vertically, reduces to come from the vibration of simulator body.
2, can regulate the angle range of bearing circle, satisfy requirements of different users.
3, can regulate the maximum resistance square, be applicable to the simulator of dissimilar vehicles such as automobile, engineering truck.
Description of drawings
Fig. 1 is the general shape figure of this analogue means.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the A-A cut-open view of Fig. 2.
Fig. 4 is the C place partial enlarged drawing of Fig. 3.
Fig. 5 is the D-D cut-open view of Fig. 4.
Fig. 6 is the B-B cut-open view of Fig. 2.
Among the figure: 1, bearing circle, 2, shock mitigation system, 3, support, 4, torque sensor, 5, pinion and rack, 6, the two governor motions of two screw thread, 7, fixing card, 8, electric system (comprising motor, reducer casing and photoelectric encoder), 9, stand, 10, first shaft coupling, 11, second shaft coupling, the 12, the 3rd shaft coupling, 13, the sliding sleeve axle, 14, damping spring, 15, end cap, 16, the axis of guide, 17, sunk screw, 18, rack shaft, 19, gear shaft, 20, interior regulating shaft, 21, regulate guide pin bushing, 22, spring, 23, outer bush.
Embodiment
The invention will be further described below in conjunction with drawings and embodiments.
As Fig. 1, Fig. 2, shown in Figure 3, the present invention includes bearing circle 1, support 3, torque sensor 4, electric system (comprising motor, reducer casing and photoelectric encoder) 8 and stand 9, one end of torque sensor 4 is connected with bearing circle 1 through first shaft coupling 10, and the other end of torque sensor 4 is connected with motor shaft in the electric system 8 through second shaft coupling 11.Between first shaft coupling 10 and the bearing circle 1 shock mitigation system 2 is housed, the other end of torque sensor 4 is connected with motor shaft in the electric system 8 through the gear shaft 19 of second shaft coupling 11, pinion and rack 5 and the 3rd shaft coupling 12; With with two identical fixedly cards 7 the two governor motions 6 of identical pair of screw thread of two covers are installed on the stand 9 of gear shaft 19 axis normal directions, two 6 of the governor motions of identical pair of screw thread of two covers are equipped with rack shaft 18, tooth bar on the wheel and rack axle 18 on the gear shaft 19 is meshed, and meshing point is at the axis segment point midway of gear shaft 19.
As Fig. 4, shown in Figure 5, described shock mitigation system 2 comprises sliding sleeve axle 13, damping spring 14, end cap 15 and the axis of guide 16; Sliding sleeve axle 13 has stepped bore away from bearing circle 1 one ends, the axis of guide 16 is near the also perforate of bearing circle 1 one ends, 16 of the sliding sleeve axle 13 and the axis of guides are installed damping spring 14,16 of the sliding sleeve axle 13 and the axis of guides form and are slidingly matched with feather key, groove, end cap 15 passes the path axle head of the axis of guide 16 and has the end face partly that is slidingly matched near itself and sliding sleeve axle 13, holddown spring 14 is fixed on the sliding sleeve axle 13 with sunk screw 17; The other end of sliding sleeve axle 13 is connected with bearing circle 1, and the other end of the axis of guide 16 is connected with first shaft coupling 10.
As Fig. 3, shown in Figure 6, regulating shaft 20, adjusting guide pin bushing 21, spring 22 and outer bush 23 in the described two governor motions of two screw threads comprise; Outer bush 23 and adjusting guide pin bushing 21 constitute screw pairs, interior regulating shaft 20 also constitutes screw pair with adjusting guide pin bushing 21, the axle head of regulating shaft 20 in one end of spring 22 is fixed on, the other end of spring 22 withstands on the end face of rack shaft 18, also can not contact with the end face of rack shaft 18; In like manner, the two governor motions of described another pair screw thread and this mechanism are about the axis symmetric arrangement of gear shaft 19.The fixing card 7 of outer bush 23 usefulness is fixed on the stand 9, the rack shaft 18 of pinion and rack 5 can be free to slide in outer bush 23, regulate guide pin bushing 21 by screw pair spinning in and out in outer bush 23, realization is to the mechanical position limitation of rack shaft 18, interior regulating shaft 20 passes through the screw pair spinning in and out in regulating guide pin bushing 21, when rack shaft 18 1 end faces withstand adjusting guide pin bushing 21 1 end faces, the decrement difference of spring 22, thereby the maximum resistance difference that provides.
