CN109323867A - A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack - Google Patents
A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack Download PDFInfo
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- CN109323867A CN109323867A CN201811045488.4A CN201811045488A CN109323867A CN 109323867 A CN109323867 A CN 109323867A CN 201811045488 A CN201811045488 A CN 201811045488A CN 109323867 A CN109323867 A CN 109323867A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 16
- 238000000429 assembly Methods 0.000 claims abstract description 7
- 230000000712 assembly Effects 0.000 claims abstract description 7
- 239000003921 oil Substances 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 5
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 abstract description 40
- 230000005540 biological transmission Effects 0.000 abstract 2
- 238000011217 control strategy Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000011056 performance test Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 238000012827 research and development Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of automotive electronics power-assisted steering and braking ability emulation experiment racks, including supporting table top, servo motor, diverter, pull pressure sensor, steering wheel assembly, brake assemblies etc., rocker arm is installed in servo motor shaft end respectively, and rocker arm is connected by one end of pull pressure sensor and track rod；The both ends of steering gear input shaft are equipped with prismatic pair, the other end of track rod is articulated and connected with prismatic pair respectively, the connection of the input terminal of steering wheel and transmission shaft, the output end of transmission shaft is connected with the input shaft of diverter, brake vacuum boost pump is assembled together with master cylinder, wheel cylinder is assembled together with brake disc, and when brake pedal is operated, master cylinder is generated hydraulic, and is transported to wheel cylinder for hydraulic by hydraulic tube.The present invention is carried out indoors by bench test, automotive electronics power steering, ESC and braking ability test, can save the plenty of time, is reduced cost and is shortened the R&D cycle, avoids the risk of real train test.
Description
Technical field
The present invention relates to experimental provisions, are exactly a kind of comprising automobile electric booster steering system and braking system
Test-bed.
Background technique
Bench test plays effect of crucial importance for the research and development and performance test of control strategy, and improves and optimizates and mention for it
It is supported for test data.It turns to and braking system is the important component of automobile, when a kind of new control strategy is suggested
Need to do a large amount of verification experimental verification, directly entrucking uses after these tests can complete condition maturity on rack.
In the performance of the steering system and braking system of studying vehicle, need to make vehicle according to actual operating mode or pole
Operating condition traveling is limited, carries out the experiment such as motor turning, braking, and record experimental data using laboratory apparatus.If in special automobile
It is tested on runway, needs to take a substantial amount of time, to elongate the research and development of automobile, upgrade cycle, and increase experimentation cost,
And some experiments have certain risk.The steering of automobile generally requires under different road conditions from retardation test
(such as split road surface, ice and snow road) studies the validity of its performance and control strategy.By computer by software
Hardware-in-the-loop test bench is built with combination of hardware, the test to be completed is carried out on rack, with the property to its controller
It can be evaluated with the validity of control strategy.
Domestic similar experimental stand can only test the braking ability of automobile on the basis of existing automobile at present,
Either braking ability is tested or evaluated in the form of a singlely by what is tested on rack.
Notification number CN203366123U, the Chinese patent in publication date on December 25th, 2013, discloses a kind of " electronics liquid
Suppress dynamic system electric control retardation test platform ", electro-hydraulic brake control system hardware-in-the-loop test, but only needle may be implemented
To the experiment that braking system carries out, there is no the functions of being tested to steering system.
Notification number CN1314951C, the Chinese patent in May 9 2007 day for announcing disclose that " one kind is able to detect small vapour
The chassis test bench for cars for the performances such as vehicle is braked, slided, turning to, front and back wheel positions ", the testing stand are used by minute wheel roller
Property formula device carry out the detection of automobile brake perfrmance, motor turning performance is tested by each sensor in detection plate, but should
Equipment can not the true driving cycle of simulated automotive.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automobile electric booster steering systems and braking system performance to grind
The test-bed studied carefully.Designed controller can be mounted on experimental stand with the true driving cycle of simulated automotive by the device
Upper completion hardware-in-the-loop test records test data by data acquisition equipment in order to be analyzed test result and commented
Valence.In order to make test result be more nearly the true driving cycle of simulated automotive, different roads can be set in host computer
Operating condition chooses different vehicles and different pilot models to meet different test requirements documents.That is installed on rack watches
Different steering resisting moment and aligning torque can be loaded during the test by taking motor, keep the result of test truer,
In order to evaluate the true control effect of designed controller.The rack not only can be to the property of steering system and braking system
Energy and control strategy are studied respectively, but also can be integrated control strategy research.Corresponding test is done on rack
When, it can carry out indoors, the plenty of time can be saved for opposite train experiment, reduce experimentation cost and reduces test
Risk.
