CN106275106A - A kind of FSAE racing car variable empennage system - Google Patents
A kind of FSAE racing car variable empennage system Download PDFInfo
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- CN106275106A CN106275106A CN201510253654.XA CN201510253654A CN106275106A CN 106275106 A CN106275106 A CN 106275106A CN 201510253654 A CN201510253654 A CN 201510253654A CN 106275106 A CN106275106 A CN 106275106A
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- steering wheel
- wing flap
- angle
- empennage
- flap fin
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Abstract
The invention discloses a kind of FSAE racing car variable empennage system, including two empennage side plates, wing flap fin, also including: six bar drive mechanisms, including the steering wheel being arranged on empennage side plate, connecting rod and rocking arm, the outfan of described steering wheel drives wing flap fin to rotate by connecting rod and rocking arm；Manual control module, is connected with steering wheel circuit, for being changed the pwm signal frequency being sent to steering wheel by empennage state switch manual, thus controls the rotational angle of steering wheel, it is achieved the angle of attack variation of wing flap fin；Automatic control module, it is connected with racing car CAN and steering wheel circuit, after judging vehicle driving-cycle according to the whole vehicle information obtained from CAN, changes the pwm signal frequency being sent to steering wheel, control steering wheel rotational angle, it is achieved the angle of attack variation of wing flap fin.The present invention makes racing car the angle of attack can be decreased or increased to reduce the air drag that brought of empennage or to increase the angle of attack to increase downforce, improve racing car straight line and curved performance.
Description
Technical field
The present invention relates to racing car control field, particularly relate to a kind of FSAE racing car variable empennage system.
Background technology
Now, in addition to some Gran turismo, the empennage angle of attack of passenger car is usually fixing unmodifiable, and they use the identical angle of attack at any time.And compete at FSAE, external You Jizhi fleet employs variable empennage system, but these systems be typically all purely manual or pure automatically, purely manual system is held empennage state by driver oneself, advantage is that the empennage angle of attack can regulate with the purpose of driver, can at any time make empennage be maintained at best state, but add driver's burden, easily disperse driver attention, bury potential safety hazard；The car load sensor that pure automatic system is then carried by racing car by electronic control unit obtains vehicle driving-cycle, according to certain algorithm, control empennage state voluntarily, whole process need not driver and gets involved, completed voluntarily by software, but shortcoming is the imperfection due to programmed algorithm, be easily caused empennage and change the angle of attack the most continuously thus affect the attachment of air-flow, the most sometimes the intervention of program can be excessively unexpected, affects driver-operated sensation.This set variable empennage system is then manual/auto one, is available for driver and selects pattern voluntarily, optimizes the algorithm of automatic mode simultaneously, make automatic system accuracy of judgement as far as possible, above-mentioned problem, the advantage playing two kinds of different modes as far as possible can be solved, evade shortcoming.
Summary of the invention
The deficiency that the present invention exists to overcome above prior art, it is provided that a kind of flexible and convenient operation, safe and reliable FSAE racing car variable empennage system.
The present invention adopts the following technical scheme that
A kind of FSAE racing car variable empennage system, is arranged on the wing flap fin between two empennage side plates including two empennage side plates, rotation, also includes:
Six bar drive mechanisms, including the steering wheel being arranged on empennage side plate, connecting rod and rocking arm, the outfan of described steering wheel drives wing flap fin to rotate by connecting rod and rocking arm；
Manual control module, it is connected with steering wheel circuit, for being changed the pwm signal frequency being sent to steering wheel by empennage state switch manual, thus controls the rotational angle of steering wheel, steering wheel drives wing flap fin to rotate, to realize the angle of attack variation of wing flap fin by connecting rod and rocking arm；
Automatic control module, it is connected with racing car CAN and steering wheel circuit, after judging vehicle driving-cycle according to the whole vehicle information obtained from CAN, change the pwm signal frequency being sent to steering wheel, thus control the rotational angle of steering wheel, steering wheel drives wing flap fin to rotate, to realize the angle of attack variation of wing flap fin by connecting rod and rocking arm.
