CN110186699A - A kind of wire-controlled steering system experimental provision - Google Patents
A kind of wire-controlled steering system experimental provision Download PDFInfo
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- CN110186699A CN110186699A CN201910534768.XA CN201910534768A CN110186699A CN 110186699 A CN110186699 A CN 110186699A CN 201910534768 A CN201910534768 A CN 201910534768A CN 110186699 A CN110186699 A CN 110186699A
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- steering system
- controlled steering
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- 239000002828 fuel tank Substances 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 239000003208 petroleum Substances 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 31
- 238000000034 method Methods 0.000 abstract description 7
- 238000011161 development Methods 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000003068 static effect Effects 0.000 abstract description 3
- 238000012546 transfer Methods 0.000 abstract description 3
- 238000011056 performance test Methods 0.000 abstract description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 239000003921 oil Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention discloses a kind of wire-controlled steering system experimental provisions, belong to vehicle tests technical field.A kind of wire-controlled steering system experimental provision, comprising: bracket, suspended rack assembly and control system；The top of bracket is equipped with top beam；Suspended rack assembly includes vehicle frame and the wheel positioned at vehicle frame two sides, and vehicle frame passes through dampening assembly respectively and connect with wheel, and vehicle frame also passes through wire-controlled steering system and connect with wheel；The top of dampening assembly is connect by pressure-applying unit with top beam；Control system is communicated to connect with wire-controlled steering system and pressure-applying unit respectively.Steering test, the performance test of heavy-duty vehicle wire-controlled steering system key components and parts etc. under load transfer of present invention when can be with simulating vehicle curve driving between left and right wheel, full-loading condition under the conditions of static steering test, the frequency sweep steering test under driving cycle and different tires-ground attachment, can meet heavily loaded automatic driving vehicle wire-controlled steering system in steering mechanism and make autocontrol system in the test demand of development process.
Description
Technical field
The present invention relates to vehicle tests technical fields, and in particular to a kind of wire-controlled steering system experimental provision.
Background technique
Wire-controlled steering system is the key that the heavy-load roads vehicle such as unmanned truck, car and virtual rail train system
System, it is desirable that turn to high precision, fast response time and good reliability.Currently on the market also without mature volume production satisfaction heavy duty nobody
The wire-controlled steering system of vehicle is driven, in order to shorten the research and development of heavy-duty vehicle wire-controlled steering system key components and parts and control system
Period reduces development cost and breaks through key technology, is badly in need of a kind of wire-control steering test device of heavily loaded automatic driving vehicle.
Existing wire-control steering test device spininess is not suitable for the steering-by-wire of heavy-duty vehicle to underloading passenger car amount, load simulation method
System；And have a single function, lay particular emphasis on original reason test, it is not easy to realize engineering application.
Summary of the invention
The purpose of the present invention is to provide a kind of wire-controlled steering system experimental provisions, to solve existing heavily loaded automatic driving car
Wire-control steering test inconvenience problem.
The technical scheme to solve the above technical problems is that
A kind of wire-controlled steering system experimental provision, comprising: bracket, suspended rack assembly and control system；It is set at the top of bracket
There is top beam；Suspended rack assembly includes vehicle frame and the wheel positioned at vehicle frame two sides, and vehicle frame passes through dampening assembly respectively and connect with wheel,
Vehicle frame also passes through wire-controlled steering system and connect with wheel；The top of dampening assembly is connect by pressure-applying unit with top beam；Control system
System is communicated to connect with wire-controlled steering system and pressure-applying unit respectively.
The suspension frame structure of suspended rack assembly of the invention to simulating vehicle, wire-controlled steering system are simulated by control system
The case where Vehicular turn, controls pressure-applying unit by control system to press to dampening assembly, to simulate hanging down for left and right wheel
Load transfer to load, when such as simulating vehicle curve driving between left and right wheel.The present invention can also carry out to be turned under different operating conditions
To actuation test, as under steering test static under full-loading condition, driving cycle frequency sweep steering test and different tires-adhere to
Under the conditions of steering test etc..In addition, the performance that the present invention is also able to satisfy heavy-duty vehicle wire-controlled steering system key components and parts is real
It tests；Meet the exploitation and test of steering-by-wire control system；The hardware of heavily loaded automatic driving vehicle can be carried out based on this testing stand
Assemblage on-orbit test, to develop automatic Pilot entire car controller.Therefore the present invention can meet heavily loaded automatic driving vehicle line traffic control and turn
In steering mechanism and make autocontrol system in the test demand of development process to system.
