CN106448335B - A kind of emulation steering wheel arrangement for drive simulating - Google Patents
A kind of emulation steering wheel arrangement for drive simulating Download PDFInfo
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- CN106448335B CN106448335B CN201610976569.0A CN201610976569A CN106448335B CN 106448335 B CN106448335 B CN 106448335B CN 201610976569 A CN201610976569 A CN 201610976569A CN 106448335 B CN106448335 B CN 106448335B
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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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Abstract
A kind of emulation steering wheel arrangement for drive simulating, including steering wheel, torque motor, encoder, torque sensor and position-limit mechanism, torque motor is mounted on bottom plate, the output shaft and encoder axis connection of torque motor, encoder are mounted on encoder axis, one end connection of encoder axis and torque sensor, the other end and input axis connection of torque sensor, the end installation direction disk of input shaft, input shaft are installed in rotation on vertical plate, and vertical plate is fixed on bottom plate；Small synchronizing wheel is installed on input shaft, small synchronizing wheel is sequentially connected by synchronous belt and big synchronizing wheel, big synchronizing wheel is mounted on big wheel shaft, one end of big wheel shaft is installed in rotation on vertical plate, locating piece is installed in big synchronizing wheel, is mounted on vertical plate with the block of locating piece cooperation, flywheel is installed on big wheel shaft, the other end of big wheel shaft is installed in rotation on riser, and riser is fixed on bottom plate and is arranged in parallel with vertical plate.The present invention is reliable and stable, at low cost.
Description
Technical field
The present invention relates to a kind of emulation steering wheel arrangements, more particularly to a kind of emulation steering wheel knot for drive simulating
Structure.
Technical background
With the continuous growth of whole world automobile production amount and ownership, more and more people need to learn driving efficiency.
For safety, economic consideration, student generally will largely be practiced, Zhi Houzai before upper road in drive simulating equipment
Carry out live training.
In recent years, drive simulating equipment development quickly, was all towards more true direction and developed.A large amount of computer skill
Art, Advanced Control Techniques, VR (virtual reality) technology are applied in drive simulating equipment.
It is well known that main commanding apparatus has steering wheel, brake, clutch, throttle, gear lever when driving.These types behaviour
It is longitudinally set with standby, other than steering wheel, is all easy to be made closely similar with actual products.Steering wheel is multiple due to its transmission system
It is miscellaneous, different manipulation feels may be generated because road conditions are different in practice, therefore, it is difficult to emulate.
Chinese patent CN 201010504604.1 discloses a kind of force feedback steering wheel dress applied to driving simulator
It sets.Be sequentially installed on simulator pedestal torque motor, photoelectric encoder, magnetic powder brake, the disk equipped with extension spring,
Torque sensor and steering wheel；Torque motor, photoelectric encoder, magnetic powder brake and torque sensor connect with control system respectively
It connects, control system is connect with PC computer.
The shortcomings that invention has: 1. control steering wheel angle in such a way that front and back block withstands sliding block, due to lead screw
It is force-increasing mechanism, this method is easy top bad sliding block；2. making steering wheel centering using to drawing spring, the method is excessively complicated, and
Since spring is easy to aging, be easy to appear centering not just, the phenomenon of centering inability；3.PC machine control system, stability is poor, responds
Slowly, at high cost.
Summary of the invention
In order to overcome the problems, such as that prior art mechanism is complicated, easy to damage, control system is unreasonable, the present invention provides one kind
Emulation steering wheel arrangement for drive simulating reliable and stable, at low cost.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of emulation steering wheel arrangement for drive simulating, the emulation steering wheel arrangement include steering wheel, torque electricity
Machine, encoder, torque sensor and position-limit mechanism, the torque motor are mounted on bottom plate, the output shaft of the torque motor
With encoder axis connection, the encoder is mounted on encoder axis, one end of the encoder axis and the torque sensor
Connection, the other end and input axis connection of the torque sensor, the steering wheel is installed in the end of the input shaft, described defeated
Enter axis to be installed in rotation on vertical plate, the vertical plate is fixed on bottom plate；The position-limit mechanism includes small synchronizing wheel, synchronizes greatly
Wheel, locating piece and block install small synchronizing wheel on the input shaft, and the small synchronizing wheel is driven by synchronous belt and big synchronizing wheel
Connection, the big synchronizing wheel are mounted on big wheel shaft, and one end of the big wheel shaft is installed in rotation on vertical plate, described Datong District
Locating piece is installed on step wheel, the block with locating piece cooperation is mounted on vertical plate, flywheel is installed on the big wheel shaft,
The other end of the big wheel shaft is installed in rotation on riser, and the riser is fixed on bottom plate and is arranged in parallel with vertical plate.
