CN113702667B - Wheel speed simulation device and wheel speed simulation method - Google Patents
Wheel speed simulation device and wheel speed simulation method Download PDFInfo
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- CN113702667B CN113702667B CN202110891953.1A CN202110891953A CN113702667B CN 113702667 B CN113702667 B CN 113702667B CN 202110891953 A CN202110891953 A CN 202110891953A CN 113702667 B CN113702667 B CN 113702667B
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- 238000004088 simulation Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement 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
- 238000012795 verification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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Abstract
The application relates to a wheel speed simulation device and a wheel speed simulation method. A wheel speed simulation apparatus, comprising: a driving mechanism; the mounting disc set is arranged at the output end of the driving mechanism, and the driving mechanism is used for driving the mounting disc set to rotate at a preset speed; the mounting disc group comprises a first mounting disc and a second mounting disc; the first adjusting mechanism is used for enabling the second mounting plate to be connected with the first mounting plate at a preset angle; the simulation wheel is coaxially arranged on the mounting disc group; and a wheel speed sensor for acquiring wheel speed information of the analog wheel. The method can analyze the difference between the wheel speed information of the simulated wheel and the preset speed under the condition of the end face error, so as to know the influence degree of the end face error on the wheel speed information, and also facilitate the understanding of the accuracy of the wheel speed information, and provide reference data for an intelligent driving system of the unmanned vehicle.
Description
Technical Field
The application relates to the technical field of intelligent automobiles, in particular to a wheel speed simulation device and a wheel speed simulation method.
Background
Unmanned vehicles are a research and development hotspot in the industry. The intelligent driving system of the unmanned vehicle requires higher accuracy of the wheel speed signal than the conventional vehicle. The unmanned vehicle can form a wheel speed signal only in the running process, so that the accuracy of the wheel speed signal is difficult to acquire, and the influence of the intelligent driving system on the specific state of the unmanned vehicle cannot be acquired.
Disclosure of Invention
Based on this, it is necessary to provide a wheel speed simulation apparatus and a wheel speed simulation method for the problem that it is difficult to know the accuracy of the wheel speed signal.
According to an aspect of the present application, there is provided a wheel speed simulation apparatus including:
A driving mechanism;
The mounting disc set is arranged at the output end of the driving mechanism, and the driving mechanism is used for driving the mounting disc set to rotate at a preset speed; the mounting disc group comprises a first mounting disc and a second mounting disc;
the first adjusting mechanism is used for enabling the second mounting plate to be connected with the first mounting plate at a preset angle; the simulation wheel is coaxially arranged on the mounting disc group; and
And the wheel speed sensor is used for acquiring the wheel speed information of the analog wheel.
In one embodiment, the first adjustment mechanism includes a first screw threaded onto the first mounting plate and a first connector removably connecting the first mounting plate and the second mounting plate;
the first screw penetrates through the first mounting disc and is abutted to the second mounting disc, so that the second mounting disc is connected with the first mounting disc at a preset angle.
In one embodiment, the number of the first screws is two, and the connecting lines of the centers of the two first screws and the central shaft of the first mounting disc are mutually disjoint;
One of the first screws passes through the first mounting plate and abuts against the second mounting plate.
In one embodiment, the number of the first screws is four;
the first mounting plate is provided with first screw holes for the first screws to pass through, and four first screw holes are uniformly distributed on the first mounting plate in a circumferential manner;
Two adjacent first screws penetrate through the first mounting disc and are abutted against the second mounting disc.
In one embodiment, the first connector is a second screw.
In one embodiment, the wheel speed sensor is arranged on the second adjusting mechanism and is positioned on one side of the simulated wheel away from the second mounting plate;
the second adjusting mechanism is used for changing the axial distance between the simulation wheel and the wheel speed sensor along the axial direction of the simulation wheel.
In one embodiment, the second adjusting mechanism comprises a screw and a mounting seat, and the wheel speed sensor is arranged on the mounting seat;
The mounting seat is provided with a threaded through hole, and the screw rod is matched with the threaded through hole so that the wheel speed sensor moves in comparison with the simulation wheel in the axial direction of the simulation wheel.
In one embodiment, the wheel speed sensor further comprises a third adjusting mechanism arranged on the second adjusting mechanism, and the wheel speed sensor is arranged on the second adjusting mechanism by means of the third adjusting mechanism;
the third adjustment mechanism is for changing a radial spacing between the analog wheel and a centerline of the wheel speed sensor.
