CN115248000A - Device and method for measuring steering angles and offset angles on two sides of front wheel of vehicle and vehicle - Google Patents
Device and method for measuring steering angles and offset angles on two sides of front wheel of vehicle and vehicle Download PDFInfo
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- CN115248000A CN115248000A CN202210020014.4A CN202210020014A CN115248000A CN 115248000 A CN115248000 A CN 115248000A CN 202210020014 A CN202210020014 A CN 202210020014A CN 115248000 A CN115248000 A CN 115248000A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention provides a device and a method for measuring steering angles and misadjustment angles on two sides of a front wheel and a vehicle, and relates to the technical field of vehicles, wherein the method comprises the following steps: the device comprises an offset angle measuring electric signal acquisition device and a steering angle measuring electric signal acquisition device; the maladjustment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device both comprise: two motors with the same parameters; one as a transmitter and one as a receiver; the misalignment angle measuring electric signal acquisition device measures misalignment angles; the steering angle measuring electric signal acquisition device measures a unilateral steering angle; summing the steering angle and the misalignment angle of the wheel on one side to obtain the steering angle of the wheel on the other side; the problem of among the prior art be difficult for in real time acquisition in the vehicle on the way front wheel angle of turning and angle of deflection is solved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a device and a method for measuring steering angles and offset angles of two sides of a front wheel of a vehicle and the vehicle.
Background
The existing measurement of the steering angle of the front wheel and the misalignment angles of the two front wheels is mostly realized by a detection platform, the detection platform is combined with a floating disc and an angle sensor on a gyrator to complete the measurement of the steering angle of the front wheel of the vehicle, and the limitation of the measurement method is that the real-time information of the steering angle of the front wheel cannot be acquired during the running of the vehicle.
For vehicles needing to be used for researching the problems of transverse control, the method has important significance for the real-time acquisition of the information of the steering angle and the misalignment angle of the front wheels. Meanwhile, the real-time acquisition of the information of the steering angle and the misalignment angle of the front wheel is also beneficial to the real-time monitoring of the normal operation of the vehicle steering mechanism during the running of the vehicle on the road, and is also beneficial to the timely discovery of the abnormity of the vehicle steering function, thereby avoiding the occurrence of larger follow-up accidents.
Aiming at the practical application requirements, four requirements for measuring the steering angle and the misalignment angle of the front wheel of the vehicle are obtained: real-time, sensitivity, accuracy, reliability. The existing real-time measuring technology has the advantages that laser is received by a laser transmitter and a laser receiver, and the steering angle information of the front wheel is output in real time according to the change of a detection line.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a device and a method for measuring steering angles and misadjustment angles on two sides of a front wheel and a vehicle, and solves the problem that the steering angles and the misadjustment angles of the front wheel are not easy to obtain in real time during the running process of the vehicle in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a device for measuring steering angles and misalignment angles on two sides of a front wheel, which comprises:
the device comprises an offset angle measuring electric signal acquisition device and a steering angle measuring electric signal acquisition device;
the maladjustment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device both comprise: two motors with the same parameters; one as a transmitter and one as a receiver.
Furthermore, the motor is a small synchronous motor, a three-phase symmetrical star-connection step winding is embedded in an iron core groove, and a single excitation winding is arranged on a rotor.
Furthermore, one of the transmitters is used as a transmitter, and the other one of the transmitters is used as a receiver; further comprising: the transmitter excitation winding is connected with a single-phase alternating current excitation power supply, and the receiver excitation winding is not connected with the excitation power supply; the three phase step windings of the transmitter and the receiver are correspondingly connected with each other.
Further, the rotor of the motor and the wheel rotate around the Z axis in the Z axis direction to realize a transmission ratio of 1:1, the angle of the wheel rotating around the Z axis is consistent with the angle of the motor rotor.
The invention provides a method for measuring steering angles and misalignment angles on two sides of a front wheel, which is based on the device for measuring the steering angles and the misalignment angles on two sides of the front wheel and comprises the following steps:
the misalignment angle measuring electric signal acquisition device measures misalignment angles;
the steering angle measuring electric signal acquisition device measures a unilateral steering angle;
and summing the steering angle and the misalignment angle of the wheel on one side to obtain the steering angle of the wheel on the other side.