Further, the output shaft of the torque motor is connect with encoder axis by first shaft coupling, the encoder axis
Connect with one end of the torque sensor and connected by second shaft coupling, the other end of the torque sensor and input shaft it
Between connected by third shaft coupling.
Further, one end of the small synchronizing wheel is held out against with first sleeve, and the first sleeve passes on input shaft, set
One end of cylinder and the inner ring of first bearing are held out against, and first bearing is placed in the first stepped hole of vertical plate, the outer ring of first bearing
Side is held out against with stepped hole, and the first bearing outer ring other side is held out against with there is the boss of hole capping, has hole capping and vertical plate to pass through spiral shell
Bolt is fixed.
Further, the first non-porous end cap is bolted with vertical plate, and the outer ring of boss and second bearing is held out against；Second
Bearing is placed in the second stepped hole of vertical plate, and outer ring side and the stepped hole of second bearing are held out against, the inner ring one of second bearing
Side and the shaft shoulder of big wheel shaft are held out against；The big side of synchronizing wheel and the shaft shoulder of big wheel shaft are held out against, and the big synchronizing wheel and big wheel shaft are logical
Key connection is crossed, the other side of the big synchronizing wheel is held out against with second sleeve；Locating piece and the hole of big synchronizing wheel excessively cooperate；Block
It is bolted to connection with vertical plate；Second sleeve is through on big wheel shaft, and one end of second sleeve and one end of flywheel are held out against；Fly
The other end of wheel is held out against with 3rd sleeve, and flywheel is connected by key with big wheel shaft；One end of 3rd sleeve and axis 3rd bearing
Inner ring is held out against；3rd bearing is placed in the stepped hole of riser, and outer ring side and the stepped hole of 3rd bearing are held out against, outer ring is another
Side and the boss of the second non-porous end cap are held out against；Second non-porous end cap is bolted with riser；Riser and bottom plate pass through bolt
It is fixed.
Beneficial effects of the present invention are mainly manifested in:
1, whole device structure is simple, at low cost without the precision drives such as lead screw mechanism.
2, flywheel mass can be replaced, freely convenient for simulating different inertia conditions.
3, absolute value encoder is used, and unconventional incremental encoder, without mechanical centering；Software automatic control pair
In, easy to operate, performance is stablized.
4, in such a way that synchronous belt drives flywheel, rotary inertia in practice is simulated well, and synchronous greatly
Placement of mechanical position limiting structure on wheel, reduces block stress, and contact of the hard spring with block be it is a kind of it is soft contact, avoid
Biggish impact, thus protective device other structures.
5, at low cost, reliable and stable using single-chip microcontroller as control system processor.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is explosive view of the invention.
Fig. 3 is control system schematic diagram of the invention.
Specific embodiment
Collect that the present invention will be further described in conjunction with attached drawing below.
Referring to Fig.1~Fig. 3, a kind of emulation steering wheel arrangement for drive simulating, the emulation steering wheel arrangement include
Steering wheel 15, torque motor 2, encoder 4, torque sensor 8 and position-limit mechanism, the torque motor are mounted on bottom plate, institute
The output shaft and encoder axis connection of torque motor are stated, the encoder is mounted on encoder axis, the encoder axis and institute
State one end connection of torque sensor, the other end and input axis connection of the torque sensor, the end peace of the input shaft
The steering wheel is filled, the input shaft is installed in rotation on vertical plate, and the vertical plate is fixed on bottom plate；The position-limit mechanism
Including small synchronizing wheel, big synchronizing wheel, locating piece and block, small synchronizing wheel is installed on the input shaft, the small synchronizing wheel passes through
Synchronous belt and big synchronizing wheel are sequentially connected, and the big synchronizing wheel is mounted on big wheel shaft, and one end of the big wheel shaft is rotationally
It being mounted on vertical plate, locating piece is installed in the big synchronizing wheel, the block with locating piece cooperation is mounted on vertical plate,
Flywheel is installed, the other end of the big wheel shaft is installed in rotation on riser, and the riser is fixed on bottom on the big wheel shaft
It is arranged in parallel on plate and with vertical plate.