In one embodiment, the third adjustment mechanism includes a guide plate, a mounting member, and a positioning member;
The wheel speed sensor is connected with the mounting piece, and the mounting piece is arranged on the guide plate in a sliding manner along the radial direction of the simulated wheel;
The mounting piece is provided with a positioning hole for the positioning piece to pass through;
The positioning piece and the positioning hole are matched to limit the movement of the mounting piece in the radial direction of the simulation wheel.
According to another aspect of the present application, there is provided a wheel speed simulation method including:
Connecting the second mounting plate with the first mounting plate at a preset angle;
Coaxially arranging a simulation wheel on one side of the second mounting disc far away from the first mounting disc;
Driving the first mounting plate to rotate at a preset speed;
acquiring wheel speed information of the simulation wheel;
calculating a wheel speed measured value of the simulated wheel according to the wheel speed information of the simulated wheel;
And carrying out differential analysis on the wheel speed measured value of the simulated wheel and the preset speed.
According to the wheel speed simulation device and the wheel speed simulation method, the second mounting disc is connected with the first mounting disc through the first adjusting mechanism at the preset angle, so that the second mounting disc is inclined compared with the first mounting disc, the simulation of the mounting error of the end face of the wheel of the unmanned vehicle is realized, the difference between the wheel speed information of the simulation wheel and the preset speed can be analyzed under the condition that the end face error exists, the influence degree of the end face error on the wheel speed information can be known, the accuracy of the wheel speed information can be also conveniently known, and reference data can be provided for an intelligent driving system of the unmanned vehicle.
Drawings
FIG. 1 is a schematic diagram showing a structure of a wheel speed simulator in an embodiment of the present application;
FIG. 2 is a schematic view showing a partial structure of a first mounting plate, a second mounting plate and a first adjusting mechanism according to an embodiment of the present application;
FIG. 3 is a schematic view showing a partial structure of a mounting base and a second base according to an embodiment of the application;
FIG. 4 shows a top view of the third adjustment mechanism of FIG. 1;
Fig. 5 shows a side view of the third adjustment mechanism of fig. 1.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1, fig. 1 shows a schematic structural diagram of a wheel speed simulator according to an embodiment of the present application, and an embodiment of the present application provides a wheel speed simulator 100, which includes a driving mechanism 10, a mounting disc set, a first adjusting mechanism 30, a simulated wheel 40, and a wheel speed sensor 50 for acquiring wheel speed information of the simulated wheel 40.
The mounting disc set is arranged on the output end of the driving mechanism 10, and the driving mechanism 10 is used for driving the mounting disc set to rotate at a preset speed, wherein the mounting disc set comprises a first mounting disc 21 and a second mounting disc 22; specifically, the output end of the driving mechanism 10 is in driving connection with the first mounting plate 21, the driving mechanism 10 is used for driving the first mounting plate 21 to rotate at a preset speed, the second mounting plate 22 is arranged on the side of the first mounting plate 21 away from the driving mechanism 10, the first mounting plate 21 has a first end surface 211 facing the second mounting plate 22, and the second mounting plate 22 has a second end surface 221 facing the first mounting plate 21, and obviously, the first end surface 211 and the second end surface 221 are opposite to each other. The first mounting plate 21 is rotated at a preset speed by the driving mechanism 10, thereby driving the second mounting plate 22 to also rotate at the preset speed.
In some embodiments, the driving mechanism 10 is selected as a motor, and the first mounting plate 21 is mounted on an output shaft of the motor, and after the motor is operated, the first mounting plate 21 can be driven to rotate at a preset speed. Specifically, the first mounting plate 21 is connected to the output shaft of the motor in an interference fit.
Further, the wheel speed simulation apparatus 100 further includes a first base 11, and the motor is mounted on the first base 11.
The first adjusting mechanism 30 is used for enabling the second mounting plate 22 to be connected with the first mounting plate 21 at a preset angle, in some embodiments, the first adjusting mechanism 30 is used for enabling the second end face 221 to be connected with the first end face 211 at a preset angle, and further enabling the second mounting plate 22 to be connected with the first mounting plate 21 at a preset angle, that is, the second mounting plate 22 is inclined compared with the first mounting plate 21, so that the simulation of the mounting error of the wheel end face of an actual vehicle in the actual vehicle running process is achieved, and particularly the influence of the mounting error of the wheel end face on the wheel speed information can be known when the wheel runs at a low speed. Wherein the actual vehicle comprises an unmanned vehicle.
