CN107024346A - Unmanned vehicle steering wheel integrated test system - Google Patents
Unmanned vehicle steering wheel integrated test system Download PDFInfo
- Publication number
- CN107024346A CN107024346A CN201710355260.4A CN201710355260A CN107024346A CN 107024346 A CN107024346 A CN 107024346A CN 201710355260 A CN201710355260 A CN 201710355260A CN 107024346 A CN107024346 A CN 107024346A
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- China
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- module
- test
- steering wheel
- sensor
- unmanned plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A kind of unmanned vehicle steering wheel integrated test system, system includes workbench, unmanned vehicle steering wheel, sensor assembly, Signal-regulated kinase, A/D sampling modules, control computer module and torque load-on module, the sensor assembly includes the light of circuit part every sensor, the pressure sensor and flowmeter of air path part, the workbench is test system major mechanical part, for placing torque loading device, and measuring the rudder number of the believing one side only system also includes Survey Software module, the Survey Software module includes parameter setting module, system calibrating module, System self-test module, historical query module, conventionally test module, steering wheel test module, unmanned vehicle test module and life test module.
Description
Technical field
The present invention relates to a kind of integrated test system, particularly unmanned vehicle steering wheel integrated test system.
Background technology
Unmanned vehicle is otherwise known as intelligent vehicle, including two kinds of steering wheel forms, traditional analog steering wheel and numerical scale steering wheel (or
Be standard steering wheel), both electronic circuits are using the AA51883 extra large microelectronics series analog steering wheel special chip of letter, one
Partly all it is referred to as simulating steering wheel, simulation steering wheel is connected into Wheatstone bridge by power operational amplifier etc., electric according to simulation is received
Pressure refers to the differential voltage for comparing generation between control instruction and mechanical linkage position sensor (potentiometer) feedback voltage, and driving has
Brushless motor servomotor is positive/negative to run to specified location.Numerical scale steering wheel is to simulate the best type of steering wheel, actual work
Steering wheel generally uses pneumatic actuation pattern during work, and work characteristics is to scale up the control signal from control circuit
For the angle of rudder reflection of rudder piece, in unmanned vehicle running, the control action of pneumatic servo is particularly important, and is directly affected and is led
The flight attitude of bullet, qualified steering wheel product can correctly respond deflection wheel in time after input voltage signal.Steering wheel
Response time and deflection polarity turn into and weigh the whether qualified important indicator of unmanned plane product.
But current method of testing and technical indicator is all relatively backward, and without the proprietary survey for unmanned vehicle steering wheel
Test system.
The content of the invention
The embodiment of the present invention provides a kind of steering engine for unmanned plane integrated test system, and the system operatio is easy, and is adapted to nobody
The proprietary measurement of machine steering wheel, system includes workbench, steering engine for unmanned plane, sensor assembly, Signal-regulated kinase, A/D sampling moulds
Block, control computer module and torque load-on module.
Wherein, the sensor assembly includes the light of circuit part every sensor, the pressure sensor and stream of air path part
Gauge.
Wherein, the workbench is test system major mechanical part, for placing torque loading device, and measures rudder
The number of believing one side only.
Wherein, the workbench is connected by the inclined measurement apparatus of metal thin bar and rudder.
Wherein, the torque adjusting of the unmanned vehicle steering wheel rudder face is completed by the spring steel plate in can on workbench, is adjusted
The torque loaded on steering wheel blade face can just be adjusted by saving the tightness for the spring steel plate being close on driving cam.
Wherein, test needs the load loaded to be 0.5Nm.
Wherein, the frequency of steering wheel and rudder deflection polarity matching somebody with somebody by the metal thin bar in testboard can and light pavilion sensor
Close and complete, steering wheel fin is connected by drive sleeve, rotating shaft with metal thin bar, the metal thin bar when steering wheel fin is perpendicular to workbench
By mechanical zero, output valve of light when sensor is that can measure the rudder number of believing one side only zero passage, two are placed at origin position
Light is placed every sensor according to certain angle of eccentricity can just measure the rudder deflection polarity of steering wheel.
