CN114664144A - Human-computer common driving evaluation-oriented high-fidelity tactile feedback system of driving simulator - Google Patents
Human-computer common driving evaluation-oriented high-fidelity tactile feedback system of driving simulator Download PDFInfo
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Abstract
The invention discloses a high-fidelity tactile feedback system of a driving simulator for man-machine driving evaluation, and belongs to the field of driving simulators. The system comprises an electronic brake pedal, an electronic accelerator pedal, a force feedback steering wheel and a microcontroller; the force feedback steering wheel comprises a steering wheel, a steering shaft, a turbine, a worm, a steering column, a fixed supporting structure, a direct current power-assisted motor, an electromagnetic clutch and a magnetic ring encoder. The invention controls the steering wheel, the accelerator and the brake in a fusion way, and controls the steering moment of the steering wheel according to the strength of the brake and the accelerator stepped by the driver, thereby realizing the cooperative control of a complete set of touch sensing system; in the aspect of simulating force feedback, an electromagnetic clutch is added between a direct current power-assisted motor and a steering shaft of a steering wheel, the direct current power-assisted motor is used for controlling the rotating speed and the direction, the electromagnetic clutch provides damping of the force feedback, the force feedback or automatic correction of the steering wheel is realized, and a driver can obtain real road feel.
Description
Technical Field
The invention belongs to the field of driving simulators, and particularly relates to a high-fidelity tactile feedback system of a driving simulator for man-machine driving evaluation.
Background
With the continuous development of man-machine driving technology, the driving simulator is more and more widely applied in the fields of scientific research and industry. The high-simulation driving simulator can test the functional characteristics of the man-machine driving sharing system, verify the connection characteristics of the man-machine driving sharing system and have important influence on the construction of the man-machine driving sharing evaluation system.
Driving simulators are mainly classified into static simulators and dynamic simulators. In static simulators, the visual and auditory systems are responsible for participating in motion perception. In the dynamic simulator, other sensory systems of the body are involved in constructing the driving experience. The steering wheel, the accelerator and the brake are used as a bridge for interaction between a driver and a vehicle system in reality and become an important part for constructing vehicle dynamic feedback. A driving simulator touch feedback system integrating a force feedback steering wheel, an accelerator and a brake is designed to make positive influence on human-computer driving test and evaluation and other researches.
At present, a customized high-end driving simulator system is expensive, is developed facing a specific scene, is difficult to realize other functions, is generally limited by foreign technologies, is highly integrated and is difficult to develop. The traditional common driving simulator system generally controls parts such as a steering wheel, an accelerator and a brake independently, does not realize the cooperative control of a complete set of system, only completes the control of force feedback by a direct current motor, can cause the distortion of force feedback touch of the steering wheel, and reduces the immersion of the driving simulator.
Disclosure of Invention
In order to solve the problems, improve the immersion of the driving simulator tactile feedback system and better test and evaluate the man-machine driving sharing system, the invention provides the driving simulator high-simulation tactile feedback system for man-machine driving sharing test and evaluation.
The technical scheme adopted by the invention is as follows:
a high-fidelity tactile feedback system of a driving simulator for man-machine driving evaluation comprises an electronic brake pedal (1), an electronic accelerator pedal (2), a force feedback steering wheel (3) and a microcontroller (4).
The force feedback steering wheel (3) comprises a steering wheel (3.1), a steering shaft (3.2), a turbine (3.3), a worm (3.4), a steering column (3.5) and a fixed supporting structure (3.6).
The steering column (3.5) is connected with the simulator cockpit through a fixed supporting structure (3.6); the steering shaft (3.2) is arranged in the steering column (3.5) and realizes relative rotation with the steering column (3.5) through a bearing; the upper end of the steering shaft (3.2) is meshed with a steering wheel (3.1) through a spline, and when a driver rotates the steering wheel, the steering wheel drives the steering shaft to rotate; the lower end of the steering shaft (3.2) is meshed with the turbine (3.3) through a spline.
The worm wheel (3.3) is meshed with the worm (3.4), the worm wheel (3.3) is in line contact during meshing contact, the worm (3.4) drives the worm wheel (3.3) to rotate, a large transmission ratio can be obtained, transmission is stable, and noise is low.
