CN103353404A - Test bed for simulating steer-by-wire road-surface resistance force of automobile - Google Patents
Test bed for simulating steer-by-wire road-surface resistance force of automobile Download PDFInfo
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- CN103353404A CN103353404A CN 201310274371 CN201310274371A CN103353404A CN 103353404 A CN103353404 A CN 103353404A CN 201310274371 CN201310274371 CN 201310274371 CN 201310274371 A CN201310274371 A CN 201310274371A CN 103353404 A CN103353404 A CN 103353404A
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Abstract
The invention discloses a test bed for simulating a steer-by-wire road-surface resistance force of an automobile. Accuracy of a prior steering resistance force simulating test bed does not meet requirements. According to the invention, a resistance worm gear and a transmission gear are fixed on the bottom part of an input shaft of a steering gear. The top part of the input shaft of the steering gear is connected with the bottom part of a steering executing transmission shaft through a cardan joint. Teeth on the output shaft of the steering gear engage with the transmission gear. Two ends of the output shaft of the steering gear are hinged with steering gear guide rods through steering gear cross pull rods respectively. The steering gear guide rods each are fixed with wheels together. A resistance worm that is fixed with an output shaft of a resistance simulating motor together is fitted with the resistance worm gear. A transmission worm gear is fixed on the middle part of the steering executing transmission shaft and the top part of the steering executing transmission shaft is fixed with an inner rotor of an angle sensor together. The angle sensor is connected with an input end of an electric control unit. A transmission worm fixed with the output shaft of the steering executing motor together is fitted with the transmission worm. A damp simulating motor and the steering executing motor are connected with an output end of the electric unit respectively. The test bed for simulating the steer-by-wire road-surface resistance force of the automobile can simulate the steering resistance force accurately.
Description
Technical field
The present invention relates to the Automotive Steering Technology field, be specifically related to a kind of automobile steering-by-wire surface resistance simulator stand.
Background technology
Performance of automotive steering system directly affects control stability in the vehicle traveling process, security and comfortableness.In the stages such as automobile steering system has experienced that traditional mechanical type turns to, hydraulic power-assist steering system and electric boosting steering system, pilot control stability, comfortableness aspect there has been larger improvement.The common ground of above-mentioned steering is catanator and turns to and exist mechanical connection between the topworks that ratio of gear is fixed, and the steering characteristic of automobile changes with the speed of a motor vehicle.The fast development of current auto electronic control technology has brought technical reform and innovation to automobile steering system.Wire control technology progressively is being applied in the steering, and namely the study hotspot of current steering technique is steering-by-wire.Steering-by-wire has been cancelled catanator and has been turned to mechanical connection between the topworks, by electronic control unit driver's the intention that turns to is passed to topworks and the Real-time Feedback information of turning to.The electronic control unit of steering-by-wire technology can arrange any ratio of gear, thereby break away from the restriction of conventional steering stable drive ratio, compensated with speed of a motor vehicle Varying parameters, so that the motor turning characteristic does not change with the speed of a motor vehicle, improved car steering active safety and stability.
Automobile steering system is used a series of stages such as needing the design of experience physical prototyping, bench test, real vehicle test and modification and perfection from research and development to volume production.Wire-controlled steering system is because having cancelled catanator and having turned to mechanical connection between the topworks, the steering logic algorithm is comparatively complicated in the control system, reliability and security remain further to be verified, thereby must fully debug the software and hardware of system before the real vehicle test carrying out, until system has optimum performance.Thereby the steering-by-wire simulation testing platform builds seem particularly important in the wire-controlled steering system performance history, can carry out sufficient preparation for the real vehicle test.
In the steering-by-wire simulation testing platform is built, thereby the force environment of steering mechanism obtains more accurately test figure in order can real-time simulation to go out to turn to, therefore the simulation of road pavement steering drag is the important component part of test-bed, and it mainly is for the suffered resistance of simulating vehicle steering actuator.