Further, the misalignment angle measuring electric signal acquisition device measures misalignment angles; the method comprises the following specific steps: a transmitter rotor in the misalignment angle measuring electric signal acquisition device is connected with a steering knuckle of a front wheel of the vehicle, a receiver rotor is connected with a steering knuckle on the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels, and the receiver and the transmitter rotor are adjusted to be at the same position; when the steering angles of two front wheels are out of alignment in the running process of the vehicle, the same out-of-alignment exists in the rotating directions of the rotors of the transmitter and the receiver, and the out-of-alignment signals are collected from the receiver, so that the out-of-alignment angles of two wheels of the vehicle can be measured.
Further, the steering angle measuring electrical signal collecting device measures a steering angle of a single side, and sums the steering angle and the misalignment angle of the single side wheel to obtain the steering angle of the other side wheel, which specifically comprises: a transmitter in the steering angle measuring electric signal acquisition device is not fixed with wheels and a motor rotor is fixed, a receiver rotor is connected with a steering knuckle on one side of a front wheel of a vehicle, so that the receiver rotor and the yaw angle of the wheels have the same rotation angle, the position of the receiver rotor is adjusted to be consistent with the position of the transmitter rotor, the receiver rotor rotates along with the yaw of the wheels when the vehicle turns, the angular imbalance between the receiver rotor and the transmitter rotor is the yaw angle of the wheels, and the imbalance signal of the receiver is acquired at the moment, so that the steering angle of the wheels can be measured; and summing the steering angle and the misalignment angle of the wheel on one side to obtain the steering angle of the wheel on the other side.
Further, the misalignment signals are collected from the receiver, and then the misalignment angles of two wheels of the vehicle can be measured; the method specifically comprises the following steps: when the maladjustment angle measurement electric signal acquisition device works, three-phase step windings of the transmitter and the receiver are correspondingly connected with each other; the transmitter rotor excitation winding is connected with a single-phase alternating-current excitation power supply; the receiver rotor single-phase winding is an output winding and is not connected with an excitation power supply;
defining the included angle between the output winding axis of the receiver and the u-phase winding axis as theta 2 The included angle between the excitation winding axis of the transmitter and the u-phase winding axis is theta 1 Difference between two angles theta 1 -θ 2 = theta is misalignment angle;
induced electromotive force in the three-phase step windings of the transmitter generates current in a loop formed by the two sets of step windings, magnetic flux generated by magnetomotive force of the step windings of the receiver induces electromotive force in the output winding, and the effective value is as follows:
E＝E m cosθ
in the formula: e m Is the effective value of the maximum electromotive force at misalignment angle θ = 0;
since the cosine function does not reflect the deflection direction of the transmitter rotor, the position where the receiver rotor winding is perpendicular to the transmitter rotor winding is actually used as the deflection angle θ 2 The starting positions of (a) are:
E 2 ＝E m cos(θ-90°)＝E m sinθ
at the moment, the output electromotive force reflects the size of the misadjustment angle and the deflection direction of the transmitter, and the conversion between the rotation angle signal and the voltage signal is realized.
The invention also provides a vehicle which is provided with the device for measuring the steering angles and the misalignment angles on the two sides of the front wheel and executes the method for measuring the steering angles and the misalignment angles on the two sides of the front wheel.
(III) advantageous effects
The invention provides a device and a method for measuring steering angles and misadjustment angles of two sides of a front wheel of a vehicle and the vehicle.
The method has the following beneficial effects:
1. the scheme realizes the detection of the corner signal by converting the corner signal into the electric signal, the electric signal exists when the corner signal exists, the change electric signal of the corner signal changes along with the change of the corner signal, and the detection real-time performance and the continuity of the corner information are realized;
2. in the implementation process of the scheme, the mechanical connection is adopted to realize the conversion from the mechanical corner signal to the electric signal, the signal transmission mode adopts the electric signal transmission, and compared with the scheme of realizing the front wheel corner detection by adopting the laser sending and receiving, the detection implementation process is not influenced by the environment such as the muddy degree of the ground, and the reliability is higher;
3. the scheme can realize the detection of the size and the direction of the steering angle, is not limited by the steering directions of the wheels at two sides, can detect the steering angle even if the wheels at two sides are steered in different directions, is not only suitable for detecting the steering angle of the front wheel of a conventional vehicle type, but also suitable for detecting the steering angle of the front wheel of a special vehicle type such as a distributed driving vehicle and the like
Drawings
FIG. 1 is a schematic structural view of a device for measuring steering angle and misalignment angle of two sides of a front wheel of a vehicle according to the present invention;
FIG. 2 is a schematic view of the mounting positions of the motor and the wheels of the device for measuring the steering angle and the misalignment angle of the two sides of the front wheel provided by the invention;
FIG. 3 is a schematic flow chart of a method for measuring steering angles and misalignment angles on two sides of a front wheel according to the present invention;
FIG. 4 is a schematic view of the steering angle measurement method for measuring the steering angle and the misalignment angle of the two sides of the front wheel of the vehicle according to the present invention;
fig. 5 is a schematic diagram of relative positions of a transmitter and a receiver in a method for measuring steering angles and misalignment angles on two sides of a front wheel provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
The embodiment of the invention provides a device for measuring steering angles and misalignment angles of two sides of a front wheel, which is shown in figures 1-2 and comprises: the device comprises an offset angle measuring electric signal acquisition device 1-1 and a steering angle measuring electric signal acquisition device 1-2;
the maladjustment angle measurement electric signal acquisition device 1-1 and the steering angle measurement electric signal acquisition device 1-2 both comprise: two motors with the same parameters; one as a transmitter and one as a receiver.
