CN113359455B - Modeling method for automobile steering system - Google Patents
Modeling method for automobile steering system Download PDFInfo
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- CN113359455B CN113359455B CN202110663340.2A CN202110663340A CN113359455B CN 113359455 B CN113359455 B CN 113359455B CN 202110663340 A CN202110663340 A CN 202110663340A CN 113359455 B CN113359455 B CN 113359455B
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- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention relates to a modeling method of an automobile steering system, which achieves the purpose of controlling the direction of a coordinate system by creating variables, achieves the purpose of controlling the direction of a universal joint movement pair by the coordinate system and finally achieves the purpose of controlling the direction of the universal joint movement by the variables; creating an angle control variable, creating a related angle control variable reference point, then obtaining a universal joint reference point, and then obtaining a function of changing the angle control variable to rotate a universal joint kinematic pair; creating a steering wheel radius parameter, and directly associating variables of the steering wheel when the steering wheel is created; creating variables to realize the switching function of the three-four section type steering system; a steering system model can be arbitrarily built for a three-section steering system of a passenger vehicle or a four-section steering system of a commercial vehicle; the direction of the universal joint is ensured to be consistent with that of a steering system of the real vehicle by adjusting the angle parameter of the universal joint, so that the universal joint can be quickly applied to the model analysis of the steering system; and the analysis of the steering system model is quickly optimized by controlling the angle parameters of the universal joint.
Description
Technical Field
The invention relates to an automobile analysis modeling method, in particular to an automobile steering system modeling method.
Background
In the CAE multi-body dynamics analysis of the automobile, model creation is a core part, and the accuracy of the model creation directly influences the analysis result and also influences the calculation efficiency. Therefore, a perfect multi-body dynamic model is needed before multi-body simulation analysis, which means that many perfect subsystem templates are needed to ensure the accuracy of the assembled model.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automobile steering system modeling method which ensures that the direction of the universal joint is consistent with that of the real automobile steering system by adjusting the angle parameter of the universal joint, is quickly applied to the model analysis of the steering system and improves the analysis efficiency and precision.
The technical scheme adopted by the invention is as follows:
a modeling method of an automobile steering system comprises the steps of creating parameter variables, creating a coordinate system and creating a universal joint kinematic pair, wherein the direction of the coordinate system is controlled by creating the variables; the coordinate system controls the direction of a universal joint moving pair to realize the control of the direction of the universal joint movement through parameter variables, and the specific establishing steps are as follows:
step 1, establishing an angle control variable;
and 4, changing the angle control variable to realize the rotation of the universal joint kinematic pair.
A modeling method for an automobile steering system comprises the following steps:
step 100, start;
step 101, establishing modeling parameters;
102, creating a steering system, and creating a first steering wheel, a first rotating shaft, a first universal joint kinematic pair, a second steering wheel, a second rotating shaft, a second universal joint kinematic pair, a second rotating shaft and a third universal joint kinematic pair of the steering system; the first steering wheel is connected with the upper end of the first universal joint kinematic pair through a first rotating shaft; the lower end of the first universal joint kinematic pair is connected with a second steering wheel; the second steering wheel is connected with the upper end of the second universal joint kinematic pair through a second rotating shaft; the lower end of the second universal joint kinematic pair is connected with the upper end of the third universal joint kinematic pair through a second rotating shaft;
103, creating a first angle control variable and creating a reference point related to the first angle control variable;
step 104, modifying the first angle control variable reference point;
step 105, changing a first angle control variable to control the rotation direction of the first universal joint kinematic pair;
step 106, judging whether the first universal joint kinematic pair integrally rotates or not, executing step 108 if the first universal joint kinematic pair integrally rotates, otherwise executing step 107;
step 107, adding or correcting the first angle control variable reference point, and returning to the step 106;
step 108, creating a second angle control variable and creating a reference point related to the second angle control variable;
step 109, modifying the second angle control variable reference point;
step 110, changing a second angle control variable to control the rotation direction of a second universal joint kinematic pair;
step 111, judging whether the second universal joint kinematic pair integrally rotates or not, and executing step 13 if the second universal joint kinematic pair integrally rotates, otherwise, executing step 112;
step 112, adding or correcting the first angle control variable reference point, and returning to the step 111;
step 113, establishing a third angle control variable, and establishing a reference point associated with the third angle control variable;
step 114, modifying a third angle control variable reference point;
step 115, changing a third angle control variable to control the rotation direction of a third universal joint kinematic pair;
step 116, judging whether the universal joint rotates integrally, executing step 118 if the universal joint rotates integrally, otherwise executing step 117;
step 117, adding or correcting a third angle control variable reference point, and returning to step 116;
step 118, creating a steering wheel radius variable, wherein the steering wheel radius variable is associated with the steering wheel radius;
step 119, creating three-four section steering system switching variables;
and step 120, ending.