The simulation wheel 40 is coaxially disposed on the mounting plate group, specifically, the simulation wheel 40 is coaxially disposed on the side of the second mounting plate 22 remote from the first mounting plate 21. The wheel speed simulation device 100 is used as follows: after each component is installed, the driving mechanism 10 drives the first mounting disc 21 to rotate at a preset speed, so that the second mounting disc 22 and the simulation wheel 40 can be driven to rotate at the preset speed, the wheel speed sensor 50 can acquire first wheel speed information of the rotating simulation wheel 40, the first wheel speed information is converted into a first wheel speed measured value, the difference between the first wheel speed measured value and the preset speed is analyzed, and further stability verification of the wheel speed sensor 50 is realized; then stopping the driving mechanism 10, after the rotation of the first mounting plate 21, the second mounting plate 22 and the simulation wheel 40 is stopped, dismantling the connection between the first mounting plate 21 and the second mounting plate 22, connecting the second end surface 221 and the first end surface 211 at a preset angle through the first adjusting mechanism 30, and then connecting and fixing the first mounting plate 21 and the second mounting plate 22 through a first connecting piece; the driving mechanism 10 drives the first mounting plate 21 to rotate at the same preset speed, so that the second mounting plate 22 and the simulation wheel 40 can be driven to rotate at the same preset speed, the second wheel speed information of the rotating simulation wheel 40 can be obtained by means of the wheel speed sensor 50, the second wheel speed information is converted into a second wheel speed measured value, the difference between the second wheel speed measured value and the preset speed is analyzed, and further under the condition that an end face mounting error exists, the difference between the second wheel speed information of the simulation wheel 40 and the preset speed is analyzed, so that the influence degree of the end face error on the wheel speed information is known, the accuracy of the wheel speed information is also convenient to know, and reference data is provided for an intelligent driving system of the unmanned vehicle. The second wheel speed information is more stable than the first wheel speed information, and can be used as a basis for verifying the stability of the wheel speed sensor 50, so that the wheel speed sensor 50 with higher stability is selected under the condition of an end face error, thereby ensuring the accuracy of the actual wheel speed of the wheel in the running process of the unmanned vehicle, and particularly ensuring the accuracy of the actual wheel speed of the wheel in the low-speed running process of the unmanned vehicle.
In some embodiments, the analog wheel 40 is connected to the second mounting plate 22 in an interference fit.
Further, the preset speed can be selected according to the possible rotation speed in the running process of the unmanned vehicle, the first wheel speed information can be obtained at different preset speeds, and the second wheel speed information can be obtained at different preset speeds.
Further, referring again to fig. 1, and in combination with fig. 2, the first adjustment mechanism 30 includes a first screw 31 threaded onto the first mounting plate 21 and a first connector removably connecting the first mounting plate 21 and the second mounting plate 22. The first screw 31 passes through the first mounting plate 21 and abuts against the second mounting plate 22, specifically, the first screw 31 passes through the first end surface 211 and abuts against the second end surface 221, so that the second end surface 221 is connected with the first end surface 211 at a preset angle, and the second mounting plate 22 is connected with the first mounting plate 21 at a preset angle. The wheel speed simulation apparatus 100 is used as follows: rotating the first screw 31 to enable the first screw 31 to pass through the first end surface 211 and abut against the second end surface 221, so that the second mounting plate 22 and the first mounting plate 21 are connected at a preset angle, and then the first mounting plate 21 and the second mounting plate 22 are connected and fixed through a first connecting piece; the driving mechanism 10 drives the first mounting plate 21 to rotate at a preset speed, so that the second mounting plate 22 and the simulation wheel 40 can be driven to rotate at the same preset speed, the second wheel speed information of the rotating simulation wheel 40 can be obtained by means of the wheel speed sensor 50, the second wheel speed information is converted into a second wheel speed measured value, the difference between the second wheel speed measured value and the preset speed is analyzed, and the accuracy of the wheel speed information is obtained under the condition that an end face mounting error exists.
