CN109883589B - New energy automobile driving shaft torque testing device and method - Google Patents
New energy automobile driving shaft torque testing device and method Download PDFInfo
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Abstract
The invention provides a new energy automobile driving shaft torque testing device and method. According to the device and the method for wireless power supply and wireless data transmission, the torque test of the high-speed rotating driving shaft is realized, and the torque of the driving shaft is accurately tested; the invention can accurately test the torque value of the driving shaft, can synchronously acquire data of a plurality of sensors, is beneficial to comprehensively analyzing transient change of the driving torque and is suitable for the driving process of a new energy automobile; the method CAN solve the problem that the transient change of the driving torque cannot be reflected due to the fact that the driving torque signal analyzed by the CAN bus is filtered by the controller when the new energy automobile is calibrated.
Description
Technical Field
The invention belongs to the technical field of automobile testing, and particularly relates to a new energy automobile driving shaft torque testing device and method.
Background
The control of the torque of the driving shaft of the new energy automobile is an important factor influencing the dynamic property, the economical efficiency and the drivability of the automobile, and the acquisition of the real-time driving shaft torque of the automobile is particularly important for the development and energy consumption control of the new energy automobile. The vehicle driving shaft belongs to a high-speed rotating part, torque signals are difficult to measure in a direct contact mode, the space near the vehicle driving shaft is narrow, a high-voltage power supply exists in a new energy vehicle, and the influence on a sensor for collecting data is large, so that the high-precision interference-free driving shaft torque testing device and method are important bases for collecting real-time driving torque of the vehicle.
Disclosure of Invention
In view of this, the invention aims to provide a new energy automobile drive shaft torque testing device, which can test the change condition of the automobile drive shaft torque in real time, reflect the transient change characteristic of the automobile drive torque, and is used for the benchmarking test of new energy automobiles and the development of an entire automobile control strategy.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a new energy automobile driving shaft torque testing device comprises a stator unit, a rotor unit, an anti-interference unit, a torque estimation unit and a display unit, wherein the stator unit is fixed on an automobile body near an automobile driving shaft, the rotor unit is fixed on the driving shaft, the anti-interference unit is fixed near the stator unit, the torque estimation unit is fixed in a cockpit, and the display unit is fixed in the cockpit;
the stator unit comprises a stator fixing end and a stator transmission ring, and the stator transmission ring is used for wirelessly supplying power to the rotor and receiving data sent by the rotor; the stator fixing end is used for fixing the stator module;
the rotor unit comprises a rotor strain sensor and a rotor transmission module, wherein the rotor strain sensor is attached to an automobile driving half shaft and used for converting driving shaft torque into resistance value change of the rotor strain sensor, so that current change is generated;
the anti-interference unit comprises a choke ring and is used for inhibiting electromagnetic interference generated by the complex electromagnetic environment of the new energy automobile on signals and ensuring the accuracy of acquired data;
the torque estimation unit comprises a power supply module and a torque estimation module, wherein the power supply module supplies power to the torque estimation module on one hand and supplies power to the rotor on the other hand; the torque estimation module is used for receiving data of the stator transmission ring, estimating a current driving shaft torque value according to a linear corresponding relation between a calibrated output voltage signal and a calibrated torque value straight line, and the torque estimation unit is connected with the display unit;
the display unit comprises a PC (personal computer) and a data acquisition module, the PC converts voltage signals acquired by the data acquisition module into torque values, and the data acquisition module acquires analog quantity and CAN (controller area network) signals and CAN realize multichannel synchronous data acquisition.
Furthermore, the rotor transmission module comprises a remote sensing power supply receiving circuit, an operational amplification circuit and a data wireless transmitting circuit, wherein the remote sensing power supply receiving circuit is used for receiving the electric energy of the stator transmission ring and supplying power to the rotor module; the operational amplification circuit is used for amplifying current change generated by the rotor strain sensor, and the data wireless transmission circuit transmits the current change data amplified by the operational amplification circuit to the stator transmission ring.