At present the steering drag simulation being had adopts spring to carry out, adopt the fixing spring simulated resistance of an end such as application number 200820081713.5, the drag size of simulation and decrement or the linear variation of elongation of spring, in case selected spring then spring rate remain unchanged, be that lateral resistance is only relevant with spring length, degree of accuracy can not satisfy testing requirements, can not reflect the resistance situation of actual tests process.Application number 201010191612.5 adopts electrohydraulic system to carry out resistance simulation, adopt servo-valve that hydraulic cylinder is carried out resistance simulation control, because the hydraulic system equipment requirement is many, cost is high, it is large to take up room, and structure is comparatively complicated, and the leakage of oil hidden danger that hydraulic system exists there is no at present method and effectively solves, there is certain hysteresis quality in simultaneously hydraulic system output, can not satisfy the requirement of real-time of emulation.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of automobile steering-by-wire surface resistance simulator stand has been proposed, this testing table records the turn signal that turns to actuating motor drag size and the direction of resistance simulation motor is controlled according to angular transducer, thereby simulates steering drag exactly.
The present invention includes bracing or strutting arrangement, steering gear, universal joint, resistance simulation system, angular transducer, shaft coupling, ECU (Electrical Control Unit), turn to executive system and two wheels.
Described bracing or strutting arrangement comprises bottom support frame, steering gear back up pad, many support bars, turns to executive system back up pad and angular transducer bracing frame; Described bottom support frame comprises base, steering gear back up pad installation shaft and two wheel mounting rods; Steering gear back up pad installation shaft level is fixedly installed on the top of base; Described wheel mounting rod is in T shape, comprises integrated back shaft part and installation shaft part; The back shaft part of every wheel mounting rod is fixedly connected with the top end of base, and coaxial being horizontally disposed with of back shaft part of two wheel mounting rods; The installation shaft part of two wheel mounting rods all vertically arranges, the installation shaft of every wheel mounting rod is partially embedded in the mounting groove of offering on the hub for vehicle wheel and with cartwheel hinge and is connected, and the two sides of described mounting groove are arranged symmetrically with about the rotary middle spindle of wheel; Be fixedly installed the steering gear back up pad on the described steering gear back up pad installation shaft; Many support bars are matrix and are arranged on the steering gear back up pad, and the bottom of every support bar is fixedly connected with the steering gear back up pad, and the top is fixedly connected with turning to the executive system back up pad; The angular transducer bracing frame is fixedly installed on and turns on the executive system back up pad; The shell body of angular transducer is fixedly installed on the angular transducer bracing frame.
Described steering gear comprises steering gear input shaft, steering gear output shaft, steering gear drag link, steering gear guide rod and steering gear housing; Steering gear housing integral body is L-shaped, and an arm level is fixedly installed on the steering gear back up pad, and another arm vertically arranges, and two arm turnings offer the motor mounting hole; The steering gear input shaft whole installation is connected by bearing in the arm that steering gear housing vertically arranges and with steering gear housing, and the top of steering gear input shaft is stretched out steering gear housing and is fixedly connected with an end of universal joint; The bottom of steering gear input shaft is fixedly installed resistance worm gear and transmission gear successively, and described transmission gear is spiral gear; Described steering gear output shaft whole installation is slidingly connected in the horizontally disposed arm of steering gear housing and with steering gear housing, and the middle part of steering gear output shaft is provided with teeth, the transmission gear engagement on teeth and the steering gear input shaft; Steering gear housing is all stretched out at the two ends of steering gear output shaft, and be articulated and connected with an end of a steering gear drag link respectively, one end of the other end of each steering gear drag link and a steering gear guide rod is articulated and connected, and the other end of each steering gear guide rod is fixedly connected with a wheel.
Described resistance simulation system comprises resistance simulation motor and resistance simulation electric machine controller; The resistance simulation motor is fixed on the steering gear housing, the output shaft of resistance simulation motor stretches in the motor mounting hole, be fixedly installed the resistance worm screw on the output shaft of resistance simulation motor, resistance worm gear on resistance worm screw and the steering gear input shaft is connected, the input end of damping simulated machine is connected by the output terminal of electric wire with the resistance simulation electric machine controller, and the input end of resistance simulation electric machine controller is connected with an output terminal of ECU (Electrical Control Unit).