In order to solve the above technical problems, the present invention uses following technological means:
The test-bed of a kind of automobile electric power-assisted steering and braking performance test, rack include supporting table top, servo motor, tooth
Rack gear diverter, pull pressure sensor, steering wheel assembly, brake assemblies are taken turns, the two sides of described support table top one end are set respectively
There is servo motor, servo motor shaft end is connect with rocker arm by flat key, and rocker arm and round pull pressure sensor one end pass through screw thread
Connection；The diverter is equipped with input axis of a cylinder, the circular pinion and the rack gear phase on track rod for inputting axis of a cylinder lower end
Engagement, one end of track rod and the other end of pull pressure sensor connect, and it is horizontal that pull pressure sensor measurement is applied to steering
Pressure size on pull rod；The steering assembly is equipped with steering wheel, steering shaft, assist motor, and steering wheel passes through bolt spiral shell
Mother is mounted on the top of steering shaft, and steering shaft bottom end is connected with rack and pinion steering gear input terminal by steering universal joint, is helped
Force motor is mounted on the middle position of steering shaft；The brake assemblies are equipped with brake vacuum boost pump, master cylinder, hydraulic control
Unit HCU, wheel cylinder and brake disc processed, vacuum booster pump are assembled together with master cylinder, and master cylinder passes through high pressure oil
Pipe is connect with hydraulic control unit HCU, and the hydraulic oil of master cylinder is transmitted to hydraulic control unit HCU and is then dispensed for respectively
A wheel cylinder.
Hydraulic control unit HCU distributes to each wheel cylinder braking oil pressure, and wheel cylinder is assembled together with brake disc, when
When brake pressure is set up, wheel cylinder pushes brake(-holder) block to be pressed against on the disc brake rotor, generates brake force.
When carrying out braking performance test, experimenter's brake pedal, master cylinder under the action of vacuum booster pump
Braking oil pressure is set up, and each wheel cylinder is distributed to by HCU, to generate corresponding brake force in brake disc.It can be with
The numerical value of braking oil pressure collected, brake force is made comparisons with state value when vehicle gradual braking, it is expected braking effect
More preferably；It can also be by distribution ratio needed for front and back wheel locking simultaneously when front and back brake disc braking force distribution ratio and emergency brake of vehicle
Example compares, and reaches ideal braking force distribution curve with expectation.Because the locking of rear-wheel elder generation will be dangerous when emergency brake of vehicle
Operating condition, and the brake force of rear-wheel cannot be made full use of when the locking of front-wheel elder generation, dreamboat operating condition when two-wheeled locking simultaneously.
When carrying out ESC control test, automobile is subjected to simulated driving under extreme conditions, such as brake under higher speed
And racing (Emergency avoidance), low attachment road surface brake (ice and snow road), open-circuit wheat flour is moved etc..ESC system is mainly by electronics
Control unit (ECU) and velocity sensor, yaw-rate sensor, steering angle sensor, wheel speed sensors and actuator HCU
Deng composition.During the test, electronic control unit (ECU) acquires the information of each sensor by CAN bus, then basis
Collected data calculate vehicle-state and compare again with data pre-set in ECU reservoir.When vehicle closes on
When unstability, HCU opens or closes pressurization, pressure maintaining or the decompression that corresponding solenoid valve realizes wheel cylinder according to the signal that ECU is sent,
Make the slip-based controller of wheel in stability range, to guarantee that vehicle can stablize traveling.
When carrying out power steering performance test, when driver, which is applied to the power on steering wheel, reaches certain value, steering shaft
Rotation, while the torque sensor being connected with steering shaft can detect steering wheel torque, and the torque transfer that will test is to electricity
Sub-control unit (ECU), electronic control unit are calculated according to speed and dtc signal by corresponding control strategy and program
Corresponding power-assisted current value driving assist motor operating, motor drive electromagnetic clutch, pass power-assisted by deceleration mechanism out
Steering column is passed, drives steering column to rotate together with the power come with passing on steering wheel.Both ends ball of the servo motor in diverter
Apply steering resisting moment at head, the size of steering resisting moment constantly changes according to the variation of driving operating condition.By to steering wheel
Ride comfort, portability and the ability for resisting external interference of rotation etc. evaluate power-assisted ability, can also be to power-assisted electricity
The desired value and target value of electromechanics stream compare the advantage and disadvantage for carrying out analysis and Control strategy.The advantages of this test-bed, is by watching
Take motor load steering resistence be it is continually changing, be more nearly true vehicle driving-cycle.In experimentation, pressure
Sensor can constantly record the data Real-time Feedback that resistance changes into host computer and the steering resistence with CarSim output
It compares in order to evaluate the effect of servo motor Resistance-load.