Further, the power supply module converts the direct current into equal-amplitude high-frequency alternating current and transmits the high-frequency alternating current to the stator transmission ring.
Further, the torque estimation module converts the torque value into a voltage signal, the voltage range is-10V to 10V, the-10V corresponds to the maximum negative torque, the 10V corresponds to the maximum positive torque, the 0V corresponds to the 0 torque, and the intermediate torque is subjected to linear interpolation.
Further, the torque estimation unit needs 12V direct current power supply, the minimum voltage is not lower than 10V, and the maximum voltage does not exceed 24V.
Compared with the prior art, the new energy automobile driving shaft torque testing device has the following advantages:
(1) the device and the method for testing the torque of the driving shaft realize the torque test of the driving shaft rotating at high speed and realize the accurate torque test of the driving shaft by adopting the wireless torque testing device and the method and through the equipment and the method for wireless power supply and wireless data transmission.
(2) The invention can accurately test the torque value of the driving shaft, can synchronously acquire data of a plurality of sensors, is favorable for comprehensively analyzing the transient change of the driving torque and is suitable for the driving process of a new energy automobile.
(3) The method CAN solve the problem that the transient change of the driving torque cannot be reflected due to the fact that the driving torque signal analyzed by the CAN bus is filtered by the controller when the new energy automobile is calibrated.
The invention also aims to provide a new energy automobile driving shaft torque testing method, which is realized by the following specific steps:
a new energy automobile driving shaft torque testing method specifically comprises the following steps:
(1) installing and calibrating a driving shaft torque testing device;
(2) the installation and signal acquisition of other related sensors, the CAN bus signal acquisition and the synchronous acquisition and fusion of data acquisition;
(3) carrying out a new energy vehicle driving shaft torque test, and designing starting, accelerating and uniform speed test working conditions;
(4) the data collected by the sensor confirms the driving state of the automobile, and compares the torque of the driving shaft torque testing device with the torque signal in the CAN bus;
(5) if the two are basically consistent, the torque signal measured by the drive shaft torque testing device is an accurate value, and the drive shaft torque test is completed;
(6) if the difference between the two is large, the driving shaft torque testing device is reinstalled and calibrated, the test is conducted again until the two are basically consistent, and the driving shaft torque test is completed.
Further, the step (1) specifically includes detaching a vehicle drive shaft, attaching the rotor unit to the drive shaft, fixing the drive shaft to the rack, performing matching and calibration of torque and output voltage, installing the calibrated drive shaft back to the vehicle, installing the stator unit, the anti-interference unit, the torque estimation unit, the display unit, and the 12V dc power supply unit at relevant positions of the vehicle, and completing installation and calibration of the test equipment.
Further, the step (2) specifically includes connecting a new energy vehicle CAN bus signal, other related sensor signals and a drive shaft torque signal to a data acquisition module of a display unit to realize synchronous acquisition of all related factor signals of the drive shaft torque, synchronously displaying and storing the related factor signals on a PC (personal computer), wherein the other related sensor signals include sensor signals of a vehicle speed sensor, an accelerator pedal displacement sensor, an accelerator pedal force sensor and the like and are used for testing and acquiring all factors influencing the drive shaft torque during vehicle driving, and the CAN bus signal includes a motor rotating speed signal, a motor torque signal, a gear signal, a battery current signal, a battery voltage signal and a battery SOC signal.
Further, in the step (3), the test condition includes a start test that the opening degree of the accelerator pedal is 0%, 5%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, and 100% in sequence; carrying out a 0-100km/h rapid acceleration test and a 50-80km/h overtaking acceleration test; and carrying out constant speed tests of the minimum stable vehicle speed, 10km/h, 20km/h, 30km/h, 40km/h, 50km/h, 60km/h, 70km/h, 80km/h and 100 km/h.
