CN115343073A - Steering intermediate shaft rigidity measuring device and method for dynamic model identification - Google Patents
Steering intermediate shaft rigidity measuring device and method for dynamic model identification Download PDFInfo
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- 238000012360 testing method Methods 0.000 claims abstract description 81
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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
- G01M17/06—Steering behaviour; Rolling behaviour
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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
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
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Abstract
A steering intermediate shaft rigidity measuring device and a measuring method for dynamic model identification belong to the technical field of steering column rigidity and solve the problem that the input correctness of the dynamic modeling of a steering system cannot be ensured due to the fact that the conventional steering column rigidity testing device and the conventional steering column rigidity testing method cannot be controlled with high precision. The device comprises a torque loading device, a steering intermediate shaft lower end fixing device and a process monitoring device; the torque loading device is fixed on a fixing device at the lower end of the steering intermediate shaft; the process monitoring device is positioned on one side of the fixing device at the lower end of the steering intermediate shaft.
Description
Technical Field
The invention relates to the technical field of steering intermediate shaft rigidity, in particular to a steering intermediate shaft rigidity measuring device and a measuring method for dynamic model identification.
Background
In the dynamic modeling process of the steering system, the rigidity of each part of the steering system needs to be measured. The steering system rigidity measurement test comprises the components of steering system rigidity, steering column rigidity, steering intermediate shaft rigidity, steering gear rack meshing rigidity, steering pull rod rigidity and the like. The precision of the test result of the rigidity of the steering intermediate shaft has great influence on the precision of parameters such as lateral force toe-in, aligning force local toe-in, understeer degree, steering sensitivity, corresponding yaw time and the like in the dynamic modeling.
However, the existing steering intermediate shaft rigidity testing device and method cannot ensure the input correctness of the dynamic modeling of the steering system due to the fact that high-precision control cannot be achieved.
Disclosure of Invention
The invention solves the problem that the input correctness of the dynamic modeling of the steering system cannot be ensured due to the fact that the existing steering intermediate shaft rigidity testing device and method cannot be controlled with high precision.
The invention relates to a device for measuring the rigidity of a steering intermediate shaft for dynamic model identification, which comprises a torque loading device 201, a steering intermediate shaft lower end fixing device 202 and a process monitoring device 203;
the torque loading device 201 is fixed on a lower end fixing device 202 of the steering intermediate shaft;
the process monitoring device 203 is located on the side of the steering intermediate shaft lower end fixing device 202.
The invention relates to a steering intermediate shaft rigidity measuring method for dynamic model identification, which is realized by adopting the steering intermediate shaft rigidity measuring device for dynamic model identification, and comprises the following steps:
step S1, calibrating the torque and the rotation angle of two torsion motors;
s2, oppositely installing two torsion motors, keeping the displacement of one torsion motor, loading the other torsion motor to the torque T required by the test, measuring and recording the rotation angle theta of one torsion motor in the test process 1 Sum torque T 1 The rotation angle theta of the other torsion motor in the test process 2 Sum torque T 2 ;
S3, respectively judging torque T of one torsion motor 1 Torque T of another torsion motor 2 Torque T of a torsion motor 1 The torque T loaded to the test requirement by the other torsion motor and the torque T of the other torsion motor 2 Whether the difference values of the torque T loaded to the test requirement by the other torsion motor are all smaller than a specified value is judged, if yes, the step S4 is carried out, and if not, the steps S1 to S2 are repeated;
s4, calculating the rigidity of a single torsion motor;
step S5, installing the torque loading device 201 between the two torsion motors, and repeating the step S2 to obtain the rotation angle theta of one torsion motor in the process 1’ Sum torque T 1’ The rotation angle theta of another torsion motor in the process 2’ Sum torque T 2’ ;
Step S6, calculating the stiffness of the torque loading device 201;
s7, mounting a lower end fixing device 202 of the steering intermediate shaft between the two torsion motors, and repeating the step two to obtain the rotation angle theta of one torsion motor in the test process 1” Sum torque T 1” The rotation angle theta of the other torsion motor in the test process 2” Sum torque T 2” ;
Step S8, calculating the stiffness of the steering intermediate shaft lower end fixing device 202:
step S9, after the steering intermediate shaft sample piece, the torque loading device 201 and the steering intermediate shaft lower end fixing device 202 are installed, loading is carried out on the torque T required by the test, and the rotating angle theta of one torsion motor in the test process is obtained 1”’ Sum torque T 1”’ The rotation angle theta of another torsion motor in the process 2”’ Sum torque T 2”’ ;
Step S10, the process monitoring device 203 reads whether the reading is larger than a specified value, if so, the structures of the torque loading device 201 and the steering intermediate shaft lower end fixing device 202 are redesigned, the steps S1 to S10 are repeated, and if not, the step S11 is carried out;
step S11, calculating the integral rigidity of the test;
and S12, calculating the rigidity of the steering intermediate shaft sample piece.