Further, above-mentioned dampening assembly includes Top Crossbeam, lower cross arm and damper；The both ends of Top Crossbeam and lower cross arm
It is connect respectively with vehicle frame and wheel；One end that the top of damper and Top Crossbeam are connect with vehicle frame connects, the bottom end of damper with
One end connection that lower cross arm is connect with wheel.
Further, above-mentioned pressure-applying unit includes jack and servo-hydraulic station, and jack passes through petroleum pipeline and servo-fluid
The connection of pressure station；Jack is vertically arranged and its top is connect with crossbeam, and the bottom end of jack is connect and very heavy with Top Crossbeam
Pressure sensor is equipped between the bottom end and Top Crossbeam on top；Servo-hydraulic station and pressure sensor and control system communicate to connect.
The present invention is that (power is transferred to Top Crossbeam application vertical load by Top Crossbeam by servo-hydraulic station and hydraulic jack
Wheel), maximum vertical load can achieve 8 tons, can satisfy the phase for the wire-controlled steering system that uniaxial maximum vertical load is 8
Close test demand.Pressure sensor is capable of the size of real-time detection vertical force, so as to control unilateral side by control system
Or vertical force suffered by bilateral wheel, thus the steering situation under the different operating conditions of simulating vehicle.
Further, air spring is equipped between above-mentioned jack and Top Crossbeam；It is equipped between air spring and Top Crossbeam
Gasket, pressure sensor is between air spring and the jack.
Air spring has comparatively ideal nonlinear elasticity characteristic, steadily can apply pressure to Top Crossbeam, test
In the process, vehicle frame not will shake, and improve the accuracy of experiment.
Further, the material of above-mentioned gasket is rubber.
Further, above-mentioned wire-controlled steering system includes diverter, steering gear motor, fuel tank, hydraulic pump and liquid
Press pump driving motor；Diverter is connect by steering linkage with wheel, and diverter and steering gear motor fixation are set
It sets on vehicle frame, and diverter is connect with steering gear motor；Diverter, fuel tank and hydraulic pump are connected to by pipeline, shape
At hydraulic oil circuit；Hydraulic pump is connect with hydraulic pump driving motor；Steering gear motor and hydraulic pump driving motor respectively with
Control system communication connection.
Hydraulic pump driving motor of the invention controls hydraulic pump works, to control the hydraulic working oil in hydraulic oil circuit
Pressure, controlled by high pressure liquid pressure oil and steering gear motor diverter work, diverter by steering linkage come
Control the steering of wheel.
Further, above-mentioned control system includes controller and master control platform；Controller drives with master control platform, diverter respectively
Motor, hydraulic pump driving motor and the communication connection of servo-hydraulic station.
Further, above-mentioned bracket includes two portal frames disposed in parallel, and top beam is connect with the top of two portal frames.
The invention has the following advantages:
The present invention can simulate the vertical load that heavy-load automobile turned to and simulated left and right wheel, so as to simulate vehicle
Load transfer when curve driving between left and right wheel, moreover it is possible to carry out the steering actuation test under different operating conditions, such as full-loading condition
Steering test etc. under the conditions of lower static state steering test, the frequency sweep steering test under driving cycle and different tires-ground attachment, this
Outside, the present invention is also able to satisfy the performance test of heavy-duty vehicle wire-controlled steering system key components and parts；Meet steering-by-wire control system
The exploitation and test of system；The hardware-in-loop simulation test of heavily loaded automatic driving vehicle can be carried out based on this testing stand, certainly with exploitation
It is dynamic to drive entire car controller.Therefore the present invention can meet heavily loaded automatic driving vehicle wire-controlled steering system in steering mechanism and actuation
Test demand of the control system in development process.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of wire-controlled steering system experimental provision of the invention；
Connection schematic diagram of the Fig. 2 between bracket of the invention, suspended rack assembly and wire-controlled steering system；
Fig. 3 is the functional block diagram of wire-controlled steering system experimental provision of the invention.
