CN107101767B - Automatic calibration device and method for steering wheel force angle instrument of motor vehicle - Google Patents
Automatic calibration device and method for steering wheel force angle instrument of motor vehicle Download PDFInfo
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- CN107101767B CN107101767B CN201710432088.8A CN201710432088A CN107101767B CN 107101767 B CN107101767 B CN 107101767B CN 201710432088 A CN201710432088 A CN 201710432088A CN 107101767 B CN107101767 B CN 107101767B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus 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
- G01L5/221—Apparatus 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses an automatic calibration device and method for a steering wheel force angle instrument of a motor vehicle, which can calibrate a steering angle while meeting the calibration of a metering calibration rule about steering force. The instrument is composed of a steering angle calibration unit and a steering force calibration unit, wherein the two parts respectively comprise a power supply module, a signal processing module, a control module and an execution module. The defect that the original equipment can only calibrate the steering force but can not calibrate the steering angle is overcome, the steering force calibration mode is improved, and the workload of manual operation is reduced. The high-precision standard force transducer, the high-precision absolute encoder, the three-stage signal processing, the RS485 communication circuit and the subdivision driver are adopted, the signal conditioning range of the control system is large, the linearity and the repeatability of the signal amplifying circuit are good, the signal conditioning precision is high, the automatic control stepping motor is accurate and stable, uncertain factors existing in the manual calibration process under human intervention are reduced, and the precision of the calibration result is improved.
Description
Technical Field
The present invention relates to a calibration device and a method for using the same, and more particularly, to a calibration device and a method for a steering wheel steering angle detector. Belongs to the technical field of automobile test calibration equipment.
Background
The steering force angle of the automobile steering wheel is an important index for detecting the safety technology of the motor vehicle, and the life safety of a driver is related. With the rapid development of national economy, the maintenance amount of motor vehicles is increased, the traffic density and the running speed are also greatly improved, the steering angle performance of the steering wheel determines the capability of the vehicle to keep running in a straight line in a state that the motor vehicles run at a high speed, and when the steering angle error of the steering wheel is overlarge, the vehicle deviates from a preset track, so that serious traffic accidents are caused. Therefore, the steering force angle of the steering wheel of the vehicle is detected regularly, the problems are found out and checked in time, and the method has important significance on the service performance and the economic performance of the automobile. The steering force angle of the steering wheel of the automobile can be detected by a steering force-steering angle detector of the steering wheel of the motor vehicle.
In order to ensure the test precision of the steering force-steering angle detector of the steering wheel of the motor vehicle, according to the JJF 1196-2008 'calibration standard of the steering force-steering angle detector of the steering wheel of the motor vehicle', the calibration period of the steering force-steering angle detector of the steering wheel of the motor vehicle is not more than one year. The certification/calibration must be done regularly by the metering department. Existing calibration methods are typically done manually with a plurality of hands and are limited to calibration of steering forces, which are still in a blank phase. The specific steps are that a steering force-steering angle detector (hereinafter referred to as a steering wheel force angle detector) of a steering wheel of a motor vehicle to be detected is arranged on a tray, the tray is fixed with a main body part of a calibrating device, a disc part of the steering wheel force angle detector to be detected is connected with a force application unit through a steel wire rope, the disc edge of the steering wheel force angle detector is tangential to the steel wire rope, and torsion is generated through the force application unit steering wheel force angle detector and a torsion indication value is displayed through a nixie tube. The force application unit is a hand push-pull force application device, a standard force transducer is fixed at the front end of the device, and the calibration of steering force is completed by comparing the standard force transducer with the indication of the tested steering wheel force angle meter.
The calibration process is completed manually by a plurality of people, the operation is complicated, the influence of human factors is large, and the method is limited to calibrating the steering force value of the steering wheel force angle instrument until now, and the evaluation of the steering angle indication value of the steering wheel force angle instrument cannot be performed.
Disclosure of Invention
Aiming at the current calibration situation of a steering force-steering angle detector of a motor vehicle steering wheel, the invention aims to provide the steering force calibration device which has reliable measurement, intelligent operation and convenient data processing, can complete the steering force calibration required by the calibration standard of the steering force-steering angle detector of the motor vehicle steering wheel and has the capability of calibrating the steering angle. The original hand-operated push-pull force applying device is abandoned in the calibration process, the stepping motor, the high-precision sensor and the microcontroller are used for realizing automatic low-speed accurate control, the defects of complicated process and great influence of human factors in the original calibration mode are overcome, the calibration precision is improved, and the calibration result is more convincing.