As shown in Fig. 2, a kind of emulation steering wheel arrangement for drive simulating, including bottom plate 1, torque motor 2, shaft coupling
(3,7,9), encoder 4, encoder axis 5, encoder fixed plate 6, torque sensor 8, small synchronizing wheel 10, sleeve (11,24,
27), input shaft 12, bearing (13,17,28), have hole capping 14, steering wheel 15, without hole capping (16,29), big wheel shaft 18, synchronous
Band 19, big synchronizing wheel 20, vertical plate 21, hard spring 22, block 23, flywheel 25, riser 26, backing plate 30.
As shown in Fig. 2, torque motor 2 is placed on bottom plate 1, it is fixedly connected with bolt；Encoder axis 5 and torque motor 2
Output shaft be fixedly connected by shaft coupling 3；Photoelectric encoder 4 is fixed by bolts in encoder fixed plate 6, inner ring and volume
Code device axis 5 is fixedly connected by holding screw；Torque sensor 8 is bolted with backing plate 30, and the end A and encoder axis 5 are logical
It crosses shaft coupling 7 to be fixedly connected, the end B is fixedly connected with input shaft 12 by shaft coupling 9；Small synchronizing wheel 10 is through on input shaft 12,
It is connected by key, the end A is held out against with shaft coupling 9, and the end B is held out against with sleeve 11；Sleeve 11 is through on input shaft 12, the end B and bearing 13
Inner ring hold out against；Bearing 13 is placed in the C side steps hole of vertical plate 21, and the outer ring side A is held out against with stepped hole, the outer ring side B with have
The boss of hole capping 14 is held out against；There is hole capping 14 to be bolted with vertical plate 21；Steering wheel 15 is through on input shaft 12, is passed through
Key connection, the side A and the shaft shoulder of input shaft 12 are held out against, and B is fixed side with locking nut；Non-porous end cap 16 is solid by bolt with vertical plate 21
Fixed, the outer ring of boss and bearing 17 is held out against；Bearing 17 is placed in the D side steps hole of vertical plate 21, the outer ring side A and stepped hole top
Tightly, the side inner ring A and the shaft shoulder of big wheel shaft 18 are held out against；The big side B of synchronizing wheel 20 and the shaft shoulder of big wheel shaft 18 are held out against, with big wheel shaft
18 are connected by key, and the side A is held out against with sleeve 24；Synchronous belt 19 connects small synchronizing wheel 10 and big synchronizing wheel 20；Hard spring 22 with
The hole of big synchronizing wheel 20 excessively cooperates；Block 23 is bolted to connection with vertical plate 21；Sleeve 24 is through on big wheel shaft 18, A
End is held out against with flywheel 26；The end A of flywheel 26 is held out against with sleeve 27, is connected by key with big wheel shaft 18；The end A of sleeve 27 and bearing
28 inner ring is held out against；Bearing 28 is placed in the stepped hole of riser 25, and the outer ring side B and stepped hole hold out against, the outer ring side A and no nose end
The boss of lid 29 is held out against；Non-porous end cap 29 is bolted with riser 25；Riser 25 is bolted with bottom plate 1；Backing plate
30 are bolted with bottom plate 1.
As shown in Fig. 2, the single direction rotation range of steering wheel 15 is about a circle half in practice, i.e., 540 degree, small synchronizing wheel 10
Diameter ratio with big synchronizing wheel 20 is 1:3, therefore the single direction rotation angle of big synchronizing wheel is 540/3=180 degree.In big synchronizing wheel
20 tops are fixed with hard spring, and bottom plate corresponding position is equipped with block 23, when big synchronizing wheel 20 rotates 180 degree, hard spring
Block will be withstood, mechanical position limitation is carried out to mechanism.
Such as Fig. 3, control system of the invention is the closed-loop system using single-chip microcontroller as core.Turn-key system is by present day analog road
The signal of condition is sent to single-chip microcontroller, and single-chip microcontroller sends control signals to torque motor, and torque motor output torque is to steering wheel；
User's steering wheel rotation, torque sensor measure actual torque, and absolute value encoder measures actual rotational angle, by two kinds of feedback data
Pass single-chip microcontroller back, single-chip microcontroller is by analysis adjusted control signal in real time.