In some embodiments, the number of the first screws 31 is two, wherein one first screw 31 passes through the first mounting plate 21 and abuts against the second mounting plate 22, specifically, one first screw 31 passes through the first end surface 211 and abuts against the second end surface 221, so that the second end surface 221 is connected with the first end surface 211 at a preset angle. Since the connecting line of the centers of the two first screws 31 and the central axis of the first mounting plate 21 are not intersected with each other, one first screw 31 can be selected to enable the first screw 31 to pass through the first end surface 211 and abut against the second end surface 221, so that the second end surface 221 and the first end surface 211 are connected at a preset angle. When the two first screws 31 are respectively adjusted, the inclination directions of the first end faces 211 obtained by the two adjustments are different from each other, so that the end face errors in different directions can be simulated.
In other embodiments, the number of first screws 31 is four; the first mounting plate 21 is provided with first screw holes for the first screws 31 to pass through, four first screw holes are uniformly distributed on the first mounting plate 21 in circumference, and correspondingly, four first screws 31 are uniformly distributed on the first mounting plate 21 in circumference. Two adjacent first screws 31 pass through the first mounting plate 21 and abut against the second mounting plate 22, specifically, two adjacent first screws 31 pass through the first end surface 211 and abut against the second end surface 221, so that the second end surface 221 and the first end surface 211 are connected at a preset angle. By means of the connection of the second end surface 221 and the first end surface 211 at a preset angle by any two adjacent first screws 31, the second end surface 221 can be made to present four different inclined directions, and the two first screws 31 symmetrically abut against the second end surface 221, so that the inclined stability of the second end surface 221 can be better ensured, and the end surface errors in different directions can be better simulated.
Further, referring to fig. 2 again, the first connecting member is a second screw 32, and in the process of connecting the second end surface 221 and the first end surface 211 at a predetermined angle, the second screw 32 can be turned as required, so as to facilitate adjustment of the end surface error. If prior to end face error adjustment, second screw 32 may be rotated in a clockwise direction, such that second screw 32 is unscrewed relative to second mounting plate 22; after the second end surface 221 and the first end surface 211 are connected at a preset angle, the second screw 32 can be reversed, so that the second screw 32 is screwed into the second mounting plate 22, and the first mounting plate 21 and the second mounting plate 22 are connected and fixed through the second screw 32.
Further, referring again to fig. 1, the wheel speed simulator 100 further includes a second adjustment mechanism 60, the wheel speed sensor 50 is disposed on the second adjustment mechanism 60, and the wheel speed sensor 50 is located on a side of the simulated wheel 40 remote from the second mounting plate 22. Wherein the second adjustment mechanism 60 is used for changing the axial distance between the simulation wheel 40 and the wheel speed sensor 50 along the axial direction of the simulation wheel 40. By changing the axial distance between the analog wheel 40 and the wheel speed sensor 50, it is further determined whether the difference between the wheel speed measured value measured by the wheel speed sensor 50 and the preset speed is within a preset range or not under the condition that the axial distance is different and other conditions are unchanged, and if the difference between the wheel speed measured value and the preset speed is within the preset range, it is determined that the wheel speed sensor 50 is in a standard state. The proper axial distance value can be reversely deduced by judging whether the wheel speed sensor 50 is in a standard state or not; the accuracy of the wheel speed information with different axial spacing can also be appreciated.
Further, referring to fig. 1 again, the second adjusting mechanism 60 includes a mounting seat 61 and a screw 62, the mounting seat 61 is provided with a threaded through hole, and the screw 62 cooperates with the threaded through hole to move the wheel speed sensor 50 in the axial direction of the wheel 40 as compared with the wheel 40. The screw 62 is rotatable to thereby drive the mount 61 and the wheel speed sensor 50 provided on the mount 61 to move in the axial direction of the wheel 40 as compared to the wheel 40, so that the axial distance between the wheel speed sensor 50 and the wheel 40 can be changed.
Further, referring to fig. 1 again, and referring to fig. 3 in combination, the second adjusting mechanism 60 further includes a second base 63, and the mounting seat 61 is slidably disposed on the second base 63 along the axial direction of the wheel 40, so as to facilitate the wheel speed sensor 50 to move along the axial direction of the wheel 40 as compared to the wheel 40.
Further, referring to fig. 1 again, the second adjusting mechanism 60 further includes a snap ring 64, where the snap ring 64 is used to limit the rotation of the screw 62 relative to the mounting seat 61, and after the axial distance between the wheel speed sensor 50 and the analog wheel 40 is adjusted, the snap ring 64 can be clamped to the screw 62 to limit the rotation of the screw 62 relative to the mounting seat 61.