Wherein, the system also includes Survey Software module, and the Survey Software module includes parameter setting module, system
Demarcating module, System self-test module, historical query module, conventionally test module, steering wheel test module, unmanned vehicle test module with
And life test module.
Wherein parameter setting module is used for the setting of steering wheel qualification parameters standard, includes the bound of response time.
Wherein system calibrating module is used for the demarcation of each sensor measurement coefficient, including pressure sensor, flow sensor
And the setting of correction factor.
Wherein, System self-test module judges test equipment before the test begins by the measurement to pressure, each parameter of flow
State it is whether normal.
Wherein, historical query module can be inquired about for having measured unmanned vehicle according to various conditions, and printing test report
Accuse.
Wherein, conventionally test module, unmanned vehicle test module, steering wheel test module and life test module complete corresponding
The DATA REASONING of testing experiment work, data processing, the work that data are preserved controls the magnetic valve of steering wheel gas circuit, and nobody
Car carries out input signal during different experiments and switched.
According to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will be brighter
Above-mentioned and other purposes, the advantages and features of the present invention.
Brief description of the drawings
Some specific embodiments of the present invention are described in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter.
Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these
What accompanying drawing was not necessarily drawn to scale.The target and feature of the present invention is considered to will be apparent from below in conjunction with the description of accompanying drawing,
In accompanying drawing：
Fig. 1 is test principle block diagram in the embodiment of the present invention；
Fig. 2 is workbench level thin bar placement schematic diagram in the embodiment of the present invention.
Embodiment
Fig. 1 is a kind of steering engine for unmanned plane integrated test system functional-block diagram, and the system operatio is easy, and is adapted to unmanned plane
The proprietary measurement of steering wheel, unmanned vehicle steering wheel integrated test system system hardware composition mainly around the gas circuit in test process with
Circuit part is built.By functional module point, system includes workbench, steering engine for unmanned plane, sensor assembly, signal condition mould
Block, A/D sampling modules, control computer module and torque load-on module.Sensor assembly includes the light of circuit part every sensing
The pressure sensor and flowmeter of device, air path part.Workbench is test system major mechanical part, for placing torque loading
Device, and measure the rudder number of believing one side only.The key sensor of wherein measurement response time and the rudder number of believing one side only are located at workbench side, peace
Put mode as shown in Figure 2 with angle.Workbench is connected by the inclined measurement apparatus of metal thin bar and rudder.The power of unmanned vehicle steering wheel rudder face
Square regulation is completed by the spring steel plate in can on workbench, and regulation is close to the elastic journey of the spring steel plate on driving cam
Degree can just adjust the torque loaded on steering wheel blade face.Test needs the load loaded to be 0.5Nm.The frequency of steering wheel and rudder are inclined
Polarity is completed by the cooperation of the metal thin bar in testboard can and light pavilion sensor, steering wheel fin by drive sleeve, turn
Axle is connected with metal thin bar, and when steering wheel fin is perpendicular to workbench, metal thin bar passes through mechanical zero, is put at origin position
Output valve of light when sensor can measure the rudder number of believing one side only zero passage is put, two light are put every sensor according to certain angle of eccentricity
The rudder deflection polarity of steering wheel can just be measured by putting.The measurement of response time physically must assure that and meanwhile measure ground power amplifier with
The road signals of Duo Pian bis-, it is considered to which the fs sample frequencys of the data collecting system of a N paths are sampled, then distribute to each logical
The operating time (including time needed for passage switching, A/D conversions, system response and data storage) in road is less than Ts=1/
(fs), sampled according to interrupt mode, break period T is less than Ts.In steering wheel response time test process, it is desirable to Ts measurement essences
Spend for musec order, close to T.Therefore data acquisition is carried out using dma mode, because the array of DMA sample collections is by adopting
Sample channel spacing is arranged, and need to be sorted out gather data according to channel packet, and by looking for the position where these data points, is counted
Calculate interlude, i.e. response time when thin bar passes through A points twice, when passing through groove profile photoelectrical coupler due to thin bar, sensing
What device was transmitted is one group of continuous data point, is a period rather than a moment, therefore the specific moment of median presses
Calculated according to the intermediate value of data point.