The technical scheme of the invention is as follows. An automatic calibration device for a steering wheel force angle instrument of a motor vehicle is characterized in that: the calibration of the steering angle can also be performed while satisfying the metering calibration procedure with respect to the steering force calibration. The calibration device consists of a steering angle calibration unit and a steering force calibration unit, wherein the steering angle calibration unit is a closed instrument box, the instrument box comprises a stepping motor 216, a stepping motor driver 204, a lithium battery 206, a steering angle control PCB (printed circuit board) 203 and a liquid crystal display b201, the instrument box comprises a gear transmission mechanism, an encoder 215, a steering angle control matrix key 202, a tray 211, a baffle 208, an upper buckle 209 and a lower buckle 210, and the gear transmission mechanism comprises a motor gear 214 and an encoder gear 213. An output shaft of the stepping motor 216 is connected with the motor gear 214, and the tray 211 is connected with the motor gear 214 through a rigid coupling; the motor gear 214 is meshed with the encoder gear 213, and an encoder 215 is arranged on the rotating shaft of the encoder gear 213; the baffle 208 is arranged on one side of the tray 211, and an upper buckle 209 and a lower buckle 210 are arranged on the baffle 208; the steering wheel detector is fixed on the tray 211, and the upper buckle 209 and the lower buckle 210 are used for clamping the steering wheel detector on the tray 211 when the steering force is measured; the liquid crystal display b201, the lithium battery 206, the stepper motor driver 204, the steering angle control matrix key 202 and the encoder 215 are all connected with the steering angle control PCB 203;
the stepper motor 216 realizes synchronous and anisotropic rotation with the encoder 215 through the engagement of the gear transmission mechanism, the encoder 215 acquires a real-time rotation angle value and feeds the rotation angle value back to the control circuit, the control circuit determines the next action of the stepper motor 216 by comparing the feedback value with a set value, and the whole calibration process is realized by the steering angle control matrix key 202. In the process of measuring the steering angle, only the detected steering wheel is fixed on the tray 211, corresponding measuring points of 50 degrees, 180 degrees, 720 degrees and 1080 degrees on the steering angle control matrix key 202 are pressed, and then the steering angle calibration unit and the steering angle indication value of the detected steering wheel force angle instrument are compared to finish calibration.
The steering force calibration unit comprises a control box body 105, a supporting base 106 and a screw transmission mechanism 107; the control box body 105 is provided with an adjusting resistor 101, a liquid crystal display a102, a steering force control matrix key 103 and a steering force calibration unit total power switch 104, wherein the adjusting resistor 101 is connected with the liquid crystal display a102 and the steering force control matrix key 103, and the steering force calibration unit total power switch 104 is connected with the steering force control matrix key 103; the control box body 105 and the screw rod transmission mechanism 107 are both arranged on the supporting base 106;
the lead screw of lead screw drive mechanism 107 is connected with driving motor's output shaft through the elastic coupling and constitutes power supply, and lead screw push pedal pass through the nut and fasten, and lead screw push pedal and sensor push pedal pass through four optical axes and are connected and fasten, drive the lead screw push pedal after the lead screw nut motion and carry out reciprocating motion along four optical axes, and then drive sensor push pedal reciprocating motion, wire rope through-hole 108 sets up the end at supporting base 106, and the force transducer is connected with wire rope's one end, and wire rope is connected with tray 211 after passing wire rope through-hole 108. The steering force control matrix key 103 controls the torque of the driving motor through the adjusting resistor 101, and the calibration is completed by comparing the indication values of the steering wheel force angle meter at five measuring points of 20Nm, 40Nm, 60Nm, 80Nm and 100 Nm.
The control circuit is composed of an MCU controller minimum system circuit, a voltage stabilizing circuit, an RS485 communication circuit, an optical coupler circuit and various sensor signal acquisition circuits, wherein the MCU minimum system circuit comprises a power supply circuit, a reset circuit, a crystal oscillator circuit and a JTAG interface circuit. The lithium battery 206 is connected with a voltage stabilizing circuit for ensuring the power supply of each module in the control circuit, and the output of the voltage stabilizing circuit is the rated voltage required by each module. The whole control circuit takes an MCU controller as a core, an RS485 communication circuit is connected with an IO port of the MCU and an encoder, an optocoupler circuit is connected with an MCU controller minimum system circuit and a stepping motor 216, and a signal acquisition circuit is connected with the MCU controller minimum system circuit and each sensor signal acquisition circuit.
The instrument box body is made of hard aluminum materials;
the steering of the drive motor is tangential to the tray 211;
(1) Signal processing unit
Because the measuring signal output by the standard force transducer is mV level signal, the standard differential amplifying circuit is adopted for the first level signal processing, and the tension signal is amplified to-1.5V to +1.5V under the condition of not changing the polarity of the input voltage or connecting the input pins of the operational amplifier. Because the MCU microcontroller cannot collect negative voltage for data processing, a potential translation circuit adopting secondary signal processing is needed to translate the voltage from-1.5V to +1.5V to 0-3V for the MCU microcontroller to collect and process. When the standard force transducer is not stressed, a zero setting circuit for three-level signal processing is added to ensure that the signal output is 0, and signal zero setting is carried out on the whole signal amplifying unit circuit.
The working mode of the absolute encoder is an active mode, data is actively transmitted to external equipment (such as a singlechip, a PC or a PLC) every 8ms, the encoder and the external equipment adopt a data link layer of an RS485 standard to transmit the data, and the communication format is as follows: 19200bit/s; data bit 8, stop bit 1, no parity bit. The MCU microcontroller receives the data sent by the encoder by setting the UART into a receiving mode and setting the baud rate same as that of the encoder, and finally obtains useful information according to the communication format and discards interference information.
