CN104236792B - A kind of sensor for steering always becomes dynamic calibration system - Google Patents

A kind of sensor for steering always becomes dynamic calibration system Download PDF

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Publication number
CN104236792B
CN104236792B CN201410411865.7A CN201410411865A CN104236792B CN 104236792 B CN104236792 B CN 104236792B CN 201410411865 A CN201410411865 A CN 201410411865A CN 104236792 B CN104236792 B CN 104236792B
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sensor
programmer
collecting card
data collecting
data
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CN104236792A (en
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王凯
包隽
蒋京林
李小飞
胡卫骅
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Bosch Huayu Steering Systems Co Ltd
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ZF Shanghai Steering Systems Co Ltd
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Abstract

The present invention relates to steering technical field, specifically a kind of sensor for steering always becomes dynamic calibration system. Sensor for steering always becomes a dynamic calibration system, comprises torque transducer, angular coding device, sensor always become, NI data collecting card, data acquisition card, power supply module, digital quantity programmer, analog quantity programmer, industrial computer. Compared with the existing technology, it is provided that a kind of for the calibration system under dynamic behavior and method, it is achieved that electric boosting steering system sensor always becomes the situation of big batch high precision, the demarcation of high qualification rate; Substantially increase the performance that sensor always becomes.

Description

A kind of sensor for steering always becomes dynamic calibration system
Technical field
The present invention relates to steering technical field, specifically a kind of sensor for steering always becomes dynamic calibration system.
Background technology
Being different from the mechanical steering of orthodox car, hydraulic power-assisted steering and electro-hydraulic power-assisted steering, the electric power steering starting widespread use in recent years has power-assisted response accurately, the plurality of advantages such as power-assisted ability is adjustable flexibly, and application energy consumption is low. Particularly under current country widelys popularize new forms of energy new and high technology automobile industry and carries out automotive industry energy-saving and emission-reduction policy overall background, electric boosting steering system obtains the favor of numerous whole car OEM and consumers in general. At present, the above vehicle in domestic middle and high end has configured this technology mostly, also in progressively switch application in new listing A level, B level passenger car, it is contemplated that will replace conventional art after several years comprehensively, become the basic configuration of new technology automobile.
But, current electric power steering is designed and developed and is also all only rested in correlation technique ability in indivedual external industry giant's hand. Although domestic a lot of unit all starts to develop electric boosting steering system in recent years, but it is all there is bigger gap with external rival in conceptual design, manufacturing test solution formulation associated equipment exploitation.
Particularly at one of automatically controlled kernel component: in demarcation test that torque transducer always becomes and associated equipment scheme, involved core technology content is controlled by external giant completely, and native country manufacturer does not almost have one to grasp relevant art ability and produce high-performance, high-quality product.
The effect that torque transducer always becomes: first by physical construction, officer is applied moment of torsion on the steering wheel and be converted to angle change by mechanical deformation, then by Hall torque sensors, angle change is converted to change in electric. Then, servo steering system control unit can always become electrical signal output value to calculate officer's moment of torsion used according to sensor. The quality that sensor always becomes signal to export performance directly determines that force aid system is to the quality of driver assistance ability.
And in physical construction, different sensors always becomes part torsional stiffness different, the scale-up factor that different Hall torque sensors converts angle change to change in electric is also different. So, if being only part is simply assembled and obtains sensor and always become direct application, the accumulation of each parts error is got up, the true operation of final output characteristic meeting substantial deviation officer, servo steering system is caused to provide unmatched power steering, light then turn to feel abnormal, affect whole car handling; Heavy then steering qualities affects vehicle movement, cause serious accident.
So, sensor always becomes after mechanical assembly terminates, it is necessary to it does accurately output characteristic and demarcates and the test of strict output signal characteristics.
Summary of the invention
The present invention is for overcoming the deficiencies in the prior art, it is provided that a kind of for the calibration system under dynamic behavior and method, it is achieved that electric boosting steering system sensor always becomes the situation of big batch high precision, the demarcation of high qualification rate; Substantially increase the performance that sensor always becomes.
