CN107101767A - A kind of motor vehicle steering wheel power angle instrument self-checking device and method - Google Patents

A kind of motor vehicle steering wheel power angle instrument self-checking device and method Download PDF

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Publication number
CN107101767A
CN107101767A CN201710432088.8A CN201710432088A CN107101767A CN 107101767 A CN107101767 A CN 107101767A CN 201710432088 A CN201710432088 A CN 201710432088A CN 107101767 A CN107101767 A CN 107101767A
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CN
China
Prior art keywords
steering
steering wheel
data
force
instrument
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CN201710432088.8A
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Chinese (zh)
Inventor
徐喆
胡亮
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Beijing University of Technology
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Beijing University of Technology
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Priority to CN201710432088.8A priority Critical patent/CN107101767A/en
Publication of CN107101767A publication Critical patent/CN107101767A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
    • G01B21/22Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring angles or tapers; for testing the alignment of axes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering

Abstract

The invention discloses a kind of motor vehicle steering wheel power angle instrument self-checking device and method, while meeting measurement and calibration code and calibrated on steering force, the calibration to steering angle can be also carried out.Instrument is made up of steering angle alignment unit and steering force alignment unit two parts, all each self-contained power module in two parts, signal processing module, control module and performing module.Steering force can only be calibrated and can not calibrate the shortcoming of steering angle by overcoming existing equipment, improved the mode of steering force calibration, reduced manually-operated workload.Using High-precision standard force cell, High Precision Absolute Encoder, three-level signal processing, RS485 communicating circuits and subdivision driver, the signal condition scope of control system is larger, it is the signal amplification circuit linearity, reproducible, signal condition precision is high, automatically control stepper motor precise and stable, uncertain factor present in the manual calibration process under human intervention is reduced, the precision of calibration result is improved.

Description

A kind of motor vehicle steering wheel power angle instrument self-checking device and method
Technical field
The present invention relates to a kind of calibrating installation and its application method, especially with regard to the school of wheel steering power angle detector Standard apparatus and method.Belong to automotive test calibrator (-ter) unit technical field.
Background technology
Car steering wheel steering force angle is the important indicator of motor vehicle safety technology for detection, is related to the life of human pilot Life safety.As national economy develops by leaps and bounds, the recoverable amount of motor vehicle is growing day by day, and vehicle density is also obtained with travel speed Significantly lifted, in the state of motor vehicle high-speed traveling, the corner performance of steering wheel determines that vehicle keeps linear rows The ability sailed, vehicle stray can be caused when steering wheel angle error is excessive to trigger serious traffic accident. So, steering force angle periodically is carried out to steering wheel for vehicle and detected, timely investigation of pinpointing the problems, to the performance of automobile with Economic performance is significant.Car steering wheel steering force angle can be entered with automobile steering wheel steering force-steering angle detector Row detection.
In order to ensure the measuring accuracy of automobile steering wheel steering force-steering angle detector, according to JJF 1196-2008 《Automobile steering wheel steering force-steering angle detector calibrating standard》It is required that, automobile steering wheel steering force-steering angle detector Calibration cycle is no more than 1 year.It periodically must be carried out examining and determine/calibrating by metrological service.Existing calibration method generally uses many human hands Work completes and is confined to the calibration of steering force, to the calibration of steering angle also in blank stage.Concretely comprise the following steps installation tested Automobile steering wheel steering force-steering angle detector (hereinafter referred to as steering wheel angle instrument) is on pallet, pallet and calibrating installation Main part is fixed, and the integrated disc portions of tested steering wheel angle instrument are connected by steel wire rope with force unit, and steering wheel Angle instrument disk edge should be tangent with steel wire rope, produces torsion by the unit steering wheel angle instrument that exerts a force and is shown by numeral method moment of torsion Value.Force unit is hand-rail type push-and-pull augmentor, and a standard force-measuring sensor is fixed in device front end, passes through contrast standard The registration of force cell and tested steering wheel angle instrument completes the calibration to steering force.
Calibration process needs many people to manually complete, cumbersome, and human factor influence is larger, and use till today always this Method is limited only to calibrate the steering force value of steering wheel angle instrument, it is impossible to which the steering angle indicating value to steering wheel angle instrument is done Go out to evaluate.
The content of the invention
For the calibration present situation of automobile steering wheel steering force-steering angle detector, it is an object of the invention to provide one kind Measurement is reliable, operation intelligence, convenient data processing, can not only complete《Automobile steering wheel steering force-steering angle detector school Quasi- specification》Required steering force calibration, and possess the ability calibrated to steering angle.Calibration process abandons original hand-rail type Push-and-pull augmentor, uses stepper motor, high-precision sensor and the automatic low speed of microcontroller implementation instead and is precisely controlled, overcome original Have the shortcomings that calibrating mode process is cumbersome, human factor influence is larger, improve calibration accuracy so that calibration result has more persuasion Power.