In figure: 10- bracket；11- top beam；12- portal frame；20- vehicle frame；30- wheel；41- Top Crossbeam；42- lower cross arm；
43- damper；51- jack；52- servo-hydraulic station；53- oil pipe；54- air spring；61- diverter；The driving of 62- diverter
Motor；63- fuel tank；64- hydraulic pump；65- hydraulic pump driving motor；66- steering linkage；71- controller；72- master control platform；
100- pedestal；110- protective fence.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment
Please refer to Fig. 1, a kind of wire-controlled steering system experimental provision, comprising: pedestal 100.Pedestal 100 be equipped with bracket 10,
Three edges of suspended rack assembly and control system, 100 top of pedestal are equipped with protective fence 110, not set protective fence 110 vertically
Edge be for carrying out test operation.
Bracket 10 includes two portal frames 12, and two portal frames 12 are arranged in parallel and are bolted on pedestal 100,
The top of two portal frames 12 is attached by top beam 11, so that having globality, suspended rack assembly between two portal frames 12
Positioned at the lower section of top beam 11, and pressure-applying unit is equipped between suspended rack assembly and top beam 11.
Referring to figure 2. and Fig. 3, suspended rack assembly include vehicle frame 20 and two wheels 30, and two wheels 30 are located at vehicle frame
20 two sides.20 two sides of vehicle frame pass through dampening assembly respectively and connect with wheel 30, and vehicle frame 20 also passes through wire-controlled steering system
It is connect with wheel 30.
Dampening assembly includes Top Crossbeam 41, lower cross arm 42 and damper 43.Top Crossbeam 41 and lower cross arm 42 pass through respectively
Axle sleeve is connect with vehicle frame 20, and Top Crossbeam 41 and lower cross arm 42 are connect by knuckle with wheel 30 respectively.Damper 43 is in tilting
State, one end that top and Top Crossbeam 41 are connect with vehicle frame 20 connect, bottom end connect with lower cross arm 42 with wheel 30 one
End connection.
Wire-controlled steering system includes that diverter 61, steering gear motor 62, fuel tank 63, hydraulic pump 64 and hydraulic pump drive
Dynamic motor 65.Diverter 61 and steering gear motor 62 are arranged on vehicle frame 20 and diverter 61 and diverter driving are electric
Machine 62 connects.The output shaft of diverter 61 is attached by steering linkage 66 with wheel 30, so that wheel 30 is turning to
It is turned under the drive of link mechanism 66.Fuel tank 63 is attached by pipeline with hydraulic pump 64, and hydraulic pump 64 passes through pipeline
It is attached with diverter 61, diverter 61 is attached by pipeline with fuel tank 63, and fuel tank 63, hydraulic pump 64, Yi Jizhuan are made
It is connected between device 61 by pipeline, forms hydraulic oil circuit.Hydraulic pump driving motor 65 is connect with hydraulic pump 64, and hydraulic pump drives
Dynamic motor 65 drives hydraulic pump 64 to work, and the oil pressure of the hydraulic oil exported from fuel tank 63 is increased.
Pressure-applying unit includes jack 51 and servo-hydraulic station 52.Preceding jack 51 is inverted setting, end seat (i.e. top)
It is fixed on top beam 11, free extension end (i.e. bottom end) is connect with Top Crossbeam 41, and jack 51 passes through oil pipe 53 and watches
After taking the connection of hydraulic station 52, it can press under the action of servo-hydraulic station 52 and jack 51 to Top Crossbeam 41, thus
It can press to different wheels 30, simulate the vertical load of left and right wheel 30.Jack 51 and Top Crossbeam 41 it
Between, it is provided with air spring 54, the top of air spring 54 is connect with the free extension end of jack 51, the bottom of air spring 54
End is contacted with Top Crossbeam 41.Between air spring 54 and jack 51, it is equipped with pressure sensor (not shown), in air spring
Between 54 and Top Crossbeam 41, it is equipped with gasket (not shown) made of rubber.