When carrying out automatic Pilot hardware-in-the-loop test, in host computer by CarSim software be arranged virtual vehicle and
Road information, and CarSim can export the quantity of state of vehicle in order to acquire or observe vehicle status data.In CarSim
Travel speed and running time is arranged in middle selection vehicle, pilot model and road condition etc..Pilot model turns expectation
Angle is sent to corner ring by CAN communication, and steering column rotates respective angles, and rotary angle transmitter acquires the actual corners of steering column rotation
Degree is input to CarSim by CAN communication, completes hardware-in-the-loop test.During the test, servo motor is according to vehicle driving
Environment generates corresponding steering resisting moment and aligning torque, keeps test process truer.Building for corner ring is by rotation angular sensing
The deviation of device and steering motor composition, rotary angle transmitter acquisition steering column actual rotational angle and expectation corner, which generates PWM by PID, to be made
Steering motor rotation.
By bench test, automobile electric power-assisted steering test, ESC Control experiment, braking ability test and drive automatically
Sailing test can carry out indoors, can save the plenty of time for opposite train experiment, reduce cost and shorten the R&D cycle, keep away
The risk of train experiment is exempted from.
Further optimal technical scheme is as follows:
The pull pressure sensor is circular discoid, and the side of pull pressure sensor and rocker arm are articulated and connected, pressure sensing
The other side of device is connect with track rod.Rocker arm is rigid connector, is connected by key with servo motor shaft, guarantees to pass
Pass high torque.
The diverter is mounted on diverter stationary fixture, and diverter stationary fixture is bolted on support table
On face.The diverter stationary fixture is made of clamping fixture seat, fixture turntable 201,202 two parts, and clamping fixture seat is equipped with arc groove,
Fixture turntable and arc groove corresponding position are equipped with screw hole and have threaded hole and arc groove, clamping fixture seat, fixture turntable amount thereon
Component is bolted.Due to contacting between clamping fixture seat, two component of fixture turntable by revolute pair, bolt is being unclamped
When can relatively rotate, so as to adjust angle of the diverter along its axis.Wherein clamping fixture seat 201 is bolted on
On table top.
The wheel cylinder and brake disc, which is bolted on, to be supported on table top；Wheel cylinder and brake disc pass through solid
Clamp tool, bolt, which are fixed on, to be supported on table top；Hydraulic control unit HCU is fixed on by stationary fixture, bolt and is supported on table top,
Hydraulic control unit HCU adjusts braking oil liquid pressure.
Detailed description of the invention
Fig. 1 is three-dimensional installation diagram of the invention.
Fig. 2 is diverter stationary fixture schematic side view of the invention.
Fig. 3 is diverter stationary fixture schematic front view of the invention.
Fig. 4 is the support column schematic side view of steering wheel assembly of the invention.
Fig. 5 is the support column schematic front view of steering wheel assembly of the invention.
Fig. 6 is diverter and servo motor motion principle figure of the invention.
Fig. 7 is wheel cylinder assembly schematic side view of the invention.
Fig. 8 is wheel cylinder assembly schematic front view of the invention.
Fig. 9 is servo motor stationary fixture schematic side view of the invention.
Figure 10 is this servo motor stationary fixture schematic front view.
Figure 11 is 9 schematic diagram of steering wheel assembly.
In figure: 1- pull pressure sensor, 2- servo motor, 3- rack and pinion steering gear, 4- vacuum booster pump, 5- turn to horizontal
Pull rod, 6- steering assist motor, 7- wheel cylinder assembly, 8- hydraulic control unit HCU, 9- steering wheel assembly, 10- seat,
11- support table top, 12- rocker arm, 13- pallet, 14- brake pedal, the fixed profile of 15-, 16- servo motor stationary fixture, 17- turn
To device stationary fixture, 18- support post, 19- master cylinder, 20- wheel cylinder, 21- brake disc, 22- steering input shaft, 23-
Rack gear.
