CN114738123B - Method and device for controlling pedal position - Google Patents
Method and device for controlling pedal position Download PDFInfo
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- CN114738123B CN114738123B CN202210233106.0A CN202210233106A CN114738123B CN 114738123 B CN114738123 B CN 114738123B CN 202210233106 A CN202210233106 A CN 202210233106A CN 114738123 B CN114738123 B CN 114738123B
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- servo motor
- slider
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000012360 testing method Methods 0.000 claims abstract description 80
- 230000008569 process Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000011161 development Methods 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 35
- 230000001276 controlling effect Effects 0.000 description 32
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B77/00—Component parts, details or accessories, not otherwise provided for
- F02B77/08—Safety, indicating or supervising devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to the technical field of vehicle development and testing, in particular to a method and a device for controlling pedal position, wherein the method is applied to a testing device for driving a vehicle pedal, and the testing device comprises the following steps: footboard, pull rod, slider and servo motor, wherein, the footboard passes through the one end of pull rod and articulates, and the other end and the slider of pull rod are articulated, and the slider setting is on the track to follow the track and remove under servo motor's drive, the track articulates on the base, and the base is fixed on the mounting bracket, and servo motor is connected to the host computer, and the method includes: when the testing device performs testing, obtaining travel information for controlling the pedal; based on the travel information, according to the corresponding relation between the pedal position and the slide block position, a first target position of the slide block is determined, and the upper computer is based on the first target position of the slide block, and the servo motor is controlled to enable the pull rod connected with the slide block to drive the pedal to act, so that the pedal reaches a second target position, the testing precision of the testing device is improved, and the testing task is efficiently completed.
Description
Technical Field
The invention relates to the technical field of vehicle development and test, in particular to a method and a device for controlling pedal position.
Background
In the development test of a vehicle, various parameters and performances of the vehicle under a fixed pedal position can be tested, and the pedal needs to be stabilized at a certain position and kept for a certain period of time, or the pedal is quickly changed from the certain position to another set position, for example, a braking test of braking strength such as an acceleration test of a fixed accelerator; however, it is almost impossible to precisely complete the above test during the actual operation of the driver.
The existing testing device also has some defects, such as poor position precision, when the target position changes, the position of the mechanical device needs to be manually adjusted, the vehicle needs to be stopped, the testing requirement cannot be met, and in addition, the mechanical device is difficult to operate and has poor consistency in occasions with requirements on the pedal change rate.
Therefore, how to improve the testing accuracy of the testing device and efficiently complete the testing is a technical problem to be solved at present.
Disclosure of Invention
The present invention has been made in view of the above problems, and it is an object of the present invention to provide a method and apparatus for controlling pedal position that overcomes or at least partially solves the above problems.
In a first aspect, the present invention provides a method of controlling pedal position, for use in a test apparatus for driving a pedal of a vehicle, the test apparatus comprising: footboard, pull rod, slider and drive the servo motor of slider, wherein, the footboard is articulated through the one end of pull rod, the other end of pull rod is articulated with the slider, the slider sets up on the track, and follow under servo motor's drive the track removes, the track articulates on the base, the base is fixed on the mounting bracket, servo motor is connected to the host computer, the method includes:
when the testing device performs testing, obtaining travel information for controlling the pedal;
determining a first target position of the sliding block according to a corresponding relation between the pedal position and the sliding block position based on the travel information;
the upper computer is based on the first target position of the sliding block, and the servo motor is controlled to enable the pull rod connected with the sliding block to drive the pedal to act, so that the pedal reaches the second target position.
In an optional implementation manner, the upper computer controls the servo motor to enable the pull rod connected with the slider to drive the pedal to act based on the target position of the slider, so that the pedal reaches a second target position, and the method comprises the following steps:
the upper computer acquires a plurality of first target positions and the duration of each first target position, and based on the first target positions, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position.