Technical scheme.A kind of motor vehicle steering wheel power angle instrument self-checking device, it is characterised in that:Meet meter While amount calibration code is calibrated on steering force, the calibration to steering angle can be also carried out.The calibrating installation is calibrated by steering angle Unit and steering force alignment unit two parts composition, steering angle alignment unit are the instrument container of closing, and instrument container is interior to include stepping Motor 216, stepper motor driver 204, lithium battery 206, steering angle control pcb board 203 and liquid crystal display b201, instrument Include gear drive, encoder 215, steering angle control matrix press-key 202, pallet 211, baffle plate 208, upper buckle outside casing 209th, lower buckle 210, gear drive includes motor gear 214 and encoder gear 213.The output shaft of stepper motor 216 It is connected with motor gear 214, pallet 211 is connected by positive coupling with motor gear 214;Motor gear 214 and encoder Gear 213 is meshed, and the rotating shaft of encoder gear 213 is provided with encoder 215;Baffle plate 208 is arranged on the side of pallet 211, Baffle plate 208 is provided with upper buckle 209, lower buckle 210;Steering wheel detector is fixed on pallet 211, survey steering force when Wait, upper buckle 209 and lower buckle 210 are to block the steering wheel detector on pallet 211;Liquid crystal display b201, lithium battery 206th, stepper motor driver 204, steering angle control matrix press-key 202 and encoder 215 control pcb board 203 with steering angle Connection;
Stepper motor 216 is engaged by gear drive and realizes synchronous incorgruous rotation, encoder 215 with encoder 215 Collect real-time corner value and feed back to control circuit, control circuit is by contrasting value of feedback and setting value decision stepper motor 216 next step action, whole calibration process is realized by steering angle control matrix press-key 202.During rudder angle measurement only Tested steering wheel need to be fixed on pallet 211, press steering angle control matrix press-key 202 on 50 °, 180 °, 720 ° and 1080 ° of corresponding measurement points, the steering angle indicating value for then contrasting steering angle alignment unit and tested steering wheel angle instrument completes calibration.
Steering force alignment unit includes control casing 105, support base 106, lead-screw drive mechanism 107;Control casing 105 Opened provided with regulation resistance 101, liquid crystal display a102, steering force control matrix press-key 103, steering force alignment unit general supply 104 are closed, regulation resistance 101 is connected with liquid crystal display a102 and steering force control matrix press-key 103, and steering force alignment unit is total Power switch 104 is connected with steering force control matrix press-key 103;Control casing 105, lead-screw drive mechanism 107 are installed in branch Support on base 106;
The leading screw of lead-screw drive mechanism 107 and the output shaft of motor are attached composition power by yielding coupling Source, leading screw is fastened with leading screw push pedal by nut, and leading screw push pedal is attached with sensor push pedal by four optical axises And fastening, drive leading screw push pedal to be moved back and forth along four optical axises after feed screw nut motion, and then drive sensor push pedal past Multiple motion, steel wire rope through hole 108 is arranged on the end of support base 106, one end connection of force cell and steel wire rope, steel wire Restrict and be connected through after steel wire rope through hole 108 with pallet 211.Steering force control matrix press-key 103 is realized by adjusting resistance 101 Level of torque control to motor, in five measurement point contrast steering wheels of 20Nm, 40Nm, 60Nm, 80Nm, 100Nm The indicating value of angle instrument completes calibration.
Circuit is controlled by MCU controller minimum systems circuit, mu balanced circuit, RS485 communicating circuits, photoelectric coupled circuit and each Collecting sensor signal circuit constitute, wherein MCU minimum systems circuit include power circuit, reset circuit, crystal oscillating circuit and Jtag interface circuit.Lithium battery 206 is connected the power supply for ensureing modules in control circuit, mu balanced circuit with mu balanced circuit It is output as the rated voltage needed for modules.Circuit entirely is controlled using MCU controllers as core, and RS485 communicating circuits connect Connect MCU I/O port and encoder, photoelectric coupled circuit connection MCU controller minimum system circuits and stepper motor 216, signal acquisition electricity Road connects MCU controller minimum system circuits and each collecting sensor signal circuit.
Instrument box is made up of hard aluminium material;
The steering of motor and pallet 211 are tangent;
(1) signal processing unit
Because the measurement signal that standard force-measuring sensor is exported is mV grades of signals, therefore one stage signal processing should use standard Differential amplifier circuit, in the case where not changing the polarity of input voltage or amplifier input pin line, pulling force signal is amplified + 1.5V is arrived to -1.5V.Data processing is carried out because MCU microcontrollers can not gather negative voltage, it is therefore desirable to use second signal The level shift circuit of processing, by -1.5V to+1.5V voltage shifts to 0-3V, processing is acquired for MCU microcontrollers. During the non-stress of standard force-measuring sensor, to ensure that signal output is 0, the zeroing circuit of addition three-level signal processing is whole letter Number amplifying unit circuit carries out signal balancing.
Absolute type encoder mode of operation is aggressive mode, at interval of 8ms actively to external equipment (such as single-chip microcomputer, PC Or PLC device etc.) data are sent, encoder and external equipment use the data-link layer transfer data of RS485 standards, communicate lattice Formula is:19200bit/s;Data bit 8, stop position 1, no parity position.MCU microcontrollers are by the way that UART is set to Reception pattern and setting receive the data of encoder transmission with encoder identical baud rate, are obtained finally according to communication format Useful information is taken, gives up interference information.