For achieving the above object, design a kind of sensor for steering and always become dynamic calibration system, comprise torque transducer, angular coding device, sensor always become, NI data collecting card, data acquisition card, power supply module, digital quantity programmer, analog quantity programmer, industrial computer, it is characterized in that: the Sign+ end of torque transducer is connected with the ACH5AnalogIN end of NI data collecting card, the Sign-end of torque transducer is connected with the AIGND end of NI data collecting card, the 0V end of angular coding device connects the DGND end of NI data collecting card, the Ua1 end of angular coding device connects the CTR0A end of NI data collecting card, the Ua2 end of angular coding device connects the CTR0B end of NI data collecting card, the Ua0 end of angular coding device connects the CTR0B end of NI data collecting card, and+5V the end of angular coding device connects the+5V end of NI data collecting card, the Index end that sensor always becomes connects the ACH8AnalogIN end of NI data collecting card, the Sign_A end that sensor always becomes adopts system selector switch to connect TIS_SignB_Pro end, TIS_SignB_Read end and DTIS_SignB end respectively, TIS_SignB_Pro end is connected with the CH2OUT end of analog quantity programmer, TIS_SignB_Read end is connected with the ACH2AnalogIN end of NI data collecting card, and DTIS_SignB end is connected with the CH2OUT end of digital quantity programmer and the CH1IN end of data acquisition card respectively, the Sign_B end that sensor always becomes adopts system selector switch to connect TIS_SignA_Pro end, TIS_SignA_Read end and DTIS_SignA end respectively, TIS_SignA_Pro end is connected with the CH1OUT end of analog quantity programmer, TIS_SignA_Read end is connected with the ACH1AnalogIN end of NI data collecting card, and DTIS_SignA end is connected with the CH1OUT end of digital quantity programmer and the CH0IN end of data acquisition card respectively, described data acquisition card, digital quantity programmer, the vdd terminal that the VCC end of analog quantity programmer and sensor always become is connected with the GND end of power supply module, data acquisition card, digital quantity programmer, the GND end that analog quantity programmer and sensor always become is connected with the VCC end of power supply module, the GROUND end of power supply module is connected with the AIGND end of NI data collecting card, the CurrentMonitor end of power supply module is connected with the ACH3AnalogIN end of NI data collecting card, the VoItageProgram end of power supply module is connected with the ACH0AnalogOUT end of NI data collecting card, the S-end of power supply module is connected with the AIGND end of NI data collecting card, the S+ end of power supply module is connected with the ACH4AnalogIN end of NI data collecting card.
The COM end of described analog quantity programmer is connected with the Com2 end of industrial computer; The USB end of digital quantity programmer is connected with the USB3 end of industrial computer; The CANLow end of data acquisition card and CANHigh end respectively two ports with the CAN1 of industrial computer be connected; The NI end of NI data collecting card is connected with industrial computer NI end.
The model of described torque transducer is LorenzDR211220Nm; The model of angular coding device is HeidenhainRON275; The model of power supply module is PROWERSUPPLYDELTAES030-5; The model of NI data collecting card is PCI-6221; The model of data acquisition card is KOPFAI4SENT; The model of digital quantity programmer is HITEXPGSISI-P; The model of analog quantity programmer is MicronasHALAPB5.1; The model of industrial computer is ADVANTECHIPC-610H.
The software flow concrete steps of described system are as follows:
A sensor is always become to carry out to install location by ();
B sensor assembly module is connected by () with NI data collecting card, data acquisition card, digital quantity programmer, analog quantity programmer;
C () remaining circuit connects respectively;
D initial electrical signal that sensor is always become by () checks, confirms the chip that sensor always becomes simultaneously;
E () system selector switch is switched to digital quantity programmer and carries out data gathering;
F () system selector switch is switched to analog quantity programmer and carries out data gathering;
G () is by the standard input torque value got from angular coding device collection and reverse angle, sensor signal and carry out calculating sensor and always become mechanical characteristics and sensor always to become output characteristic;
H torsional stiffness that () calculates and sensor signal property calculation become chip write value;
I chip write value programming after calculating is entered sensor and always becomes in chip by ();
J () will be switched to measurement calibration system and carry out data output;
K () programming enters the torsional stiffness in sensor chip and sensor signal carries out best-fitting straight line calculating;
L () carries out the inspection of performance and signal by the straight-line data that best-fitting straight line calculates;
M, after the inspection of () performance and signal, if drawing, part is qualified, terminates, if part is defective, again does over again and demarcate once again.
The concrete steps that described performance and signal check are as follows:
A () gathers the data on best-fitting straight line;
B data on best-fitting straight line are torqued into a stone wall limit and are torqued into another stone wall limit by () respectively;
C these stone wall limits reversed are gathered by (), and calculate difference in torque and hysteresis quality;
D () compares the difference of difference in torque and hysteresis quality, and result shown.