Further, in the step (4), it is determined whether the torque of the drive shaft torque testing device is consistent with the torque signal in the CAN bus, and a mean square deviation value and a maximum difference value are used as a basis, if the mean square deviation value is less than 10 and the maximum difference value is not greater than 20, the mean square deviation value and the maximum difference value are considered to be substantially consistent, otherwise, the difference between the mean square deviation value and the maximum difference value is considered to be large.
The method for testing the torque of the driving shaft of the new energy automobile has the same beneficial effects as the device for testing the torque of the driving shaft of the new energy automobile, and the description is omitted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart of the operation of the new energy vehicle driving torque testing device and method of the invention;
FIG. 2 is an installation schematic diagram of the new energy vehicle driving torque testing device;
FIG. 3 is a schematic structural diagram of a new energy vehicle drive shaft torque testing device according to the invention;
FIG. 4 is a flow chart of a new energy vehicle drive axle torque test according to the invention.
Description of reference numerals:
1-torque display unit; 1.1-PC machine; 1.2-data acquisition equipment; 2-a torque estimation unit; 3-a stator unit; 3.1-stator transmission ring; 3.2-stator fixed end; 4-a rotor unit; 4.1-rotor transmission module; 4.2-rotor strain sensor; 5-a drive shaft; 6-12V direct current power supply; 7-vehicle CAN bus; 8-other related sensors; 9-anti-interference unit.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 4, the invention provides a new energy vehicle drive shaft torque testing device, which comprises a torque display unit 1, a torque estimation unit 2, a stator unit 3, a rotor unit 4 and an anti-interference unit 9. The torque display unit 1 is fixed in a cab, the torque estimation unit 2 is fixed in the cab, the stator unit 3 is fixed on a vehicle body near a vehicle driving shaft, the rotor unit 4 is fixed on the driving shaft 5, and the anti-interference unit 9 is installed near the stator unit 3, wherein the distance is not more than 200 mm.
As shown in figure 1, the device and the method convert a driving shaft torque signal into an electric signal through wireless power supply and wireless data transmission, calibrate a voltage value correspondingly output by applying a constant value torque, acquire the electric signal through a multi-channel synchronous data acquisition method and display the electric signal on a PC (personal computer) 1.1, accurately measure the driving shaft torque rotating at a high speed by the method, and CAN synchronously acquire other sensor signals 8 and vehicle CAN bus 7 signals for comprehensively analyzing the transient change of the driving torque and calibrating the driving process of a new energy vehicle.
As shown in fig. 3, the stator unit 3 includes a stator fixing end 3.2 and a stator transmission ring 3.1, and the stator fixing end 3.2 is used for fixing the stator unit; the stator transmission ring 3.1 is used for wirelessly supplying power to the rotor unit 4 and receiving data sent by the rotor unit 3.
As shown in fig. 3, the maximum distance from the stator transmission ring 3.1 to the rotor transmission end is less than 70 mm; the carrier frequency of the stator transmission coil 3.2 is 1Mhz at most.
As shown in fig. 3, the rotor unit 4 includes a rotor transmission module 4.1 and a rotor strain sensor 4.2, and the rotor strain sensor 4.1 is attached to the automobile driving shaft 5 and is used for converting the driving shaft torque into the resistance value change of the rotor strain sensor, so as to generate the current change;
as shown in fig. 3, the rotor transmission module 4.1 includes a remote sensing power supply receiving circuit, an operational amplifier circuit and a data wireless transmitting circuit, the remote sensing power supply receiving circuit is used for receiving the electric energy of the stator transmission ring and supplying power to the rotor unit 4; the operational amplifier circuit is used for amplifying the current change generated by the rotor strain sensor. The data wireless transmitting circuit transmits the current change data amplified by the operational amplifying circuit to the stator transmission coil 3.1.
As shown in fig. 3, the torque estimation unit 2 comprises a power supply module and a torque estimation module, the power supply module supplying power to the torque estimation module on the one hand and to the rotor on the other hand. The power supply module converts the direct current into equal-amplitude high-frequency alternating current and transmits the high-frequency alternating current to the stator transmission ring.