A modeling method of an automobile steering system comprises the steps of creating a first steering wheel, a first rotating shaft, a first universal joint kinematic pair, a second steering wheel, a second rotating shaft, a second universal joint kinematic pair, a second rotating shaft and a third universal joint kinematic pair of the steering system;
the first steering wheel is connected with the upper end of the first universal joint kinematic pair through a first rotating shaft;
the lower end of the first universal joint kinematic pair is connected with a second steering wheel;
the second steering wheel is connected with the upper end of the second universal joint kinematic pair through a second rotating shaft;
the lower end of the second universal joint kinematic pair is connected with the upper end of the third universal joint kinematic pair through a second rotating shaft,
when a first steering wheel model is created, the radius of the first steering wheel is related through variable parameters;
creating a first gimbal kinematic pair for a steering system includes: creating a first universal joint first coordinate system, creating a first universal joint second coordinate system, creating a first universal joint third coordinate system and creating a first universal joint fourth coordinate system;
before a first universal joint kinematic pair of a steering system is established, a parameter variable pvs _ one is established;
then, a first gimbal first coordinate system based on a first gimbal central point is created, and a parameter variable pvs _ one is introduced into the direction of the first gimbal first coordinate system;
then, a second universal joint coordinate system is created, the position of the second universal joint coordinate system moves a set distance based on the X direction of the first universal joint coordinate system, and the direction is a finished automobile coordinate system;
continuously creating a first universal joint third coordinate system, wherein the position of the first universal joint third coordinate system is based on the first universal joint first coordinate system, and the direction points to the first universal joint second coordinate system;
continuously creating a fourth coordinate system of the first universal joint, wherein the position of the fourth coordinate system of the first universal joint is based on the first coordinate system of the first universal joint, the X direction points to the second coordinate system of the first universal joint, and the Z direction points to the first coordinate system;
when a first gimbal kinematic pair is created, a first gimbal third coordinate system and a first gimbal fourth coordinate system are respectively selected by two reference points;
changing a parameter variable pvs _ one, and testing whether the first universal joint kinematic pair can integrally rotate;
if the first universal joint kinematic pair can not integrally rotate, continuously establishing a coordinate system, and finally controlling the integral rotation of the universal joint kinematic pair, wherein the rotation angle of the universal joint kinematic pair is determined according to the changed angle of the parameter variable pvs _ one;
judging whether the universal joint kinematic pair integrally rotates or not, and if the universal joint kinematic pair integrally rotates, finishing the creation of the first universal joint kinematic pair; if the whole body can not rotate, adjusting the coordinate system or increasing the coordinate system;
creating a second gimbal motion pair by adopting the same method as the method for creating the first gimbal motion pair;
a third universal joint kinematic pair is created by adopting the same method as the method for creating the first universal joint kinematic pair;
creating a second steering wheel at the position of the second universal joint kinematic pair, wherein the method for creating the second steering wheel is the same as the method for creating the first steering wheel;
the radius of the second steering wheel is also subjected to parametric control, and the three-four section type steering system model building is completed;
finally, a mode switching module is established; and the switching between the three-section mode of the steering system and the four-section mode of the steering system is realized through the switching module.
Preferably, the step of creating the first steering wheel is as follows:
creating a steering wheel radius parameter variable pvs _ steering _ radius and creating two coordinate systems;
the first coordinate system is based on the central hard point coordinates of the steering wheel, and the second coordinate system frame moves pvs _ steering _ radius displacement amount in the X direction based on the first coordinate system;
creating a third coordinate system of the first steering wheel at a hard point at the center of the first steering wheel, wherein an included angle between the third coordinate system of the first steering wheel and a first coordinate system X of the steering wheel is 120 degrees, a fourth coordinate system of the steering wheel moves pvs _ steering _ radius displacement amount on the basis of the third coordinate system X, a fifth coordinate system of the first steering wheel is created at the hard point at the center of the steering wheel, an included angle between the fifth coordinate system of the first steering wheel and the first coordinate system X of the steering wheel is-120 degrees, and a sixth coordinate system of the steering wheel moves pvs _ steering _ radius displacement amount on the basis of the fifth coordinate system X, so that the creation of the second, the fourth and the sixth coordinate systems of the steering wheel is finished;
creating a triangular geometry of a steering wheel; the size of the triangular geometry is related by the radius parameter of the steering wheel; the size of the triangle on the steering wheel is controlled by the radius parameter of the steering wheel.
Preferably, the creating of the first gimbal second coordinate system moves by a set distance in the X direction: 1mm to 20mm.