Encoder is absolute value type encoder, each of which position is absolutely unique, power-failure memory is not necessarily to, without looking for reference
Point.The flywheel of different quality can be replaced, according to demand to simulate different inertia.Hard spring rate is larger, with connecing for block
Touching, can accomplish soft contact, and can guarantee enough mechanical position limitation intensity.
In the use of the present invention, system carries out automatic centering operation first, determined when by encoder current value and design
I d median be compared, deviation data sends single-chip microcontroller to, and single-chip microcontroller signals to torque motor, makes steering wheel Xiang Zhongwei
Rotation, until in returning.In use, traffic information is sent to single-chip microcontroller in real time by turn-key system, and single-chip microcontroller is according to road conditions
Information and encoder values determine output torque, by the closed-loop system of torque motor, torque sensor, encoder composition, in real time
Control the feedback moment of steering wheel.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (1)
1. a kind of emulation steering wheel arrangement for drive simulating, it is characterised in that: the emulation steering wheel arrangement includes direction
Disk, torque motor, encoder, torque sensor and position-limit mechanism, the torque motor are mounted on bottom plate, the torque motor
Output shaft and encoder axis connection, the encoder is mounted on encoder axis, the encoder axis and the moment sensing
One end of device connects, and the other end and input axis connection of the torque sensor, the direction is installed in the end of the input shaft
Disk, the input shaft are installed in rotation on vertical plate, and the vertical plate is fixed on bottom plate；The position-limit mechanism includes small synchronization
Wheel, big synchronizing wheel, locating piece and block, install small synchronizing wheel on the input shaft, and the small synchronizing wheel passes through synchronous belt and big
Synchronizing wheel transmission connection, the big synchronizing wheel are mounted on big wheel shaft, and one end of the big wheel shaft is installed in rotation on vertical plate
On, locating piece is installed in the big synchronizing wheel, is mounted on vertical plate with the block of locating piece cooperation, pacifies on the big wheel shaft
Flywheel is filled, the other end of the big wheel shaft is installed in rotation on riser, and the riser is fixed on bottom plate and puts down with vertical plate
Row arrangement；
Control system is the closed-loop system using single-chip microcontroller as core, and the signal of present day analog road conditions is sent to single-chip microcontroller, monolithic
Machine sends control signals to torque motor, and torque motor output torque is to steering wheel；User's steering wheel rotation, torque sensor
Actual torque is measured, absolute value encoder measures actual rotational angle, passes two kinds of feedback data back single-chip microcontroller, single-chip microcontroller is by analysis
Control signal is adjusted in real time；
When in use, system carries out automatic centering operation first, the I d median determined when by encoder current value and design
It being compared, deviation data sends single-chip microcontroller to, and single-chip microcontroller signals to torque motor, and rotate steering wheel to middle position, until
Hui Zhong；In use, traffic information is sent to single-chip microcontroller in real time by turn-key system, and single-chip microcontroller is according to traffic information and coding
Device value determines output torque, passes through the closed-loop system of torque motor, torque sensor, encoder composition, real-time control steering wheel
Feedback moment；
The output shaft of the torque motor is connect with encoder axis by first shaft coupling, and the encoder axis and the torque pass
One end connection of sensor is connected by second shaft coupling, is joined between the other end and input shaft of the torque sensor by third
The connection of axis device；
One end of the small synchronizing wheel is held out against with first sleeve, and the first sleeve passes on input shaft, one end of sleeve and the
The inner ring of one bearing is held out against, and first bearing is placed in the first stepped hole of vertical plate, the outer ring side of first bearing and stepped hole
It holds out against, the first bearing outer ring other side is held out against with there is the boss of hole capping, has hole capping to be bolted with vertical plate；