Further, after the whole vehicle information that described basis obtains from CAN judges vehicle driving-cycle, change the pwm signal frequency being sent to steering wheel, thus control the rotational angle of steering wheel, steering wheel drives wing flap fin to rotate by connecting rod and rocking arm, with realize wing flap fin angle of attack variation particularly as follows:
Received the signal of car load sensor by CAN after,nullFirst determine whether that whether speed is less than threshold value，If，Then change the pwm signal frequency being sent to steering wheel，Thus control the rotational angle of steering wheel，Steering wheel drives wing flap fin to rotate by connecting rod and rocking arm，Wing flap fin is made to be in Low Angle Of Attack position，If not，The most then judge whether brake pedal is stepped on，If being stepped on，Then change the pwm signal frequency being sent to steering wheel，Thus control the rotational angle of steering wheel，Steering wheel drives wing flap fin to rotate by connecting rod and rocking arm，Wing flap fin is made to be in big angle of attack position，If not stepped on，The most then judge that whether steering wheel angle is more than opening threshold value，If，Then change the pwm signal frequency being sent to steering wheel，Thus control the rotational angle of steering wheel，Steering wheel drives wing flap fin to rotate by connecting rod and rocking arm，Wing flap fin is made to be in big angle of attack position，If not，The most then judge that whether throttle opening is more than threshold value，If，Then change the pwm signal frequency being sent to steering wheel，Thus control the rotational angle of steering wheel，Steering wheel drives wing flap fin to rotate by connecting rod and rocking arm，Wing flap fin is made to be in Low Angle Of Attack position，If not，Then change the pwm signal frequency being sent to steering wheel，Thus control the rotational angle of steering wheel，Steering wheel drives wing flap fin to rotate by connecting rod and rocking arm，Wing flap fin is made to be in big angle of attack position.
Further, described empennage side plate, wing flap fin are made up of carbon fibre composite.
Further, described rocking arm, the material of connecting rod are aluminium alloy.
Further, described steering wheel uses 7.4V high pressure steering engine at a high speed.
Compared to existing technology, the invention has the beneficial effects as follows:
The present invention is applied to FSAE racing car variable empennage system, variable empennage system can make the empennage system wing flap angle of attack variable, make racing car reduce the air drag that the angle of attack is brought with minimizing empennage some is appropriate when, some is appropriate when, increase the angle of attack to increase downforce.Make racing car while not losing bend downforce, decrease air drag during straight way, improve the straight line of racing car and cross curved performance.
Accompanying drawing explanation
Fig. 1 is the empennage overall structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the schematic side view of the empennage of the embodiment of the present invention.
The steering wheel enlarged schematic partial view of Fig. 3 embodiment of the present invention.
Fig. 4 is connecting rod and the Rocker arm section enlarged diagram of the embodiment of the present invention.
Empennage auto-changing flow chart under Fig. 5 automatic mode.
Shown in figure it is: 1-steering wheel；2-empennage side plate；3-rocking arm；4-connecting rod；5-wing flap fin.
Detailed description of the invention
Being described in further detail the goal of the invention of the present invention with specific embodiment below in conjunction with the accompanying drawings, embodiment can not repeat one by one at this, but the most therefore embodiments of the present invention are defined in following example.
As shown in Figures 1 to 4, a kind of FSAE racing car variable empennage system, it is arranged on the wing flap fin 5 between two empennage side plates 2 including two empennage side plates 2, rotation, is characterised by, also includes:
Six bar drive mechanisms, including the steering wheel 1 being arranged on empennage side plate 2, connecting rod 4 and rocking arm 3, the outfan of described steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3；
Manual control module, it is connected with steering wheel 1 circuit, for being changed the pwm signal frequency being sent to steering wheel 1 by empennage state switch manual, thus controls the rotational angle of steering wheel 1, steering wheel 1 drives wing flap fin 5 to rotate, to realize the angle of attack variation of wing flap fin 5 by connecting rod 4 and rocking arm 3；
Automatic control module, it is connected with racing car CAN and steering wheel 1 circuit, after judging vehicle driving-cycle according to the whole vehicle information obtained from CAN, change the pwm signal frequency being sent to steering wheel 1, thus control the rotational angle of steering wheel 1, steering wheel 1 drives wing flap fin 5 to rotate, to realize the angle of attack variation of wing flap fin 5 by connecting rod 4 and rocking arm 3.
Specifically, in the present embodiment, after the whole vehicle information that described basis obtains from CAN judges vehicle driving-cycle, change the pwm signal frequency being sent to steering wheel 1, thus control the rotational angle of steering wheel 1, steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3, to realize the angle of attack variation of wing flap fin 5 specially (see Fig. 5):
Received the signal of car load sensor by CAN after,nullFirst determine whether that whether speed is less than threshold value，If，Then change the pwm signal frequency being sent to steering wheel 1，Thus control the rotational angle of steering wheel 1，Steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3，Wing flap fin 5 is made to be in Low Angle Of Attack position，If not，The most then judge whether brake pedal is stepped on，If being stepped on，Then change the pwm signal frequency being sent to steering wheel 1，Thus control the rotational angle of steering wheel 1，Steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3，Wing flap fin 5 is made to be in big angle of attack position，If not stepped on，The most then judge that whether steering wheel angle is more than opening threshold value，If，Then change the pwm signal frequency being sent to steering wheel 1，Thus control the rotational angle of steering wheel 1，Steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3，Wing flap fin 5 is made to be in big angle of attack position，If not，The most then judge that whether throttle opening is more than threshold value，If，Then change the pwm signal frequency being sent to steering wheel 1，Thus control the rotational angle of steering wheel 1，Steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3，Wing flap fin 5 is made to be in Low Angle Of Attack position，If not，Then change the pwm signal frequency being sent to steering wheel 1，Thus control the rotational angle of steering wheel 1，Steering wheel 1 drives wing flap fin 5 to rotate by connecting rod 4 and rocking arm 3，Wing flap fin 5 is made to be in big angle of attack position.