Specific embodiment
Below with reference to embodiment, the present invention is further illustrated.
Referring to Fig. 1 it is found that a kind of automotive electronics power-assisted steering of the invention and braking ability emulation experiment rack, by supporting
Table top 11, servo motor 2, pull pressure sensor 1, rack and pinion steering gear 3, steering wheel assembly 9 and brake assemblies composition；It supports
The two sides of 11 one end of table top are respectively equipped with servo motor 2, and rocker arm 12 is installed in 2 shaft end of servo motor respectively, and rocker arm 12 passes through tension and compression
Force snesor 1 is connect with one end of track rod 5；Diverter is rack and pinion steering gear 3, and the both ends of output shaft are equipped with movement
Pair, the other end of track rod 5 are articulated and connected with prismatic pair respectively, and the measurement of pull pressure sensor 1 is applied to track rod 5
On pulling force size；Steering wheel assembly 9 is equipped with steering wheel, steering shaft and assist motor, and steering wheel assembly 9 is pacified by support post
Dress, which is fixed on, to be supported on table top 11, and the input terminal of steering wheel and steering shaft connects, the input of the output end and diverter of steering shaft
Axis is connected, and steering assist motor 6 is mounted on the middle part of steering column and is bolted on pallet 13；Brake assemblies are set
There are brake pedal 14, brake vacuum boost pump 4, master cylinder 19, hydraulic control unit HCU 8, wheel cylinder 20 and brake disc
21 etc., brake vacuum boost pump 4 is assembled together with master cylinder 19, and master cylinder 19 passes through brake pipe and hydraulic control list
First connection of HCU 8, and the hydraulic oil of master cylinder 19 is transmitted to hydraulic control unit HCU 8, hydraulic control unit HCU 8 is logical
High-pressure oil pipe is crossed by hydraulic oil distribution to each wheel cylinder.
Wheel cylinder 20 is assembled together with brake disc 21, and when braking, hydraulic control unit HCU 8 distributes hydraulic oil to each
Wheel cylinder 20, oil liquid are pressed into its piston in inside and outside two wheel cylinder and two brake block are compressed brake disc 21 under hydraulic action, produces
It gives birth to moment of friction and brakes.
The rack can simulate various extreme operating conditions, be turned to and the performance of braking system and having for control strategy with test
Effect property, each state parameter that vehicle can be recalled while test are observed, are recorded, be conducive to the result of test into
The comprehensive analysis of row.When carrying out the research of controller, controller can be mounted on rack and carry out hardware-in-the-loop test, with
The true control effect of access control device, and can be used the direct entrucking of controller after experimental condition is mature.Rack examination
Test to be not affected by the weather indoors, and reduces the degree of danger of experimentation cost and real train test.
Seat 10 is mounted on by bolt, support post 18 and is supported on table top 11.
It turns to input shaft 22 to be mounted on by fixing piece on the pallet 13 of 9 column of steering wheel assembly, 9 column of steering wheel assembly
It is mounted on and is supported on table top 11 by bolt.
Brake pedal 14 is mounted on 14 fixing piece of brake pedal, and 14 fixing piece of brake pedal is mounted on support by bolt
On table top 11.
Fixed profile 15 is mounted on by bolt to be supported on table top 11.
Servo motor 2 is fixed on by servo motor stationary fixture 16, bolt to be supported on table top 11.
Pull pressure sensor 1 is circular discoid, and the side of pull pressure sensor 1 and rocker arm 12 are articulated and connected, and pressure passes
The other side of sensor 1 is connect with track rod 5.Rocker arm 12 is rigid connector, is connected by key with 2 axis of servo motor,
Guarantee to transmit high torque.
Diverter is mounted on diverter stationary fixture 17, and diverter stationary fixture 17 is bolted on support table top
On 11.The diverter stationary fixture 17 is made of clamping fixture seat, fixture turntable two parts, and diverter is fixed by bolt first
On fixture turntable, then fixture turntable is fixed on clamping fixture seat.Clamping fixture seat is equipped with arc groove, fixture turntable and arc groove phase
Position is answered to be equipped with screw hole, clamping fixture seat, fixture turntable are connected by bolt, nut.Clamping fixture seat, fixture turntable when unclamping bolt
It can relatively rotate, so as to adjust angle of the diverter along its axis.Clamping fixture seat is bolted on table top.