The present invention is compared with the existing technology, it is provided that a kind of for the calibration system under dynamic behavior and method, it is achieved that electric boosting steering system sensor always becomes the situation of big batch high precision, the demarcation of high qualification rate; Substantially increase the performance that sensor always becomes.
Rely on this system and method, sensor always become Static output value deviation can be stabilized in �� 0.05Nm within, whole work period deviation is no more than �� 0.2Nm, is effectively stabilized in �� 0.1Nm, and after this type of sensor of assembling always becomes, officer can obtain extremely good power steering impression. Simultaneously, all proven sensors always become part to keep extremely good interchangeability in output state, export the mutual difference of performance between difference part in the full work period and it is no more than 0.2Nm, even if always random more emat sensor becomes part, the subjective almost imperceptible difference of officer in force aid system.
In addition, this system and method, also fill up the blank of domestic related-art technology, " multipoint mode sensor curve fitting calibrating method " like this before this is only grasped by external giant mostly, and domestic unit does not almost have ability independently to mass-produce high precision, the sensor of high interchangeability always becomes part. And now, rely on this technology, all having realized independent production high-performance sensors in multiple project newly developed always becomes; And, this technology can also be widely used in the correlative technology field of other similar structures.
Accompanying drawing explanation
Fig. 1 is signal wiring schematic diagram of the present invention.
Fig. 2 is NI data collecting card enlarged diagram.
Fig. 3 is capture card enlarged diagram.
Fig. 4 is digital quantity programmer enlarged diagram.
Fig. 5 is analog quantity programmer enlarged diagram.
Fig. 6 is sensor enlarged diagram.
Fig. 7 is power supply module enlarged diagram.
Fig. 8 is angular coding device enlarged diagram.
Fig. 9 is torque transducer enlarged diagram.
Figure 10 is industrial computer enlarged diagram.
Figure 11 is invention software software flow figure.
Figure 12 is the software flow figure that the performance in Figure 11 and signal check.
Figure 13 is the sensor states before dynamic calibration and mechanical characteristics line chart.
See Figure 13, straight line is mechanical characteristics line, and dotted line is that sensor always becomes state line.
Embodiment
The present invention is described further with reference to the accompanying drawings below.
Sensor always becomes calibration process to need always to become sensor output value and actual torsional torque to carry out comparing calculation, property differences both calculating based on the comparison, revises sensor and always becomes parameter to complete sensor always to become output performance to calibrate.
Concrete mathematical model is as follows:
Sensor always becomes to meet following rule between distortion amount and moment of torsion:
T1=G �� ��
Wherein, T1Being mechanical twisting moment of torsion, G is torsional stiffness, and �� is torsional deformation amount.
Sensor always becomes signal output to meet following rule with torsional deformation amount:
F (��)=b0+b1��+b2��2+......+bn��n
F (��) is sensor work output, and �� is torsional deformation amount, b0It is that sensor always becomes Static output amount.
Sensor always becomes signal and moment of torsion to meet following rule:
T=k �� [f (��)-C0]
T is the moment of torsion that sensor always becomes electrical signal, and k is signal processing scale-up factor, C0It it is biased coefficient.
Due to the difference of processing, all sensors always become torsional stiffness G not to be constant, and sensor always becomes Static output amount b0, b1����bnInitial value neither constant, and signal processing scale-up factor k and C of steering0It it is fixing constant.
Always be exactly the torsional stiffness of part is calculated by the process that becomes in torsion sensor of calibration process, find suitable b by calculating0, b1����bnModified value, and demarcate always to become to sensor, complete sensor and always become to output signal torque T and mechanical characteristics torque T1Coupling.
And traditional demarcation great majority are artificial several reference point calculating matching values of finding, and the reference point selected is often limited, whole working ordeies that sensor always becomes can not be reflected, direct result is exactly that several reference point selected are demarcated very accurate, and other working position data have very large deviation, and only dependence static reference points also is had no idea to reflect and is assessed the quality that sensor always becomes back the dynamic properties such as stickiness.
In order to improve stated accuracy, develop the calibration system under a set of dynamic behavior and method, sensor is always helped the performance of the signal in the work period and includes computer capacity in, consider, setting rational calibrating parameters, the sensor obtaining high precision always becomes calibration result.