Preferably, the switching module establishing step is as follows:
firstly, establishing a parameter variable pvs _ three _ axle _ active of a mode switching module;
and then, selecting all contents of different parts of the four-section type and the three-section type by using a mode switching module, wherein the contents comprise components, geometric bodies, kinematic pairs and a coordinate system, selecting pvs _ three _ axle _ active by parameters of the mode switching module, and activating a four-section type steering system or deactivating the four-section type steering system in an activation or deactivation mode.
Preferably, the second gimbal kinematic pair comprises the following steps:
before a second universal joint kinematic pair of the steering system is created, a parameter variable pvs _ two is established;
then, a first coordinate system based on the center point of a second universal joint is established, and a parameter variable pvs _ two is introduced into the direction of the coordinate system;
then, a second coordinate system of a second universal joint is established, the position of the coordinate system moves 10mm in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a third coordinate system of the second universal joint, wherein the position of the coordinate system is based on the first coordinate system of the second universal joint, and the direction points to the second coordinate system of the second universal joint;
continuously establishing a fourth coordinate system of the second universal joint, wherein the position is based on the first coordinate system of the second universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
when a second universal joint kinematic pair is created, a second universal joint third coordinate system and a second universal joint fourth coordinate system are respectively selected by two reference points;
changing a parameter variable pvs _ two to test whether the second universal joint kinematic pair can integrally rotate or not, if the second universal joint kinematic pair cannot integrally rotate, continuously establishing a coordinate system, and finally achieving the effect of controlling the integral rotation of the universal joint kinematic pair, wherein the parameter changes the number of the angles of the rotation of the universal joint kinematic pair;
ensuring that the second universal joint kinematic pair integrally rotates by a certain angle along with the change of the parameter variable, and achieving the purpose that the second universal joint variable controls the second universal joint kinematic pair to simultaneously rotate with the first universal joint kinematic pair by establishing a direction variable in a second universal joint coordinate system and associating the direction variable with the first universal joint coordinate system, wherein the parameter changes by a certain angle and the universal joint kinematic pair rotates by a certain angle;
because a four-section steering system needs to be created, a third universal joint and a kinematic pair need to be created, and the third universal joint angular variable is created, and the method for creating the first universal joint kinematic pair and the second universal joint kinematic pair is adopted, so that the purposes of controlling the third universal joint kinematic pair and controlling the directions of the first universal joint kinematic pair and the second universal joint kinematic pair to rotate simultaneously are achieved.
The third gimbal kinematic pair comprises the following steps:
before a third universal joint kinematic pair of a steering system is established, a parameter variable pvs _ three is established;
then, a first coordinate system based on the center point of a third universal joint is established, and a parameter variable pvs _ three is introduced into the direction of the coordinate system;
then, a second coordinate system of a third universal joint is established, the position of the coordinate system moves 10mm in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a third universal joint third coordinate system, wherein the position of the coordinate system is based on the third universal joint first coordinate system, and the direction points to a third universal joint second coordinate system;
continuously establishing a fourth coordinate system of the third universal joint, wherein the position is based on the first coordinate system of the third universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
then when a third universal joint kinematic pair is created, the third universal joint third coordinate system and the third universal joint fourth coordinate system are respectively selected by the two reference points;
and changing a parameter variable pvs _ three to test whether the third universal joint kinematic pair can integrally rotate, if the third universal joint kinematic pair cannot integrally rotate, continuously establishing the similar coordinate system, and finally achieving the effect of controlling the integral rotation of the universal joint kinematic pair, wherein the parameters change the rotation angle of the universal joint kinematic pair by the angle.
Compared with the prior art, the invention has the beneficial effects that:
the modeling method of the automobile steering system can be used for arbitrarily building a steering system model for a three-section steering system of a passenger vehicle or a four-section steering system of a commercial vehicle; the steering system established by the method ensures that the direction of the universal joint is consistent with that of the steering system of the real vehicle by adjusting the angle parameter of the universal joint, and is quickly applied to the model analysis of the steering system; and the analysis of the steering system model is quickly optimized by controlling the angle parameters of the universal joint.
The modeling method of the invention focuses on the direction parameterization control of the universal joint, and can be applied to the analysis of a system model with universal joint components, such as the analysis of a transmission system model.
Drawings
FIG. 1 is a first portion of a work flow diagram of a method of modeling a steering system of an automobile;
FIG. 2 is a second portion of a workflow diagram of a method of modeling an automotive steering system;
FIG. 3 is a third portion of a workflow diagram of a method of modeling an automotive steering system;
FIG. 4 is a fourth portion of a workflow diagram of a method for modeling a steering system of an automobile;
FIG. 5 is a schematic view of a steering system model of a method of modeling a steering system of an automobile;
FIG. 6 is a schematic diagram of a three-stage steering system model of a method for modeling an automotive steering system;
FIG. 7 is a four-stage model of a steering system for a modeling method of an automobile steering system;
FIG. 8 is a schematic diagram of a variable parameter (gimbal kinematic pair rotation 0 degrees) for controlling gimbal angle for a modeling method for an automotive steering system;
FIG. 9 is a schematic diagram of a variable parameter of a control gimbal angle (gimbal kinematic pair rotates 90 degrees) of a modeling method of an automobile steering system.