Described turn to executive system to comprise to turn to carry out transmission shaft, turn to actuating motor and turn to the actuating motor controller; The described bottom of carrying out transmission shaft that turns to is fixedly connected with the other end of universal joint; Turn to the middle part of carrying out transmission shaft to be fixedly installed the transmission worm gear, the top is fixedly connected with the inner rotator of angular transducer by shaft coupling, and the output terminal of angular transducer is connected with the input end of ECU (Electrical Control Unit); Turn to the output shaft end of actuating motor to be fixedly installed the transmission worm screw, the transmission worm screw is connected with turning to the transmission worm gear of carrying out on the transmission shaft; Turn to actuating motor to be fixedly installed on and turn on the executive system back up pad, turn to the input end of actuating motor to be connected with the output terminal that turns to the actuating motor controller, turn to the input end of actuating motor controller to be connected with another output terminal of ECU (Electrical Control Unit).
Beneficial effect of the present invention:
1, the present invention records the turn signal that turns to actuating motor drag size and the direction of resistance simulation system is controlled according to angular transducer, thereby simulates steering drag exactly.
2, the present invention can come the simulated resistance that produces under the more different control algolithms by changing resistance simulation systematic control algorithm in the ECU (Electrical Control Unit), determines desirable control algolithm for different situations.
3, the present invention adopts wheel image, vivo displaying to turn to intention.
4, the present invention is simple in structure, and is easy and simple to handle.
Description of drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is damping simulation system and the perspective view that turns to executive system among Fig. 1;
Fig. 3 is the transmission principle figure of steering gear and resistance simulation system among the present invention;
Fig. 4 is the transmission principle figure that turns to executive system among the present invention.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
As depicted in figs. 1 and 2, a kind of automobile steering-by-wire surface resistance simulator stand comprises bracing or strutting arrangement 1, steering gear 2, universal joint 3, resistance simulation system, angular transducer 5, shaft coupling 6, ECU (Electrical Control Unit) 7, turns to executive system 8 and two wheels 9.
Bracing or strutting arrangement 1 comprises bottom support frame 1-1, steering gear back up pad 1-2, three support bar 1-3, turns to executive system back up pad 1-4 and angular transducer bracing frame 1-5; Bottom support frame 1-1 comprises base, steering gear back up pad installation shaft and two wheel mounting rods; Steering gear back up pad installation shaft level is fixedly installed on the top of base; The wheel mounting rod is in T shape, comprises integrated back shaft part and installation shaft part; The back shaft part of every wheel mounting rod is fixedly connected with the top end of base, and coaxial being horizontally disposed with of back shaft part of two wheel mounting rods; The installation shaft part of two wheel mounting rods all vertically arranges, and the installation shaft of every wheel mounting rod is partially embedded in the mounting groove of offering on wheel 9 wheel hubs and with cartwheel hinge and is connected, and the two sides of mounting groove are arranged symmetrically with about the rotary middle spindle of wheel; Be fixedly installed steering gear back up pad 1-2 on the steering gear back up pad installation shaft; Three triangular in shape being arranged on the steering gear back up pad of support bar 1-3, the bottom of every support bar 1-3 is fixedly connected with the steering gear back up pad, and the top is fixedly connected with turning to executive system back up pad 1-4; Angular transducer bracing frame 1-5 is fixedly installed on and turns on the executive system back up pad; The shell body of angular transducer 5 is fixedly installed on the angular transducer bracing frame 1-5.
