CN105575211A - Steering wheel feedback apparatus - Google Patents
Steering wheel feedback apparatus Download PDFInfo
- Publication number
- CN105575211A CN105575211A CN201610038370.3A CN201610038370A CN105575211A CN 105575211 A CN105575211 A CN 105575211A CN 201610038370 A CN201610038370 A CN 201610038370A CN 105575211 A CN105575211 A CN 105575211A
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- rotating shaft
- steering wheel
- steering column
- wheel feedback
- feedback device
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a vehicle driving simulation operation apparatus, and specifically relates to a steering wheel feedback apparatus. The steering wheel feedback apparatus includes a frame, wherein a steering wheel and a steering column are arranged on the frame according to the posture of a real vehicle; a spindle is connected between the steering column and a moment motor; two ends of the spindle are respectively in rotary connection with the steering column and an output shaft of the moment motor synchronously. The steering wheel feedback apparatus also includes a rotary angle transmitter which collects the rotary angles of the steering wheel, wherein the rotary angle transmitter transmits the collected rotary angle signals to a controller; the controller outputs a control signal to a motor controller; and the motor controller outputs a drive signal to drive the moment motor to output a rotary moment, so that a trainee who turning the steering wheel can truly feel the damping moment, provided by the system, for simulating the real road condition so as to acquire the simulation experience.
Description
Technical field
The present invention relates to vehicle simulation driver behavior device, is exactly specifically steering wheel for vehicle simulation operation apparatus.
Background technology
Along with social development, automobile comes into common people house, driving school turns out batchs of road rising stars, some is but potential " road killer ", traffic hazard is caused all to increase substantially every year, trace it to its cause or because driver is inadequate in the time of driving school's study, actual combat, grasp unskilled to driver behavior.Therefore the technology of a set of advanced person is needed to carry out Specialized training to driver.
The high speed development of computer technology, the widespread use of virtual image technology, make to carry out driver training with computer simulation system to become a reality, driving simulator is exactly the correct simulating vehicle driver behavior of energy based on virtual reality technology, obtains the emulator that real vehicle drives sensation.When human pilot carries out drive simulating on driving simulator, by bearing circle simulation mechanism, accelerator and brake simulation pedal and gear analog machine coordinate the motion controlling driving simulator.The operating system of driving simulator mainly comprises: steering wheel operating simulation system, throttle and brake pedal simulation system.Wherein steering wheel operating system is the most key, the handling maneuver sensation of the degree direct influence human pilot true to nature of its simulation.
Summary of the invention
The object of this invention is to provide a kind of bearing circle training operation device, the stressing conditions of the wheel steering system in simulating vehicle drive routine process, make trainee obtain fully and effectively training before actual steering vehicle.
For achieving the above object, present invention employs following technical scheme: a kind of steering wheel feedback device, comprise frame, frame is furnished with the bearing circle and steering column arranged by real vehicle attitude, connection rotating shaft between described steering column and torque motor, the two ends of rotating shaft respectively with steering column, the output shaft synchronous of torque motor is rotationally connected, device also comprises the rotary angle transmitter gathering rotating of steering wheel angle, the angular signal that rotary angle transmitter collects is delivered to controller, controller outputs control signals to electric machine controller, electric machine controller output drive signal driving moment motor exports rotating torque.
In technique scheme, rotary angle transmitter collects bearing circle, the angle of steering column and rotating shaft synchronous axial system and tach signal also output to controller, controller exports control signal electric machine controller after receiving the angular signal that rotary angle transmitter collects, electric machine controller output drive signal driving moment motor exports rotating torque, the rotation direction of the rotating torque direction that torque motor exports and bearing circle is reverse each other, the trainee of such steering wheel rotation just can sense of reality to the damping torque of the Reality simulation road conditions provided from system, emulation can be obtained know from experience, preliminary driving experience can be obtained like this by the operation of exercise equipment, sail for follow-up road test ride and operating experience is provided.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure diagram of the present invention;
Fig. 2 is the part A enlarged drawing in Fig. 1;
Fig. 3 is theory diagram of the present invention;
Fig. 4 is the three-dimensional structure diagram of another angle of the present invention.