As shown in Figures 1 to 10, the Sign+ end of torque transducer is connected with the ACH5AnalogIN end of NI data collecting card, and the Sign-end of torque transducer is connected with the AIGND end of NI data collecting card, the 0V end of angular coding device connects the DGND end of NI data collecting card, the Ua1 end of angular coding device connects the CTR0A end of NI data collecting card, the Ua2 end of angular coding device connects the CTR0B end of NI data collecting card, the Ua0 end of angular coding device connects the CTR0B end of NI data collecting card, and+5V the end of angular coding device connects the+5V end of NI data collecting card, the Index end that sensor always becomes connects the ACH8AnalogIN end of NI data collecting card, the Sign_A end that sensor always becomes adopts system selector switch to connect TIS_SignB_Pro end, TIS_SignB_Read end and DTIS_SignB end respectively, TIS_SignB_Pro end is connected with the CH2OUT end of analog quantity programmer, TIS_SignB_Read end is connected with the ACH2AnalogIN end of NI data collecting card, and DTIS_SignB end is connected with the CH2OUT end of digital quantity programmer and the CH1IN end of data acquisition card respectively, the Sign_B end that sensor always becomes adopts system selector switch to connect TIS_SignA_Pro end, TIS_SignA_Read end and DTIS_SignA end respectively, TIS_SignA_Pro end is connected with the CH1OUT end of analog quantity programmer, TIS_SignA_Read end is connected with the ACH1AnalogIN end of NI data collecting card, and DTIS_SignA end is connected with the CH1OUT end of digital quantity programmer and the CH0IN end of data acquisition card respectively, described data acquisition card, digital quantity programmer, the vdd terminal that the VCC end of analog quantity programmer and sensor always become is connected with the GND end of power supply module, data acquisition card, digital quantity programmer, the GND end that analog quantity programmer and sensor always become is connected with the VCC end of power supply module, the GROUND end of power supply module is connected with the AIGND end of NI data collecting card, the CurrentMonitor end of power supply module is connected with the ACH3AnalogIN end of NI data collecting card, the VoItageProgram end of power supply module is connected with the ACH0AnalogOUT end of NI data collecting card, the S-end of power supply module is connected with the AIGND end of NI data collecting card, the S+ end of power supply module is connected with the ACH4AnalogIN end of NI data collecting card.
The COM end of analog quantity programmer is connected with the Com2 end of industrial computer; The USB end of digital quantity programmer is connected with the USB3 end of industrial computer; The CANLow end of data acquisition card and CANHigh end respectively two ports with the CAN1 of industrial computer be connected; The NI end of NI data collecting card is connected with industrial computer NI end, and NI data collecting card, because only having a data port, makes NI data output directly be connected with the data port of industrial computer NI.
As shown in figure 11, the software flow concrete steps of system are as follows:
A sensor is always become to carry out to install location by ();
B sensor assembly module is connected by () with NI data collecting card, data acquisition card, digital quantity programmer, analog quantity programmer;
C () remaining circuit connects respectively;
D initial electrical signal that sensor is always become by () checks, confirms the chip that sensor always becomes simultaneously;
E () system selector switch is switched to digital quantity programmer and carries out data gathering;
F () system selector switch is switched to analog quantity programmer and carries out data gathering;
G () is by the standard input torque value got from angular coding device collection and reverse angle, sensor signal and carry out calculating sensor and always become mechanical characteristics and sensor always to become output characteristic; In dynamic twist process, in order to obtain the accurate mechanical stiffness characteristics that mates mutually and sensor characteristic, it is necessary to collection machinery torsional torque value, torsional deformation angle and sensor signal in real time, utilizes mechanical twisting torque T1With the relation of torsional deformation angle ��: T1=G �� ��, calculates torsional stiffness G, and sensor signal can calculate sensor characteristic in conjunction with corner value after being converted into torque value.
H torsional stiffness that () calculates and sensor signal property calculation become chip write value;
I chip write value programming after calculating is entered sensor and always becomes in chip by ();
J () will be switched to measurement calibration system and carry out data output; As shown in figure 13, sensor always becomes mechanical characteristics and sensor always to become signal output characteristic to there is larger proportion sexual deviation, and, in dynamic working process, mechanical torque transmission always becomes characteristic output all to there is certain hysteresis quality with sensor, can affect moment of torsion transmission rigidity to a certain extent and always become output characteristic parameter to calculate with sensor. So, on the reciprocal data and curves basis collected, it is necessary to stickiness interference will be returned by mean algorithm and remove, and obtain normal situation curve, it is possible to the most accurately reflect that mechanical torque transmission always becomes to export ratio characteristic with sensor.