As shown in figures 1 and 3, steering gear 2 comprises steering gear input shaft 2-1, steering gear output shaft 2-2, steering gear drag link 2-3, steering gear guide rod 2-4 and steering gear housing 2-5; Steering gear housing 2-5 integral body is L-shaped, and an arm level is fixedly installed on the steering gear back up pad 1-2, and another arm vertically arranges, and two arm turnings offer the motor mounting hole; Steering gear input shaft 2-1 whole installation is connected by bearing in the arm that steering gear housing vertically arranges and with steering gear housing, and the top of steering gear input shaft is stretched out steering gear housing and is fixedly connected with an end of universal joint 3; The bottom of steering gear input shaft 2-1 is fixedly installed resistance worm gear 2-6 and transmission gear 2-7 successively, and transmission gear is spiral gear; Steering gear output shaft 2-2 whole installation is slidingly connected in the horizontally disposed arm of steering gear housing and with steering gear housing, and the middle part of steering gear output shaft 2-2 is provided with teeth, the transmission gear 2-7 engagement on teeth and the steering gear input shaft 2-1; Steering gear housing is all stretched out at the two ends of steering gear output shaft 2-2, and be articulated and connected with the end of a steering gear drag link 2-3 respectively, the end of the other end of each steering gear drag link 2-3 and a steering gear guide rod 2-4 is articulated and connected, and the other end of each steering gear guide rod 2-4 is fixedly connected with a wheel 9.
The resistance simulation system comprises resistance simulation motor 4-1 and resistance simulation electric machine controller 4-2; Resistance simulation motor 4-1 is fixed on the steering gear housing, the output shaft of resistance simulation motor stretches in the motor mounting hole, be fixedly installed resistance worm screw 4-3 on the output shaft of resistance simulation motor, resistance worm gear 2-6 on resistance worm screw and the steering gear input shaft 2-1 is connected, the input end of damping simulated machine 4-1 is connected by the output terminal of electric wire with resistance simulation electric machine controller 4-2, and the input end of resistance simulation electric machine controller 4-2 is connected with an output terminal of ECU (Electrical Control Unit) 7.
As shown in Figure 1 and Figure 4, turn to executive system 8 to comprise to turn to and carry out transmission shaft 8-1, turn to actuating motor 8-2 and turn to actuating motor controller 8-3; Turn to the bottom of carrying out transmission shaft 8-1 to be fixedly connected with the other end of universal joint 3; Turn to the middle part of carrying out transmission shaft 8-1 to be fixedly installed transmission worm gear 8-4, the top is fixedly connected with by the inner rotator of shaft coupling 6 with angular transducer 5, and the output terminal of angular transducer 5 is connected with the input end of ECU (Electrical Control Unit) 7; Turn to the output shaft end of actuating motor 8-2 to be fixedly installed transmission worm screw 8-5, the transmission worm screw is connected with turning to the transmission worm gear 8-4 that carries out on the transmission shaft; Turn to actuating motor 8-2 to be fixedly installed on and turn on the executive system back up pad 1-4, turn to the input end of actuating motor to be connected with the output terminal that turns to actuating motor controller 8-3, turn to the input end of actuating motor controller 8-3 to be connected with another output terminal of ECU (Electrical Control Unit) 7.
A kind of course of work of automobile steering-by-wire surface resistance simulator stand is as follows:
The driver passes to ECU (Electrical Control Unit) 7 by steering wheel system with the steering instructions signal, steering order passed to after carrying out shift control algorithms the steering instructions signal being processed according to ECU (Electrical Control Unit) 7 is inner and to turn to actuating motor controller 8-3, turn to actuating motor controller 8-3 to drive and turn to actuating motor 8-2 execution to turn to, through carrying out transmission shaft 8-1 output by turning to after transmission worm gear 8-4 and the transmission worm screw 8-5 deceleration, the angle signal of carrying out transmission shaft 8-1 that turns to that angular transducer 5 will record passes to ECU (Electrical Control Unit) 7; Turn to execution transmission shaft 8-1 by universal joint 3 go to action to be passed to steering gear input shaft 2-1, teeth engagement on transmission gear 2-7 on the steering gear input shaft 2-1 and the steering gear output shaft 2-2, rotatablely moving of steering gear input shaft 2-1 is converted to the rectilinear motion of steering gear output shaft 2-2, steering gear output shaft 2-2 drives steering gear drag link 2-3 motion, and steering gear drag link 2-3 pulling realizes turning to of wheel with the steering gear guide rod 2-4 that wheel is fixed.ECU (Electrical Control Unit) 7 receives the angle signal of angular transducer 5, according to turning to the damping control algolithm angle signal is processed, and the generation antihunt signal sends to resistance simulation electric machine controller 4-2, resistance simulation electric machine controller 4-2 drives resistance simulation motor 4-1 and produces simulated resistance, cooperate with resistance worm gear 2-6 on the steering gear input shaft 2-1 by the resistance worm screw 4-3 on the output shaft of resistance simulation motor, simulated resistance is acted on the upper resistance simulation of realizing of steering gear input shaft 2-1.