In the drawings, the main parts are illustrated by symbols:
in the figure:
1. first steering wheel 2 and first universal joint kinematic pair
3. Second steering wheel 4, second gimbal kinematic pair
5. And a third universal joint kinematic pair.
Detailed Description
The invention is described in detail below with reference to the figures and examples:
as can be seen in fig. 1-9, a method for modeling an automotive steering system includes the steps of:
creating a first steering wheel of a steering system, wherein the radius is required to be input for creating the steering wheel, a parameter steering _ radius is filled in the content of the input radius, and the radius of the first steering wheel is directly related by a parameter variable; implementing a parameterization of a first steering wheel model;
creating a first universal joint kinematic pair of the steering system;
creating the first gimbal kinematic pair comprises: creating a first universal joint first coordinate system, creating a first universal joint second coordinate system, creating a first universal joint third coordinate system and creating a first universal joint fourth coordinate system;
before a first universal joint kinematic pair of a steering system is created, a parameter variable pvs _ one needs to be established;
then, a first coordinate system based on the center point of the first universal joint is established, and a parameter variable pvs _ one is introduced into the direction of the coordinate system;
then, a second coordinate system of the first universal joint is created, the position of the coordinate system moves a set distance in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a first universal joint third coordinate system, wherein the position of the first universal joint third coordinate system is based on the first universal joint first coordinate system, and the direction points to the first universal joint second coordinate system;
continuously creating a fourth coordinate system of the first universal joint, wherein the position is based on the first coordinate system of the first universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
when a first gimbal kinematic pair is created, a first gimbal third coordinate system and a first gimbal fourth coordinate system are respectively selected by two reference points; the direction of the universal joint kinematic pair is controlled by two reference points, and the rotation of the universal joint kinematic pair is controlled by controlling the rotation of the coordinate system.
Changing a parameter variable pvs _ one, and testing whether the first universal joint kinematic pair can integrally rotate or not;
if the universal joint kinematic pair can not rotate integrally, the similar coordinate system is required to be established, and finally the effect of controlling the integral rotation of the universal joint kinematic pair is achieved, and the angle of the universal joint kinematic pair is changed according to the parameters;
the coordinate system associated with the gimbal may have a rotation function that cannot be achieved or a rotation is not correct, and it cannot be guaranteed that the created gimbal kinematic pair is correct. Therefore, the actual effect created by the gimbal kinematic pair needs to be known by changing the parameter values, and if the actual effect cannot be achieved, the coordinate system needs to be adjusted or added to achieve the actual effect.
If the integral rotation function of the universal joint kinematic pair can be realized, the creation of the first universal joint kinematic pair is finished;
through the universal joint position, direction and angle that the real car provided, the numerical value of adjusting its parameter variable can guarantee that universal joint motion pair and real car universal joint position keep unanimous effect.
A second universal joint kinematic pair is created by adopting the same method as the method for creating the first universal joint kinematic pair;
the rest components are completed to model the steering system according to a conventional modeling method;
the rest components comprise a steering system bushing model, a deceleration pair model and a steering power-assisted system bushing model.
Therefore, the construction of the three-section type steering system model with the adjustable universal joint angle is completed.
Adopting the same method as that for creating the first universal joint kinematic pair to create a second universal joint kinematic pair and a third universal joint kinematic pair;
creating a second steering wheel at the position of the third universal joint kinematic pair, wherein the method for creating the second steering wheel is the same as the method for creating the first steering wheel;
the radius of the steering wheel is also subjected to parametric control, and the three-four section type steering system model building is completed;
and finally, establishing a Group command, and realizing the switching of the steering system in three-stage and four-stage modes by using a Group command method.
The step of creating the first steering wheel is as follows:
creating a steering wheel radius parameter variable pvs _ steering _ radius and creating two coordinate systems;
the first coordinate system is based on the central hard point coordinate of the steering wheel (the central hard point coordinate of the steering wheel is the central position coordinate of the steering wheel), and the second coordinate system is moved by pvs _ steering _ radius displacement amount in the X direction based on the first coordinate system;
two other reference points of the steering wheel are created in the same similar way;
creating a third coordinate system of the steering wheel at a hard point at the center of the steering wheel, wherein an included angle between the third coordinate system and a first coordinate system X of the steering wheel is 120 degrees, a fourth coordinate system of the steering wheel moves pvs _ steering _ radius displacement amount based on the third coordinate system X, creating a fifth coordinate system of the steering wheel at the hard point at the center of the steering wheel, wherein the included angle between the third coordinate system and the first coordinate system X of the steering wheel is-120 degrees, and a sixth coordinate system of the steering wheel moves pvs _ steering _ radius displacement amount based on the fifth coordinate system X, so that the second, fourth and sixth coordinate systems of the steering wheel are created, and a triangular geometric body of the steering wheel is created through the three points; the size of the triangular geometry is related by the radius parameter of the steering wheel; the size of the triangle on the steering wheel is controlled by the radius parameter of the steering wheel.