Further, referring again to fig. 1, and referring to fig. 4 in combination, the wheel speed simulation apparatus 100 further includes a third adjustment mechanism 70 provided on the second adjustment mechanism 60, and the wheel speed sensor 50 is provided on the second adjustment mechanism 60 by means of the third adjustment mechanism 70, wherein the third adjustment mechanism 70 is used to change the radial distance between the simulated wheel 40 and the center line of the wheel speed sensor 50. By changing the radial distance between the analog wheel 40 and the wheel speed sensor 50, it is further determined whether the difference between the wheel speed measured value measured by the wheel speed sensor 50 and the preset speed is within a preset range or not under the condition that the radial distances are different and other conditions are unchanged, and if the difference between the wheel speed measured value and the preset speed is within the preset range, it is determined that the wheel speed sensor 50 is in a standard state. The proper radial distance value can be reversely deduced by judging whether the wheel speed sensor 50 is in a standard state or not; the accuracy of the wheel speed information at different radial spacings can also be appreciated.
Further, referring to fig. 4, the third adjusting mechanism 70 includes a guide plate 73, a mounting member 71, and a positioning member 72; the wheel speed sensor 50 is connected with the mounting member 71, the mounting member 71 is slidably disposed on the guide plate 73 in the radial direction of the wheel 40, and the mounting member 71 is slidably disposed in the radial direction of the wheel 40 to drive the wheel speed sensor 50 to displace in the radial direction of the wheel 40, thereby changing the radial distance between the wheel 40 and the center line of the wheel speed sensor 50.
The mounting member 71 is provided with a positioning hole 7111 through which the positioning member 72 passes, and the positioning member 72 and the positioning hole 7111 cooperate to restrict movement of the mounting member 71 in the radial direction of the simulation wheel 40. After changing the radial distance between the center lines of the wheel speed sensor 50 and the simulation wheel 40, the positioning member 72 may be inserted into the positioning hole 7111 in a matching manner to limit the movement of the mounting member 71 in the radial direction of the simulation wheel 40, thereby fixing the wheel speed sensor 50, so that the difference between the wheel speed measured value measured by the wheel speed sensor 50 and the preset speed can be analyzed under the condition of the radial distance, and the accuracy of the wheel speed information can be obtained under the condition of the radial distance.
In some embodiments, the radial spacing between the centerline of the simulated wheel 40 and the wheel speed sensor 50 may be varied according to the size of the different simulated wheels 40. Wherein the size of the simulated wheel 40 is selected based on the size of the wheels of the unmanned vehicle.
Further, referring again to fig. 4, and in combination with fig. 5, the mounting member 71 includes a slider 711, a stopper 712, and a second connector 713. The guide plate 73 and the limiting member 712 are arranged at intervals along a first direction, the sliding block 711 is slidably arranged on the guide plate 73 and is located between the guide plate 73 and the limiting member 712, wherein the first direction is perpendicular to the axial direction of the simulation wheel 40 and perpendicular to the wheel speed sensor 50, and the wheel speed sensor 50 is parallel to the axial direction of the simulation wheel 40. The wheel speed sensor 50 is provided between the slider 711 and the stopper 712, and the guide plate 73 and the stopper 712 are connected by a second connecting member 713, and the second connecting member 713 is provided on one side of the guide plate 73 in the second direction. Wherein the second direction and the first direction are perpendicular to each other and to the axial direction of the analog wheel 40, the wheel speed sensor 50 can be fixed to the mount 71. Specifically, in the embodiment shown in fig. 1 and 4, the first direction is the front-rear direction, the second direction is the up-down direction, and the wheel speed sensor 50 is disposed in the left-right direction. That is, the wheel speed sensor 50 is provided between the slider 711 and the stopper 712, the slider 711 is slidably provided on the guide plate 73 in the front-rear direction, and one ends of the guide plate 73 and the stopper 712 in the up-down direction are connected by the second connecting member 713, so that the wheel speed sensor 50 can be better fixed between the slider 711 and the stopper 712 in the front-rear direction.