(2) signal software and hardware acquisition process and control algolithm
MCU microcontroller AD acquisition modes used in the present invention trigger PDB using PIT, and PDB hardware triggers ADC is adopted Collection, the signal of ADC collections is directly stored in internal memory by dma mode.Such a signal acquisition process mode uses hardware trigger, and Memory storage is directly transferred to by DMA, just can be with successful acquisition to the signal needed, when CPU is needed without cpu resource is taken When handling current demand signal, current demand signal can be directly taken out from internal memory, and extra acquisition process work need not be done, is carried High MCU operating efficiencies.
Control algolithm uses PID incremental control modes, by selecting rational PI, PD or PID control, reasonable disposition P, Two or three of parameter in I, D, reaches that overshoot is smaller, the response time is very fast, control result is stable in control process, the mesh such as accurate 's.
(3) power supply is selected and anti-interference
Power module uses 36V lithium batteries as power supply, is powered all the way directly to motor driver, and another road passes through Voltage stabilizing module is powered to system pcb board.Driven in governor circuit using photoelectric coupled circuit connection MCU minimum systems and motor, Isolate both;In the line of motor four and motor-driven interface chuck magnet ring, one layer of aluminium-foil paper is wrapped up on the line of motor four, Add radome on stepper motor, for shielding interference.Using hard aluminium as instrument container making material, rationally design electricity is mechanical, electrical Machine driving, governor circuit, signal amplification circuit space mounting position, reduce interfered present in confined space as far as possible Problem.
Compared with prior art, the present invention has advantages below:
(1) present invention is the automatic school that can complete to calibrate automobile steering wheel steering force-steering angle detector Standard apparatus, steering force can only be calibrated and can not calibrate the shortcoming of steering angle by overcoming existing equipment, improved and referred to for steering force The accurate precision of calibration, improves the mode of steering force calibration, reduces manually-operated workload.
(2) present invention using High-precision standard force cell, High Precision Absolute Encoder, three-level signal processing, RS485 communicating circuits, subdivision driver constitute the signal amplification unit and main control unit of calibrating installation.Signal condition scope compared with Greatly, the signal amplification circuit linearity, reproducible, signal condition precision is high, and it is precise and stable to automatically control stepper motor, reduces Uncertain factor present in manual calibration process under human intervention, improves the precision of calibration result.
(3) the present invention relates to two calibration modules, it is easy to split carrying.Each module uses Electromechanical Design, Stepper motor, high-precision sensor, subdivision driver, lithium battery etc. are all integrated in a casing, the casing is further fixed on electricity The modules such as PCB plate.Device box size length and width ratio is satisfied by golden section proportion, and overall appearance is generous.
Brief description of the drawings
Fig. 1 .1 are steering force alignment unit structure chart involved in the present invention;
Fig. 1 .2 are steering angle alignment unit structure chart involved in the present invention;
Fig. 2 .1 are the system block diagram of steering force alignment unit involved in the present invention;
Fig. 2 .2 are the system block diagram of steering angle alignment unit involved in the present invention;
Fig. 3 is system operation flow chart involved in the present invention;
Fig. 4 is signal software and hardware collecting flowchart figure;
Fig. 5 is the basic circuit pie graph of signal processing unit;
Fig. 6 .1 are single unit system main body top view involved in the present invention;
Fig. 6 .2 are single unit system main body front view involved in the present invention;
Fig. 6 .3 are single unit system main body oblique view involved in the present invention;
In figure:101- regulations resistance, 102- liquid crystal display a, 103- steering force control matrix press-key, 104- steering forces school Quasi- unit total power switch, 105- control casing, 106- support bases, 107- lead-screw drive mechanisms, 108- steel wire ropes through hole, 201- liquid crystal display b, 202- steering angle control matrix press-key, 203- steering angles control pcb board, 204- driving stepper motors Device, 205- batteries baffle plate, 206- lithium batteries, 207- steering angle alignment units total power switch, 208- baffle plates, the upper buckles of 209-, Buckle, 211- pallets, 212- positive couplings, 213- encoder gears, 214- motor gears, 215- absolute encodings under 210- Device, 216- stepper motors.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 .1-1.2 are respectively a kind of steering force alignment unit of motor vehicle steering wheel power angle instrument self-checking device and turned To angle alignment unit structure chart.Tested steering wheel angle instrument is placed on the pallet of steering angle alignment unit, due to being detected direction The steering angle generating means of disk power angle instrument is that support is provided with a knob, knob, therefore when this alignment unit passes through control When motor drives pallet rotation, the support that tested steering wheel angle instrument need to be fixed by baffle plate causes tested steering wheel angle instrument to produce Raw incorgruous corner synchronous with this calibrating installation, so as to complete the calibration of steering angle.Likewise, due to being detected steering wheel angle instrument Moment of torsion by itself up and down two-part relative motion produce, and the unit that exerts a force passes through steering force alignment unit and draws pallet and produces It is raw, therefore the top half of fixed-direction disk power angle instrument is needed so that it produces corresponding steering moment, the present invention is by baffle plate On install lower buckle and fix.Particularly, when needing calibration steering angle, buckle should be removed, to ensure tested steering wheel angle Instrument can be with pallet synchronous axial system.