Control computer is test system core, and data collecting card is to grind magnificent A/D samplings board, isa bus interface,
Under DMA working conditions, highest sample rate can reach 40k/s, be calculated to ensure that stabilization during data acquisition is simultaneously convenient, setting
Sampling rate is 30k/s, and 3 channel samples, each passage can assign to 10k/s sampling rate.
The precision of response time meets sampling precision demand, and the I/O controls of test system gas circuit and coherent signal are by 818
There is provided, be the power output lifting of but moving A/D plates to being enough control relay, the block I/O plate of Design of Test System one phase therewith
Even, to provide necessary driving force, the whole I/O tunnels of basic structure Shi You 16 input 16 road output photoelectric isolated parts with driving
Dynamic part is constituted.The relay of test system uses interlocking structure, and unlike signal source signal needed for strictly ensuring each experiment is inputted
When independence, gas circuit sensor internal carries Signal-regulated kinase, possesses 0-5V output functions.
System also include Survey Software module, the measurement mould software block include parameter setting module, system calibrating module,
System self-test module, historical query module, conventionally test module, steering wheel test module, unmanned vehicle test module and life-span examination
Test module.Wherein parameter setting module is used for the setting of steering wheel qualification parameters standard, includes the bound of response time.Wherein it is
Demarcating module of uniting is used for the demarcation of each sensor measurement coefficient, including pressure sensor, flow sensor and correction factor
Setting.Wherein, System self-test module judges test equipment before the test begins by the measurement to pressure, each parameter of flow
Whether state is normal.Wherein, historical query module can be inquired about for having measured unmanned vehicle according to various conditions, and print survey
Examination report.Wherein, conventionally test module, unmanned vehicle test module, steering wheel test module and life test module complete corresponding
The DATA REASONING of testing experiment work, data processing, the work that data are preserved controls the magnetic valve of steering wheel gas circuit, and nobody
Car carries out input signal during different experiments and switched.
Compare normal experiment test data, experiment testboard measurement data and both results are coincide test well
Card testboard measurement data, and on this basis lift measurement virtual value, the difference comparsion of testing time is added, is easy to
Unmanned vehicle product performance is observed, the new each unmanned plane product of test system team carries out multi-group data test, more careful accurate anti-
Reflect unmanned vehicle product performance.
Although the present invention is described by reference to specific illustrative embodiment, will not be by these embodiments
Restriction and only limited by accessory claim.It should be understood by those skilled in the art that can be without departing from the present invention's
Embodiments of the invention can be modified and be changed in the case of protection domain and spirit.
Claims (9)
1. a kind of steering engine for unmanned plane integrated test system, system includes workbench, steering engine for unmanned plane, sensor assembly, signal is adjusted
Manage module, A/D sampling modules, control computer module and torque load-on module.
2. a kind of steering engine for unmanned plane integrated test system according to claim 1, the sensor assembly includes circuit portion
The light divided is every sensor, the pressure sensor and flowmeter of air path part.
3. a kind of steering engine for unmanned plane integrated test system according to claim 1, the workbench is that test system is main
Mechanical part, for placing torque loading device, and measures the rudder number of believing one side only.
4. a kind of steering engine for unmanned plane integrated test system according to claim 1, the workbench by metal thin bar with
The inclined measurement apparatus of rudder is connected.
5. a kind of steering engine for unmanned plane integrated test system according to claim 3-4, the power of the unmanned vehicle steering wheel rudder face
Square regulation is completed by the spring steel plate in can on workbench, and regulation is close to the elastic journey of the spring steel plate on driving cam
Degree can just adjust the torque loaded on steering wheel blade face.