The set distance of X-direction movement of the second coordinate system for creating the first universal joint is as follows: 1mm to 20mm. For the purpose of later adjustment of the direction.
The step of creating the Group command is as follows:
firstly, establishing a Group parameter variable pvs _ three _ axle _ active, then selecting all contents of different parts of a four-section type and a three-section type by using a Group command, wherein the contents comprise components, geometric bodies, kinematic pairs and a coordinate system, selecting pvs _ three _ axle _ active according to parameters in the Group command, and activating a four-section type steering system or a failed four-section type steering system in an activation or failure mode.
Before a second gimbal motion pair of a steering system is created, a parameter variable pvs _ two is established;
then, a first coordinate system based on the center point of a second universal joint is established, and a parameter variable pvs _ two is introduced into the direction of the coordinate system;
then, a second coordinate system of a second universal joint is established, the position of the coordinate system moves 10mm in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a third coordinate system of the second universal joint, wherein the position of the coordinate system is based on the first coordinate system of the second universal joint, and the direction points to the second coordinate system of the second universal joint;
continuously establishing a fourth coordinate system of the second universal joint, wherein the position is based on the first coordinate system of the second universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
when a second universal joint kinematic pair is created, a second universal joint third coordinate system and a second universal joint fourth coordinate system are respectively selected by two reference points;
changing a parameter variable pvs _ two to test whether the second universal joint kinematic pair can integrally rotate or not, if the second universal joint kinematic pair cannot integrally rotate, continuously establishing a coordinate system, and finally achieving the effect of controlling the integral rotation of the universal joint kinematic pair, wherein the parameter changes the number of the angles of the rotation of the universal joint kinematic pair;
ensuring that the second universal joint kinematic pair integrally rotates by a certain angle along with the change of the parameter variable, and achieving the purpose that the second universal joint variable controls the second universal joint kinematic pair to simultaneously rotate with the first universal joint kinematic pair by establishing a direction variable in a second universal joint coordinate system and associating the direction variable with the first universal joint coordinate system, wherein the parameter changes by a certain angle and the universal joint kinematic pair rotates by a certain angle;
the universal joint kinematic pair is divided into two parts in the model, as shown in fig. 5, the included angle between the two parts is 90 degrees, and the kinematic pair keeps 90 degrees between the two parts all the time when rotating. Otherwise the objective is not achieved.
Because a four-section steering system needs to be created, a third universal joint and a kinematic pair need to be created, and the functions of controlling the third universal joint kinematic pair and controlling the directions of the first universal joint kinematic pair and the second universal joint kinematic pair and simultaneously rotating are achieved by creating a third universal joint angle variable and adopting the method for creating the first universal joint kinematic pair and the second universal joint kinematic pair.
The third universal joint kinematic pair comprises the following steps:
before a third universal joint kinematic pair of the steering system is created, a parameter variable pvs _ three is established;
then, a first coordinate system based on the center point of a third universal joint is established, and a parameter variable pvs _ three is introduced into the direction of the coordinate system;
then, a second coordinate system of a third universal joint is established, the position of the coordinate system moves 10mm in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a third universal joint third coordinate system, wherein the position of the coordinate system is based on the third universal joint first coordinate system, and the direction points to the third universal joint second coordinate system;
continuously establishing a fourth coordinate system of the third universal joint, wherein the position is based on the first coordinate system of the third universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
then when a third universal joint kinematic pair is created, the third universal joint third coordinate system and the third universal joint fourth coordinate system are respectively selected by the two reference points;
and changing a parameter variable pvs _ three to test whether the third universal joint kinematic pair can integrally rotate, if the third universal joint kinematic pair cannot integrally rotate, continuously establishing the similar coordinate system, and finally achieving the effect of controlling the integral rotation of the universal joint kinematic pair, wherein the parameters change the rotation angle of the universal joint kinematic pair by the angle.
A modeling method of an automobile steering system comprises the steps of creating parameter variables, creating a coordinate system and creating a universal joint kinematic pair, wherein the direction of the coordinate system is controlled by creating the variables; the coordinate system controls the direction of a universal joint moving pair to realize the control of the direction of the universal joint movement through parameter variables, and the specific establishing steps are as follows:
step 1, establishing an angle control variable;
and 4, changing the angle control variable to realize the rotation of the universal joint kinematic pair.