In an alternative embodiment, the upper computer controls the servo motor to make the pull rod connected with the sliding block drive the pedal to act based on a plurality of first target positions and the duration of each first target position, so that the pedal reaches a corresponding second target position, and the method comprises the following steps:
the upper computer acquires a plurality of first target positions and the duration of each first target position, and based on the first target positions, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position;
monitoring whether a braking signal is received or not in the process that a pull rod connected with the sliding block drives a pedal to act by controlling a servo motor based on the first target positions so that the pedal reaches a corresponding second target position;
if yes, controlling the throttle to return to the zero position.
In an optional implementation manner, the upper computer controls the servo motor to enable the pull rod connected with the slider to drive the pedal to act based on the first target position of the slider, so that the pedal reaches the second target position, and the method comprises the following steps:
acquiring a first target position of a sliding block corresponding to each moment in the process of operating a pedal by a driver according to working condition requirements, and storing the first target position in a memory;
the upper computer acquires a first target position of the sliding block corresponding to each moment from the memory, and based on the first target position, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position.
In an optional implementation manner, after the upper computer controls the servo motor to enable the pull rod connected with the slider to drive the pedal to act based on the first target position of the slider so that the pedal reaches the second target position, the method further comprises the steps of:
judging whether the second target position is executed in place or not;
if not, alarm prompt is carried out.
In an alternative embodiment, the determining whether the second target location is in place includes:
and judging whether the second target position is matched with the travel information of the pedal.
In an alternative embodiment, before the determining, based on the travel information, the first target position of the slider according to the correspondence between the pedal position and the slider position, the method further includes:
acquiring data of preset strokes of the sliding block from a zero position at intervals through the upper computer, and obtaining a third target position of the pedal corresponding to each data until the pedal reaches a maximum target position, wherein the zero position of the sliding block corresponds to the zero position of the pedal;
and obtaining the corresponding relation between the pedal position and the slide block position based on the data of the slide block starting from the zero position and preset strokes at intervals and the third target position of the pedal.
In a second aspect, the present invention also provides a device for controlling pedal position, applied to a test device for driving a pedal of a vehicle, the test device comprising: footboard, pull rod, slider and drive the servo motor of slider, wherein, the footboard passes through the one end of pull rod and articulates, the other end and the slider of pull rod are articulated, the slider sets up on the track, and follow under servo motor's drive the track removes, the track articulates on the base, the base is fixed on the mounting bracket, servo motor is connected to the host computer, the device of control footboard position includes:
the acquisition module is used for acquiring travel information for controlling the pedal when the testing device performs testing;
the determining module is used for determining a first target position of the sliding block according to the corresponding relation between the pedal position and the sliding block position based on the travel information;
the control module is used for enabling the upper computer to drive the pedal to act by controlling the servo motor based on the first target position of the sliding block so as to enable the pedal to reach the second target position.
In a third aspect, the present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above method steps when executing the program.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the above method steps.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
the invention provides a method for controlling pedal position, which is applied to a testing device for driving a vehicle pedal, and the testing device comprises: footboard, pull rod, slider and the servo motor of drive slider, wherein, the footboard is articulated through the one end of pull rod, and the other end and the slider of pull rod are articulated, and the slider sets up on the track to follow the track and remove under servo motor's drive, the track articulates on the base, and the base is fixed on the mounting bracket, and servo motor is connected to the host computer, and this method includes: when the testing device performs testing, obtaining travel information for controlling the pedal; based on the travel information, a first target position of the sliding block is determined according to the corresponding relation between the pedal position and the sliding block position, and the upper computer drives the pedal to act by controlling the servo motor to enable the pull rod connected with the sliding block to reach a second target position based on the first target position of the sliding block, so that the testing precision of the testing device is improved, and the testing task is efficiently completed.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also throughout the drawings, like reference numerals are used to designate like parts. In the drawings:
FIG. 1 is a schematic diagram showing the structure of a test device according to an embodiment of the present invention;
FIG. 2 is a simplified schematic diagram of a test apparatus according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating steps of a method of controlling pedal position in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control pedal in an automatic mode in an embodiment of the invention;
FIG. 5 is a schematic view showing the structure of a device for controlling the position of a pedal in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer device implementing a method of controlling pedal position in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1
An embodiment of the present invention provides a method for controlling a pedal position, which is applied to a test device for driving a pedal of a vehicle, as shown in fig. 1 and 2, and includes: the pedal 101 is hinged through one end of the pull rod 102, the other end of the pull rod 102 is hinged with the slide block 103, the slide block 103 is arranged on a track 105 and moves along the track under the driving of the servo motor 104, the track 105 is hinged on a base, the base is fixed on a mounting frame 107, and the servo motor 104 is connected to an upper computer 108.