The present embodiment in a manual mode, changes PWM frequency by empennage status switch；Under automatic mode, then by obtaining steering wheel angle, throttle opening, brake pedal displacement, the information such as speed, thus judge whether racing car was in bend or damped condition, change as parameter driven PWM frequency, realized curved or braking time wing flap fin 5 be in big angle of attack position, obtain bigger downforce；When acceleration or straight-line travelling, wing flap fin 5 is in Low Angle Of Attack position, thus realizes automatically reducing the purpose of air drag.
In the present embodiment, described empennage side plate 2, wing flap fin 5 are made up of carbon fibre composite, and intensity is high, lightweight.
In the present embodiment, described rocking arm 3, the material of connecting rod 4 are aluminium alloy, to alleviate deadweight.
In the present embodiment, described steering wheel 1 uses 7.4V high pressure steering engine at a high speed, to obtain enough mechanism's driving moments and quickly to respond.
Variable in order to realize empennage, the present embodiment utilizes steering wheel, manual control module and automatic control module, six bar drive mechanisms, empennage etc. to produce a set of variable empennage system, and this system is touched mode selecting button by driver and selected automatic or manual pattern.When selecting manual mode, driver can pass through empennage state on-off control empennage state, and manual control module manipulates steering wheel 1 according to switching signal, makes steering wheel 1 arm rotate, thus drives six bar drive mechanisms to make empennage action；When selecting automatic mode, empennage status switch is inoperative, and automatic control module receives the signal of car load sensor by CAN, by the empennage state translation algorithm of designed, designed, automatically controls steering wheel 1 corner, thus drives six bar drive mechanisms to make empennage action.In wing flap controlling organization, wing flap is made by carbon fibre composite, the material of six bar drive mechanisms is aluminium alloy, alleviate deadweight, steering wheel 1 have employed 7.4V high pressure steering engine at a high speed, manual control module and automatic control module use STM32F103CB to be designed according to required function of the MCU as main control chip, circuit part, finally produce pcb board.
The above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, within should be included in the protection domain of the claims in the present invention.
Claims (5)
1. a FSAE racing car variable empennage system, is arranged on the wing flap fin (5) between two empennage side plates (2) including two empennage side plates (2), rotation, is characterised by, also includes:
Six bar drive mechanisms, including the steering wheel (1) being arranged on empennage side plate (2), connecting rod (4) and rocking arm (3), the outfan of described steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3)；
Manual control module, it is connected with steering wheel (1) circuit, for being changed the pwm signal frequency being sent to steering wheel (1) by empennage state switch manual, thus control the rotational angle of steering wheel (1), steering wheel (1) drives wing flap fin (5) to rotate, to realize the angle of attack variation of wing flap fin (5) by connecting rod (4) and rocking arm (3)；
Automatic control module, it is connected with racing car CAN and steering wheel (1) circuit, after judging vehicle driving-cycle according to the whole vehicle information obtained from CAN, change the pwm signal frequency being sent to steering wheel (1), thus control the rotational angle of steering wheel (1), steering wheel (1) drives wing flap fin (5) to rotate, to realize the angle of attack variation of wing flap fin (5) by connecting rod (4) and rocking arm (3).
FSAE racing car the most according to claim 1 variable empennage system, it is characterised in that:
After the whole vehicle information that described basis obtains from CAN judges vehicle driving-cycle, change the pwm signal frequency being sent to steering wheel (1), thus control the rotational angle of steering wheel (1), steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3), with realize wing flap fin (5) angle of attack variation particularly as follows:
Received the signal of car load sensor by CAN after,nullFirst determine whether that whether speed is less than threshold value，If，Then change the pwm signal frequency being sent to steering wheel (1)，Thus control the rotational angle of steering wheel (1)，Steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3)，Wing flap fin (5) is made to be in Low Angle Of Attack position，If not，The most then judge whether brake pedal is stepped on，If being stepped on，Then change the pwm signal frequency being sent to steering wheel (1)，Thus control the rotational angle of steering wheel (1)，Steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3)，Wing flap fin (5) is made to be in big angle of attack position，If not stepped on，The most then judge that whether steering wheel angle is more than opening threshold value，If，Then change the pwm signal frequency being sent to steering wheel (1)，Thus control the rotational angle of steering wheel (1)，Steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3)，Wing flap fin (5) is made to be in big angle of attack position，If not，The most then judge that whether throttle opening is more than threshold value，If，Then change the pwm signal frequency being sent to steering wheel (1)，Thus control the rotational angle of steering wheel (1)，Steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3)，Wing flap fin (5) is made to be in Low Angle Of Attack position，If not，Then change the pwm signal frequency being sent to steering wheel (1)，Thus control the rotational angle of steering wheel (1)，Steering wheel (1) drives wing flap fin (5) to rotate by connecting rod (4) and rocking arm (3)，Wing flap fin (5) is made to be in big angle of attack position.