The force feedback steering wheel (3) is characterized by further comprising a direct current power-assisted motor (3.9), an electromagnetic clutch (3.8) and a magnetic ring encoder (3.7).
The direct current power-assisted motor (3.9), the electromagnetic clutch (3.8) and the worm (3.4) are coaxially connected; the direct current booster motor (3.9) drives the electromagnetic clutch (3.8) to rotate, and the counter torque is transmitted to the steering wheel (3.1).
The electromagnetic clutch (3.8) is used for transmitting initial driving force provided by the direct current power-assisted motor (3.9) to the worm (3.4), and the worm (3.4) drives the turbine (3.3) to rotate.
And the magnetic ring encoder (3.7) is used for reading the rotation angle and the rotation speed of the steering wheel (3.1) and sending the rotation angle and the rotation speed to the microcontroller (4).
The microcontroller (4) collects the rotation angle and the rotation speed of the steering wheel (3.1) and signals of the electronic brake pedal (1) and the electronic accelerator pedal (2) in real time, and sends control signals to the direct current power-assisted motor (3.9) and the electromagnetic clutch (3.8) according to the collected information; the direct current power-assisted motor (3.9) adjusts the rotation speed and the steering of the direct current power-assisted motor according to the control signal, the electromagnetic clutch adjusts the on-off frequency according to the control signal, simulated counter torque is provided for a driver, force feedback or automatic correction of a steering wheel is achieved, and the driver can obtain real road feel.
Furthermore, electromagnetic clutch (3.8) is dry-type electromagnetic clutch, including coaxial driven end pivot (3.8.2), driving end pivot (3.8.3), driving end support piece (3.8.4), driven end support piece (3.8.5), yoke (3.8.6), coil (3.8.7), driving end friction disc (3.8.8), driven end friction disc (3.8.9), reset spring (3.8.10), armature (3.8.1).
The driving end rotating shaft (3.8.3) is coaxially and fixedly connected with the direct current power-assisted motor (3.9), and the driving end rotating shaft (3.8.3) is driven by the direct current power-assisted motor (3.9) to rotate.
The driving end support piece (3.8.4) is sleeved on the driving end rotating shaft (3.8.3). The magnetic yoke (3.8.6) is installed in a magnetic yoke installation groove of the driving end support piece (3.8.4), and the coil (3.8.7) is embedded in the magnetic yoke (3.8.6); the magnetic yoke (3.8.6) is used for bundling the coil and restraining the outward diffusion of induction leakage flux.
The driven end support piece (3.8.5) is sleeved on the driven end rotating shaft (3.8.2); the driven end support piece (3.8.5) is provided with two armature slots at the position of a return spring (3.8.10), the slots are sleeved with return springs (3.8.10), and the armatures (3.8.1) are inserted into the armature slots of the driven end support piece (3.8.5) and are connected with the driven end support piece (3.8.5) through the return springs (3.8.10).
A driving end friction plate (3.8.8) and a driven end friction plate (3.8.9) are arranged in a gap between the armature (3.8.1) and the coil (3.8.7), wherein the driving end friction plate (3.8.8) is fixedly connected with the driving end support piece (3.8.4), and the driven end friction plate (3.8.9) is connected with the armature (3.8.1); when the coil (3.8.7) is energized, the armature (3.8.1) is abutted against the coil (3.8.7), and the driving end friction plate (3.8.8) and the driven end friction plate (3.8.9) transmit torque through friction force between the friction plates.
Furthermore, the magnetic ring encoder (3.7) adopts a non-contact reading mode and comprises a magnetic ring encoder magnetic head (3.7.1), a magnetic ring encoder read head (3.7.2) and a magnetic ring encoder fixing support (3.7.3); the magnetic ring encoder reading head (3.7.2) is fixed at the upper end of the steering column (3.5) through a magnetic ring encoder fixing support (3.7.3); the magnetic ring encoder magnetic head (3.7.1) is fixed on the upper part of the steering shaft (3.4) and rotates coaxially with the steering shaft (3.4) and the steering wheel (3.1).