Specifically, in the testing device, the pedal 101 is provided with a clamp K1, and the pull rod 102 is connected with the clamp K1 through a first hinge point P1, so that the pull rod 102 can rotate around the first hinge point P1; the other end of the pull rod 102 is connected to the slider 103 through a second hinge point P2.
In a specific embodiment, a driving control module U1 is further connected between the servo motor 104 and the upper computer 108, the upper computer 108 sends an instruction to the driving control module U1 through a communication line, the driving control module U1 converts the instruction into a control signal, and drives the servo motor to act, so that the slider is controlled to act, and the pull rod drives the pedal to move to a designated position.
On the basis of the testing device, a braking test of braking strength such as a fixed throttle acceleration test can be performed.
The method for controlling the pedal position, as shown in fig. 3, includes:
s301, obtaining travel information for controlling a pedal when the testing device performs testing;
s302, determining a first target position of the sliding block according to a corresponding relation between the pedal position and the sliding block position based on the travel information;
s303, the upper computer controls the servo motor to enable the pull rod connected with the sliding block to drive the pedal to act based on the first target position of the sliding block, so that the pedal reaches the second target position.
First, in S101, when the test device performs a test, stroke information for controlling the pedal is acquired.
For example, the pedal needs to be controlled at 50% of the stroke position, and the position of the pedal cannot be controlled accurately by hand. Therefore, with the test device for driving the vehicle pedal in the present invention, the "position learning mode" is turned on after the stroke information of the control pedal is acquired.
Specifically, the upper computer 108 obtains the data of the preset strokes of the slider 103 from the zero position at intervals, and obtains the third target position of the pedal corresponding to each data until the pedal reaches the maximum target position, wherein the zero position of the slider corresponds to the zero position of the pedal; based on the data of the slider 103 starting the preset stroke at each interval and the third target position of the pedal 101, the correspondence between the pedal position and the slider position is obtained.
The nonlinear relationship between the pedal 101 and the slider 103 is satisfied, specifically, the angle of installation of the pedal and the rail in the test device, the equivalent length of the pedal, and the like.
After the pedal 101, the sliding block 103, the pull rod 102 and other structures are installed, the upper computer 108 acquires data of preset strokes of the sliding block 103 from zero position at intervals, for example, the data are sequentially input into the upper computer according to the preset strokes of 5mm, the upper computer 108 controls the servo motor 104 to perform corresponding actions through the driving control module, the sliding block 103 moves on the track 105 under the driving of the servo motor 104, and finally, the pull rod 102 drives the pedal 101 to perform actions, so that the upper computer 108 records corresponding pedal positions and stores the corresponding pedal positions in the upper computer.
By changing the stroke data of one slider 103, the corresponding pedal position is obtained in the above manner until the pedal reaches the maximum target position, and the change curve between the pedal position and the slider position is obtained by sorting according to the data obtained by the upper computer 108.
The corresponding relation between the pedal position and the slide block position is obtained by the following specific formula:
wherein L is the equivalent length of the pedal; omega is the rotational angular velocity of the pedal; beta 0 Is the included angle between the rail and the vertical line during the installation; beta is the included angle between the pull rod and the vertical line; v (V) A V is the moving speed of the pedal B Is the moving speed of the slide block.
Next, 302 is performed to determine a first target position of the slider in accordance with a correspondence relationship between the pedal position and the slider position based on the stroke information.
Specifically, according to the above-described formula, the time is taken into consideration, and the relation between the pedal stroke and the slider moving position can be obtained by multiplying the entire formula by the time.
The stroke information is input into the above formula to obtain the slider moving position, i.e., the actual position of the slider 103 relative to the original position, i.e., the first target position of the slider 103.