Referring again to fig. 4, the guide plate 73 is provided with a sliding groove 731 along the radial direction of the dummy wheel 40, the positioning hole 7111 is specifically provided at one end of the slider 711 facing the sliding groove 731, and the mounting member 71 is slidably provided on the guide plate 73 in the radial direction of the dummy wheel 40 by means of the slider 711 and the sliding groove 731. After the mounting member 71 is slid to a desired position along the radial direction of the simulation wheel 40, the positioning member 72 is engaged with the positioning hole 7111 to limit the mounting member 71 from further sliding along the radial direction of the simulation wheel 40. In particular, in the embodiment shown in fig. 1 and 4, the positioning member 72 is a third screw, the chute 731 is disposed along the front-rear direction, and the mounting member 71 is displaced in the front-rear direction by rotating the third screw, so as to drive the wheel speed sensor 50 to displace front-rear, and change the radial distance between the center lines of the analog wheel 40 and the wheel speed sensor 50.
Further, referring again to fig. 4, and in combination with fig. 5, the end of the slider 711 away from the positioning hole 7111 is provided with an arc-shaped groove 7112 matching with the wheel speed sensor 50, and the wheel speed sensor 50 can be matched with the arc-shaped groove 7112, so as to better fix the wheel speed sensor 50 between the arc-shaped groove 7112 and the limiting member 712.
In some embodiments, the limiting member 712 is movably connected through the second connecting member 713, so that the wheel speed sensor 50 is sandwiched between the slider 711 and the limiting member 712 after the wheel speed sensor 50 is adjusted in the front-rear direction during the front-rear displacement of the wheel speed sensor 50, and finally the limiting member 712 is connected through the second connecting member 713. Specifically, in the embodiment shown in fig. 5, the limiting member 712 is connected to the second connecting member 713 through a fourth screw 714, where the second connecting member 713 is provided with a threaded hole matching with the fourth screw 714 along the up-down direction, and the fourth screw 714 is abutted against the limiting member 712 through the corresponding threaded hole, so that the second connecting member 713 is movably connected to the limiting member 712, so that the position of the limiting member 712 along the front-rear direction is conveniently adjusted according to the position of the wheel speed sensor 50 along the front-rear direction.
Further, as shown in fig. 4 and 5, the guide plate 73 is provided with a limiting groove 732 for accommodating the third screw, the limiting groove 732 is communicated with one end of the sliding groove 731 away from the mounting member 71, the protruding edge 721 is matched with the limiting groove 732 to enable the third screw to abut against the guide plate 73 along the first direction close to the mounting member 71, and the third screw is further connected with the sliding block 711, so that the wheel speed sensor 50 between the sliding block 711 and the limiting member 712 can be better positioned and fixed.
Further, referring to fig. 4 and 5 again, the limiting groove 732 and the sliding groove 731 are both opened along the up-down direction, and the wheel speed sensor 50 can be adjusted along the up-down direction to change the radial distance between the center lines of the analog wheel 40 and the wheel speed sensor 50.
The wheel speed simulation method provided by the embodiment of the application comprises the following steps:
Step 1, the second mounting plate 22 and the first mounting plate 21 are connected at a preset angle, wherein the second end surface 221 of the second mounting plate 22 and the first end surface 211 of the first mounting plate 21 are opposite to each other. Specifically, the first mounting plate 21 and the second mounting plate 22 may be detachably connected by a first connecting member, and the first screw 31 passes through the first end surface 211 and abuts against the second end surface 221, so that the second mounting plate 22 is connected to the first mounting plate 21 at a predetermined angle.
Step 2, coaxially arranging the simulation wheel 40 on the side of the second mounting plate 22 away from the first mounting plate 21.
And 3, driving the first mounting plate 21 to rotate at a preset speed.
And 4, acquiring wheel speed information of the simulation wheel 40.
And 5, calculating a wheel speed measurement value of the simulated wheel 40 according to the wheel speed information of the simulated wheel 40.
And 6, performing differential analysis on the wheel speed measured value of the analog wheel 40 and a preset speed. The difference between the wheel speed measured value of the analog wheel 40 and the preset speed can be analyzed under the condition that the end face error exists, so that the influence degree of the end face error on the wheel speed information can be known, the accuracy of the wheel speed information can be also known, and reference data can be provided for an intelligent driving system of the unmanned vehicle.
Further, the wheel speed information of the analog wheel 40 may be acquired by the wheel speed sensor 50.