Fig. 2 .1 are the system block diagram of steering force alignment unit.Alignment unit is by power module, signal processing module, control Module, the part of performing module four composition.Power module uses 36V lithium batteries and positive and negative 12V, positive and negative 5V voltage converters;Signal Processing module includes High-precision standard force cell, three-level signal process circuit;Control module be MCU controllers, optocoupler every From circuit;Performing module includes Stepping Motor Subdivision Driver, stepper motor.
Fig. 2 .2 are the system block diagram of steering angle alignment unit.Alignment unit is by power module, signal processing module, control Module, the part of performing module four composition.Power module uses 36V lithium batteries and positive and negative 5V voltage converters;Signal processing module Include High Precision Absolute Encoder, RS485 communicating circuits;Control module is MCU controllers, optical coupling isolation circuit;Perform mould Block includes Stepping Motor Subdivision Driver, stepper motor.
MCU controllers are arranged on total PCB design circuit board, are the cores of control system.The main control chip of MCU controllers The MK60DX512ZVLQ10 chips of Freescale companies are used, the speed of service is 100MHz.The microcontroller integrated DMA (enhanced direct memory access), PDB (programmable delay module), PIT (cycle interruption timer), it is single-ended with up to 24 AD input pins, the UART serial line interfaces of 6 passages, 3 FTM (timer) module channels output PWM, can meet calibration cartridge Required signal acquisition and processing function is put, the control requirement of system is reached.
Stepper motor driver is arranged on below total PCB design circuit board, electric as directly control stepping in performing module The actuator that machine is rotated, supports the functions such as off line, enable, locking, carries short circuit, overheat, overcurrent protection, anti-High-frequency Interference ability By force, highly integrated, high reliability, the driver exports PWM by MCU microcontrollers and control is finely divided to stepper motor, with 5 Plant subdivision pattern optional, it is minimum up to 1/16 step, it is ensured that Driving Stepping Motor realizes low vibration, high accuracy, high efficiency work Make.
The stepper motor of steering force alignment unit is arranged on below stepper motor driver, the stepping of steering angle alignment unit Motor is arranged on the lower section of pallet and concentric with pallet.Using model 86HBP113AL4-TK0 stepper motors, weight 3.7Kg, step angle is 1.8 °, quiet moment of torsion 8.5N*m, operating voltage 36-60V, and this high pulling torque stepper motor can be met completely to be made Obtain the standard torque that output when the traction of standard force-measuring sensor is detected steering wheel angle instrument is 100Nm to the maximum, and motor work feelings Condition is reliable and stable.
High-precision standard force cell is arranged on sensor fixation plate, uses S type pull pressure sensor, maximum Range 200Kg, size is 70mm × 64mm × 20mm, and operating voltage is 12V, and composition error 0.03%F*S, accuracy class is far high In JJF1169-2008《Automobile steering wheel steering force-steering angle detector calibrating standard》Motor vehicle steering wheel steering force is examined The required precision of instrument is surveyed, this High Precision Strength Measurement Sensor can be used to calibrate motor vehicle wheel steering tension gauge completely.
High Precision Absolute Encoder is arranged on below top cover, and its output shaft is defeated with stepper motor by gear drive Shaft realizes synchronous incorgruous rotation.Using DSP3806 type absolute value encoders, 1440 ° of maximum range, operating voltage is 5V, Measurement accuracy is that 0.088 ° of accuracy class is higher than JJF1169-2008《Automobile steering wheel steering force-steering angle detector is calibrated Specification》Required precision to motor vehicle steering wheel steering angle detector, can use this High Precision Absolute Encoder adjusting machine Motor-car turning angle of steering wheel detector.
Power module is arranged on the upper right side of total PCB design circuit board, uses one piece of output voltage for 36V lithium battery, Capacity is 4Ah, and weight 1Kg, size is 125mm × 150mm × 50mm, while configuring two electric pressure converters, 36V is converted to Positive and negative 12V, positive and negative 5V.
The calibrating installation system operation flow chart is as shown in figure 3, its content is to motor vehicle power angle instrument steering force and turned To the calibration of angle two indices, the calibration operation of wherein steering angle comprises the following steps:
Step 1, calibrating installation is initialized.
This stage before the instrument calibration of tested steering wheel angle, be related to tested steering wheel angle instrument installation site, The preparations such as initial position adjustment, the zeroing of steering angle prover of measurement, specifically include following steps:
Step 1.1, it is determined that the installation site and fixed form of tested steering wheel angle instrument.
Tested steering wheel angle instrument is positioned on the pallet of steering angle calibrating installation, steering wheel angle Yi Shui is kept as far as possible Flat (visual derection level), steering wheel angle instrument and pallet are fastened, should avoid causing direction in installation process with stop screw Disk power angle instrument deflection.The support of tested steering wheel angle instrument is installed and the other end of support and the baffle plate of calibrating installation is offseted, Support should be in the top (vertical view) of baffle plate.
Step 1.2, adjustment initial measurement locations and double zeroings.
The master switch of steering angle calibrating installation is opened, calibrating installation is adjusted using rotating forward, inverting and stopping function button Indicating value within 0-360 °, using zeroing button make calibrating installation indicating value be zero.Tested steering wheel angle instrument switch is opened, is adjusted The corner zeroing knob of the tested steering wheel angle instrument of section, the corner indicating value for making tested steering wheel angle instrument is zero.