Claims (2)
1. an automobile steering-by-wire surface resistance simulator stand comprises bracing or strutting arrangement, steering gear, universal joint, resistance simulation system, angular transducer, shaft coupling, ECU (Electrical Control Unit), turns to executive system and two wheels, it is characterized in that:
Described bracing or strutting arrangement comprises bottom support frame, steering gear back up pad, many support bars, turns to executive system back up pad and angular transducer bracing frame; Described bottom support frame comprises base, steering gear back up pad installation shaft and two wheel mounting rods; Steering gear back up pad installation shaft level is fixedly installed on the top of base; Described wheel mounting rod is in T shape, comprises integrated back shaft part and installation shaft part; The back shaft part of every wheel mounting rod is fixedly connected with the top end of base, and coaxial being horizontally disposed with of back shaft part of two wheel mounting rods; The installation shaft part of two wheel mounting rods all vertically arranges, the installation shaft of every wheel mounting rod is partially embedded in the mounting groove of offering on the hub for vehicle wheel and with cartwheel hinge and is connected, and the two sides of described mounting groove are arranged symmetrically with about the rotary middle spindle of wheel; Be fixedly installed the steering gear back up pad on the described steering gear back up pad installation shaft; Many support bars are matrix and are arranged on the steering gear back up pad, and the bottom of every support bar is fixedly connected with the steering gear back up pad, and the top is fixedly connected with turning to the executive system back up pad; The angular transducer bracing frame is fixedly installed on and turns on the executive system back up pad; The shell body of angular transducer is fixedly installed on the angular transducer bracing frame;
Described steering gear comprises steering gear input shaft, steering gear output shaft, steering gear drag link, steering gear guide rod and steering gear housing; Steering gear housing integral body is L-shaped, and an arm level is fixedly installed on the steering gear back up pad, and another arm vertically arranges, and two arm turnings offer the motor mounting hole; The steering gear input shaft whole installation is connected by bearing in the arm that steering gear housing vertically arranges and with steering gear housing, and the top of steering gear input shaft is stretched out steering gear housing and is fixedly connected with an end of universal joint; The bottom of steering gear input shaft is fixedly installed resistance worm gear and transmission gear successively; Described steering gear output shaft whole installation is slidingly connected in the horizontally disposed arm of steering gear housing and with steering gear housing, and the middle part of steering gear output shaft is provided with teeth, with the transmission gear engagement on the steering gear input shaft; Steering gear housing is all stretched out at the two ends of steering gear output shaft, and be articulated and connected with an end of a steering gear drag link respectively, one end of the other end of each steering gear drag link and a steering gear guide rod is articulated and connected, and the other end of each steering gear guide rod is fixedly connected with a wheel;
Described resistance simulation system comprises resistance simulation motor and resistance simulation electric machine controller; The resistance simulation motor is fixed on the steering gear housing, the output shaft of resistance simulation motor stretches in the motor mounting hole, be fixedly installed the resistance worm screw on the output shaft of resistance simulation motor, resistance worm gear on resistance worm screw and the steering gear input shaft is connected, the input end of damping simulated machine is connected by the output terminal of electric wire with the resistance simulation electric machine controller, and the input end of resistance simulation electric machine controller is connected with an output terminal of ECU (Electrical Control Unit);
Described turn to executive system to comprise to turn to carry out transmission shaft, turn to actuating motor and turn to the actuating motor controller; The described bottom of carrying out transmission shaft that turns to is fixedly connected with the other end of universal joint; Turn to the middle part of carrying out transmission shaft to be fixedly installed the transmission worm gear, the top is fixedly connected with the inner rotator of angular transducer by shaft coupling, and the output terminal of angular transducer is connected with the input end of ECU (Electrical Control Unit); Turn to the output shaft end of actuating motor to be fixedly installed the transmission worm screw, the transmission worm screw is connected with turning to the transmission worm gear of carrying out on the transmission shaft; Turn to actuating motor to be fixedly installed on and turn on the executive system back up pad, turn to the input end of actuating motor to be connected with the output terminal that turns to the actuating motor controller, turn to the input end of actuating motor controller to be connected with another output terminal of ECU (Electrical Control Unit).