Control system includes controller 71 and master control platform 72.Controller 71 respectively with steering gear motor 62, hydraulic pump
64, hydraulic pump driving motor 65, servo-hydraulic station 52 and pressure sensor communication connection, control steering gear motor 62,
The start and stop of hydraulic pump 64, hydraulic pump driving motor 65 and servo-hydraulic station 52.The setting of master control platform 72 is not set anti-in pedestal 100
The edge of guardrail 110.Controller 71 controls steering gear motor 62, hydraulic pump 64 and hydraulic pump driving motor 65 and works
When, it realizes steering operation, when controller 71 controls the work of servo-hydraulic station 52, realizes that 51 pairs of jack different wheels 30 apply
Vertical load, while under the action of pressure sensor, the vertical force that can be subject to real-time detection wheel 30 can pass through control
Device 71 adjusts the stress size of wheel 30, so as to meet heavily loaded automatic driving vehicle wire-controlled steering system in steering mechanism
With make autocontrol system in the test demand of development process.In the present embodiment, controller 7 uses MicroAutoBox.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of wire-controlled steering system experimental provision characterized by comprising bracket (10), suspended rack assembly and control system；
The top of the bracket (10) is equipped with top beam (11)；The suspended rack assembly include vehicle frame (20) and be located at the vehicle frame (20) two
The wheel (30) of side, the vehicle frame (20) are connect by dampening assembly with wheel (30) respectively, and the vehicle frame (20) also passes through line
Control steering system is connect with the wheel (30)；The top of the dampening assembly is connected by pressure-applying unit and the top beam (11)
It connects；The control system is communicated to connect with the wire-controlled steering system and the pressure-applying unit respectively.
2. wire-controlled steering system experimental provision according to claim 1, which is characterized in that the dampening assembly includes upper cross
Arm (41), lower cross arm (42) and damper (43)；The both ends of the Top Crossbeam (41) and lower cross arm (42) respectively with the vehicle
Frame (20) and wheel (30) connection；The top of the damper (43) is connect with the Top Crossbeam (41) with the vehicle frame (20)
The bottom end of one end connection, the damper (43) is connected with one end that the lower cross arm (42) is connect with the wheel (30).
3. wire-controlled steering system experimental provision according to claim 2, which is characterized in that the pressure-applying unit includes very heavy
It pushes up (51) and servo-hydraulic station (52), the jack (51) is connected to by petroleum pipeline (53) with the servo-hydraulic station (52)；
The jack (51) is vertically arranged and its top is connect with the top beam (11), the bottom end of the jack (51) with it is described
Top Crossbeam (41) connects and is equipped with pressure sensor between the bottom end and the Top Crossbeam (41) of the jack (51)；It is described
Servo-hydraulic station (52) and the pressure sensor are communicated to connect with control system respectively.
4. wire-controlled steering system experimental provision according to claim 3, which is characterized in that the jack (51) with it is described
Air spring (54) are equipped between Top Crossbeam (41)；Gasket is equipped between the air spring (54) and the Top Crossbeam (41)；
The pressure sensor is between the air spring (54) and the jack (51).
5. wire-controlled steering system experimental provision according to claim 4, which is characterized in that the material of the gasket is rubber
Glue.
6. wire-controlled steering system experimental provision according to claim 5, which is characterized in that the wire-controlled steering system includes
Diverter (61), steering gear motor (62), fuel tank (63), hydraulic pump (64) and hydraulic pump driving motor (65)；It is described
Diverter (61) is connect by steering linkage (66) with the wheel (30), and the diverter (61) and the diverter drive
Dynamic motor (62) are fixed on the vehicle frame (20), and the diverter (61) and the steering gear motor
(62) it connects；The diverter (61), the fuel tank (63) and the hydraulic pump (64) are connected to by pipeline, are formed hydraulic oil and are returned
Road；The hydraulic pump (64) connect with the hydraulic pump driving motor (65)；The steering gear motor (62) and the liquid
Press pump driving motor (65) is communicated to connect with the control system respectively.
7. wire-controlled steering system experimental provision according to claim 6, which is characterized in that the control system includes control
Device (71) and master control platform (72)；The controller (71) respectively with the master control platform (72), the steering gear motor (62),
The hydraulic pump driving motor (65) and the servo-hydraulic station (52) communication connection.
8. wire-controlled steering system experimental provision according to any one of claims 1 to 7, which is characterized in that the bracket
It (10) include two portal frames (12) disposed in parallel, the top beam (11) connect with the top of two portal frames (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534768.XA CN110186699A (en) | 2019-06-20 | 2019-06-20 | A kind of wire-controlled steering system experimental provision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534768.XA CN110186699A (en) | 2019-06-20 | 2019-06-20 | A kind of wire-controlled steering system experimental provision |
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| Publication Number | Publication Date |
|---|---|
| CN110186699A true CN110186699A (en) | 2019-08-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910534768.XA Pending CN110186699A (en) | 2019-06-20 | 2019-06-20 | A kind of wire-controlled steering system experimental provision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113640019A (en) * | 2021-08-02 | 2021-11-12 | 荆州裕德机械制造有限公司 | Test bench and test method for reproducing steering abnormal sound |
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