(2) Signal software and hardware acquisition processing and control algorithm
The AD acquisition mode of the MCU microcontroller used in the invention adopts PIT to trigger PDB, PDB hardware triggers ADC to acquire, and the signals acquired by the ADC are directly stored in the memory in a DMA mode. The signal acquisition and processing mode uses hardware triggering and is directly transmitted to the memory for storage through the DMA, the required signal can be successfully acquired without occupying CPU resources, when the CPU needs to process the current signal, the current signal can be directly taken out of the memory without additional acquisition and processing work, and the working efficiency of the MCU is improved.
The control algorithm adopts a PID increment type control mode, and two or three parameters in P, I, D are reasonably configured by selecting reasonable PI, PD or PID control, so that the purposes of smaller overshoot, quicker response time, stable and accurate control result and the like in the control process are achieved.
(3) Power supply selection and anti-interference
The power supply module uses a 36V lithium battery as a power supply, one path directly supplies power to the motor driver, and the other path supplies power to the system PCB through the voltage stabilizing module. The main control circuit adopts an optocoupler circuit to connect the MCU minimum system and the motor drive, so that the MCU minimum system and the motor drive are isolated; a magnetic ring is sleeved at the interface of the four wires of the motor and the motor drive, a layer of aluminum foil paper is wrapped on the four wires of the motor, and a shielding cover is added on the stepping motor for shielding interference. The hard aluminum is used as an instrument box manufacturing material, and the space installation positions of a motor, a motor drive circuit, a main control circuit and a signal amplifying circuit are reasonably designed, so that the problem of mutual interference in a closed space is reduced as much as possible.
Compared with the prior art, the invention has the following advantages:
(1) The automatic calibration device can calibrate the steering force-steering angle detector of the steering wheel of the motor vehicle, overcomes the defect that the original equipment can only calibrate the steering force but can not calibrate the steering angle, improves the accuracy of the calibration of the steering force index, improves the way of calibrating the steering force, and reduces the workload of manual operation.
(2) The invention adopts a high-precision standard force transducer, a high-precision absolute encoder, three-stage signal processing, an RS485 communication circuit and a subdivision driver to form a signal amplifying unit and a main control unit of the calibrating device. The signal conditioning range is large, the linearity and repeatability of the signal amplifying circuit are good, the signal conditioning precision is high, the automatic control stepping motor is accurate and stable, uncertain factors existing in the manual calibration process under human intervention are reduced, and the precision of the calibration result is improved.
(3) The invention relates to two calibration modules, which are convenient to split and carry. Each module adopts an electromechanical integrated design, a stepping motor, a high-precision sensor, a subdivision driver, a lithium battery and the like are integrated in a box body, and the box body is also fixed with a circuit PCB and other modules. The size and length-width ratio of the box body of the device all meet the golden section proportion, and the whole is attractive and elegant.
Drawings
Figure 1.1 is a block diagram of a steering force calibration unit according to the present invention;
figure 1.2 is a block diagram of a steering angle calibration unit according to the present invention;
figure 2.1 is a system block diagram of a steering force calibration unit according to the present invention;
figure 2.2 is a system block diagram of a steering angle calibration unit according to the present invention;
figure 3 is a flow chart of the operation of the system according to the invention;
FIG. 4 is a flow chart of signal hardware and software acquisition;
fig. 5 is a basic circuit configuration diagram of the signal processing unit;
figure 6.1 is a top view of the overall device body according to the present invention;
figure 6.2 is a front view of the overall device body according to the present invention;
figure 6.3 is an oblique view of the overall device body according to the present invention;
in the figure: 101-adjusting resistor, 102-LCD a, 103-steering force control matrix key, 104-steering force calibration unit total power switch, 105-control box, 106-supporting base, 107-screw transmission mechanism, 108-wire rope through hole, 201-LCD b, 202-steering angle control matrix key, 203-steering angle control PCB board, 204-step motor driver, 205-battery baffle, 206-lithium battery, 207-steering angle calibration unit total power switch, 208-baffle, 209-upper buckle, 210-lower buckle, 211-tray, 212-rigid coupling, 213-encoder gear, 214-motor gear, 215-absolute encoder, 216-step motor.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Fig. 1.1 to 1.2 are respectively block diagrams of a steering force calibration unit and a steering angle calibration unit of an automatic calibration device of a steering wheel force angle instrument of a motor vehicle. The detected steering wheel force angle instrument is arranged on the tray of the steering angle calibration unit, and the steering angle generation device of the detected steering wheel force angle instrument is a knob, and the bracket is arranged on the knob, so that when the calibration unit drives the tray to rotate through the control motor, the bracket of the detected steering wheel force angle instrument is required to be fixed through the baffle plate, so that the detected steering wheel force angle instrument generates a rotation angle synchronous and different with the calibration device, and the calibration of the steering angle is completed. Similarly, because the torque of the steering wheel force angle instrument to be detected is generated by the relative motion of the upper part and the lower part of the steering wheel force angle instrument, and the force application unit is generated by dragging the tray through the steering force calibration unit, the upper half part of the steering wheel force angle instrument needs to be fixed so as to generate corresponding steering torque. In particular, when the steering angle needs to be calibrated, the buckle should be taken down to ensure that the detected steering wheel force angle instrument can synchronously rotate along with the tray.