After the first target position of the slider 103 is determined, S103 is executed, and the upper computer controls the servo motor 104 to make the pull rod 102 connected with the slider 103 drive the pedal 101 to act based on the first target position of the slider, so that the pedal 101 reaches the second target position.
In the process of testing by adopting the testing device, the testing can be performed in the following three modes.
One is a manual mode for testing, one is an automatic mode for testing, and the last is a memory mode for testing.
When the manual mode is adopted for testing, an operator is required to manually input the travel information of the pedal each time, and the steps of S301 and S302 are performed to obtain a first target position of the sliding block, and then the pedal is enabled to reach a second target position through the testing device, wherein the second target position is the position corresponding to the travel information.
When the automatic mode is adopted for testing, an operator inputs travel information and duration time of a plurality of pedals into the upper computer 108, as shown in fig. 4, according to steps S301 and S302, a plurality of first target positions corresponding to the slide block 103 are obtained, after the operator issues a test starting instruction, the upper computer 108 automatically acquires the plurality of first target positions, and based on the plurality of first target positions, the servo motor 104 is controlled to enable the pull rod 102 connected with the slide block 103 to drive the pedal 101 to act, so that the pedal 101 reaches a corresponding second target position.
In the process, whether a brake signal is received or not is monitored in the process that a pull rod connected with a sliding block drives a pedal to act by controlling a servo motor based on a plurality of first target positions so that the pedal reaches a corresponding second target position; if yes, controlling the throttle to return to the zero position.
That is, when the brake signal is received to forcibly suspend or terminate the test in the automatic mode, the throttle is controlled to be retracted to the zero position.
The automatic mode is mainly used for testing different vehicle speeds and gears under various working conditions.
When the memory mode is adopted for testing, the pedal is operated by a driver according to the requirements of the working condition after the testing device is installed mainly aiming at the working condition with complex repeated process, such as WLTC working condition, so that a first target position of the sliding block 103 corresponding to each moment in the process of operating the pedal by the driver according to the working condition requirements is obtained and stored in a memory; the upper computer 108 obtains a first target position of the slider corresponding to each moment from the memory, and based on the first target position, the pull rod 102 connected with the slider 103 drives the pedal 101 to act through the servo motor 104, so that the pedal reaches a corresponding second target position. Thereby achieving complete repetition of the operation of the driver.
After S303, further including:
and judging whether the second target position is executed in place, and if not, carrying out alarm prompt.
Wherein, judge whether the second target position carries out in place, specifically judge whether the second target position matches with journey information of the footboard.
When the second target position is not matched with the travel information of the pedal, determining that the second target position is not executed in place; when the second target position matches the stroke information of the pedal, it is determined that the second target position is executed in place.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
the invention provides a method for controlling pedal position, which is applied to a testing device for driving a vehicle pedal, and the testing device comprises: footboard, pull rod, slider and the servo motor of drive slider, wherein, the footboard is articulated through the one end of pull rod, and the other end and the slider of pull rod are articulated, and the slider sets up on the track to follow the track and remove under servo motor's drive, the track articulates on the base, and the base is fixed on the mounting bracket, and servo motor is connected to the host computer, and this method includes: when the testing device performs testing, obtaining travel information for controlling the pedal; based on the travel information, a first target position of the sliding block is determined according to the corresponding relation between the pedal position and the sliding block position, and the upper computer drives the pedal to act by controlling the servo motor to enable the pull rod connected with the sliding block to reach a second target position based on the first target position of the sliding block, so that the testing precision of the testing device is improved, and the testing task is efficiently completed.
Example two
Based on the same inventive concept, the present invention also provides a device for controlling a pedal position, which is applied to a test device for driving a pedal of a vehicle, the test device comprising: footboard, pull rod, slider and drive the servo motor of slider, wherein, the footboard passes through the one end of pull rod and articulates, the other end and the slider of pull rod are articulated, the slider sets up on the track, and follow under servo motor's drive the track removes, the track articulates on the base, the base is fixed on the mounting bracket, servo motor is connected to the host computer, as shown in fig. 5, the device of control footboard position includes:
a first obtaining module 501, configured to obtain travel information for controlling a pedal when the testing device performs a test;
a determining module 502, configured to determine, based on the travel information, a first target position of the slider according to a correspondence between a pedal position and a slider position;
and the control module 503 is configured to control the servo motor to make the pull rod connected with the slider drive the pedal to act based on the first target position of the slider, so that the pedal reaches the second target position.