2. a kind of automobile steering-by-wire surface resistance simulator stand according to claim 1, it is characterized in that: described transmission gear is spiral gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310274371.4A CN103353404B (en) | 2013-07-02 | 2013-07-02 | Test bed for simulating steer-by-wire road-surface resistance force of automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310274371.4A CN103353404B (en) | 2013-07-02 | 2013-07-02 | Test bed for simulating steer-by-wire road-surface resistance force of automobile |
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| Publication Number | Publication Date |
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| CN103353404A true CN103353404A (en) | 2013-10-16 |
| CN103353404B CN103353404B (en) | 2015-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310274371.4A Expired - Fee Related CN103353404B (en) | 2013-07-02 | 2013-07-02 | Test bed for simulating steer-by-wire road-surface resistance force of automobile |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105445035A (en) * | 2015-11-26 | 2016-03-30 | 安徽安凯福田曙光车桥有限公司 | Non-driving steering axle assembly comprehensive test bedstand |
| CN106598036A (en) * | 2017-01-26 | 2017-04-26 | 湖北汽车工业学院 | Hardware-in-loop test bench suitable for automobile steer-by-wire |
| CN113483957A (en) * | 2021-08-16 | 2021-10-08 | 上汽通用五菱汽车股份有限公司 | Automobile steering device sealing performance endurance test detection device |
| CN114018605A (en) * | 2021-10-29 | 2022-02-08 | 北京博科测试系统股份有限公司 | Motor loading type steering resistance simulation method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4283550B2 (en) * | 2003-01-24 | 2009-06-24 | 本田技研工業株式会社 | Steering device |
| CN101187598B (en) * | 2007-11-29 | 2010-11-24 | 吉林大学 | Resistance emulation device of automobile electric power steering system experimental platform |
| CN101229819B (en) * | 2008-02-28 | 2010-06-02 | 吉林大学 | Wire-controlled steering system for automobiles |
| CN201527343U (en) * | 2009-10-19 | 2010-07-14 | 重庆理工大学 | Performance test device for automobile steering system |
| CN102589907A (en) * | 2012-02-08 | 2012-07-18 | 奇瑞汽车股份有限公司 | Platform frame for steering-by-wire experiments |
| CN202582909U (en) * | 2012-05-18 | 2012-12-05 | 广西大学 | Automobile steering system parameter measurement test bench |
-
2013
- 2013-07-02 CN CN201310274371.4A patent/CN103353404B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105445035A (en) * | 2015-11-26 | 2016-03-30 | 安徽安凯福田曙光车桥有限公司 | Non-driving steering axle assembly comprehensive test bedstand |
| CN105445035B (en) * | 2015-11-26 | 2018-02-02 | 安徽安凯福田曙光车桥有限公司 | A kind of non-driven steering axle assembly comprehensive experiment table |
| CN106598036A (en) * | 2017-01-26 | 2017-04-26 | 湖北汽车工业学院 | Hardware-in-loop test bench suitable for automobile steer-by-wire |
| CN113483957A (en) * | 2021-08-16 | 2021-10-08 | 上汽通用五菱汽车股份有限公司 | Automobile steering device sealing performance endurance test detection device |
| CN113483957B (en) * | 2021-08-16 | 2023-03-21 | 上汽通用五菱汽车股份有限公司 | Automobile steering device sealing performance endurance test detection device |
| CN114018605A (en) * | 2021-10-29 | 2022-02-08 | 北京博科测试系统股份有限公司 | Motor loading type steering resistance simulation method and device |
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| CN103353404B (en) | 2015-07-22 |
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