Further, in an embodiment of the present invention, in the step S1, the calibrating the torque and the rotation angle of the two torsion motors is:
the parameter precision of adjusting the torque of the two torsion motors reaches at least 0.001Nm, and the parameter precision of adjusting the rotation angle of the two torsion motors reaches at least 0.001 degrees.
Further, in an embodiment of the present invention, in the step S3, the torque T of one torsion motor is respectively determined 1 Torque T of another torsion motor 2 A torque T of the torsion motor 1 The torque T loaded to the test requirement by the other torsion motor and the torque T of the other torsion motor 2 Whether the differences from the torque T applied to the test by the other torsion motor are each less than the specified value of 0.001Nm.
Further, in an embodiment of the present invention, in the step S4, the calculation formula of the stiffness of the single torsional motor is:
in the formula, theta 1 Is the rotation angle theta of a torsion motor in the test process 2 The turning angle of the other torsion motor in the test process is T, and the other torsion motor is loaded to the torque required by the test.
Further, in an embodiment of the present invention, in step S6, the calculation formula of the stiffness of the torque loading device 201 is:
in the formula, theta 1’ Is the angle of rotation, theta, of a torsion motor in the process 2’ Is the rotation angle of one torsion motor in the process, T is the torque loaded by the other torsion motor to the test requirement, K 1 The rigidity of a single torsion motor.
Further, in an embodiment of the present invention, in step S8, the calculation formula of the stiffness of the lower end fixing device 202 of the steering intermediate shaft is:
in the formula, theta 1” Is the angle of rotation, theta, of a torsion motor during the test 2” Is the rotation angle of another torsion motor in the test process, T is the torque loaded by the other torsion motor to the test requirement, K 1 The rigidity of the single torsion motor is improved.
Further, in an embodiment of the present invention, in the step S10, the monitoring device 203 reads whether the value is greater than a specified value, which is 0.001mm.
Further, in an embodiment of the present invention, in step S11, the calculation formula of the test global stiffness is:
in the formula, theta 1”’ Is the angle of rotation, theta, of a torsion motor during the test 2”’ The turning angle of the other torsion motor in the process is T, and the other torsion motor is loaded to the torque required by the test.
Further, in an embodiment of the present invention, in the step S12, the calculation formula of the stiffness of the steering intermediate shaft sample member is:
in the formula, K 1 For a single torsional motor stiffness, K 2 For the stiffness of the torque loading device 201, K 3 Stiffness, K, of the steering shaft lower end fixing device 202 4 To test the bulk stiffness.
The invention solves the problem that the input correctness of the dynamic modeling of the steering system cannot be ensured due to the fact that the existing steering intermediate shaft rigidity testing device and method cannot be controlled with high precision. The method has the following specific beneficial effects:
according to the steering intermediate shaft rigidity measuring device for dynamic model identification, the steering intermediate shaft rigidity testing precision is improved through the selection of the steering intermediate shaft rigidity testing device in high-precision control, and the input correctness of the dynamic modeling of a steering system is ensured.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a diagram of a device for measuring the stiffness of an intermediate shaft according to an embodiment, in which 201 is a second torque application device, 202 is a steering intermediate shaft lower end fixing device, and 203 is a second process monitoring device.
Detailed Description
Various embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The device for measuring the rigidity of the steering intermediate shaft for identifying the dynamic model comprises a torque loading device 201, a steering intermediate shaft lower end fixing device 202 and a process monitoring device 203;
the torque loading device 201 is fixed on a lower end fixing device 202 of the steering intermediate shaft;
the process monitoring device 203 is located on the steering intermediate shaft lower end fixing device 202 side.