Further, the wheel speed simulation method further includes step 7 of determining that the wheel speed sensor 50 is in a standard state if the difference between the wheel speed measured value of the simulated wheel 40 and the preset speed is within the preset range. Therefore, under the condition of end face errors, the wheel speed sensor 50 in the standard reaching state, namely the wheel speed sensor 50 with higher stability, is selected, so that the accuracy of the actual wheel speed of the wheels in the running process of the unmanned vehicle is ensured, and particularly the accuracy of the actual wheel speed of the wheels in the low-speed running process of the unmanned vehicle is ensured.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A wheel speed simulation apparatus, characterized by comprising:
A driving mechanism;
The mounting disc set is arranged at the output end of the driving mechanism, and the driving mechanism is used for driving the mounting disc set to rotate at a preset speed; the mounting disc group comprises a first mounting disc and a second mounting disc;
The first adjusting mechanism is used for enabling the second mounting plate to be connected with the first mounting plate at a preset angle;
The simulation wheel is coaxially arranged on one side of the second mounting disc, which is far away from the first mounting disc; and
A wheel speed sensor for acquiring wheel speed information of the analog wheel;
Wherein the first adjusting mechanism comprises a first screw which is connected with the first mounting disc in a threaded way and a first connecting piece which is detachably connected with the first mounting disc and the second mounting disc;
The first mounting plate is provided with a first end face facing the second mounting plate, the second mounting plate is provided with a second end face opposite to the first end face, and the first screw penetrates through the first mounting plate and is abutted to the second end face so that the first end face and the second end face are connected at a preset angle, and the second mounting plate and the first mounting plate are connected at a preset angle.
2. The wheel speed simulator of claim 1, wherein the number of the first screws is two, and a line connecting centers of the two first screws and a center axis of the first mounting plate are mutually exclusive;
One of the first screws passes through the first mounting plate and abuts against the second mounting plate.
3. The wheel speed simulation device according to claim 1, wherein the number of the first screws is four;
the first mounting plate is provided with first screw holes for the first screws to pass through, and four first screw holes are uniformly distributed on the first mounting plate in a circumferential manner;
Two adjacent first screws penetrate through the first mounting disc and are abutted against the second mounting disc.
4. The wheel speed simulator of claim 3, wherein the four first screws are circumferentially and uniformly disposed on the first mounting plate.
5. The wheel speed simulator of claim 2, wherein the first connector is a second screw.
6. The wheel speed simulator of claim 1, further comprising a second adjustment mechanism, the wheel speed sensor being disposed on the second adjustment mechanism on a side of the simulator wheel remote from the second mounting plate;
the second adjusting mechanism is used for changing the axial distance between the simulation wheel and the wheel speed sensor along the axial direction of the simulation wheel.
7. The wheel speed simulator of claim 6, wherein the second adjustment mechanism comprises a screw and a mount, the wheel speed sensor being disposed on the mount;
The mounting seat is provided with a threaded through hole, and the screw rod is matched with the threaded through hole so that the wheel speed sensor moves in comparison with the simulation wheel in the axial direction of the simulation wheel.
8. The wheel speed simulation device according to claim 6, further comprising a third adjustment mechanism provided on the second adjustment mechanism, the wheel speed sensor being provided on the second adjustment mechanism by means of the third adjustment mechanism;
the third adjustment mechanism is for changing a radial spacing between the analog wheel and a centerline of the wheel speed sensor.
9. The wheel speed simulator of claim 8, wherein the third adjustment mechanism comprises a guide plate, a mounting member, and a positioning member;
The wheel speed sensor is connected with the mounting piece, and the mounting piece is arranged on the guide plate in a sliding manner along the radial direction of the simulated wheel;
The mounting piece is provided with a positioning hole for the positioning piece to pass through;
The positioning piece and the positioning hole are matched to limit the movement of the mounting piece in the radial direction of the simulation wheel.
10. A wheel speed simulation method, characterized in that a wheel speed simulation is performed using the wheel speed simulation apparatus according to any one of claims 1 to 9, the wheel speed simulation method comprising:
Connecting the second mounting plate with the first mounting plate at a preset angle;
Coaxially arranging a simulation wheel on one side of the second mounting disc far away from the first mounting disc;
Driving the first mounting plate to rotate at a preset speed;
acquiring wheel speed information of the simulation wheel;
calculating a wheel speed measured value of the simulated wheel according to the wheel speed information of the simulated wheel;
And carrying out differential analysis on the wheel speed measured value of the simulated wheel and the preset speed.
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