Embodiment
Composition graphs 1-4, steering wheel feedback device comprises frame 10, frame 10 is furnished with the bearing circle 20 and steering column 21 arranged by real vehicle attitude, connection rotating shaft 40 between described steering column 21 and torque motor 30, the two ends of rotating shaft 40 respectively with steering column 21, the output shaft synchronous of torque motor 30 is rotationally connected, device also comprises the rotary angle transmitter 50 gathering bearing circle 20 rotational angle, the angular signal that rotary angle transmitter 50 collects is delivered to controller 60, controller 60 outputs control signals to electric machine controller 31, electric machine controller 31 output drive signal driving moment motor 30 exports rotating torque.
Bearing circle 20 simulation arrangements becomes the general layout of finished car, and what also can adopt product vehicle turns to bearing circle 20 in assembly and steering column 21, steering column 21 with the connection of lower component by forecast scheme configuration provided by the invention.In practical operation, bearing circle 10 left or right turn time, rotary angle transmitter 50 collects its rotational angle and velocity of rotation signal in time and is transferred to controller 60, electric machine controller 31 receives control signal that controller 60 sends and output drive signal driving moment motor 30 provides rotating torque, the go to action of timely response bearing circle 20, from the feedback force on road surface when the opposing torque that torque motor 30 provides allows trainee experience steering vehicle, dynamics and turning velocity is turned to like this for what should adopt when trainee provides steering wheel rotation 20, guarantee safe driving vehicle.
Under road conditions of generally mating formation, the ground feedback force size of steering operation is appropriate, and what adopt torque motor 30 can provide emulation completely turns to feedback force.Under road surface or the special situation of road conditions, feedback force is then distinguished very large.As muddy road surface, macadam pavement, road surface, crater, or even need to ride tooth of waling along the road concerning with love affairs, various situation turn to feedback then significantly different, simple employing torque motor 30 provides feedback force often cannot realize, so present invention employs the mode adding braking to be optimized solution, be exactly specifically that rotating shaft 40 is also connected with magnetic powder brake 70, magnetic powder brake 70 to be fixed on the riser 11 in frame 10 and the housing of magnetic powder brake 70 wherein and stator frictional disk 71 empty set in rotating shaft 40, the friction rotor dish 72 coordinated with stator frictional disk 71 is connected with rotating shaft 40 synchronous axial system.
Controller 60 exports control signal according to concrete road conditions correspondence, start magnetic powder brake 70 action, the basis of the feedback force provided at torque motor 30 increases suitable feedback force, even when road conditions be in wheel be positioned at groove time, interference due to cell wall makes go to action to complete, now stator frictional disk 71 and friction rotor dish 72 locking completely when being energized adhesive, bearing circle 20 also cannot rotate, certain basis concrete road conditions stator frictional disk 71 and friction rotor dish 72 are according to energising size determination adhesive degree, be delivered on bearing circle 20 with the action mode of friction force between the two, trainee is allowed to be known from experience.
As Commercial Vehicle, the rotation maximum angle of its bearing circle 20 is limited, and provide the relevant performance data of vehicle with the statement of vehicle minimal curve radius according to body dimensions, in order to the rotation maximum angle of the bearing circle 20 with vehicle is corresponding, need to be limited the angle range of bearing circle 20, below concrete preferred version: device also comprises the angle limit mechanism 80 of restriction bearing circle 20 rotational angle, angle limit mechanism 80 comprises the screw rod 41 that rotating shaft 40 axle body is arranged and the nut 90 be mated, nut 90 is connected with rod member 91, one end of rod member 91 overhangs and coordinates with stopper slot or hole 101 and forms straight-line displacement campaign, two ends on rod member 91 or nut 90 moving direction arrange the position-limit mechanism limiting rod member 91 straight-line displacement stroke.When bearing circle 20 rotates, screw rod 41 thereupon synchronous axial system also drives nut 90 straight-line displacement be mated, because, at guarantee screw rod 41 and nut 90 in relative rotation under prerequisite, rod member 91 is subject to the restriction in stopper slot or hole 101 simultaneously, nut 90 moving linearly, and when nut 90 moves, be subject to the spacing constraint in two ends, so also just determine bearing circle 20 rotational angle.