The course of work of whole device is described below:
The course of work of apparatus of the present invention has two kinds of situations, is respectively left and right rotation angles scope symmetry and asymmetric.The situation of left and right rotation angles scope symmetry: at first the adjusting guide pin bushing 21 of the two adjustment structures 6 of two screw threads is screwed in certain position in the outer bush 23 by screw pair, again that axle head and spring 22 1 ends are fixing interior regulating shaft 20 screws in by screw pair and regulates certain interior position of guide pin bushing 21.The adjusting position of the two governor motions of the two screw threads of an other cover is identical therewith.This moment rack shaft 18 contact or do not contact with spring 22 can.During driver's steering wheel rotation, torque direction of passage dish 1 passes to sliding sleeve axle 13, the axis of guide 16, first shaft coupling 10, torque sensor 4, second shaft coupling 11, gear shaft 19, rack shaft 18, spring 22 successively, regulates guide pin bushing 21, reach the limit of the position, stop operating, owing to passing through the 3rd shaft coupling 12 near motor shaft one ends, gear shaft 19 is connected in this process simultaneously, so be subjected to the effect of the motor moment of resistance all the time with motor shaft.If want the steering wheel angle scope to be reduced or increase this moment, then the degree of depth of regulating guide pin bushing 21 screw-in outer bush 23 can be increased or reduces regulating shaft 20 in regulating again simultaneously, feasible maximum resistance square size to fit when rack shaft reaches the limit of the position.The asymmetric situation of left and right rotation angles scope: if the adjusting guide pin bushing of the two governor motions of the two screw threads of two covers screws in the position difference in the outer bush, then the scope of bearing circle left and right rotation angles is also different, and the maximum resistance square when reaching the limit of the position also can be realized by regulating shaft in regulating.The vibration transfer that comes from the simulator body in the entire work process is decayed by damping spring 14 during to the axis of guide 16 of shock mitigation system 2, has played the effect of damping.
Claims (1)
1. bearing circle road feel analogue means that angle range is adjustable, comprise bearing circle (1), support (3), torque sensor (4), electric system (8) and stand (9), one end of torque sensor (4) is connected with bearing circle (1) through first shaft coupling (10), and the other end of torque sensor (4) is connected with motor shaft in the electric system (8) through second shaft coupling (11); It is characterized in that: between first shaft coupling (10) and the bearing circle (1) shock mitigation system (2) is housed, the other end of torque sensor (4) is connected with motor shaft in the electric system (8) through second shaft coupling (11), gear shaft (19) and the 3rd shaft coupling (12); Go up the two governor motions (6) of identical pair of screw thread of installation two covers with the stand (9) of gear shaft (19) axis normal direction, between the two governor motions (6) of identical pair of screw thread of two covers rack shaft (18) is housed, the tooth bar on the wheel and rack axle (18) on the gear shaft (19) is meshed;
Described shock mitigation system (2) comprises sliding sleeve axle (13), damping spring (14), end cap (15) and the axis of guide (16); Sliding sleeve axle (13) has stepped bore away from bearing circle (1) one end, the axis of guide (16) is near bearing circle (1) one also perforate of end, between the sliding sleeve axle (13) and the axis of guide (16) damping spring (14) is installed, is formed and be slidingly matched with feather key, groove between the sliding sleeve axle (13) and the axis of guide (16); The other end of sliding sleeve axle (13) is connected with bearing circle (1), and the other end of the axis of guide (16) is connected with first shaft coupling (10);