Creating a steering wheel radius parameter, and directly associating variables of the steering wheel when the steering wheel is created; the group variable is created to realize the three-four-section steering system switching function.
Firstly, the universality of the three-four section type steering system can be switched into the three-section type or four-section type steering system through controlling variable parameters at any time, and then the analysis of the steering system is carried out. And secondly, establishing an angle variable parameter and a coordinate system, and associating the coordinate system with the coordinate system for multiple times to realize rotation of an angle control coordinate system, thereby realizing the function of controlling any angle rotation of the universal joint kinematic pair by changing the parameter variable.
The modeling method of the automobile steering system can be used for arbitrarily building a steering system model for a three-section type steering system of a passenger vehicle or a four-section type steering system of a commercial vehicle; the steering system established by the method ensures that the direction of the universal joint is consistent with that of the steering system of the real vehicle by adjusting the angle parameter of the universal joint, and is quickly applied to the model analysis of the steering system; and the analysis of the steering system model is quickly optimized by controlling the angle parameters of the universal joint.
The modeling method of the invention focuses on the direction parameterization control of the universal joint, and can be applied to the analysis of a system model with universal joint components, such as the analysis of a transmission system model.
The three-section steering system and the four-section steering system are built in one model, then the three-section steering system and the four-section steering system are switched through the parameter pvs _ three _ axle _ active, and when the pvs _ three _ axle _ active is 0, the steering system model is the three-section steering system, as shown in the condition of fig. 2.
When pvs _ three _ axle _ active is 1, the steering system model is a four-stage steering system, as shown in fig. 3. And simultaneously sequentially controlling the angular arrangement directions of the three universal joints through pvs _ one, pvs _ two and pvs _ three.
For example, when the pvs _ one parameter in fig. 4 changes from 0 to 10, it represents that the first gimbal kinematic pair rotates 10 degrees.
The pvs _ two parameter in fig. 4 changes from 0 to 10, representing a 10 degree rotation of the second gimbal kinematic pair, while the first gimbal kinematic pair also rotates 10 degrees.
In the four-stage steering system model, the pvs _ three parameter in fig. 4 changes from 0 to 10, which means that the third gimbal kinematic pair rotates 10 degrees, and the first gimbal kinematic pair and the second gimbal kinematic pair also rotate 10 degrees.
pvs _ steering _ radius controls the steering wheel radius, when pvs _ steering _ radius changes from 150 to 180, representing that the steering wheel radius changes from 150mm to 180mm. The method can quickly achieve the consistent action with the steering system of the real vehicle, thereby carrying out the correlation analysis of the steering system model and ensuring the analysis precision and efficiency.
In the embodiment 1, in the whole vehicle sample, when a model analysis of a whole vehicle model of a commercial vehicle is performed, a steering system needs to be created again because a four-section steering system is not provided, so that the steering system created by the model can be directly used, the modeling efficiency can be accelerated, the whole vehicle model analysis is supported, or a steering system of a certain vehicle is originally of a three-section structure and is added to the four-section steering system for other reasons or arrangement reasons, and the model switching function can be rapidly realized by the method.
The prior art can not realize the switching function of the three-four section steering system. In the whole vehicle model steering analysis, the influence of the angles of a plurality of universal joints of a steering system on the whole vehicle steering analysis needs to be known, and the purpose of analysis can be quickly achieved by adjusting or optimizing the parameters of the universal joints. Once the universal joint kinematic pair is created in the prior art, the direction is not changeable, and the optimization and analysis of the angle of the universal joint kinematic pair cannot be carried out in a parameterization mode so as to support steering correlation analysis.
The modeling method of the automobile steering system achieves the purpose of controlling the direction of the coordinate system by creating the variables, and the direction of the universal joint motion pair is achieved through the coordinate system, and finally achieves the purpose of controlling the motion direction of the universal joint through the variables. Namely, the corresponding angle control variable is created in the process, the angle control variable is created to the associated angle control variable creating reference point, then the angle control variable is changed to the gimbal kinematic pair rotating function; creating a steering wheel radius parameter, and directly associating variables of the steering wheel when the steering wheel is created; the group variable is created to realize the three-four-section steering system switching function.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the structure of the present invention in any way. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the technical scope of the present invention.