In the prior art, the loss of the control mode of driving the direct current power-assisted motor alone to the motor is great, and the direct current power-assisted motor bears the counter torque of driver's operation steering wheel, and when the steering wheel stall, when direct current power-assisted motor still provided driver's true steering wheel torque this moment, be equivalent to direct current power-assisted motor stall for the electric current that direct current power-assisted motor coil passed through is too big, can burn out the coil of motor for a long time, leads to steering wheel power feedback system can not normally work. The invention adopts the dry type electromagnetic clutch device, the direct current power-assisted motor can keep a certain rotating speed to run, and the magnitude of the torque output to the steering wheel by the direct current power-assisted motor is controlled by adjusting the on-off frequency of the electromagnetic clutch, so that the force feedback of a driving simulator is more real, and the direct stalling of the motor can not be caused, and the motor is burnt.
The tactile feedback system of the driving simulator provided by the invention mainly gives reverse torque to a driver according to the operation of the driver, enhances the following performance of a steering wheel and simulates the return-to-positive characteristic of the steering wheel angle; when the torque applied to the steering wheel is reduced, the direct current power-assisted motor drives the steering shaft to automatically return the steering wheel to the normal position. For example, when a vehicle runs at a high speed, the vehicle is out of control due to a small turning angle of the steering wheel, so that a driver needs a large force to rotate the steering wheel, and the condition that the vehicle is out of control due to mistaken steering of the steering wheel is avoided.
Compared with a customized high-end simulator, the simulation system has the advantages of price and technology, and is richer in applicable scenes, more convenient to develop and similar in immersion experience. Compared with the traditional common driving simulator, the steering wheel, the accelerator and the braking system are controlled in a fusion mode, the steering torque of the steering wheel is controlled according to the strength of the driver stepping on the brake and the accelerator, and a complete set of touch sensing system is used for carrying out cooperative control. In the aspect of simulating force feedback, an electromagnetic clutch is additionally arranged between a direct current power-assisted motor and a steering wheel rotating shaft, the direct current power-assisted motor is used for controlling the rotating speed and the direction, the electromagnetic clutch provides damping of force feedback, and the steering wheel force feedback part simulates driving road feel more truly and provides suitable follow-up property for a driver.
Drawings
Fig. 1 is a schematic view of the entire structure of the driving simulator according to the present embodiment.
Fig. 2 is a schematic view of an electronic brake pedal and an electronic accelerator pedal according to the embodiment.
Fig. 3 is a schematic view of the structure of the force feedback steering wheel of the present embodiment.
Fig. 4 is a schematic diagram of the dry electromagnetic clutch according to the present embodiment.
Fig. 5 is a schematic view of the magnetic ring encoder of the present embodiment.
Detailed Description
The invention relates to a high-fidelity tactile feedback system of a driving simulator for man-machine driving evaluation, which comprises an electronic brake pedal 1, an electronic accelerator pedal 2, a force feedback steering wheel 3 and a microcontroller 4; the force feedback steering wheel 3 comprises a steering wheel 3.1, a steering shaft 3.2, a turbine 3.3, a worm 3.4, a steering column 3.5, a fixed support 3.6, a magnetic ring encoder magnetic head 3.7.1, a magnetic ring encoder read head 3.7.2, a magnetic ring encoder fixed support 3.7.3, a dry type electromagnetic clutch 3.8 and a direct current power-assisted motor 3.9.
The electronic brake pedal 1 and the electronic accelerator pedal 2 are fixed at the position of the simulator cockpit as shown in figure 1 through a connecting shaft. Force feedback steering wheel 3 installs in the simulator cockpit through fixed connector 3.6, has four screws on the fixed bolster 3.6, adopts the screw to fix, easy to assemble and the position of adjustment force feedback steering wheel 3.
The lower end of the steering column 3.2 is meshed with the turbine 3.3 through a spline, and the electromagnetic clutch 3.8 is coaxially connected with the worm 3.4. Electromagnetic clutch 3.8, turbine 3.3 and worm 3.4 are installed inside the box, and when the steering wheel drove the steering spindle and rotate, power can be passed through steering spindle 3.2 and electromagnetic clutch 3.8 and direct current helping hand motor 3.9, because the front wheel and steering mechanism are not connected to steering spindle 3.2 output, can not provide steering wheel counter torque, and the driver can not experience real road feel, has the distortion sensation. At the moment, the electromagnetic clutch 3.8 is matched with the direct current power-assisted motor 3.9 to control the rotating speed and the direction of the direct current power-assisted motor and the opening and closing frequency of the electromagnetic clutch, so that simulated counter torque is provided for a driver, and the driver can obtain real road feel.