6. a kind of steering engine for unmanned plane integrated test system according to claim 5, test needs the load loaded to be
0.5Nm。
7. a kind of steering engine for unmanned plane integrated test system according to claim 5, frequency and the rudder deflection polarity of steering wheel pass through
Metal thin bar and the cooperation of light pavilion sensor in testboard can are completed, and steering wheel fin passes through drive sleeve, rotating shaft and metal
Thin bar is connected, and when steering wheel fin is perpendicular to workbench, metal thin bar passes through mechanical zero, and light is placed at origin position every biography
Sensor is output valve when can measure the rudder number of believing one side only zero passage, and two light are placed every sensor according to certain angle of eccentricity just can be with
Measure the rudder deflection polarity of steering wheel.
8. a kind of steering engine for unmanned plane integrated test system according to claim 1, the system also includes Survey Software mould
Block, the Survey Software module include parameter setting module, system calibrating module, System self-test module, historical query module, often
Advise test module, steering wheel test module, unmanned vehicle test module and life test module.
9. a kind of steering engine for unmanned plane integrated test system according to claim 8, it is qualified that parameter setting module is used for steering wheel
The setting of parameter and standard, includes the bound of response time, and the system calibrating module is used for the mark of each sensor measurement coefficient
It is fixed, include the setting of pressure sensor, flow sensor and correction factor, the System self-test module passes through to pressure, stream
The measurement of each parameter is measured, judges whether the state of test equipment is normal before the test begins, the historical query module can be for
Unmanned vehicle has been measured to be inquired about according to various conditions, and printing test is reported, the conventionally test module, unmanned vehicle test mould
Block, steering wheel test module and life test module complete the DATA REASONING of corresponding testing experiment work, and data processing, data are protected
The work deposited, controls the magnetic valve of steering wheel gas circuit, and unmanned vehicle to carry out input signal during different experiments and switch.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355260.4A CN107024346A (en) | 2017-05-19 | 2017-05-19 | Unmanned vehicle steering wheel integrated test system |
| PCT/CN2017/090674 WO2018209767A1 (en) | 2017-05-19 | 2017-06-29 | Integrated test system for servo of driverless car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355260.4A CN107024346A (en) | 2017-05-19 | 2017-05-19 | Unmanned vehicle steering wheel integrated test system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107024346A true CN107024346A (en) | 2017-08-08 |
Family
ID=59528463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710355260.4A Pending CN107024346A (en) | 2017-05-19 | 2017-05-19 | Unmanned vehicle steering wheel integrated test system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107024346A (en) |
| WO (1) | WO2018209767A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9389165B2 (en) * | 2011-06-23 | 2016-07-12 | Virtjoule, Inc. | System responsive to machine vibrations and method of use |
| CN103112576B (en) * | 2013-01-08 | 2016-03-30 | 中国船舶重工集团公司第七一○研究所 | A kind of servos control method |
| CN104656630A (en) * | 2013-11-25 | 2015-05-27 | 哈尔滨功成科技创业投资有限公司 | Testing system of electric steering engine for flight navigation |
| CN204302795U (en) * | 2014-12-02 | 2015-04-29 | 贵州航天计量测试技术研究所 | A kind of aerospace system steering wheel automatic tester for performance |
| CN104634600A (en) * | 2015-02-08 | 2015-05-20 | 杭州电子科技大学 | Automatic detection system of civil unmanned aircraft steering engine |
| CN204694484U (en) * | 2015-04-13 | 2015-10-07 | 杭州电子科技大学 | Civilian steering engine for unmanned plane automatic tester for performance |
| CN204944772U (en) * | 2015-05-29 | 2016-01-06 | 江西洪都航空工业集团有限责任公司 | A kind of source of the gas steering gear system experiment test equipment |
-
2017
- 2017-05-19 CN CN201710355260.4A patent/CN107024346A/en active Pending
- 2017-06-29 WO PCT/CN2017/090674 patent/WO2018209767A1/en active Application Filing
Non-Patent Citations (1)
| Title |
|---|
| 赵玉成等: "基于工控机的控制舱综合测试系统", 《电子测量技术》 * |
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| Publication number | Publication date |
|---|---|
| WO2018209767A1 (en) | 2018-11-22 |
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Application publication date: 20170808 |