Fig. 2.1 is a system block diagram of a steering force calibration unit. The calibration unit consists of a power supply module, a signal processing module, a control module and an execution module. The power supply module uses a 36V lithium battery and a positive and negative 12V and positive and negative 5V voltage converter; the signal processing module comprises a high-precision standard force transducer and a three-level signal processing circuit; the control module is an MCU controller and an optical coupler isolation circuit; the execution module comprises a stepping motor subdivision driver and a stepping motor.
Fig. 2.2 is a system block diagram of the steering angle calibration unit. The calibration unit consists of a power supply module, a signal processing module, a control module and an execution module. The power supply module uses a 36V lithium battery and a positive and negative 5V voltage converter; the signal processing module comprises a high-precision absolute encoder and an RS485 communication circuit; the control module is an MCU controller and an optical coupler isolation circuit; the execution module comprises a stepping motor subdivision driver and a stepping motor.
The MCU controller is installed on a total PCB design circuit board and is the core of the control system. The main control chip of the MCU controller adopts MK60DX512ZVLQ10 chip of Freescale company, and the running speed is 100MHz. The microcontroller integrates DMA (enhanced direct memory access), PDB (programmable delay module), PIT (periodic interrupt timer), has up to 24 single-ended AD input pins, UART serial interfaces of 6 channels and 3 FTM (timer) module channels to output PWM, can meet the signal acquisition and processing functions required by a calibration device, and meets the control requirement of a system.
The stepping motor driver is installed below a total PCB design circuit board, is used as an actuator for directly controlling the rotation of the stepping motor in an execution module, supports functions of off-line, enabling, locking and the like, has short circuit, overheat and overcurrent protection, and is high in high-frequency interference resistance, high in integration and high in reliability, and the driver outputs PWM to conduct subdivision control on the stepping motor through the MCU microcontroller, has 5 subdivision modes, can select at least 1/16 step, and can guarantee that the stepping motor is driven to realize low-vibration, high-precision and high-efficiency work.
The stepping motor of the steering force calibration unit is arranged below the stepping motor driver, and the stepping motor of the steering angle calibration unit is arranged below the tray and is concentric with the tray. The model is 86HBP113AL4-TK0 stepping motor, the weight is 3.7Kg, the step angle is 1.8 degrees, the static torque is 8.5N m, the working voltage is 36-60V, the large-torque stepping motor can completely meet the standard torque which enables the maximum output of 100Nm when the standard force sensor pulls the tested direction disc force angle instrument, and the working condition of the motor is reliable and stable.
The high-precision standard force sensor is arranged on the sensor fixing plate, adopts an S-shaped tension pressure sensor, has the maximum measuring range of 200Kg, has the size of 70mm multiplied by 64mm multiplied by 20mm, has the working voltage of 12V and the comprehensive error of 0.03 percent F multiplied by S, has the precision grade far higher than the precision requirement of JJF1169-2008 on the motor vehicle steering wheel steering force detector by the calibration standard of the motor vehicle steering wheel steering force detector, and can be used for calibrating the motor vehicle steering wheel steering force detector completely.
The high-precision absolute encoder is arranged below the top cover, and an output shaft of the high-precision absolute encoder realizes synchronous and opposite rotation with an output shaft of the stepping motor through a gear transmission mechanism. The DSP3806 absolute value encoder is adopted, the maximum range is 1440 degrees, the working voltage is 5V, the measuring precision is 0.088 degrees, the precision grade is higher than the precision requirement of JF1169-2008 'calibration Specification for motor vehicle steering wheel steering force-steering angle detector' on motor vehicle steering wheel steering angle detector, and the high precision absolute encoder can be used for calibrating the motor vehicle steering wheel steering angle detector.
The power module is arranged on the upper right of the total PCB design circuit board, a lithium battery with output voltage of 36V is adopted, the capacity is 4Ah, the weight is 1Kg, the size is 125mm multiplied by 150mm multiplied by 50mm, and two voltage converters are configured to convert 36V into positive and negative 12V and positive and negative 5V.
The operation flow chart of the calibration device system is shown in fig. 3, and the content of the operation flow chart is the calibration of two indexes of steering force and steering angle of the motor vehicle force angle meter, wherein the calibration operation of the steering angle comprises the following steps:
step 1, initializing a calibration device.
Before the calibration work of the steering wheel force angle instrument, the stage relates to the preparation work of the installation position of the steering wheel force angle instrument, the adjustment of the measured initial position, the zeroing of the steering angle calibrator and the like, and specifically comprises the following steps:
and 1.1, determining the installation position and the fixing mode of the steering wheel force angle instrument to be detected.
The detected steering wheel force angle instrument is placed on a tray of the steering angle calibrating device, the steering wheel force angle instrument is kept horizontal (only by visual inspection) as much as possible, the steering wheel force angle instrument is fastened with the tray by a limit screw, and deflection of the steering wheel force angle instrument should be avoided in the installation process. And installing a bracket of the steering wheel force angle instrument to be detected, enabling the other end of the bracket to prop against a baffle plate of the calibrating device, and enabling the bracket to be arranged above the baffle plate (overlooking).
And 1.2, adjusting an initial measurement position and double zeroing.