The dry electromagnetic clutch structure includes: the driving end friction plate driving mechanism comprises a driven end rotating shaft 3.8.2, a driving end rotating shaft 3.8.3, a driving end supporting piece 3.8.4, a driven end supporting piece 3.8.5, a magnetic yoke 3.8.6, a coil 3.8.7, a driving end friction plate 3.8.8, a driven end friction plate 3.8.9, a return spring 3.8.10 and an armature 3.8.1 which are coaxially arranged.
The driving end rotating shaft 3.8.3 is coaxially and fixedly connected with the direct current power-assisted motor 3.9, and the driving end rotating shaft 3.8.3 is driven by the direct current power-assisted motor 3.9 to rotate.
The driving end support 3.8.4 is sleeved on the driving end rotating shaft 3.8.3; the magnetic yoke 3.8.6 is installed in the magnetic yoke installation groove of the active end support 3.8.4, and the coil 3.8.7 is embedded in the magnetic yoke 3.8.6; the magnetic yoke 3.8.6 is used for bundling coils and restraining the outward diffusion of induction leakage flux.
The driven end support 3.8.5 is sleeved on the driven end rotating shaft 3.8.2; driven end support 3.8.5 has two armature slots at return spring 3.8.10, housing return spring 3.8.10, and armature 3.8.1 is inserted into the armature slot of driven end support 3.8.5 and connected to driven end support 3.8.5 by return spring 3.8.10.
A driving end friction plate 3.8.8 and a driven end friction plate 3.8.9 are arranged in a gap between the armature 3.8.1 and the coil 3.8.7, wherein a driving end friction plate 3.8.8 is fixedly connected with a driving end support 3.8.4, and a driven end friction plate 3.8.9 is connected with the armature 3.8.1; when the coil 3.8.7 is energized, the armature 3.8.1 abuts against the coil 3.8.7, and the driving end friction plate 3.8.8 and the driven end friction plate 3.8.9 transmit torque by friction force between the friction plates.
The magnetic ring encoder 3.7 is arranged at the upper end of the steering column 3.5 and is fixed at the upper end of the outer wall of the steering column 3.5 through a magnetic ring encoder fixing support 3.7.3. The magnetic ring encoder head 3.7.1 is fixed to the steering shaft 3.2 and rotates coaxially with the steering shaft. The reading head 3.7.2 of the magnetic ring encoder is fixed on the bracket 3.7.3 through screws, and the reading head of the encoder adopts a non-contact reading mode. 4096 line encoders are selected for the magnetic ring encoders to improve the detection precision. The output signal is divided into A, B channels with 90-degree phase difference, and the two groups of signals are collected to calculate the rotating speed and direction. When the phase A signal leads the phase B, the signal is defined as positive rotation, and when the phase B signal leads the phase A, the signal is defined as negative rotation, so that the direction of the rotation of the steering wheel can be judged. The rotation angle can be judged according to the quantity of A, B phase pulse signals when the rotation angle is measured, so that the rotation angle of a steering wheel rotated by a driver and the speed of the steering wheel rotated by the driver can be analyzed.