As shown in fig. 3, the torque estimation module is configured to receive data of the stator transmission coil 3.1, and estimate the current torque value of the drive shaft 5 according to a linear correspondence between the calibrated output voltage signal and the calibrated torque value line.
The torque estimation module converts a torque value into a voltage signal, the voltage range is-10V to 10V, the voltage range is-10V corresponding to the maximum negative torque, the voltage range is 10V corresponding to the maximum positive torque, the voltage range is 0V corresponding to the 0 torque, and the intermediate torque is linearly interpolated.
The torque estimation unit CAN output the voltage value in an analog quantity form through a serial port, and CAN also output the voltage value in a digital quantity form through a CAN port.
As shown in FIG. 3, the torque estimation unit needs 12V DC power supply 6 to supply power, the minimum voltage is not lower than 10V, and the maximum voltage is not higher than 24V.
As shown in fig. 3, the torque display unit 1 includes a PC 1.1 and a data acquisition module 1.2, the PC 1.1 converts a voltage signal acquired by the data acquisition module into a torque value, and the data acquisition module 1.2 CAN acquire both an analog quantity and a CAN signal and CAN realize multi-channel synchronous data acquisition.
As shown in FIG. 4, the new energy vehicle driving shaft torque testing method comprises the steps of mounting and calibrating a driving shaft torque testing device, mounting and signal acquisition of other related sensors, synchronous acquisition and fusion of CAN bus signal acquisition and data acquisition, and new energy vehicle testing.
The driving shaft torque testing device is installed and calibrated, a vehicle driving shaft 5 needs to be detached, the rotor unit 4 is attached to the driving shaft, the driving shaft 5 is fixed on a rack, matching and calibration of torque and output voltage are carried out, the driving shaft 5 which is calibrated is installed back on a vehicle, the stator unit 3, the anti-interference unit 9, the torque estimation unit 2, the display unit 1 and the 12V direct-current power supply 6 are installed at relevant positions of the vehicle, and installation and calibration of testing equipment are completed.
The other related sensors 8 are mounted and signal-acquired, including the mounting and signal acquisition of sensors such as a vehicle speed sensor, an accelerator pedal displacement sensor and an accelerator pedal force sensor, and are used for testing and acquiring various factors influencing the torque of a driving shaft when the vehicle is driven.
The vehicle CAN bus 7 signal comprises a motor rotating speed signal, a motor torque signal, a gear signal, a battery current signal, a battery voltage signal, a battery SOC signal and other signals.
As shown in fig. 2, a new energy vehicle CAN bus 7 signal, other related sensor 8 signal, and a drive shaft torque signal are connected to the data acquisition module 1.2 of the display unit, so as to realize synchronous acquisition of each related factor signal of the drive shaft torque, and synchronously displayed and stored on the PC 1.1, thereby facilitating post-processing.
Carrying out a new energy vehicle driving shaft torque test, designing test working conditions of starting, accelerating, uniform speed and the like, and carrying out a starting test on the opening degrees of an accelerator pedal of 0%, 5%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% and 100% in sequence; carrying out a 0-100km/h rapid acceleration test and a 50-80km/h overtaking acceleration test; and carrying out constant speed tests of the minimum stable vehicle speed, 10km/h, 20km/h, 30km/h, 40km/h, 50km/h, 60km/h, 70km/h, 80km/h and 100 km/h.
According to data collected by other related sensors 8, the driving state of the automobile is confirmed, the torque of the driving shaft torque testing device is compared with the torque signal in the CAN bus, if the torque of the driving shaft torque testing device is basically consistent with the torque signal in the CAN bus, the torque signal measured by the driving shaft torque testing device is an accurate value, and the driving shaft torque testing is completed; if the difference between the two is large, the driving shaft torque testing device needs to be installed again and calibrated, the test is carried out again until the two are basically consistent, and the driving shaft torque testing is finished.