And opening a main switch of the steering angle calibration device, adjusting the indicating value of the calibration device within 0-360 degrees by using forward rotation, reverse rotation and stop function keys, and enabling the indicating value of the calibration device to be zero by using a zero setting key. And opening a switch of the detected steering wheel force angle instrument, and adjusting a turning angle zero setting knob of the detected steering wheel force angle instrument to enable a turning angle indication value of the detected steering wheel force angle instrument to be zero.
Step 2, standard data acquisition and processing
The stage is a high-precision encoder data transmitting and MCU microcontroller data receiving and processing stage, and standard data are communicated through an RS485 communication protocol and a corresponding data format. The working phase comprises the following steps:
step 2.1, collecting standard data
The high-precision absolute encoder used in the invention is in an active working mode, and actively transmits data to external equipment every 8ms, wherein the data format is as follows: data bit 8 bits, stop bit 1 bit, no parity bit. And in combination with the data transmission mode of the encoder, UART interruption of the MCU microcontroller is set to be in a receiving mode, and the receiving time interval is set to be slightly longer than 8ms so as to avoid the situation of communication failure. The acquisition of the corner original data is completed through the setting.
Step 2.2, processing of Standard data
And storing the data received through UART interruption in a plurality of groups, acquiring the effective information in the middle according to the judgment of the data flag bit, and finally converting the effective information according to the precision of the encoder to obtain the corner information. The data format transmitted by the high-precision encoder used in the invention is as follows: 0xAB, 0xCD, data length, data high byte, data low byte, 0x00, 0xFF, single byte data accumulation sum, single byte data exclusive or value, 0x3D. Wherein:
single byte data accumulation sum=data length+data high byte+data low byte+0x00+0xff;
single byte data exclusive or value = data length #, high byte #, low byte #, 0x00 #, 0xFF
The data format sent by the encoder is: and AB CD 052C 3900FF 69EF 3D, obtaining an effective angle measurement result of 0x2C39 by judging the frame head, the frame tail and the data length, and converting according to a single-circle angle of 360 degrees of 14 bits, wherein the actual measurement angle value is 248.75 degrees.
Step 3, control mode
The step is carried out in the main control unit, the deviation is obtained by comparing the processed data received by UART interruption with the standard measurement point, the deviation is corrected by the PID increment type control algorithm, and the stepping motor stops moving until the deviation falls into the allowable error range. The specific operation is as follows: four standard measurement points of 50 degrees, 180 degrees, 720 degrees and 1080 degrees are pressed in sequence. The system scans the keys through PIT timing interruption, waits for key access, and enables the corresponding matrix keys of the next standard measurement point to enter corresponding control loops, the MCU transmits control strategies obtained at different moments to the stepping motor driver through pulse signals, the stepping motor can incrementally adjust the movement speed according to the current control quantity and finally stop at the position allowed by errors, so that the system achieves the purpose of accurately and effectively driving the stepping motor to move. And recording calibration original data by recording the indication value of the detected direction disc force angle instrument at the standard measurement point so as to judge whether the detected direction disc force angle instrument is qualified or not.
The calibration operation of the steering force includes the steps of:
step 1, initializing a calibration device
The stage is to finish the preparation work of the fixing mode of the steering wheel force angle instrument to be detected, the fixing mode of the traction steel wire rope, the adjustment reference voltage and the like after the steering angle calibration and before the steering force calibration, and specifically comprises the following steps:
and 1.1, determining the installation position and the fixing mode of the steering wheel force angle instrument to be detected.
The detected steering wheel force angle meter is still fixed on the tray of the steering angle calibration unit, and the steering wheel force angle meter itself generates a torsion force due to the measurement of steering force, so that the upper half part of the steering wheel force angle meter is fixed, and the tray which is integrally fixed with the lower half part of the steering wheel force angle meter is pulled to generate the torsion force. The upper half part of the steering wheel force angle meter is fixed by installing an upper buckle and a lower buckle on a baffle plate of the steering angle calibration unit, then a steel wire rope is used for connecting a tray with a transmission screw rod of the steering force calibration unit, one end of the steel wire rope is fixed on a round hole tangential to the steering force calibration unit on the tray, and the other end of the steel wire rope is connected with a standard force sensor.
Step 1.2, adjusting the reference voltage
The regulating resistor is arranged on the right side of the film key on the panel of the calibrating device, and because the standard force transducer is an S-shaped tension pressure transducer, the transducer can measure tension and pressure simultaneously, after the signal amplifying unit of the calibrating device processes signals, the voltage corresponding to the pressure is in the range of 0-1.5V, the voltage corresponding to the tension is in the range of 1.5-3V, the pressure is inversely proportional to the voltage, and the tension is directly proportional to the voltage, so that 1.5V is selected as the reference voltage of the calibrating device.
For convenient observation, the reference voltage displayed on the liquid crystal display screen is multiplied by 100, and at the moment, the resistor is manually adjusted to enable the reference voltage to be 150.