The steering wheel 3.1 drives the steering shaft 3.2 to rotate, so that the turbine 3.3 and the worm 3.4 are driven to rotate, and the worm 3.4 is connected to the driven end of the electromagnetic clutch 3.8. When the coil 3.8.7 of the electromagnetic clutch is electrified, the magnetic yoke 3.8.6 generates magnetic force to attract the armature 3.8.1, the return spring 3.8.10 deforms, the armature 3.8.1 moves towards the magnetic yoke 3.8.6 and is close to the magnetic yoke, the friction plate of the armature 3.8.1 is in contact with the friction plate of the magnetic yoke 3.8.6, torque is transmitted through friction force between the two friction plates, the driven end rotating shaft 3.8.2 is driven to operate, the electromagnetic clutch is in an engaged state at the moment, and the return spring 3.8.10 provides elastic force. When the coil 3.8.7 is powered off, the armature 3.8.1 is rebounded by the elastic force provided by the return spring 3.8.10, the return spring 3.8.10 returns to the original state, the armature 3.8.1 is disconnected from the magnetic yoke 3.8.6, and the clutch is in a separated state. The driving end friction plate 3.8.8 and the driven end friction plate 3.8.9 transmit torque by electromagnetic force by means of friction between contact surfaces, so that the driving end and the driven end can be temporarily separated and can be gradually joined. The electromagnetic clutch is quick in power-on response, convenient and fast action can be achieved by adopting dry type connection, and the torque transmission establishment time is short. The torque transmitted to the steering wheel rotating shaft by the direct current power-assisted motor can be controlled by controlling the frequency of the opening and closing of the electromagnetic clutch.
The touch feedback system is a closed-loop control system and can control the output torque of the steering wheel according to information such as vehicle speed, front wheel rotation angle and the like. The force feedback and automatic correction of the steering wheel are realized by controlling the direct current power assisting motor. The input of the steering wheel direct current power-assisted motor is direct current, the output torque is controlled through PWM output by the microcontroller, and the forward and reverse rotation of the steering wheel is identified through a A, B-phase magnetic ring encoder reading head arranged on a steering column.
The tactile feedback system of the driving simulator comprises tactile feeling of a hand steering wheel and tactile feeling of sole braking and accelerator feedback, wherein the tactile feedback part of the steering wheel mainly gives reverse moment to a driver according to the operation of the driver so as to enhance the following performance of the steering wheel, and when the moment applied to the steering wheel is reduced, the direct current power assisting motor can drive a steering shaft to automatically return the steering wheel. When driving at high-speed straight line, the vehicle can all be out of control to the little corner of steering wheel, and microcontroller can control motor and electromagnetic clutch provide great moment under this condition for turn to become difficult, that is to say that the driver needs great power just can rotate the steering wheel, avoids making the vehicle out of control because the mistake is played the steering wheel. When the scene needs to turn, the driver rotates the steering wheel, and the force feedback system can provide auxiliary steering, so that the immersion of the driving simulator is improved.
Claims (4)
1. A high-fidelity tactile feedback system of a driving simulator for man-machine driving evaluation comprises an electronic brake pedal (1), an electronic accelerator pedal (2), a force feedback steering wheel (3) and a microcontroller (4);
the force feedback steering wheel (3) comprises a steering wheel (3.1), a steering shaft (3.2), a turbine (3.3), a worm (3.4), a steering column (3.5) and a fixed supporting structure (3.6);
the steering column (3.5) is connected with the simulator cockpit through a fixed supporting structure (3.6); the steering shaft (3.2) is arranged in the steering column (3.5) and realizes relative rotation with the steering column (3.5) through a bearing; the upper end of the steering shaft (3.2) is meshed with a steering wheel (3.1) through a spline, and when a driver rotates the steering wheel, the steering wheel drives the steering shaft to rotate; the lower end of the steering shaft (3.2) is meshed with the turbine (3.3) through a spline;
the worm wheel (3.3) is meshed with the worm (3.4), and the meshing contact is linear contact;
the force feedback steering wheel is characterized in that the force feedback steering wheel (3) further comprises a direct current power-assisted motor (3.9), an electromagnetic clutch (3.8) and a magnetic ring encoder (3.7);
the direct current power-assisted motor (3.9), the electromagnetic clutch (3.8) and the worm (3.4) are coaxially connected; the direct current power-assisted motor (3.9) drives the electromagnetic clutch (3.8) to rotate, and the counter torque is transmitted to the steering wheel (3.1);
the electromagnetic clutch (3.8) is used for transmitting the initial driving force provided by the direct current power-assisted motor (3.9) to the worm (3.4), and the worm (3.4) drives the turbine (3.3) to rotate;
the magnetic ring encoder (3.7) is used for reading the rotation angle and the rotation speed of the steering wheel (3.1) and sending the rotation angle and the rotation speed to the microcontroller (4);
the microcontroller (4) collects the rotation angle and the rotation speed of the steering wheel (3.1) and signals of the electronic brake pedal (1) and the electronic accelerator pedal (2) in real time, and sends control signals to the direct current power-assisted motor (3.9) and the electromagnetic clutch (3.8) according to the collected information; the direct current power-assisted motor (3.9) adjusts the rotation speed and the steering of the direct current power-assisted motor according to the control signal, the electromagnetic clutch adjusts the on-off frequency according to the control signal, simulated counter torque is provided for a driver, force feedback or automatic correction of a steering wheel is achieved, and the driver can obtain real road feel.