And judging whether the torque of the driving shaft torque testing device is consistent with a torque signal in the CAN bus, and adopting two indexes of a mean square deviation value and a maximum difference value as a basis, wherein if the mean square deviation value is less than 10 and the maximum difference value is not more than 20, the mean square deviation value and the maximum difference value are basically consistent, otherwise, the difference between the mean square deviation value and the maximum difference value is considered to be larger.
The maximum difference is calculated using the following formula:
ΔTmax＝MAX(abs(Tsenseri-TCANi))
in the formula TsenseriTorque value, T, of the drive shaft torque test device at the i-th momentCANiAnd the value range of i is the torque value in the CAN bus at the ith moment, i ranges from 0 to the test cycle time t, and the minimum graduation of i is 0.01 s.
The mean square error value is calculated by adopting the following formula:
in the formula TsenseriTorque value, T, of the drive shaft torque test device at the i-th momentCANiThe torque value in the CAN bus at the ith time is represented by i, the minimum division of i is 0.01s, i ranges from 0 to the test cycle time t, and n is 100 × t.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a new energy automobile drive shaft torque testing arrangement which characterized in that: the automobile anti-interference torque estimation device comprises a stator unit, a rotor unit, an anti-interference unit, a torque estimation unit and a display unit, wherein the stator unit is fixed on an automobile body near an automobile driving shaft, the rotor unit is fixed on the driving shaft, the anti-interference unit is fixed near the stator unit, the torque estimation unit is fixed in a cockpit, and the display unit is fixed in the cockpit;
the stator unit comprises a stator fixing end and a stator transmission ring, and the stator transmission ring is used for wirelessly supplying power to the rotor and receiving data sent by the rotor; the stator fixing end is used for fixing the stator module;
the rotor unit comprises a rotor strain sensor and a rotor transmission module, wherein the rotor strain sensor is attached to an automobile driving half shaft and used for converting driving shaft torque into resistance value change of the rotor strain sensor, so that current change is generated;
the anti-interference unit comprises a choke ring and is used for inhibiting electromagnetic interference generated by the complex electromagnetic environment of the new energy automobile on signals and ensuring the accuracy of acquired data;
the torque estimation unit comprises a power supply module and a torque estimation module, wherein the power supply module supplies power to the torque estimation module on one hand and supplies power to the rotor on the other hand; the torque estimation module is used for receiving data of the stator transmission ring, estimating a current driving shaft torque value according to a linear corresponding relation between a calibrated output voltage signal and a calibrated torque value straight line, and the torque estimation unit is connected with the display unit;
the display unit comprises a PC (personal computer) and a data acquisition module, the PC converts voltage signals acquired by the data acquisition module into torque values, and the data acquisition module acquires analog quantity and CAN (controller area network) signals and CAN realize multichannel synchronous data acquisition.
2. The new energy automobile drive shaft torque testing device according to claim 1, characterized in that: the rotor transmission module comprises a remote sensing power supply receiving circuit, an operational amplification circuit and a data wireless transmitting circuit, wherein the remote sensing power supply receiving circuit is used for receiving the electric energy of the stator transmission ring and supplying power to the rotor module; the operational amplification circuit is used for amplifying current change generated by the rotor strain sensor, and the data wireless transmission circuit transmits the current change data amplified by the operational amplification circuit to the stator transmission ring.
3. The new energy automobile drive shaft torque testing device according to claim 1, characterized in that: the power supply module converts direct current into equal-amplitude high-frequency alternating current and transmits the high-frequency alternating current to the stator transmission ring.
4. The new energy automobile drive shaft torque testing device according to claim 1, characterized in that: the torque estimation module converts the torque value into a voltage signal, the voltage range is-10V to 10V, the-10V corresponds to the maximum negative torque, the 10V corresponds to the maximum positive torque, the 0V corresponds to the 0 torque, and the intermediate torque is linearly interpolated.