The described two governor motions (6) of two screw threads comprise interior regulating shaft (20), regulate guide pin bushing (21), spring (22) and outer bush (23); Outer bush (23) and adjusting guide pin bushing (21) constitute screw pair, interior regulating shaft (20) also constitutes screw pair with adjusting guide pin bushing (21), one end of spring (22) is fixed on the axle head of interior regulating shaft (20), the other end withstands on the end face of rack shaft (18), also can not contact with the end face of rack shaft (18); In like manner, two governor motions of described another pair screw thread and the two governor motions of this pair screw thread are about the axis symmetric arrangement of gear shaft (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110024298 CN102176291B (en) | 2011-01-22 | 2011-01-22 | Steering wheel road feel simulating device with adjustable rotating angle range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110024298 CN102176291B (en) | 2011-01-22 | 2011-01-22 | Steering wheel road feel simulating device with adjustable rotating angle range |
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| Publication Number | Publication Date |
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| CN102176291A CN102176291A (en) | 2011-09-07 |
| CN102176291B true CN102176291B (en) | 2013-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110024298 Expired - Fee Related CN102176291B (en) | 2011-01-22 | 2011-01-22 | Steering wheel road feel simulating device with adjustable rotating angle range |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103325285B (en) * | 2013-07-04 | 2015-03-25 | 北京宣爱智能模拟技术股份有限公司 | Automobile driving simulator steering device and automobile driving simulator |
| CN105679171B (en) * | 2016-04-15 | 2018-06-12 | 重庆工商职业学院 | A kind of EPS demonstrators |
| CN106448335B (en) * | 2016-11-07 | 2019-07-05 | 浙江工业大学 | A kind of emulation steering wheel arrangement for drive simulating |
| US10272944B2 (en) * | 2017-07-26 | 2019-04-30 | GM Global Technology Operations LLC | Steering systems and methods for generating haptic feel torque |
| CN108775941A (en) * | 2018-08-08 | 2018-11-09 | 合肥利都自动化仪表有限公司 | A kind of petrochemical system flow integrator rotating device |
| CN109881600B (en) * | 2019-03-21 | 2020-12-08 | 安徽银升焊接材料有限公司 | Roadblock throwing device applied to road/bridge |
| CN110346150A (en) * | 2019-08-05 | 2019-10-18 | 浙江颢屹汽车技术有限公司 | A kind of steering wheel with limiting structure of car model |
| CN110843905A (en) * | 2019-12-17 | 2020-02-28 | 重庆达航工业有限公司 | Automatic aligning steering system |
| CN114684250B (en) * | 2020-12-30 | 2023-11-14 | 比亚迪股份有限公司 | Vehicle steering system and vehicle with same |
| WO2024021087A1 (en) * | 2022-07-29 | 2024-02-01 | 华为技术有限公司 | Steering wheel limiting device, steering wheel, and vehicle |
| CN115615465B (en) * | 2022-12-19 | 2023-04-07 | 西安航天精密机电研究所 | Liquid-floated gyroscope with adjustable conductive hairspring interference torque and test adjustment method thereof |
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| CN1603192A (en) * | 2003-10-02 | 2005-04-06 | 日产自动车株式会社 | Vehicle steering apparatus |
| CN1883993A (en) * | 2005-06-22 | 2006-12-27 | 比亚迪股份有限公司 | Steering mechanism for vehicular drive-by-wire system and its steering drag simulator |
| CN101393081A (en) * | 2007-09-12 | 2009-03-25 | 中国第一汽车集团公司 | Electric power-assisted steering test stand |
| CN201449335U (en) * | 2009-07-16 | 2010-05-05 | 南京东华汽车转向器有限公司 | Electric steering function inspecting and testing bench |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100421423B1 (en) * | 2001-02-10 | 2004-03-09 | 한국과학기술원 | An Electric Steering Wheel Device Using A Semi Active Actuator |
| KR101007422B1 (en) * | 2008-12-31 | 2011-01-12 | 김정섭 | Steering wheel shaft having shock-absorbing device |
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2011
- 2011-01-22 CN CN 201110024298 patent/CN102176291B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1603192A (en) * | 2003-10-02 | 2005-04-06 | 日产自动车株式会社 | Vehicle steering apparatus |
| CN1883993A (en) * | 2005-06-22 | 2006-12-27 | 比亚迪股份有限公司 | Steering mechanism for vehicular drive-by-wire system and its steering drag simulator |
| CN101393081A (en) * | 2007-09-12 | 2009-03-25 | 中国第一汽车集团公司 | Electric power-assisted steering test stand |
| CN201449335U (en) * | 2009-07-16 | 2010-05-05 | 南京东华汽车转向器有限公司 | Electric steering function inspecting and testing bench |
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| CN102176291A (en) | 2011-09-07 |
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