In an alternative embodiment, the control module 503 is configured to:
the upper computer acquires a plurality of first target positions and the duration of each first target position, and based on the first target positions, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position.
In an alternative embodiment, the control module 503 is further configured to:
the upper computer acquires a plurality of first target positions and the duration of each first target position, and based on the first target positions, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position;
monitoring whether a braking signal is received or not in the process that a pull rod connected with the sliding block drives a pedal to act by controlling a servo motor based on the first target positions so that the pedal reaches a corresponding second target position;
if yes, controlling the throttle to return to the zero position.
In an alternative embodiment, the control module 503 is further configured to:
acquiring a first target position of a sliding block corresponding to each moment in the process of operating a pedal by a driver according to working condition requirements, and storing the first target position in a memory;
the upper computer acquires a first target position of the sliding block corresponding to each moment from the memory, and based on the first target position, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position.
In an alternative embodiment, the method further comprises:
the judging module is used for judging whether the second target position is executed in place or not;
and the prompting module is used for prompting an alarm if not.
In an alternative embodiment, the determining module is configured to:
and judging whether the second target position is matched with the travel information of the pedal.
In an alternative embodiment, the method further comprises:
the obtaining module is used for obtaining data of preset strokes of the sliding block from zero position at each interval through the upper computer, and obtaining a third target position of the pedal corresponding to each data until the pedal reaches the maximum target position, wherein the zero position of the sliding block corresponds to the zero position of the pedal;
the second obtaining module is used for obtaining the corresponding relation between the pedal position and the slide block position based on the data of the slide block starting from the zero position and preset strokes at intervals and the third target position of the pedal.
Example III
Based on the same inventive concept, an embodiment of the present invention provides a computer device, as shown in fig. 6, including a memory 604, a processor 602, and a computer program stored on the memory 604 and executable on the processor 602, wherein the processor 602 implements the steps of the above-mentioned method for controlling pedal position when executing the program.
Where in FIG. 6, a bus architecture (represented by bus 600), bus 600 may include any number of interconnected buses and bridges, with bus 600 linking together various circuits, including one or more processors, represented by processor 602, and memory, represented by memory 604. Bus 600 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. The bus interface 606 provides an interface between the bus 600 and the receiver 601 and transmitter 603. The receiver 601 and the transmitter 603 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 602 is responsible for managing the bus 600 and general processing, while the memory 604 may be used to store data used by the processor 602 in performing operations.
Example IV
Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described method of controlling pedal position.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the means for controlling pedal position, computer devices, and the like in accordance with embodiments of the present invention. The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (7)
1. A method of controlling pedal position for use in a test device for driving a pedal of a vehicle, the test device comprising: footboard, pull rod, slider and drive the servo motor of slider, wherein, the footboard is articulated through the one end of pull rod, the other end of pull rod is articulated with the slider, the slider sets up on the track, and follow under servo motor's drive the track removes, the track articulates on the base, the base is fixed on the mounting bracket, servo motor is connected to the host computer, the method includes:
acquiring data of preset strokes of the sliding block from a zero position at intervals through the upper computer, and obtaining a third target position of the pedal corresponding to each data until the pedal reaches a maximum target position, wherein the zero position of the sliding block corresponds to the zero position of the pedal;
acquiring a corresponding relation between the pedal position and the slide block position based on data of preset strokes of the slide block from a zero position at each interval and a third target position of the pedal;
the corresponding relation is specifically represented by the following formula:
wherein,is the equivalent length of the pedal; />Is the rotational angular velocity of the pedal; />Is the included angle between the rail and the vertical line during the installation; />Is the included angle between the pull rod and the vertical line; />For the speed of movement of the pedal>Is the moving speed of the sliding block; alpha is the included angle between the pedal and the horizontal plane;
when the testing device performs testing, obtaining travel information for controlling the pedal;
determining a first target position of the sliding block according to a corresponding relation between the pedal position and the sliding block position based on the travel information;
the upper computer controls the servo motor to enable a pull rod connected with the sliding block to drive the pedal to act based on the first target position of the sliding block, so that the pedal reaches the second target position;
the upper computer is based on the target position of slider, makes through control servo motor with the pull rod that the slider is connected drives the footboard action to make the footboard reaches the second target position, includes:
the upper computer acquires a plurality of first target positions and the duration of each first target position, and based on the first target positions, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position;
monitoring whether a braking signal is received or not in the process that a pull rod connected with the sliding block drives a pedal to act by controlling a servo motor based on the first target positions so that the pedal reaches a corresponding second target position;
if yes, controlling the throttle to return to the zero position.