Step 2, standard signal acquisition and processing
The stage is a calibration device software and hardware acquisition and signal processing stage, the signal acquisition flow is shown in fig. 4, the signal processing consists of three stages of signal processing circuits, as shown in fig. 5, and the working stage comprises the following steps:
step 2.1, standard Signal acquisition
PIT is adopted to trigger PDB, PDB hardware triggers ADC to collect, and signals collected by ADC are directly stored in MCU memory in a DMA mode. The ADC adopts 12-bit precision acquisition, the variation of the acquisition voltage is 0.2mV, and according to the result of standard signal processing, the sensitivity of the standard load cell is 2mV/V, and after signal amplification, the sensitivity is 0.75mV/N, so that the 12-bit AD acquisition precision can completely meet the acquisition precision requirement of the calibration device.
Step 2.2, standard Signal processing
When the standard force transducer interacts with the tray, the standard signal output by the standard force transducer is mV signal, therefore, in the primary operational amplifier circuit, the standard signal after the pulling force of the standard force transducer Shi Jiaman is amplified to-1.5V and 1.5V, then the potential translation of 1.5V to 0-3V is carried out on the primary amplified signal-1.5V to +1.5V, and the zeroing circuit is added in the final link of the amplifying circuit, thus forming a complete three-level signal processing circuit for MCU normal acquisition.
Step 3, data processing and control mode
The step is carried out in a main control unit of the calibrating device, the voltage signal acquired by the AD is compared with the standard signal to obtain a deviation value, the deviation value is corrected by controlling the stepping motor through a digital PID incremental control algorithm until the deviation falls within an allowable error range, the stepping motor stops moving, the standard force sensor stops at the current position, and the interaction force of the standard sensor and the tray is the force value of standard output. The specific operation is as follows: five standard measurement points of 20Nm, 40Nm, 60Nm, 80Nm and 100Nm were pressed in order. The system scans the keys through PIT timing interruption, waits for key access, and enables the corresponding matrix keys of the next standard measurement point to enter corresponding control loops, the MCU transmits control strategies obtained at different moments to the stepping motor driver through pulse signals, the stepping motor can incrementally adjust the movement speed according to the current control quantity and finally stop at the position allowed by errors, so that the system achieves the purpose of accurately and effectively driving the stepping motor to move. And recording calibration original data by recording the indication value of the detected direction disc force angle instrument at the standard measurement point so as to judge whether the detected direction disc force angle instrument is qualified or not.
Claims (3)
1. An automatic calibration device for a steering wheel force angle instrument of a motor vehicle is characterized in that: the calibration device consists of a steering angle calibration unit and a steering force calibration unit, wherein the steering angle calibration unit is a closed instrument box, a stepping motor (216), a stepping motor driver (204), a lithium battery (206), a steering angle control PCB (203) and a liquid crystal display b (201) are arranged in the instrument box, a gear transmission mechanism, an encoder (215), a steering angle control matrix key (202), a tray (211), a baffle (208), an upper buckle (209) and a lower buckle (210) are arranged outside the instrument box, and the gear transmission mechanism comprises a motor gear (214) and an encoder gear (213); an output shaft of the stepping motor (216) is connected with a motor gear (214), and the tray (211) is connected with the motor gear (214) through a rigid coupling; the motor gear (214) is meshed with the encoder gear (213), and an encoder (215) is arranged on the rotating shaft of the encoder gear (213); the baffle plate (208) is arranged on one side of the tray (211), and an upper buckle (209) and a lower buckle (210) are arranged on the baffle plate (208); the steering wheel force angle meter is fixed on the tray (211), and the upper buckle (209) and the lower buckle (210) are used for clamping the steering wheel force angle meter on the tray (211) when the steering force is measured; the liquid crystal display b (201), the lithium battery (206), the stepping motor driver (204), the steering angle control matrix key (202) and the encoder (215) are all connected with the steering angle control PCB (203);
the stepping motor (216) realizes synchronous and anisotropic rotation through the meshing of the gear transmission mechanism and the encoder (215), the encoder (215) acquires a real-time rotation angle value and feeds the rotation angle value back to the control circuit, the control circuit determines the next action of the stepping motor (216) by comparing the feedback value with a set value, and the whole calibration process is realized by a steering angle control matrix key (202); in the steering angle measurement process, only the steering wheel force angle instrument is fixed on a tray (211), corresponding measurement points of 50 degrees, 180 degrees, 720 degrees and 1080 degrees on a steering angle control matrix key (202) are pressed down, and then the steering angle calibration unit and the steering angle indication value of the steering wheel force angle instrument to be detected are compared to finish calibration;
the steering force calibration unit comprises a control box body (105), a supporting base (106) and a screw rod transmission mechanism (107); the control box body (105) is provided with an adjusting resistor (101), a liquid crystal display a (102), a steering force control matrix key (103) and a steering force calibration unit total power switch (104), wherein the adjusting resistor (101) is connected with the liquid crystal display a (102) and the steering force control matrix key (103), and the steering force calibration unit total power switch (104) is connected with the steering force control matrix key (103); the control box body (105) and the screw rod transmission mechanism (107) are arranged on the supporting base (106);
the screw rod of the screw rod transmission mechanism (107) is connected with an output shaft of the driving motor through an elastic coupling to form a power source, the screw rod is fastened with the screw rod pushing plate through nuts, the screw rod pushing plate is connected with and fastened with the sensor pushing plate through four optical axes, the screw rod nuts drive the screw rod pushing plate to reciprocate along the four optical axes after moving so as to drive the sensor pushing plate to reciprocate, the steel wire rope through hole (108) is arranged at the tail end of the supporting base (106), the force transducer is connected with one end of the steel wire rope, and the steel wire rope is connected with the tray (211) after passing through the steel wire rope through hole (108); the steering force control matrix key (103) controls the torque of the driving motor through the adjusting resistor (101), and the calibration is completed by comparing the indication values of the steering wheel force angle meter at five measuring points of 20Nm, 40Nm, 60Nm, 80Nm and 100 Nm;
the control circuit consists of an MCU controller minimum system circuit, a voltage stabilizing circuit, an RS485 communication circuit, an optocoupler circuit and sensor signal acquisition circuits, wherein the MCU minimum system circuit comprises a power supply circuit, a reset circuit, a crystal oscillator circuit and a JTAG interface circuit; the lithium battery (206) is connected with the voltage stabilizing circuit for guaranteeing the power supply of each module in the control circuit, and the output of the voltage stabilizing circuit is the rated voltage required by each module; the whole control circuit takes an MCU controller as a core, an RS485 communication circuit is connected with an IO port of the MCU and an encoder, an optocoupler circuit is connected with an MCU controller minimum system circuit and a stepping motor (216), and a signal acquisition circuit is connected with the MCU controller minimum system circuit and each sensor signal acquisition circuit;
the instrument box body is made of hard aluminum materials.