Step 2, standard data acquisition and processing
This stage is that high-precision encoder data are sent and the reception of MCU micro controller datas and processing stage, normal data Communicated by RS485 communications protocol and corresponding data format.The working stage comprises the following steps:
Step 2.1, the collection of normal data
The High Precision Absolute Encoder used in the present invention is active work mode, and it is at interval of 8ms actively to outside Equipment sends data, and data format is:Data bit 8, stop position 1, no parity position.Sent with reference to the data of encoder Mode, it is reception pattern to set the UART of MCU microcontrollers to interrupt, and sets reception time interval more somewhat larger than 8ms to avoid Situation about not communicating.The collection to corner initial data is completed by arrangement above.
Step 2.2, the processing of normal data
The data received are interrupted by UART to be stored among an array, then basis sentences data flag bit It is disconnected, central effective information is obtained, finally effective information is carried out according to the precision of encoder to be converted to corner information.This hair The data format that the bright high-precision encoder that uses is sent is:0xAB, 0xCD, data length, data upper byte, data low level Byte, 0x00,0xFF, single byte of data it is cumulative and, single byte of data XOR value, 0x3D.Wherein:
Single byte of data adds up and=data length+data upper byte+data low byte+0x00+0xFF;
Single byte of data XOR value=data length ^ data upper byte ^ data low bytes ^0x00^0xFF
Encoder send data format be:The EF 3D of 05 2C of AB CD, 39 00 FF 69, then by judge frame head, Postamble, data length obtain effective angular measurement for 0x2C39, are converted according to 14 360 degree of individual pen angles, actual to survey Angulation angle value is 248.75 degree.
Step 3, control mode
This stage is carried out in main control unit, is interrupted and received and data after treatment and standard points by UART It is compared and obtains departure, this departure is corrected by PID incremental control algolithms to step motor control, until inclined Difference is fallen into the error range of permission, stepper motor stop motion.Concrete operations are:Press successively 50 °, 180 °, 720 ° and 1080 ° of four standard points.System carries out key scan by PIT Interruptions, waits keyed access, often presses next mark The corresponding matrix press-key of locating tab assembly point will enter corresponding control circulation, and MCU microcontrollers are by the control not obtained in the same time Strategy is by pulse signal transmission to stepper motor driver, and stepper motor can be according to current controlled quentity controlled variable increment regulation motion speed Degree, and eventually stop on the position that error allows, so that system reaches the purpose of accurate, effective Driving Stepping Motor motion.It is logical Overwriting is detected indicating value of the steering wheel angle instrument at standard points and completes the record of calibration initial data to judge by procuratorial organ It is whether qualified to disk power angle instrument.
The calibration operation of steering force comprises the following steps:
Step 1, calibrating installation is initialized
After this stage is completion steering angle calibration, carry out before steering force calibration, be related to tested steering wheel angle instrument The preparations such as fixed form, the fixed form of haulage cable, regulation reference voltage, specifically include following steps:
Step 1.1, it is determined that the installation site and fixed form of tested steering wheel angle instrument.
Tested steering wheel angle instrument is still fixed on the pallet of steering angle alignment unit, because the measurement of steering force needs Steering wheel angle instrument itself is set to produce a torsion, therefore, using fixed-direction disk power angle instrument top half, traction and steering wheel Pallet that power angle instrument the latter half is fixed as one produces torsion.Lower card is installed on the baffle plate of steering angle alignment unit Button, the top half of steering wheel angle instrument is fixed, then using the transmission of steel wire rope connecting trays and steering force alignment unit Leading screw, one end of steel wire rope is fixed on circular hole tangent with steering force alignment unit on pallet, other end connection standard force-measuring Sensor.
Step 1.2, reference voltage is adjusted
Resistance is adjusted to be arranged on calibrating installation panel on the right side of film key, because standard force-measuring sensor is S type tension and compression Force snesor, the sensor can measure pulling force and pressure simultaneously, after calibrating installation signal amplification unit is handled signal, Pressure corresponding voltage scope is 0-1.5V, and pulling force corresponding voltage scope is 1.5V-3V, and pressure size is in inverse ratio with voltage swing, Pulling force size and voltage swing are proportional, therefore choose 1.5V as the reference voltage of calibrating installation.
Convenient for observation, the reference voltage for being displayed on liquid crystal display does and multiplies 100 processing, and now regulation resistance causes base manually Quasi- voltage is " 150 ".
Step 2, standard signal collection and processing
This stage be the calibrating installation software and hardware signal sampling and processing stage, signal software and hardware collecting flowchart as shown in figure 4, Signal transacting is made up of three-level signal process circuit, as shown in figure 5, the working stage comprises the following steps:
Step 2.1, standard signal is gathered
PDB is triggered using PIT, PDB hardware triggers ADC is acquired, the signal of ADC collections is directly deposited by dma mode Enter in MCU internal memories.ADC is using 12 precision acquisitions, and the variable quantity of collection voltages is 0.2mV, the knot handled according to standard signal Really, it is 0.75mV/N after signal amplifies because the sensitivity of standard force-measuring sensor is 2mV/V, therefore 12 AD collections Precision can meet the requirement of calibrating installation acquisition precision completely.