FSAE racing car the most according to claim 1 variable empennage system, it is characterised in that: described empennage side plate (2), wing flap fin (5) are made up of carbon fibre composite.
FSAE racing car the most according to claim 1 variable empennage system, it is characterised in that: described rocking arm (3), the material of connecting rod (4) they are aluminium alloy.
FSAE racing car the most according to claim 1 variable empennage system, it is characterised in that: described steering wheel (1) uses 7.4V high pressure steering engine at a high speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510253654.XA CN106275106B (en) | 2015-05-19 | 2015-05-19 | A kind of variable empennage system of FSAE racing cars |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510253654.XA CN106275106B (en) | 2015-05-19 | 2015-05-19 | A kind of variable empennage system of FSAE racing cars |
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| CN106275106A true CN106275106A (en) | 2017-01-04 |
| CN106275106B CN106275106B (en) | 2018-09-14 |
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| CN201510253654.XA Expired - Fee Related CN106275106B (en) | 2015-05-19 | 2015-05-19 | A kind of variable empennage system of FSAE racing cars |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106926908A (en) * | 2017-02-28 | 2017-07-07 | 华侨大学 | A kind of adjustable empennage system of equation motorcycle race |
| CN108116515A (en) * | 2017-12-27 | 2018-06-05 | 辽宁工业大学 | A kind of university student's equation motorcycle race is adjustable empennage and its adjusting method |
| CN109552436A (en) * | 2018-11-21 | 2019-04-02 | 浙江工业大学 | A kind of adjustable empennage of electronic racing car |
| CN109606485A (en) * | 2019-01-23 | 2019-04-12 | 吉林大学 | A kind of automatically controlled adjustable empennage system of equation motorcycle race and its control method |
| CN109733489A (en) * | 2018-12-26 | 2019-05-10 | 江苏大学 | A kind of equation motorcycle race full working scope adaptively adjustable tail gear and method |
| CN110211318A (en) * | 2019-03-11 | 2019-09-06 | 滨州学院 | A kind of integral electrical goods and materials security protection supervisory systems |
| CN115973295A (en) * | 2023-03-20 | 2023-04-18 | 吉林大学 | Flexible automobile tail wing with independently adjustable left and right attack angles |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926908A (en) * | 2017-02-28 | 2017-07-07 | 华侨大学 | A kind of adjustable empennage system of equation motorcycle race |
| CN108116515A (en) * | 2017-12-27 | 2018-06-05 | 辽宁工业大学 | A kind of university student's equation motorcycle race is adjustable empennage and its adjusting method |
| CN108116515B (en) * | 2017-12-27 | 2024-04-02 | 辽宁工业大学 | Adjustable tail wing of formula car for college students and adjusting method thereof |
| CN109552436A (en) * | 2018-11-21 | 2019-04-02 | 浙江工业大学 | A kind of adjustable empennage of electronic racing car |
| CN109733489A (en) * | 2018-12-26 | 2019-05-10 | 江苏大学 | A kind of equation motorcycle race full working scope adaptively adjustable tail gear and method |
| CN109606485A (en) * | 2019-01-23 | 2019-04-12 | 吉林大学 | A kind of automatically controlled adjustable empennage system of equation motorcycle race and its control method |
| CN109606485B (en) * | 2019-01-23 | 2023-05-05 | 吉林大学 | Electric control adjustable tail wing system of formula car and control method thereof |
| CN110211318A (en) * | 2019-03-11 | 2019-09-06 | 滨州学院 | A kind of integral electrical goods and materials security protection supervisory systems |
| CN115973295A (en) * | 2023-03-20 | 2023-04-18 | 吉林大学 | Flexible automobile tail wing with independently adjustable left and right attack angles |
| CN115973295B (en) * | 2023-03-20 | 2023-06-16 | 吉林大学 | Flexible automobile tail wing with independently adjustable left and right attack angles |
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| CN106275106B (en) | 2018-09-14 |
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Granted publication date: 20180914 |