Furthermore, the motor is a small synchronous motor, a three-phase symmetrical star-connection step winding is embedded in an iron core groove, and a single excitation winding is arranged on a rotor.
Furthermore, one of the transmitters is used as a transmitter, and the other one of the transmitters is used as a receiver; further comprising: the transmitter excitation winding is connected with a single-phase alternating current excitation power supply, and the receiver excitation winding is not connected with the excitation power supply; the three phase step windings of the transmitter and the receiver are correspondingly connected with each other.
Further, the rotor of the motor and the rotation of the wheel around the Z axis in the Z axis direction realize a transmission ratio of 1:1, the angle of the wheel rotating around the Z axis is consistent with the angle of the motor rotor.
As shown in fig. 3, an embodiment of the present invention further provides a method for measuring steering angles and misalignment angles on two sides of a front wheel, based on the device for measuring steering angles and misalignment angles on two sides of a front wheel, including:
s1, measuring an misalignment angle by the misalignment angle measuring electric signal acquisition device;
s2, the steering angle measuring electric signal acquisition device measures a single-side steering angle;
and S3, summing the steering angle of the wheel on the single side and the misadjustment angle to obtain the steering angle of the wheel on the other side.
Further, the misalignment angle measuring electric signal acquisition device measures misalignment angles; the method specifically comprises the following steps: a transmitter rotor in the misalignment angle measuring electric signal acquisition device is connected with a steering knuckle of a front wheel of the vehicle, a receiver rotor is connected with a steering knuckle on the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels, and the receiver and the transmitter rotor are adjusted to be at the same position; when the steering angles of two front wheels are out of alignment in the running process of the vehicle, the same out-of-alignment exists in the rotating directions of the rotors of the transmitter and the receiver, and the out-of-alignment signals are collected from the receiver, so that the out-of-alignment angles of two wheels of the vehicle can be measured.
Further, the steering angle measurement electric signal acquisition device measures a single-side steering angle, and sums the steering angle of the single-side wheel and the misalignment angle to obtain the steering angle of the other-side wheel, specifically: a transmitter in the steering angle measuring electric signal acquisition device is not fixed with wheels and a motor rotor is fixed, a receiver rotor is connected with a steering knuckle on one side of a front wheel of a vehicle, so that the receiver rotor and the yaw angle of the wheels have the same rotation angle, the position of the receiver rotor is adjusted to be consistent with the position of the transmitter rotor, the receiver rotor rotates along with the yaw of the wheels when the vehicle turns, the angular imbalance between the receiver rotor and the transmitter rotor is the yaw angle of the wheels, and the imbalance signal of the receiver is acquired at the moment, so that the steering angle of the wheels can be measured; and summing the steering angle and the misalignment angle of the wheel on one side to obtain the steering angle of the wheel on the other side.