Claims (6)
1. A modeling method for an automobile steering system is characterized by comprising the following steps: the specific establishing steps are as follows:
step 100, start;
step 101, establishing modeling parameters;
102, creating a steering system, and creating a first steering wheel, a first rotating shaft, a first universal joint kinematic pair, a second steering wheel, a second rotating shaft, a second universal joint kinematic pair, a second rotating shaft and a third universal joint kinematic pair of the steering system; the first steering wheel is connected with the upper end of the first universal joint kinematic pair through a first rotating shaft; the lower end of the first universal joint kinematic pair is connected with a second steering wheel; the second steering wheel is connected with the upper end of the second universal joint kinematic pair through a second rotating shaft; the lower end of the second universal joint kinematic pair is connected with the upper end of the third universal joint kinematic pair through a second rotating shaft;
when a first steering wheel model is created, the radius of the first steering wheel is related through variable parameters;
creating a first gimbal kinematic pair for a steering system includes: creating a first universal joint first coordinate system, creating a first universal joint second coordinate system, creating a first universal joint third coordinate system and creating a first universal joint fourth coordinate system;
before a first universal joint kinematic pair of a steering system is established, a parameter variable pvs _ one is established;
then, a first gimbal first coordinate system based on a first gimbal central point is created, and a parameter variable pvs _ one is introduced into the direction of the first gimbal first coordinate system;
then, a second universal joint coordinate system is created, the position of the second universal joint coordinate system moves a set distance based on the X direction of the first universal joint coordinate system, and the direction is a finished automobile coordinate system;
continuously creating a third universal joint coordinate system, wherein the position of the third universal joint coordinate system is based on the first universal joint coordinate system, and the direction points to the second universal joint coordinate system;
continuously creating a fourth coordinate system of the first universal joint, wherein the position of the fourth coordinate system of the first universal joint is based on the first coordinate system of the first universal joint, the X direction points to the second coordinate system of the first universal joint, and the Z direction points to the first coordinate system;
when a first gimbal kinematic pair is created, a first gimbal third coordinate system and a first gimbal fourth coordinate system are respectively selected by two reference points;
changing a parameter variable pvs _ one, and testing whether the first universal joint kinematic pair can integrally rotate;
if the first universal joint kinematic pair can not integrally rotate, continuously establishing a coordinate system, and finally controlling the integral rotation of the universal joint kinematic pair, wherein the rotation angle of the universal joint kinematic pair is determined according to the changed angle of the parameter variable pvs _ one;
judging whether the universal joint kinematic pair integrally rotates or not, and if the universal joint kinematic pair integrally rotates, finishing the creation of the first universal joint kinematic pair; if the whole body can not be rotated, adjusting the coordinate system or increasing the coordinate system;
creating a second gimbal motion pair by adopting the same method as the method for creating the first gimbal motion pair;
a third universal joint kinematic pair is created by adopting the same method as the method for creating the first universal joint kinematic pair;
creating a second steering wheel at the position of the third universal joint kinematic pair, wherein the method for creating the second steering wheel is the same as the method for creating the first steering wheel;
the radius of the second steering wheel is also subjected to parametric control, and the three-four section type steering system model is built;
finally, a mode switching module is established; the switching between the three-section mode of the steering system and the four-section mode of the steering system is realized through the switching module;
103, creating a first angle control variable and creating a reference point related to the first angle control variable;
step 104, modifying the first angle control variable reference point;
105, changing a first angle control variable to control the rotation direction of the first universal joint kinematic pair;
step 106, judging whether the first universal joint kinematic pair integrally rotates or not, executing step 108 if the first universal joint kinematic pair integrally rotates, otherwise executing step 107;
step 107, adding or correcting the first angle control variable reference point, and returning to the step 106;
step 108, creating a second angle control variable and creating a reference point related to the second angle control variable;
step 109, modifying the second angle control variable reference point;
step 110, changing a second angle control variable to control the rotation direction of a second universal joint kinematic pair;
step 111, judging whether the second universal joint kinematic pair integrally rotates or not, and executing step 13 if the second universal joint kinematic pair integrally rotates, otherwise, executing step 112;
step 112, adding or correcting the first angle control variable reference point, and returning to the step 111;
step 113, creating a third angle control variable and creating a reference point related to the third angle control variable;
step 114, modifying the third angle control variable reference point;
step 115, changing a third angle control variable to control the rotation direction of a third universal joint kinematic pair;
step 116, judging whether the universal joint rotates integrally, executing step 118 if the universal joint rotates integrally, otherwise executing step 117;
step 117, adding or correcting a third angle control variable reference point, and returning to step 116;
step 118, creating a steering wheel radius variable, wherein the steering wheel radius variable is associated with the steering wheel radius;
step 119, creating three or four sections of steering system switching variables;
and step 120, ending.