2. The method of claim 1, wherein the upper computer controls a servo motor to enable a pull rod connected with the slider to drive a pedal to act based on a first target position of the slider, so that the pedal reaches a second target position, and the method comprises the following steps:
acquiring a first target position of a sliding block corresponding to each moment in the process of operating a pedal by a driver according to working condition requirements, and storing the first target position in a memory;
the upper computer acquires a first target position of the sliding block corresponding to each moment from the memory, and based on the first target position, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position.
3. The method of claim 1, wherein after the upper computer controls the servo motor to make the pull rod connected with the slider drive the pedal to act based on the first target position of the slider so as to make the pedal reach the second target position, the method further comprises:
judging whether the second target position is executed in place or not;
if not, alarm prompt is carried out.
4. The method of claim 3, wherein the determining whether the second target location is in place comprises:
and judging whether the second target position is matched with the travel information of the pedal.
5. An apparatus for controlling pedal position, applied to a test apparatus for driving a pedal of a vehicle, the test apparatus comprising: footboard, pull rod, slider and drive the servo motor of slider, wherein, the footboard passes through the one end of pull rod and articulates, the other end and the slider of pull rod are articulated, the slider sets up on the track, and follow under servo motor's drive the track removes, the track articulates on the base, the base is fixed on the mounting bracket, servo motor is connected to the host computer, the device of control footboard position includes:
the acquisition module is used for acquiring travel information for controlling the pedal when the testing device performs testing;
the obtaining module is used for obtaining the data of the preset strokes of the sliding blocks from zero positions at intervals through the upper computer before obtaining the stroke information for controlling the pedal when the testing device tests, and obtaining a third target position of the pedal corresponding to each data until the pedal reaches the maximum target position, wherein the zero position of the sliding blocks corresponds to the zero position of the pedal;
acquiring a corresponding relation between the pedal position and the slide block position based on data of preset strokes of the slide block from a zero position at each interval and a third target position of the pedal;
the corresponding relation is specifically represented by the following formula:
wherein,is the equivalent length of the pedal; />Is the rotational angular velocity of the pedal; />Is the included angle between the rail and the vertical line during the installation; />Is the included angle between the pull rod and the vertical line; />Is a pedalIs>Is the moving speed of the sliding block; alpha is the included angle between the pedal and the horizontal plane;
the determining module is used for determining a first target position of the sliding block according to the corresponding relation between the pedal position and the sliding block position based on the travel information;
the control module is used for enabling the upper computer to drive the pedal to act by controlling the servo motor based on the first target position of the sliding block so as to enable the pedal to reach the second target position; the upper computer is based on the target position of slider, makes through control servo motor with the pull rod that the slider is connected drives the footboard action to make the footboard reaches the second target position, includes:
the upper computer acquires a plurality of first target positions and the duration of each first target position, and based on the first target positions, the servo motor is controlled to enable a pull rod connected with the sliding block to drive the pedal to act so as to enable the pedal to reach a corresponding second target position;
monitoring whether a braking signal is received or not in the process that a pull rod connected with the sliding block drives a pedal to act by controlling a servo motor based on the first target positions so that the pedal reaches a corresponding second target position;
if yes, controlling the throttle to return to the zero position.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method steps of any of claims 1-4 when the program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method steps of any of claims 1-4.
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