For example, as shown in fig. 5, the relative positions of the transmitter and the receiver are (1) (3) two motors are the transmitter, (2) (4) two motors are the receiver, (1) (2) a pair of the receiver and the transmitter are used for measuring the difference between the steering angles of the left front wheel and the right front wheel, and (3) (4) a pair of the receiver and the transmitter are used for measuring the steering angle of the one-sided front wheel. Arranging the wheel (1) on the left front side wheel and the wheel (2) on the right front side wheel, adjusting the windings of the two motor rotors (1) and (2) to vertical positions, connecting the two motor rotors through a gear to enable the two motor rotors and the front wheels on the two sides to yaw and steer to realize synchronous motion, and acquiring the misalignment angle theta by acquiring the induced electromotive force of the wheel (2) when the misalignment angle theta exists between the two front wheels, so as to acquire the misalignment of the rotation angles of the two front wheels; and (3) not connecting with the wheels, (4) arranging the wheels on one side, adjusting the rotor windings of the two motors to vertical positions, fixing the rotor of the (3), connecting the rotor of the (4) with the wheels through a gear to realize synchronous motion in a yaw steering mode, wherein the misalignment angle theta of the rotor of the (3) and the rotor of the (4) is the corner of the front wheel when the front wheel is steered, and the misalignment angle theta is obtained by collecting the induced electromotive force of the (4), namely the corner of the front wheel on one side. And adding or subtracting the measured deviation of the single-side front wheel corner and the measured front wheel corner to obtain the front wheel corner on the other side, thereby realizing the real-time measurement of the deviation of the front wheel corner and the front wheel corners on the two sides by the device.
As shown in fig. 4, further, the misalignment angle of two wheels of the vehicle can be measured by acquiring the misalignment signal from the receiver; the method comprises the following specific steps: when the maladjustment angle measurement electric signal acquisition device works, three-phase step windings of the transmitter and the receiver are correspondingly connected with each other; the transmitter rotor excitation winding is connected with a single-phase alternating-current excitation power supply; the receiver rotor single-phase winding is an output winding and is not connected with an excitation power supply;
defining the included angle between the output winding axis of the receiver and the u-phase winding axis as theta 2 The included angle between the excitation winding axis of the transmitter and the u-phase winding axis is theta 1 Difference between two angles theta 1 -θ 2 The angle of deflection is not less than theta;
induced electromotive force in the three-phase step windings of the transmitter generates current in a loop formed by the two sets of step windings, magnetic flux generated by magnetomotive force of the step windings of the receiver induces electromotive force in the output winding, and the effective value of the electromotive force is as follows:
E＝E m cosθ
in the formula: e m Is the effective value of the maximum electromotive force at misalignment angle θ = 0;
since the cosine function does not reflect the deflection direction of the transmitter rotor, the position where the receiver rotor winding is perpendicular to the transmitter rotor winding is actually used as the deflection angle θ 2 The starting positions of (c) are:
E 2 ＝E m cos(θ-90°)＝E m sinθ
at the moment, the output electromotive force reflects the size of the misalignment angle and the deflection direction of the transmitter, and the conversion between the corner signal and the voltage signal is realized.
The embodiment of the invention also provides a vehicle, which is provided with the device for measuring the steering angles and the misalignment angles on the two sides of the front wheel, and executes the method for measuring the steering angles and the misalignment angles on the two sides of the front wheel.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A device for measuring steering angles and misalignment angles on two sides of a front wheel is characterized by comprising:
the device comprises an offset angle measuring electric signal acquisition device and a steering angle measuring electric signal acquisition device;
the maladjustment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device both comprise: two motors with the same parameters; one as a transmitter and one as a receiver.
2. The device for measuring the steering angle and the misalignment angle of the two sides of the front wheel of the vehicle as claimed in claim 1, wherein the motor is a small synchronous motor, a three-phase symmetrical step winding with a star connection method is embedded in an iron core slot, and a single excitation winding is arranged on a rotor.
3. The device for measuring the steering angle and the misalignment angle of the two sides of the front wheel of the vehicle as claimed in claim 2, wherein one is used as a transmitter and the other is used as a receiver; further comprising: the transmitter excitation winding is connected with a single-phase alternating current excitation power supply, and the receiver excitation winding is not connected with the excitation power supply; the three phase synchronous windings of the transmitter and the receiver are correspondingly connected with each other.
4. The device for measuring the steering angle and the misalignment angle of the two sides of the front wheel as claimed in claim 3, wherein the motor rotor and the wheel rotate around the Z axis in the Z axis direction to realize the gear transmission with the transmission ratio of 1:1, so as to ensure that the angle of the wheel rotating around the Z axis is consistent with the angle of the motor rotor.
5. A method for measuring the steering angle and the misalignment angle of the two sides of a vehicle front wheel is based on the device for measuring the steering angle and the misalignment angle of the two sides of the vehicle front wheel as claimed in any one of claims 1 to 4, and is characterized by comprising the following steps:
the misalignment angle measuring electric signal acquisition device measures misalignment angles;
the steering angle measuring electric signal acquisition device measures a unilateral steering angle;
and summing the steering angle of the wheel on one side and the misadjustment angle to obtain the steering angle of the wheel on the other side.