K () programming enters the torsional stiffness in sensor chip and sensor signal carries out best-fitting straight line calculating;
L () carries out the inspection of performance and signal by the straight-line data that best-fitting straight line calculates;
M, after the inspection of () performance and signal, if drawing, part is qualified, terminates, if part is defective, again does over again and demarcate once again.
Best-fitting straight line is drawn, the statistical significance of method of least squares: at mass data point (x by the algorithm of method of least squaresi, yi) in, find out an a beeline y=kx+b so that calibration data point (xi, yi) to linear vertical square distance and minimum ϵ = min Σ i = 1 n ( y i - kx i - b ) 2 , The straight line that method of least squares obtains can make each point minimum to straight line quantity difference accumulation sum of squares, and that is fitting a straight line can the optimum distribution trend reflecting point set.
Correspondingly, applying this kind of algorithm and do calibrated and calculated and can ensure that torque signal is with input value difference, the complete period sum of squares of each moment point is minimum, and the straight line simulated is the most close to name curve overall linear trend.
As shown in figure 12, the concrete steps that performance and signal check are as follows:
A () gathers the data on best-fitting straight line;
B data on best-fitting straight line are torqued into a stone wall limit and are torqued into another stone wall limit by () respectively;
C these stone wall limits reversed are gathered by (), and calculate difference in torque and hysteresis quality;
D () compares the difference of difference in torque and hysteresis quality, and result shown.
Calibrated sensor always becomes to output signal moment of torsion to be needed close with mechanical characteristics moment of torsion as far as possible, therefore, utilizes sensor always to become signal deviation value inspection and sensor always to become signal hysteresis quality inspection, carrys out detecting sensor and whether qualified always become.
Sensor always becomes signal deviation value inspection: check that, in the sensor total Cheng Quan work period demarcated, when mechanical characteristics moment of torsion reverses, in the same moment, sensor always becomes to output signal moment of torsion with the difference between mechanical characteristics moment of torsion. Calculation formula is as follows: Tdiff=Tsensor-Tinput, wherein, TdiffIt is torque difference, TsensorIt is that sensor always becomes to output signal moment of torsion, TinputIt it is mechanical characteristics moment of torsion.
Under mechanical twisting state, collection machinery characteristic moment of torsion always becomes to output signal moment of torsion with sensor constantly, the mechanical characteristics moment of torsion in same moment is followed to do difference by sensor always becomes to output signal moment of torsion, obtain difference in torque distribution situation in the full work period, judge its performance successively whether in claimed range.
Sensor always becomes signal hysteresis quality inspection: owing to there is back stickiness, difference in torque performance in reciprocal twist process is different, the complete period difference in torque curve that the formulae discovery of signal deviation value inspection goes out always is become by sensor, true and accurate reflects that sensor always becomes under dynamic behavior, each direction of motion. Calculation formula is as follows: Thysteresis=TdiffCW-TdiffCCW, wherein ThysteresisIt is back stickiness degree, TdiffCWIt is that positive torsional torque is poor, TdiffCCWIt is that negative twist torque is poor.
Thus return the maximum delay degree that stickiness degree assessment sensor always becomes to output signal moment of torsion relative mechanical characteristic moment of torsion.