5. The new energy automobile drive shaft torque testing device according to claim 1, characterized in that: the torque estimation unit needs 12V direct current power supply, the minimum voltage is not lower than 10V, and the maximum voltage is not higher than 24V.
6. The new energy automobile driving shaft torque testing method is characterized by comprising the following steps: the new energy automobile driving shaft torque testing device comprises the following steps:
step (1), installing and calibrating a driving shaft torque testing device;
step (2), installation and signal acquisition of other related sensors, CAN bus signal acquisition and data acquisition synchronous acquisition and fusion; the other related sensors comprise a vehicle speed sensor, an accelerator pedal displacement sensor and an accelerator pedal force sensor; the CAN bus signals comprise a motor rotating speed signal, a motor torque signal, a gear signal, a battery current signal, a battery voltage signal and a battery SOC signal;
step (3), carrying out a new energy vehicle driving shaft torque test, and designing starting, accelerating and uniform speed test working conditions;
step (4), confirming the driving state of the automobile according to the data acquired by the sensor, and comparing the torque of the driving shaft torque testing device with a torque signal in the CAN bus;
step (5), if the two are basically consistent, the torque signal measured by the drive shaft torque testing device is an accurate value, and the drive shaft torque test is completed;
and (6) if the difference between the two is large, reinstalling the drive shaft torque testing device and calibrating the drive shaft torque testing device, and conducting the test again until the two are basically consistent, and then completing the drive shaft torque test.
7. The new energy automobile driving shaft torque testing method according to claim 6, characterized in that: the step (1) specifically comprises the steps of detaching a vehicle driving shaft, attaching a rotor unit to the driving shaft, fixing the driving shaft on a rack, matching and calibrating the torque and the output voltage, installing the calibrated driving shaft back on the vehicle, installing a stator unit, an anti-interference unit, a torque estimation unit, a display unit and a 12V direct current power supply unit at relevant positions of the vehicle, and completing installation and calibration of the test equipment.
8. The new energy automobile driving shaft torque testing method according to claim 6, characterized in that: and the step (2) specifically comprises the steps of connecting a CAN bus signal, other related sensor signals and a driving shaft torque signal of the new energy vehicle to a data acquisition module of a display unit, realizing synchronous acquisition of all related factor signals of the driving shaft torque, synchronously displaying and storing the related factor signals on a PC (personal computer), and using the other related sensor signals for testing and acquiring all factors influencing the driving shaft torque during vehicle driving.
9. The new energy automobile driving shaft torque testing method according to claim 6, characterized in that: in the step (3), the test working condition comprises a starting test of 0%, 5%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% and 100% of the opening of the accelerator pedal in sequence; carrying out a 0-100km/h rapid acceleration test and a 50-80km/h overtaking acceleration test; and carrying out constant speed tests of the minimum stable vehicle speed, 10km/h, 20km/h, 30km/h, 40km/h, 50km/h, 60km/h, 70km/h, 80km/h and 100 km/h.
10. The new energy automobile driving shaft torque testing method according to claim 6, characterized in that: in the step (4), whether the torque of the drive shaft torque testing device is consistent with the torque signal in the CAN bus is judged, a mean square deviation value and a maximum difference value are used as a basis, if the mean square deviation value is smaller than 10 and the maximum difference value is not larger than 20, the mean square deviation value and the maximum difference value are considered to be basically consistent, and if not, the difference between the mean square deviation value and the maximum difference value is considered to be larger.
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| CN108602515A (en) * | 2015-12-23 | 2018-09-28 | 普罗蒂恩电子有限公司 | Control system for vehicle |
| CN106357185A (en) * | 2016-11-15 | 2017-01-25 | 吉林大学 | Permanent magnet synchronous motor torque control method |
| CN108549025A (en) * | 2018-03-13 | 2018-09-18 | 江西精骏电控技术有限公司 | A kind of automobile permanent magnet synchronous motor mixing torque security detection method |
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