2. An automatic calibration device for a steering wheel force angle gauge of a motor vehicle according to claim 1, wherein: the steering of the driving motor is tangential to the tray (211).
3. A method for automatically calibrating a steering wheel force angle gauge of a motor vehicle using the calibration device of claim 1, wherein:
the calibration operation of the steering angle includes the steps of:
step 1, initializing a calibration device;
before the calibration work of the steering wheel force angle instrument, the stage relates to the installation position of the steering wheel force angle instrument, the adjustment of the measured initial position and the zeroing preparation work of the steering angle calibrator, and specifically comprises the following steps:
step 1.1, determining the installation position and the fixing mode of a steering wheel force angle instrument to be detected;
placing the detected steering wheel force angle instrument on a tray of a steering angle calibration device, keeping the steering wheel force angle instrument horizontal, fastening the steering wheel force angle instrument and the tray by using a limit screw, and avoiding deflection of the steering wheel force angle instrument in the installation process; installing a bracket of the tested direction disc force angle instrument, enabling the other end of the bracket to prop against a baffle plate of the calibrating device, and enabling the bracket to be above the baffle plate;
step 1.2, adjusting an initial measurement position and double zeroing;
turning on a main switch of the steering angle calibration device, regulating an indicating value of the calibration device within 0-360 degrees by using forward rotation, reverse rotation and stop function keys, and enabling the indicating value of the calibration device to be zero by using a zero setting key; turning on a switch of the detected direction disc force angle instrument, and adjusting a turning angle zero setting knob of the detected direction disc force angle instrument to enable a turning angle indication value of the detected direction disc force angle instrument to be zero;
step 2, standard data acquisition and processing
The stage is a high-precision encoder data transmitting and MCU microcontroller data receiving and processing stage, and standard data are communicated through an RS485 communication protocol and a corresponding data format; the working phase comprises the following steps:
step 2.1, collecting standard data
The absolute encoder is in an active working mode, and actively transmits data to external equipment every 8ms, wherein the data format is as follows: 8 bits of data bits, 1 bit of stop bits and no parity check bits; setting UART interruption of an MCU microcontroller as a receiving mode by combining a data transmission mode of an encoder, and setting a receiving time interval to be slightly longer than 8ms to avoid the condition of communication failure; the acquisition of the corner original data is completed through the setting;
step 2.2, processing of Standard data
Storing the data received through UART interruption in a plurality of groups, then obtaining effective information in the middle according to judgment of the data zone bit, and finally converting the effective information according to the precision of the encoder to obtain corner information; the data format transmitted by the encoder used is: 0xAB, 0xCD, data length, data high byte, data low byte, 0x00, 0xFF, single byte data accumulation sum, single byte data exclusive OR value, 0x3D; wherein:
single byte data accumulation sum=data length+data high byte+data low byte+0x00+0xff;
single byte data exclusive or value = data length #, high byte #, low byte #, 0x00 #, 0xFF
The data format sent by the encoder is: AB CD 052C 3900FF 69EF 3D, the effective angle measurement result is 0x2C39 by judging the frame head, the frame tail and the data length, and the actual measurement angle value is 248.75 degrees according to the conversion of a single-circle angle of 14-bit 360 degrees;
step 3, control mode
The step is carried out in a main control unit, the data received and processed through UART interruption is compared with a standard measurement point to obtain a deviation value, the deviation value is corrected by a PID incremental control algorithm to control the stepping motor until the deviation falls into an allowable error range, and the stepping motor stops moving; the specific operation is as follows: four standard measurement points of 50 degrees, 180 degrees, 720 degrees and 1080 degrees are pressed in sequence; the system scans the keys through PIT timing interruption, waits for key access, and enables the corresponding matrix keys of the next standard measurement point to enter corresponding control loops, the MCU transmits control strategies obtained at different moments to the stepping motor driver through pulse signals, the stepping motor can incrementally adjust the movement speed according to the current control quantity and finally stop at the position allowed by errors, so that the system achieves the purpose of accurately and effectively driving the stepping motor to move; recording calibration original data by recording the indication value of the detected direction disc force angle instrument at the standard measurement point so as to judge whether the detected direction disc force angle instrument is qualified or not;
the calibration operation of the steering force includes the steps of:
step 1, initializing a calibration device
The stage is to finish the steering angle calibration, and before the steering force calibration, the preparation work of the fixing mode of the steering wheel force angle instrument to be detected, the fixing mode of the traction steel wire rope and the adjustment reference voltage is related, and specifically comprises the following steps:
step 1.1, determining the installation position and the fixing mode of a steering wheel force angle instrument to be detected;
the detected steering wheel force angle instrument is still fixed on the tray of the steering angle calibration unit, and the steering wheel force angle instrument generates a torsion force by itself due to the measurement of steering force, so that the tray which is fixed with the upper half part of the steering wheel force angle instrument and is fixed with the lower half part of the steering wheel force angle instrument into a whole is adopted to generate the torsion force; the upper part and the lower part of the steering wheel force angle meter are fixed by installing an upper buckle and a lower buckle on a baffle plate of the steering angle calibration unit, then a steel wire rope is used for connecting a tray with a transmission screw rod of the steering force calibration unit, one end of the steel wire rope is fixed on a round hole tangential to the steering force calibration unit on the tray, and the other end of the steel wire rope is connected with a standard force sensor;
step 1.2, adjusting the reference voltage
The adjusting resistor is arranged on the right side of a film key on the panel of the calibrating device, and because the standard force transducer is an S-shaped tension pressure transducer, the transducer can measure tension and pressure simultaneously, after a signal amplifying unit of the calibrating device processes signals, the voltage corresponding to the pressure is 0-1.5V, the voltage corresponding to the tension is 1.5-3V, the pressure is inversely proportional to the voltage, and the tension is directly proportional to the voltage, so that 1.5V is selected as the reference voltage of the calibrating device;
for convenient observation, the reference voltage displayed on the liquid crystal screen is multiplied by 100, and at the moment, the resistor is manually adjusted to enable the reference voltage to be 150;
step 2, standard signal acquisition and processing
The stage is a software and hardware acquisition and signal processing stage of the calibrating device, the signal processing is composed of three stages of signal processing circuits, and the working stage comprises the following steps:
step 2.1, standard Signal acquisition
PIT is adopted to trigger PDB, PDB hardware triggers ADC to collect, and signals collected by the ADC are directly stored into MCU memory in a DMA mode; the ADC adopts 12-bit precision acquisition, the variation of the acquisition voltage is 0.2mV, and according to the result of standard signal processing, the sensitivity of the standard force transducer is 2mV/V, and after signal amplification, the sensitivity is 0.75mV/N, so that the 12-bit AD acquisition precision can completely meet the acquisition precision requirement of the calibration device;
step 2.2, standard Signal processing
When the standard force transducer interacts with the tray, the standard signal output by the standard force transducer is a mV signal, so in the primary operational amplifier circuit, the standard signal after the pulling force of the Shi Jiaman range of the standard force transducer is amplified to-1.5V and 1.5V, then the potential translation of 1.5V to 0-3V is carried out on the primary amplified signal of-1.5V to +1.5V, and a zeroing circuit is added in the final link of the amplifying circuit, thus a complete three-level signal processing circuit is formed for the MCU to normally acquire;
step 3, data processing and control mode
The step is carried out in a main control unit of the calibrating device, the voltage signal acquired by the AD is compared with the standard signal to obtain a deviation value, the deviation value is corrected by controlling the stepping motor through a digital PID incremental control algorithm until the deviation falls within an allowable error range, the stepping motor stops moving, the standard force sensor stops at the current position, and the interaction force between the standard sensor and the tray is a force value which is outputted in a standard mode; the specific operation is as follows: five standard measurement points of 20Nm, 40Nm, 60Nm, 80Nm and 100Nm are pressed in sequence; the system scans the keys through PIT timing interruption, waits for key access, enables the corresponding matrix keys of the next standard measurement point to enter corresponding control loops every time, transmits control strategies obtained at different moments to a stepping motor driver through pulse signals, and the stepping motor can incrementally adjust the movement speed according to the current control quantity and finally stops at the position where errors are allowed; and recording calibration original data by recording the indication value of the detected direction disc force angle instrument at the standard measurement point so as to judge whether the detected direction disc force angle instrument is qualified or not.
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| CN108762323B (en) * | 2018-04-04 | 2021-08-20 | 上海华测导航技术股份有限公司 | Automatic calibration method for positions of agricultural machine angle encoder and electric steering wheel |
| 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 |
| CN111664991B (en) * | 2020-05-21 | 2023-03-24 | 湖南省计量检测研究院 | Automatic calibration device for motor vehicle steering wheel force angle gauge and brake control force gauge |
| 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 |
| CN113959475A (en) * | 2021-10-27 | 2022-01-21 | 上海思博机械电气有限公司 | Angle sensor programming test equipment |
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