Claims (5)

1. the sensor for steering always becomes dynamic calibration system, comprise torque transducer, angular coding device, sensor always become, NI data collecting card, data acquisition card, power supply module, digital quantity programmer, analog quantity programmer, industrial computer, it is characterized in that: the Sign+ end of torque transducer is connected with the ACH5AnalogIN end of NI data collecting card, the Sign-end of torque transducer is connected with the AIGND end of NI data collecting card; The 0V end of angular coding device connects the DGND end of NI data collecting card, the Ua1 end of angular coding device connects the CTR0A end of NI data collecting card, the Ua2 end of angular coding device connects the CTR0B end of NI data collecting card, the Ua0 end of angular coding device connects the CTR0B end of NI data collecting card, and+5V the end of angular coding device connects the+5V end of NI data collecting card; The Index end that sensor always becomes connects the ACH8AnalogIN end of NI data collecting card, the Sign that sensor always becomes-A end adopts system selector switch to connect TIS respectively-SignB-Pro end, TIS-SignB-Read end and DTIS-SignB end, TIS-SignB-Pro end is connected with the CH2OUT end of analog quantity programmer, TIS-SignB-Read end is connected with the ACH2AnalogIN end of NI data collecting card, DTIS-SignB end is connected with the CH2OUT end of digital quantity programmer and the CH1IN end of data acquisition card respectively; The Sign that sensor always becomes-B end adopts system selector switch to connect TIS respectively-SignA-Pro end, TIS-SignA-Read end and DTIS-SignA end, TIS-SignA-Pro end is connected with the CH1OUT end of analog quantity programmer, TIS-SignA-Read end is connected with the ACH1AnalogIN end of NI data collecting card, DTIS-SignA end is connected with the CH1OUT end of digital quantity programmer and the CH0IN end of data acquisition card respectively, described data acquisition card, digital quantity programmer, the vdd terminal that the VCC end of analog quantity programmer and sensor always become is connected with the GND end of power supply module, data acquisition card, digital quantity programmer, the GND end that analog quantity programmer and sensor always become is connected with the VCC end of power supply module, the GROUND end of power supply module is connected with the AIGND end of NI data collecting card, the CurrentMonitor end of power supply module is connected with the ACH3AnalogIN end of NI data collecting card, the VoItageProgram end of power supply module is connected with the ACH0AnalogOUT end of NI data collecting card, the S-end of power supply module is connected with the AIGND end of NI data collecting card, the S+ end of power supply module is connected with the ACH4AnalogIN end of NI data collecting card.
2. a kind of sensor for steering according to claim 1 always becomes dynamic calibration system, it is characterised in that: the COM end of described analog quantity programmer is connected with the Com2 end of industrial computer; The USB end of digital quantity programmer is connected with the USB3 end of industrial computer; The CANLow end of data acquisition card and CANHigh end respectively two ports with the CAN1 of industrial computer be connected; The NI end of NI data collecting card is connected with industrial computer NI end.
3. a kind of sensor for steering according to claim 1 always becomes dynamic calibration system, it is characterised in that: the model of described torque transducer is LorenzDR211220Nm; The model of angular coding device is HeidenhainRON275; The model of power supply module is PROWERSUPPLYDELTAES030-5; The model of NI data collecting card is PCI-6221; The model of data acquisition card is KOPFAI4SENT; The model of digital quantity programmer is HITEXPGSISI-P; The model of analog quantity programmer is MicronasHALAPB5.1; The model of industrial computer is ADVANTECHIPC-610H.
4. the sensor for steering always becomes dynamic calibrating method, it is characterised in that: the software flow concrete steps of described system are as follows:
A sensor is always become to carry out to install location by ();
B sensor assembly module is connected by () with NI data collecting card, data acquisition card, digital quantity programmer, analog quantity programmer;
C () remaining circuit connects respectively;
D initial electrical signal that sensor is always become by () checks, confirms the chip that sensor always becomes simultaneously;
E () system selector switch is switched to digital quantity programmer and carries out data gathering;
F () system selector switch is switched to analog quantity programmer and carries out data gathering;
G () is by the standard input torque value got from angular coding device collection and reverse angle, sensor signal and carry out calculating sensor and always become mechanical characteristics and sensor always to become output characteristic;
H torsional stiffness that () calculates and sensor signal property calculation become chip write value;
(i) the chip write value programming after calculating is entered sensor always to become in chip;
J () will be switched to measurement calibration system and carry out data output;
K () programming enters the torsional stiffness in sensor chip and sensor signal carries out best-fitting straight line calculating;
L () carries out the inspection of performance and signal by the straight-line data that best-fitting straight line calculates;
M, after the inspection of () performance and signal, if drawing, part is qualified, terminates, if part is defective, again does over again and demarcate once again.
5. a kind of sensor for steering according to claim 4 always becomes dynamic calibrating method, it is characterised in that: the concrete steps that described performance and signal check are as follows:
A () gathers the data on best-fitting straight line;
B data on best-fitting straight line are torqued into a stone wall limit and are torqued into another stone wall limit by () respectively;
C these stone wall limits reversed are gathered by (), and calculate difference in torque and hysteresis quality;
D () compares the difference of difference in torque and hysteresis quality, and result shown.
CN201410411865.7A 2014-08-20 2014-08-20 A kind of sensor for steering always becomes dynamic calibration system Expired - Fee Related CN104236792B (en)

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CN108444641A (en) * 2018-05-11 2018-08-24 深圳天溯计量检测股份有限公司 A kind of torsional forces value calibration workbench

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