Step 2.2, standard signal is handled
When standard force-measuring sensor interacts with pallet, the standard signal of standard force-measuring sensor output is mV signals, Therefore, in one-level discharge circuit, the standard signal after standard force-measuring sensor application full scale pulling force will be amplified to first- 1.5V and 1.5V, then moves to 0-3V, in amplifying circuit to one-level amplified signal-1.5V -+1.5V current potentials for carrying out 1.5V Final tache add zeroing circuit, complete three-level signal process circuit is then constituted, for MCU normal acquisitions.
Step 3, data processing and control mode
This stage is carried out in calibrating installation main control unit, and the voltage signal collected by AD is compared with standard signal Departure is relatively obtained, this departure is corrected by digital PID incremental control algolithm to step motor control, until deviation Fall into the error range of permission, stepper motor stop motion, standard force-measuring sensor is parked in current location, standard transducer with The interaction force of pallet is the force value of standard output.Concrete operations are:Press successively 20Nm, 40Nm, 60Nm, 80Nm and Five standard points of 100Nm.System carries out key scan by PIT Interruptions, waits keyed access, often presses next mark The corresponding matrix press-key of locating tab assembly point will enter corresponding control circulation, and MCU microcontrollers are by the control not obtained in the same time Strategy is by pulse signal transmission to stepper motor driver, and stepper motor can be according to current controlled quentity controlled variable increment regulation motion speed Degree, and eventually stop on the position that error allows, so that system reaches the purpose of accurate, effective Driving Stepping Motor motion.It is logical Overwriting is detected indicating value of the steering wheel angle instrument at standard points and completes the record of calibration initial data to judge by procuratorial organ It is whether qualified to disk power angle instrument.

Claims (5)

1. a kind of motor vehicle steering wheel power angle instrument self-checking device, it is characterised in that:The calibrating installation calibrates single by steering angle Member and steering force alignment unit two parts composition, steering angle alignment unit are to include stepping electricity in the instrument container of closing, instrument container Machine (216), stepper motor driver (204), lithium battery (206), steering angle control pcb board (203) and liquid crystal display b (201) gear drive, encoder (215), steering angle control matrix press-key (202), pallet, are included outside instrument box (211), baffle plate (208), upper buckle (209), lower buckle (210), gear drive include motor gear (214) and encoder Gear (213);The output shaft of stepper motor (216) is connected with motor gear (214), pallet (211) by positive coupling with Motor gear (214) is connected;Motor gear (214) is meshed with encoder gear (213), the rotating shaft of encoder gear (213) It is provided with encoder (215);Baffle plate (208) is arranged on the side of pallet (211), baffle plate (208) provided with upper buckle (209), Lower buckle (210);Steering wheel detector is fixed on pallet (211), when steering force is surveyed, upper buckle (209) and lower card (210) are detained to block the steering wheel detector on pallet (211);Liquid crystal display b (201), lithium battery (206), stepping electricity Machine driver (204), steering angle control matrix press-key (202) and encoder (215) connect with steering angle control pcb board (203) Connect;
Stepper motor (216) is engaged incorgruous rotation synchronous with encoder (215) realization, encoder by gear drive (215) collect real-time corner value and feed back to control circuit, control circuit determines to walk by contrasting value of feedback and setting value The next step action of stepper motor (216), whole calibration process controls matrix press-key (202) to realize by steering angle;Surveyed in steering angle Tested steering wheel need to be only fixed on pallet (211) during amount, press 50 ° in steering angle control matrix press-key (202), 180 °, 720 ° and 1080 ° corresponding measurement points, then contrast steering angle alignment unit and the steering angle of tested steering wheel angle instrument shows Value completes calibration;
Steering force alignment unit includes control casing (105), support base (106), lead-screw drive mechanism (107);Control casing (105) provided with regulation resistance (101), liquid crystal display a (102), steering force control matrix press-key (103), steering force calibration Unit total power switch (104), regulation resistance (101) and liquid crystal display a (102) and steering force control matrix press-key (103) Connection, steering force alignment unit total power switch (104) is connected with steering force control matrix press-key (103);Control casing (105), lead-screw drive mechanism (107) is installed in support base (106);
The leading screw of lead-screw drive mechanism (107) and the output shaft of motor by yielding coupling be attached composition power come Source, leading screw is fastened with leading screw push pedal by nut, leading screw push pedal and sensor push pedal be attached by four optical axises and Fastening, drives leading screw push pedal to be moved back and forth along four optical axises, and then drive sensor push pedal reciprocal after feed screw nut motion Motion, steel wire rope through hole (108) is arranged on the end of support base (106), one end connection of force cell and steel wire rope, steel Cord is connected with pallet (211) afterwards through steel wire rope through hole (108);Steering force control matrix press-key (103) is by adjusting electricity Hinder (101) realization to control the level of torque of motor, in five measurement points pair of 20Nm, 40Nm, 60Nm, 80Nm, 100Nm Indicating value than steering wheel angle instrument completes calibration.