Rotating speed in order to ensure steering wheel return timing is suitable, now actual driver behavior personnel are almost just on the steering wheel attached and without the need to gripping bearing circle by have gentle hands, can be completed by Return moment and turn to return, concrete scheme is that the rotating shaft of described torque motor 30 is connected with speed reduction unit 31, and the output shaft of speed reduction unit 31 is connected by shaft coupling with rotating shaft 40.The rotating speed exported by speed reduction unit 31 can be met the demands substantially.
On the axle body of the rotating shaft 40 between torque motor 30 to steering column 21, arrange rotary angle transmitter 50, magnetic powder brake 70 and angle limit mechanism 80 successively.Parts are so arranged and device can be made to simplify structure.
In order to preferred arrangement and simplification structure, preferred version of the present invention is that described angle limit mechanism 80 comprises assistant support 100, the support plate 102 being parallel to rotating shaft 40 on assistant support 100 offers spacing hole 101, spacing hole 101 can be arranged to bar hole and the length direction of spacing hole 101 is axially parallel with rotating shaft 40, its two ends then can be utilized when spacing hole 101 is bar hole to limit the shift motion of nut 90, and the effect of the program is the instantiation that two ends on aforesaid rod member 91 or nut 90 moving direction arrange the position-limit mechanism limiting rod member 91 straight-line displacement stroke.
Rod member 91 stage casing is connected with nut 90, and one projecting end is placed in spacing hole 101 place, and setting position sensor 110 on the correspondence position of the mobile route of another overhanging section of rod member 91, position transducer 110 is arranged in frame 10.The setting position of position transducer 110 can be in rod member 91 position that center is correspondence by preferential direction dish 20.
During concrete assembling, the housing of described rotary angle transmitter 50 is arranged on the riser 11 in frame 10, and the built-in pivoted housing of rotary angle transmitter 50 is solidly set on rotating shaft 40.
The side position of spacing hole 101 arranges dog screw 103, blind hole rotating shaft 40 being provided with radial arrangement coordinates with dog screw 103 locates, adopt gimbal coupling 120 to be connected between rotating shaft 40 with steering column 21, the angle between rotating shaft 40 and surface level is less than the angle between steering column 21 and surface level.Like this by the transition of gimbal coupling 120, rotating shaft 40 and steering column 21 can be arranged in angle formula, effectively can reduce the height of bearing circle 20.
Claims (8)
1. a steering wheel feedback device, comprise frame (10), frame (10) is furnished with the bearing circle (20) and steering column (21) arranged by real vehicle attitude, it is characterized in that: connection rotating shaft (40) between described steering column (21) and torque motor (30), the two ends of rotating shaft (40) respectively with steering column (21), the output shaft synchronous of torque motor (30) is rotationally connected, device also comprises the rotary angle transmitter (50) gathering bearing circle (20) rotational angle, the angular signal that rotary angle transmitter (50) collects is delivered to controller (60), controller (60) outputs control signals to electric machine controller (31), electric machine controller (31) output drive signal driving moment motor (30) exports rotating torque.
2. steering wheel feedback device according to claim 1, it is characterized in that: rotating shaft (40) is also connected with magnetic powder brake (70), magnetic powder brake (70) is fixed on riser (11) in frame (10) upper and the housing of magnetic powder brake (70) wherein and stator frictional disk (71) empty set in rotating shaft (40), and the friction rotor dish (72) coordinated with stator frictional disk (71) is connected with rotating shaft (40) synchronous axial system.
3. steering wheel feedback device according to claim 1, it is characterized in that: device also comprises the angle limit mechanism (80) of restriction bearing circle (20) rotational angle, angle limit mechanism (80) comprises the screw rod (41) that rotating shaft (40) axle body is arranged and the nut (90) be mated, nut (90) is connected with rod member (91), one end of rod member (91) overhangs and coordinates with stopper slot or hole (101) and forms straight-line displacement campaign, two ends on rod member (91) or nut (90) moving direction arrange the position-limit mechanism limiting rod member (91) straight-line displacement stroke.
4. steering wheel feedback device according to claim 1, it is characterized in that: the rotating shaft of described torque motor (30) is connected with speed reduction unit (31), the output shaft of speed reduction unit (31) is connected by shaft coupling with rotating shaft (40).