2. The modeling method for a steering system of an automobile according to claim 1, characterized in that:
the step of creating the first steering wheel is as follows:
creating a steering wheel radius parameter variable pvs _ steering _ radius and creating two coordinate systems;
the first coordinate system is based on the central hard point coordinates of the steering wheel, and the second coordinate system frame moves pvs _ steering _ radius displacement amount in the X direction based on the first coordinate system;
creating a third coordinate system of the first steering wheel at a hard point at the center of the first steering wheel, wherein an included angle between the third coordinate system of the first steering wheel and a first coordinate system X of the steering wheel is 120 degrees, a fourth coordinate system of the steering wheel moves pvs _ steering _ radius displacement amount on the basis of the third coordinate system X, a fifth coordinate system of the first steering wheel is created at the hard point at the center of the steering wheel, an included angle between the fifth coordinate system of the first steering wheel and the first coordinate system X of the steering wheel is-120 degrees, and a sixth coordinate system of the steering wheel moves pvs _ steering _ radius displacement amount on the basis of the fifth coordinate system X, so that the creation of the second, the fourth and the sixth coordinate systems of the steering wheel is finished;
creating a triangular geometry of a steering wheel; the size of the triangular geometry is related by the radius parameter of the steering wheel; the size of the triangle on the steering wheel is controlled by the radius parameter of the steering wheel.
3. The modeling method for a steering system of an automobile according to claim 1, wherein:
the set distance of X-direction movement of the second coordinate system for creating the first universal joint is as follows: 1mm to 20mm.
4. The modeling method for a steering system of an automobile according to claim 1, wherein: the switching module establishment steps are as follows:
firstly, establishing a parameter variable pvs _ three _ axle _ active of a mode switching module;
and then, selecting all contents of different parts of a four-section type and a three-section type by using a mode switching module, wherein the contents comprise components, geometric bodies, kinematic pairs and a coordinate system, selecting pvs _ three _ axle _ active by using parameters of the mode switching module, and activating or deactivating a four-section type steering system.
5. The modeling method for a steering system of an automobile according to claim 1, characterized in that: the second gimbal kinematic pair comprises the following steps:
before a second gimbal motion pair of a steering system is created, a parameter variable pvs _ two is established;
then, a first coordinate system based on the center point of a second universal joint is established, and a parameter variable pvs _ two is introduced into the direction of the coordinate system;
then, a second coordinate system of a second universal joint is established, the position of the coordinate system moves 10mm in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a third coordinate system of the second universal joint, wherein the position of the coordinate system is based on the first coordinate system of the second universal joint, and the direction points to the second coordinate system of the second universal joint;
continuously establishing a fourth coordinate system of the second universal joint, wherein the position is based on the first coordinate system of the second universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
when a second universal joint kinematic pair is created, a second universal joint third coordinate system and a second universal joint fourth coordinate system are respectively selected by two reference points;
changing a parameter variable pvs _ two to test whether the second universal joint kinematic pair can integrally rotate, if the second universal joint kinematic pair cannot integrally rotate, continuously establishing a coordinate system, and finally achieving the effect of controlling the integral rotation of the universal joint kinematic pair, wherein the parameter changes the angle of the universal joint kinematic pair;
ensuring that the second universal joint kinematic pair integrally rotates by a certain angle along with the change of the parameter variable, and achieving the purpose that the second universal joint variable controls the second universal joint kinematic pair to simultaneously rotate with the first universal joint kinematic pair by establishing a direction variable in a second universal joint coordinate system and associating the direction variable with the first universal joint coordinate system, wherein the parameter changes by a certain angle and the universal joint kinematic pair rotates by a certain angle;
because a four-section steering system needs to be created, a third universal joint and a kinematic pair need to be created, and the third universal joint angular variable is created, and the method for creating the first universal joint kinematic pair and the second universal joint kinematic pair is adopted, so that the purposes of controlling the third universal joint kinematic pair and controlling the directions of the first universal joint kinematic pair and the second universal joint kinematic pair to rotate simultaneously are achieved.
6. The modeling method for a steering system of an automobile according to claim 1, characterized in that: the third gimbal kinematic pair comprises the following steps:
before a third universal joint kinematic pair of the steering system is created, a parameter variable pvs _ three is established;
then, a first coordinate system based on the center point of a third universal joint is established, and a parameter variable pvs _ three is introduced into the direction of the coordinate system;
then, a second coordinate system of a third universal joint is established, the position of the coordinate system moves 10mm in the X direction based on the first coordinate system of the universal joint, and the direction is a finished automobile coordinate system;
continuously creating a third universal joint third coordinate system, wherein the position of the coordinate system is based on the third universal joint first coordinate system, and the direction points to the third universal joint second coordinate system;
continuously establishing a fourth coordinate system of the third universal joint, wherein the position is based on the first coordinate system of the third universal joint, the X direction points to the second coordinate system, and the Z direction points to the first coordinate system;
then when a third universal joint kinematic pair is created, the third universal joint third coordinate system and the third universal joint fourth coordinate system are respectively selected by the two reference points;
and changing a parameter variable pvs _ three to test whether the third universal joint kinematic pair can integrally rotate or not, if the third universal joint kinematic pair cannot integrally rotate, continuously establishing a coordinate system to finally achieve the effect of controlling the integral rotation of the universal joint kinematic pair, and changing the angle of the universal joint kinematic pair by the parameter.
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