6. The method for measuring the steering angle and the misalignment angle of the two sides of the front wheel of the vehicle as claimed in claim 5, wherein the misalignment angle measuring electric signal acquisition device measures the misalignment angle; the method specifically comprises the following steps: the transmitter rotor in the maladjustment angle measuring electric signal acquisition device is connected with a steering knuckle of the front wheel of the vehicle, the receiver rotor is connected with a steering knuckle at the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels, and the receiver and the transmitter rotor are adjusted to be at the same position; when the steering angles of two front wheels are out of alignment in the running process of the vehicle, the same out-of-alignment exists in the rotating directions of the rotors of the transmitter and the receiver, and the out-of-alignment signals are collected from the receiver, so that the out-of-alignment angles of two wheels of the vehicle can be measured.
7. The method for measuring the steering angle and the misalignment angle of the two sides of the front wheel of claim 6, wherein the steering angle measuring electric signal collecting device measures the steering angle of one side, and the steering angle of the wheel on one side and the misalignment angle are summed to obtain the steering angle of the wheel on the other side, and the method comprises the following steps: a transmitter in the steering angle measuring electric signal acquisition device is not fixed with wheels and a motor rotor is fixed, a receiver rotor is connected with a steering knuckle on one side of a front wheel of a vehicle, so that the receiver rotor and the yaw angle of the wheels have the same rotation angle, the position of the receiver rotor is adjusted to be consistent with the position of the transmitter rotor, the receiver rotor rotates along with the yaw of the wheels when the vehicle turns, the angular imbalance between the receiver rotor and the transmitter rotor is the yaw angle of the wheels, and the imbalance signal of the receiver is acquired at the moment, so that the steering angle of the wheels can be measured; and summing the steering angle of the wheel on one side and the misadjustment angle to obtain the steering angle of the wheel on the other side.
8. The method for measuring the steering angle and the misalignment angle of the two sides of the front wheel of the vehicle as claimed in claim 7, wherein the misalignment signals are collected from the receiver, so that the misalignment angle of the two wheels of the vehicle can be measured; the method comprises the following specific steps: when the maladjustment angle measurement electric signal acquisition device works, three-phase step windings of the transmitter and the receiver are correspondingly connected with each other; the transmitter rotor excitation winding is connected with a single-phase alternating-current excitation power supply; the rotor single-phase winding of the receiver is an output winding and is not connected with an excitation power supply;
defining the included angle between the output winding axis of the receiver and the u-phase winding axis as theta 2 The included angle between the excitation winding axis of the transmitter and the u-phase winding axis is theta 1 Difference between two angles theta 1 -θ 2 = theta is misalignment angle;
induced electromotive force in the three-phase step windings of the transmitter generates current in a loop formed by the two sets of step windings, magnetic flux generated by magnetomotive force of the step windings of the receiver induces electromotive force in the output winding, and the effective value of the electromotive force is as follows:
E＝E m cosθ
in the formula: e m Is the effective value of the maximum electromotive force at misalignment angle θ = 0;
since the cosine function does not reflect the deflection direction of the transmitter rotor, the position where the receiver rotor winding is perpendicular to the transmitter rotor winding is actually used as the deflection angle θ 2 The starting positions of (c) are:
E 2 ＝E m cos(θ-90°)＝E m sinθ
at the moment, the output electromotive force reflects the size of the misalignment angle and the deflection direction of the transmitter, and the conversion between the corner signal and the voltage signal is realized.
9. A vehicle characterized in that the device for measuring the steering angle and the misalignment angle of the front wheel of any one of claims 1 to 4 is installed and the method for measuring the steering angle and the misalignment angle of the front wheel of any one of claims 5 to 8 is performed.
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| CN202210020014.4A CN115248000B (en) | 2022-01-10 | 2022-01-10 | Device and method for measuring steering angle and misalignment angle of two sides of front wheel of vehicle and vehicle |
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Application publication date: 20221028 Assignee: Liaocheng Ningtai Motor Co.,Ltd. Assignor: LIAOCHENG University Contract record no.: X2023980049202 Denomination of invention: A device, method, and vehicle for measuring the steering angle and misalignment angle on both sides of a front wheel of a vehicle Granted publication date: 20230707 License type: Common License Record date: 20231207 |