Wheel cylinder 20 and brake disc 21 are bolted on wheel cylinder assembly 7, and wheel cylinder assembly 7 is logical
Bolt is crossed to be fixed on support table top 11；Hydraulic control unit HCU 8 is fixed on by stationary fixture, bolt and supports table top 11
On, hydraulic control unit HCU 8 adjusts brake fluid pressure oil pressure.
The foregoing is merely preferably feasible embodiment of the invention, not thereby limiting the scope of the invention,
It is all to change with equivalent structure made by description of the invention and accompanying drawing content, it is intended to be included within the scope of the present invention.
Claims (5)
1. a kind of automotive electronics power-assisted steering and braking ability emulation experiment rack, rack includes supporting table top, servo motor, tooth
Take turns rack gear diverter, steering wheel assembly, pull pressure sensor, brake assemblies, it is characterised in that: described support table top one end
Two sides are respectively equipped with servo motor, and rocker arm is installed in servo motor shaft end respectively, and rocker arm is by pull pressure sensor and turns to horizontal drawing
One end of bar connects；Diverter is rack and pinion steering gear, and the both ends of output shaft are equipped with prismatic pair, the other end of track rod
It is articulated and connected respectively with prismatic pair, pull pressure sensor measurement is applied to the pressure size on track rod；Steering wheel group
Part is equipped with steering wheel, turns to input shaft, steering assist motor, and the input terminal of steering wheel and steering shaft connects, and turns to input shaft
Output end is connected with the input shaft of rack and pinion steering gear；Brake assemblies are equipped with brake vacuum boost pump, master cylinder, hydraulic
Control unit HCU, wheel cylinder and brake disc, brake vacuum boost pump are assembled together with master cylinder, and master cylinder passes through
Brake pipe is connect with hydraulic control unit HCU, and the hydraulic oil of master cylinder is transmitted to hydraulic control unit HCU, hydraulic
High pressure oil is assigned to each wheel cylinder by high-pressure oil pipe by control unit HCU.
2. automotive electronics power-assisted steering according to claim 1 and braking ability emulation experiment rack, it is characterised in that: institute
The servo motor stated is fixed on by servo motor stationary fixture, bolt to be supported on table top.
3. automotive electronics power-assisted steering according to claim 1 and braking ability emulation experiment rack, it is characterised in that: institute
The pull pressure sensor stated is circular discoid, and the side of pull pressure sensor and rocker arm are articulated and connected, pull pressure sensor it is another
Side is connect with track rod.
4. automotive electronics power-assisted steering according to claim 1 and braking ability emulation experiment rack, it is characterised in that: institute
The rack and pinion steering gear stated is mounted on diverter stationary fixture, and diverter stationary fixture is bolted on support table top
On.
5. automotive electronics power-assisted steering according to claim 1 and braking ability emulation experiment rack, it is characterised in that: institute
It is fixed on and is supported on table top by stationary fixture, bolt after wheel cylinder and the brake disc assembly stated；Vacuum booster pump and braking
Pedal is mounted on stationary fixture by bolt, and stationary fixture, which is bolted on, to be supported on table top；Hydraulic control unit HCU
It is mounted on stationary fixture by bolt, stationary fixture, which is bolted on, to be supported on table top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045488.4A CN109323867A (en) | 2018-09-07 | 2018-09-07 | A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045488.4A CN109323867A (en) | 2018-09-07 | 2018-09-07 | A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack |
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| Publication Number | Publication Date |
|---|---|
| CN109323867A true CN109323867A (en) | 2019-02-12 |
Family
ID=65264627
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811045488.4A Pending CN109323867A (en) | 2018-09-07 | 2018-09-07 | A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack |
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| CN (1) | CN109323867A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113295440A (en) * | 2021-07-06 | 2021-08-24 | 卢素云 | Experimental device for electronic power-assisted steering system |
| CN114279724A (en) * | 2021-12-31 | 2022-04-05 | 重庆理工大学 | Steering simulation mechanism, whole vehicle in-loop test bench and test method thereof |
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| CN208805368U (en) * | 2018-09-07 | 2019-04-30 | 聊城大学 | A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113295440A (en) * | 2021-07-06 | 2021-08-24 | 卢素云 | Experimental device for electronic power-assisted steering system |
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