First non-porous end cap is bolted with vertical plate, and the outer ring of boss and second bearing is held out against；Second bearing is placed on vertical
In second stepped hole of plate, outer ring side and the stepped hole of second bearing are held out against, inner ring side and the big wheel shaft of second bearing
The shaft shoulder is held out against；The big side of synchronizing wheel and the shaft shoulder of big wheel shaft are held out against, and the big synchronizing wheel is connected by key with big wheel shaft, described
The other side of big synchronizing wheel is held out against with second sleeve；Locating piece and the hole of big synchronizing wheel excessively cooperate；Block and vertical plate pass through spiral shell
Bolt is fixedly connected；Second sleeve is through on big wheel shaft, and one end of second sleeve and one end of flywheel are held out against；The other end of flywheel with
3rd sleeve is held out against, and flywheel is connected by key with big wheel shaft；One end of 3rd sleeve and the inner ring of axis 3rd bearing are held out against；Third
Bearing is placed in the stepped hole of riser, and outer ring side and the stepped hole of 3rd bearing hold out against, the outer ring other side and second non-porous
The boss of end cap is held out against；Second non-porous end cap is bolted with riser；Riser is bolted with bottom plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610976569.0A CN106448335B (en) | 2016-11-07 | 2016-11-07 | A kind of emulation steering wheel arrangement for drive simulating |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976569.0A CN106448335B (en) | 2016-11-07 | 2016-11-07 | A kind of emulation steering wheel arrangement for drive simulating |
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| CN106448335A CN106448335A (en) | 2017-02-22 |
| CN106448335B true CN106448335B (en) | 2019-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610976569.0A Active CN106448335B (en) | 2016-11-07 | 2016-11-07 | A kind of emulation steering wheel arrangement for drive simulating |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110432840B (en) * | 2019-08-22 | 2021-09-14 | 合肥云驾智能科技有限公司 | Automatic steering device of floor washing machine and control method thereof |
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| JPH08248873A (en) * | 1995-03-06 | 1996-09-27 | Taito Corp | Simulated manipulating force producing device |
| WO2004076015A1 (en) * | 1993-10-21 | 2004-09-10 | Toshiya Ohara | Steering wheel device having a stopper |
| CN102176291A (en) * | 2011-01-22 | 2011-09-07 | 浙江大学 | Steering wheel road feel simulating device with adjustable rotating angle range |
| CN102622924A (en) * | 2012-03-27 | 2012-08-01 | 北京经纬恒润科技有限公司 | Driving simulator and steering wheel limiting device for same |
| CN102700522A (en) * | 2012-05-25 | 2012-10-03 | 浙江大学 | Device for simulating sensation of brake pedal applied to vehicle driving simulator |
| CN103158754A (en) * | 2013-03-07 | 2013-06-19 | 青岛科技大学 | Vehicle steering wheel limit device |
| CN203060802U (en) * | 2013-01-18 | 2013-07-17 | 中山市世宇动漫科技有限公司 | Dynamic steering structure for games |
| CN203733340U (en) * | 2014-01-26 | 2014-07-23 | 南昌必普科技有限公司 | Automobile driving simulator steering wheel limiting and automation calibration device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202615646U (en) * | 2012-03-29 | 2012-12-19 | 江汉大学 | Steering wheel returning and driving device |
-
2016
- 2016-11-07 CN CN201610976569.0A patent/CN106448335B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004076015A1 (en) * | 1993-10-21 | 2004-09-10 | Toshiya Ohara | Steering wheel device having a stopper |
| JPH08248873A (en) * | 1995-03-06 | 1996-09-27 | Taito Corp | Simulated manipulating force producing device |
| CN102176291A (en) * | 2011-01-22 | 2011-09-07 | 浙江大学 | Steering wheel road feel simulating device with adjustable rotating angle range |
| CN102622924A (en) * | 2012-03-27 | 2012-08-01 | 北京经纬恒润科技有限公司 | Driving simulator and steering wheel limiting device for same |
| CN102700522A (en) * | 2012-05-25 | 2012-10-03 | 浙江大学 | Device for simulating sensation of brake pedal applied to vehicle driving simulator |
| CN203060802U (en) * | 2013-01-18 | 2013-07-17 | 中山市世宇动漫科技有限公司 | Dynamic steering structure for games |
| CN103158754A (en) * | 2013-03-07 | 2013-06-19 | 青岛科技大学 | Vehicle steering wheel limit device |
| CN203733340U (en) * | 2014-01-26 | 2014-07-23 | 南昌必普科技有限公司 | Automobile driving simulator steering wheel limiting and automation calibration device |
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| CN106448335A (en) | 2017-02-22 |
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