5. the steering wheel feedback device according to claim 3 or 4, it is characterized in that: on the axle body of the rotating shaft (40) between torque motor (30) to steering column (21), arrange rotary angle transmitter (50), magnetic powder brake (70) and angle limit mechanism (80) successively.
6. steering wheel feedback device according to claim 5, it is characterized in that: described angle limit mechanism (80) comprises assistant support (100), the support plate (102) being parallel to rotating shaft (40) on assistant support (100) offers spacing hole (101), rod member (91) stage casing is connected with nut (90), one projecting end is placed in spacing hole (101) place, setting position sensor (110) on the correspondence position of the mobile route of another overhanging section of rod member (91), sensor (110) is arranged in frame (10).
7. steering wheel feedback device according to claim 5, it is characterized in that: the housing of described rotary angle transmitter (50) is arranged on the riser (11) in frame (10), and the built-in pivoted housing of rotary angle transmitter (50) is solidly set in rotating shaft (40).
8. steering wheel feedback device according to claim 6, it is characterized in that: the side position of spacing hole (101) arranges dog screw (103), blind hole rotating shaft (40) being provided with radial arrangement coordinates with dog screw (103) locates, adopt gimbal coupling (120) to be connected between rotating shaft (40) with steering column (21), (angle between 400 and surface level is less than the angle between steering column (21) and surface level in rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038370.3A CN105575211A (en) | 2016-01-20 | 2016-01-20 | Steering wheel feedback apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038370.3A CN105575211A (en) | 2016-01-20 | 2016-01-20 | Steering wheel feedback apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105575211A true CN105575211A (en) | 2016-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610038370.3A Pending CN105575211A (en) | 2016-01-20 | 2016-01-20 | Steering wheel feedback apparatus |
Country Status (1)
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| CN (1) | CN105575211A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108538142A (en) * | 2018-06-09 | 2018-09-14 | 深圳市中智仿真科技有限公司 | A kind of automobile simulator steering wheel mechanism |
| CN108657264A (en) * | 2018-05-17 | 2018-10-16 | 荆州恒隆汽车技术(检测)中心 | A kind of road feel torque simulation mechanism and vehicle |
| CN112346435A (en) * | 2020-11-03 | 2021-02-09 | 浙江天行健智能科技有限公司 | Steering wheel force sense simulation motor controller parameter setting method |
| CN112991863A (en) * | 2021-03-19 | 2021-06-18 | 徐州九鼎机电总厂 | Steering wheel feedback device based on immersive driving simulation |
| CN113506488A (en) * | 2021-06-30 | 2021-10-15 | 青岛科技大学 | A simulation rudder device for sailing ship driving training |
| CN108657264B (en) * | 2018-05-17 | 2024-06-07 | 湖北恒隆凯迩必汽车电动转向系统有限公司 | Road feel moment simulation mechanism and car |
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| CN205375887U (en) * | 2016-01-20 | 2016-07-06 | 合肥同智机电控制技术有限公司 | Steering wheel feedback device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657264A (en) * | 2018-05-17 | 2018-10-16 | 荆州恒隆汽车技术(检测)中心 | A kind of road feel torque simulation mechanism and vehicle |
| CN108657264B (en) * | 2018-05-17 | 2024-06-07 | 湖北恒隆凯迩必汽车电动转向系统有限公司 | Road feel moment simulation mechanism and car |
| CN108538142A (en) * | 2018-06-09 | 2018-09-14 | 深圳市中智仿真科技有限公司 | A kind of automobile simulator steering wheel mechanism |
| CN112346435A (en) * | 2020-11-03 | 2021-02-09 | 浙江天行健智能科技有限公司 | Steering wheel force sense simulation motor controller parameter setting method |
| CN112991863A (en) * | 2021-03-19 | 2021-06-18 | 徐州九鼎机电总厂 | Steering wheel feedback device based on immersive driving simulation |
| CN113506488A (en) * | 2021-06-30 | 2021-10-15 | 青岛科技大学 | A simulation rudder device for sailing ship driving training |
| CN113506488B (en) * | 2021-06-30 | 2023-04-04 | 青岛科技大学 | A simulation rudder device for sailing ship driving training |
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