2. The human-computer co-driving assessment oriented driving simulator high-fidelity tactile feedback system according to claim 1, wherein the electromagnetic clutch (3.8) is a dry electromagnetic clutch.
3. The driving simulator high-fidelity tactile feedback system oriented to man-machine driving-sharing evaluation as claimed in claim 2, wherein the dry electromagnetic clutch comprises a driven end rotating shaft (3.8.2), a driving end rotating shaft (3.8.3), a driving end supporting piece (3.8.4), a driven end supporting piece (3.8.5), a magnetic yoke (3.8.6), a coil (3.8.7), a driving end friction plate (3.8.8), a driven end friction plate (3.8.9), a return spring (3.8.10) and an armature (3.8.1), which are coaxially arranged;
the driving end rotating shaft (3.8.3) is coaxially and fixedly connected with the direct current power-assisted motor (3.9), and the driving end rotating shaft (3.8.3) is driven by the direct current power-assisted motor (3.9) to rotate;
the driving end support piece (3.8.4) is sleeved on the driving end rotating shaft (3.8.3); the magnetic yoke (3.8.6) is installed in a magnetic yoke installation groove of the driving end support piece (3.8.4), and the coil (3.8.7) is embedded in the magnetic yoke (3.8.6); the magnetic yoke (3.8.6) is used for contracting the coil and restraining the outward diffusion of induction leakage flux;
the driven end support piece (3.8.5) is sleeved on the driven end rotating shaft (3.8.2); the driven end support piece (3.8.5) is provided with two armature slots at the position of a return spring (3.8.10), the slots are sleeved with return springs (3.8.10), and the armatures (3.8.1) are inserted into the armature slots of the driven end support piece (3.8.5) and are connected with the driven end support piece (3.8.5) through the return springs (3.8.10);
a driving end friction plate (3.8.8) and a driven end friction plate (3.8.9) are arranged in a gap between the armature (3.8.1) and the coil (3.8.7), wherein the driving end friction plate (3.8.8) is fixedly connected with the driving end support piece (3.8.4), and the driven end friction plate (3.8.9) is fixedly connected with the armature (3.8.1); when the coil (3.8.7) is energized, the armature (3.8.1) is abutted against the coil (3.8.7), and the driving end friction plate (3.8.8) and the driven end friction plate (3.8.9) transmit torque through friction force between the friction plates.
4. The driving simulator high-fidelity tactile feedback system for man-machine co-driving evaluation as claimed in any one of claims 1 to 3, wherein the magnetic ring encoder (3.7) adopts a non-contact reading mode, and comprises a magnetic ring encoder magnetic head (3.7.1), a magnetic ring encoder reading head (3.7.2), and a magnetic ring encoder fixing support (3.7.3); the reading head (3.7.2) of the magnetic ring encoder is fixed at the upper end of the steering column (3.5) through a fixing bracket (3.7.3) of the magnetic ring encoder; the magnetic ring encoder magnetic head (3.7.1) is fixed on the upper part of the steering shaft (3.4) and rotates coaxially with the steering shaft (3.4) and the steering wheel (3.1).
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| CN115148069A (en) * | 2022-07-07 | 2022-10-04 | 浙江大学 | Large aircraft steering column simulation device and method based on dynamic balance |
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| US20220126910A1 (en) * | 2020-01-13 | 2022-04-28 | Nanjing University Of Aeronautics And Astronautics | Drive-by-Wire Electro-Hydraulic Steering System Based on Double-Winding Motor and Hybrid Control Method |
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| CN115148069B (en) * | 2022-07-07 | 2023-09-22 | 浙江大学 | Large aircraft steering column simulation device and method based on dynamic balance |
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