2. a kind of motor vehicle steering wheel power angle instrument self-checking device according to claim 1, it is characterised in that:Control electricity It route MCU controller minimum systems circuit, mu balanced circuit, RS485 communicating circuits, photoelectric coupled circuit and each collecting sensor signal Circuit is constituted, and wherein MCU minimum systems circuit includes power circuit, reset circuit, crystal oscillating circuit and jtag interface circuit;Lithium electricity Pond (206) is connected the power supply for ensureing modules in control circuit with mu balanced circuit, and mu balanced circuit is output as each mould Rated voltage needed for block;Circuit entirely is controlled using MCU controllers as core, RS485 communicating circuits connection MCU I/O port and volume Code device, photoelectric coupled circuit connection MCU controller minimum system circuits and stepper motor (216), signal acquisition circuit connection MCU controls Device minimum system circuit and each collecting sensor signal circuit.
3. a kind of motor vehicle steering wheel power angle instrument self-checking device according to claim 1, it is characterised in that:Instrument container Body is made up of hard aluminium material.
4. a kind of motor vehicle steering wheel power angle instrument self-checking device according to claim 1, it is characterised in that:Driving electricity The steering of machine and pallet (211) are tangent.
5. a kind of motor vehicle steering wheel power angle instrument automatic calibrating method carried out using calibrating installation described in claim 1, it is special Levy and be:
Step 1, calibrating installation is initialized;
This stage before the instrument calibration of tested steering wheel angle, is related to installation site, the measurement of tested steering wheel angle instrument The preparation such as initial position adjustment, the zeroing of steering angle prover, specifically include following steps:
Step 1.1, it is determined that the installation site and fixed form of tested steering wheel angle instrument;
Tested steering wheel angle instrument is positioned on the pallet of steering angle calibrating installation, steering wheel angle instrument keeps level, with limit Position screw fastens steering wheel angle instrument and pallet, should avoid causing steering wheel angle instrument deflection in installation process;Install tested The support of steering wheel angle instrument simultaneously makes the other end of support and the baffle plate of calibrating installation offset, and support is in the top of baffle plate;
Step 1.2, adjustment initial measurement locations and double zeroings;
The master switch of steering angle calibrating installation is opened, showing for calibrating installation is adjusted using rotating forward, inverting and stopping function button It is worth within 0-360 °, makes calibrating installation indicating value be zero using zeroing button;Tested steering wheel angle instrument switch is opened, quilt is adjusted The corner zeroing knob of steering wheel angle instrument is examined, the corner indicating value for making tested steering wheel angle instrument is zero;
Step 2, standard data acquisition and processing
This stage is that high-precision encoder data are sent and MCU micro controller datas are received and processing stage, and normal data passes through RS485 communications protocol and corresponding data format are communicated;The working stage comprises the following steps:
Step 2.1, the collection of normal data
The absolute type encoder used is active work mode, and it actively sends data, data lattice at interval of 8ms to external equipment Formula is:Data bit 8, stop position 1, no parity position;With reference to data sender's formula of encoder, MCU microcontrollers are set It is reception pattern that the UART of device, which is interrupted, sets reception time interval more somewhat larger than 8ms to avoid situation about not communicating;Pass through Arrangement above completes the collection to corner initial data;
Step 2.2, the processing of normal data
The data received are interrupted by UART to be stored among an array, then according to the judgement to data flag bit, are obtained Central effective information is taken, finally effective information is carried out according to the precision of encoder to be converted to corner information;The volume used Code device send data format be:0xAB, 0xCD, data length, data upper byte, data low byte, 0x00,0xFF, Single byte of data it is cumulative and, single byte of data XOR value, 0x3D;Wherein:
Single byte of data adds up and=data length+data upper byte+data low byte+0x00+0xFF;
Single byte of data XOR value=data length ^ data upper byte ^ data low bytes ^0x00^0xFF
Encoder send data format be:The 00FF 69EF 3D of AB CD 052C 39, then by judging frame head, postamble, number Effective angular measurement is obtained for 0x2C39 according to length, is converted according to 14 360 degree of individual pen angles, actual angle measurement angle value For 248.75 degree;
Step 3, control mode
This stage is carried out in main control unit, is interrupted and received and data after treatment and standard points progress by UART Compare and obtain departure, this departure is corrected by PID incremental control algolithms to step motor control, until deviation falls Enter in the error range of permission, stepper motor stop motion;Concrete operations are:50 °, 180 °, 720 ° and 1080 ° four are pressed successively Individual standard points;System carries out key scan by PIT Interruptions, waits keyed access, often presses next canonical measure The corresponding matrix press-key of point will enter corresponding control circulation, and MCU microcontrollers lead to the control strategy not obtained in the same time Extra pulse signal is transferred to stepper motor driver, and stepper motor can adjust movement velocity according to current controlled quentity controlled variable increment, and On the position for eventually stopping at error permission, so that system reaches the purpose of accurate, effective Driving Stepping Motor motion;Pass through record Indicating value of the tested steering wheel angle instrument at standard points completes the record of calibration initial data to judge tested steering wheel Whether angle instrument is qualified;
The calibration operation of steering force comprises the following steps:
Step 1, calibrating installation is initialized
After this stage is completion steering angle calibration, carry out before steering force calibration, be related to the fixation of tested steering wheel angle instrument The preparations such as mode, the fixed form of haulage cable, regulation reference voltage, specifically include following steps:
Step 1.1, it is determined that the installation site and fixed form of tested steering wheel angle instrument;
Tested steering wheel angle instrument is still fixed on the pallet of steering angle alignment unit, because the measurement of steering force needs the side of making A torsion is produced to disk power angle instrument itself, therefore, using fixed-direction disk power angle instrument top half, traction and steering wheel angle Pallet that instrument the latter half is fixed as one produces torsion;Lower buckle is installed on the baffle plate of steering angle alignment unit, will The top half of steering wheel angle instrument is fixed, then using steel wire rope connecting trays and the turn-screw of steering force alignment unit, One end of steel wire rope is fixed on circular hole tangent with steering force alignment unit on pallet, other end connection standard force-measuring sensing Device;
Step 1.2, reference voltage is adjusted
Adjust resistance to be arranged on calibrating installation panel on the right side of film key, because standard force-measuring sensor is that S types pressure is passed Sensor, the sensor can measure pulling force and pressure simultaneously, after calibrating installation signal amplification unit is handled signal, pressure Corresponding voltage scope is 0-1.5V, and pulling force corresponding voltage scope is 1.5V-3V, and pressure size is in inverse ratio, pulling force with voltage swing Size is proportional with voltage swing, therefore chooses 1.5V as the reference voltage of calibrating installation;
Convenient for observation, the reference voltage for being displayed on liquid crystal display does and multiplies 100 processing, and now regulation resistance causes benchmark electricity manually Press as " 150 ";
Step 2, standard signal collection and processing
This stage is the calibrating installation software and hardware signal sampling and processing stage, and signal transacting is made up of three-level signal process circuit, The working stage comprises the following steps:
Step 2.1, standard signal is gathered
PDB is triggered using PIT, PDB hardware triggers ADC is acquired, the signal of ADC collections is directly stored in MCU by dma mode In internal memory;ADC is using 12 precision acquisitions, and the variable quantities of collection voltages is 0.2mV, the result handled according to standard signal, by It is 2mV/V in the sensitivity of standard force-measuring sensor, is 0.75mV/N after signal amplifies, therefore 12 AD acquisition precisions are complete The requirement of calibrating installation acquisition precision can be met entirely;
Step 2.2, standard signal is handled
When standard force-measuring sensor interacts with pallet, the standard signal of standard force-measuring sensor output is mV signals, therefore, In one-level discharge circuit, it will apply the standard signal after full scale pulling force to standard force-measuring sensor first and be amplified to -1.5V And 1.5V, 0-3V then is moved to one-level amplified signal-1.5V -+1.5V current potentials for carrying out 1.5V, in amplifying circuit most Metasomite adds zeroing circuit, complete three-level signal process circuit is then constituted, for MCU normal acquisitions;
Step 3, data processing and control mode
This stage is carried out in calibrating installation main control unit, and the voltage signal collected by AD is compared with standard signal To departure, this departure is corrected by digital PID incremental control algolithm to step motor control, until deviation is fallen into In the error range of permission, stepper motor stop motion, standard force-measuring sensor is parked in current location, standard transducer and pallet Interaction force be standard output force value;Concrete operations are:20Nm, 40Nm, 60Nm, 80Nm and 100Nm are pressed successively Five standard points;System carries out key scan by PIT Interruptions, waits keyed access, often presses next standard and surveys Corresponding control circulation will be entered by measuring the corresponding matrix press-key of point, and MCU microcontrollers are by the control strategy not obtained in the same time By pulse signal transmission to stepper motor driver, stepper motor can adjust movement velocity according to current controlled quentity controlled variable increment, And eventually stop on the position that error allows;School is completed by indicating value of the tested steering wheel angle instrument of record at standard points The record of quasi- initial data is to judge whether tested steering wheel angle instrument is qualified.
CN201710432088.8A 2017-06-09 2017-06-09 A kind of motor vehicle steering wheel power angle instrument self-checking device and method Pending CN107101767A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107911053A (en) * 2017-11-14 2018-04-13 湖北三江航天红峰控制有限公司 A kind of control circuit for being used for multiphase multi-system driving stepper motor and feedback
CN108762323A (en) * 2018-04-04 2018-11-06 上海华测导航技术股份有限公司 A kind of agricultural machinery angular encoder and electric steering wheel position automated calibration system and method
CN109470264B (en) * 2018-08-30 2020-06-09 北京农业智能装备技术研究中心 Automatic calibration method and system for guide wheel deflection angle measurement sensor
CN111929060A (en) * 2020-07-21 2020-11-13 江苏智库智能科技有限公司 Steering wheel driving system detection device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107911053A (en) * 2017-11-14 2018-04-13 湖北三江航天红峰控制有限公司 A kind of control circuit for being used for multiphase multi-system driving stepper motor and feedback
CN108762323A (en) * 2018-04-04 2018-11-06 上海华测导航技术股份有限公司 A kind of agricultural machinery angular encoder and electric steering wheel position automated calibration system and method
CN109470264B (en) * 2018-08-30 2020-06-09 北京农业智能装备技术研究中心 Automatic calibration method and system for guide wheel deflection angle measurement sensor
CN111929060A (en) * 2020-07-21 2020-11-13 江苏智库智能科技有限公司 Steering wheel driving system detection device

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