The method for measuring the rigidity of the steering intermediate shaft for dynamic model identification in the embodiment is realized by adopting the device for measuring the rigidity of the steering intermediate shaft for dynamic model identification in the embodiment, and comprises the following steps of:
step S1, calibrating the torque and the rotation angle of two torsion motors;
s2, oppositely installing two torsion motors, keeping the displacement of one torsion motor, loading the other torsion motor to the torque T required by the test, measuring and carrying outRecording the rotation angle theta of a torsion motor in the test process 1 Sum torque T 1 The rotation angle theta of the other torsion motor in the test process 2 Sum torque T 2 ;
S3, respectively judging torque T of one torsion motor 1 Torque T of another torsion motor 2 A torque T of the torsion motor 1 The torque T required by the test loaded by the other torsion motor and the torque T of the other torsion motor 2 Whether the difference values of the torque T loaded to the test requirement by the other torsion motor are all smaller than a specified value is judged, if yes, the step S4 is carried out, and if not, the steps S1 to S2 are repeated;
s4, calculating the rigidity of a single torsion motor;
step S5, mounting a torque loading device 201 between the two torsion motors, and repeating the step S2 to obtain the rotation angle theta of one torsion motor in the process 1’ Sum torque T 1’ The rotation angle theta of another torsion motor in the process 2’ Sum torque T 2’ ;
Step S6, calculating the stiffness of the torque loading device 201;
s7, mounting a lower end fixing device 202 of the steering intermediate shaft between the two torsion motors, and repeating the step two to obtain the rotation angle theta of one torsion motor in the test process 1” Sum torque T 1” The rotation angle theta of the other torsion motor in the test process 2” Sum torque T 2” ;
Step S8, calculating the stiffness of the steering intermediate shaft lower end fixing device 202:
step S9, after the steering intermediate shaft sample piece, the torque loading device 201 and the steering intermediate shaft lower end fixing device 202 are installed, loading is carried out on the torque T required by the test, and the rotating angle theta of one torsion motor in the test process is obtained 1”’ Sum torque T 1”’ The rotation angle theta of another torsion motor in the process 2”’ Sum torque T 2”’ ;
Step S10, whether the reading of the process monitoring device 203 is larger than a specified value or not, if so, redesigning the structures of the torque loading device 201 and the steering intermediate shaft lower end fixing device 202, repeating the steps S1-S10, and if not, performing the step S11;
step S11, calculating the integral rigidity of the test;
and S12, calculating the rigidity of the steering intermediate shaft sample piece.
In this embodiment, in the step S1, the calibrating the torque and the rotation angle of the two torsion motors is as follows:
the parameter precision of adjusting the torque of the two torsion motors reaches at least 0.001Nm, and the parameter precision of adjusting the rotation angle of the two torsion motors reaches at least 0.001 degrees.
In this embodiment, in the step S3, the torque T of one torsion motor is respectively determined 1 Torque T of another torsion motor 2 A torque T of the torsion motor 1 The torque T loaded to the test requirement by the other torsion motor and the torque T of the other torsion motor 2 Whether the difference with the torque T loaded to the test requirement of the other torsion motor is less than the specified value and is 0.001Nm.
In this embodiment, in the step S4, the calculation formula of the stiffness of the single torsion motor is:
in the formula, theta 1 Is the angle of rotation, theta, of a torsion motor during the test 2 The turning angle of the other torsion motor in the test process is T, and the other torsion motor is loaded to the torque required by the test.
In this embodiment, in the step S6, the calculation formula of the stiffness of the torque loading device 201 is:
in the formula, theta 1’ Is the angle of rotation, theta, of a torsion motor in the process 2’ Is the rotation angle of one torsion motor in the process, T is the torque loaded by the other torsion motor to the test requirement, K 1 Is a single torsional motorAnd (4) degree.
In this embodiment, in the step S8, the calculation formula of the stiffness of the steering intermediate shaft lower end fixing device 202 is as follows:
in the formula, theta 1” Is the angle of rotation, theta, of a torsion motor during the test 2” Is the rotation angle of another torsion motor in the test process, T is the torque loaded to the test requirement by another torsion motor, K 1 The rigidity of the single torsion motor is improved.
In this embodiment, in the step S10, the detecting process monitoring device 203 reads whether the reading is larger than a specified value, which is 0.001mm.
In this embodiment, in the step S11, the calculation formula of the test overall stiffness is:
in the formula, theta 1”’ Is the rotation angle theta of a torsion motor in the test process 2”’ The turning angle of the other torsion motor in the process is T, and the other torsion motor is loaded to the torque required by the test.
In this embodiment, in step S12, the calculation formula of the stiffness of the steering intermediate shaft sample member is:
in the formula, K 1 For a single torsional motor stiffness, K 2 For the stiffness of the torque loading device 201, K 3 Stiffness, K, of the steering shaft lower end fixing device 202 4 To test the bulk stiffness.
The embodiment is based on the steering intermediate shaft stiffness measuring device for dynamic model identification, and can be better understood by combining fig. 1, and provides an actual embodiment:
1. calibrating the torque and the rotation angle of the two torsion motors, and adjusting parameters until the precision reaches 0.001 degrees and 0.001Nm or more;
2. two torsion motors are oppositely arranged, one is kept in displacement, the other is loaded to the torque T required by the test, and the rotating angle theta of one torsion motor in the process is measured and recorded 1 Sum torque T 1 The rotation angle theta of another torsion motor in the process 2 Sum torque T 2 ;
3. The difference values of T1 and T2, and T1 and T, T and T are not more than 0.001Nm, otherwise, the steps 1 and 2 are repeated;
5. a torque loading device 201 is arranged between the two torsion motors, the step 2 is repeated, and the rotation angle theta of one torsion motor in the process is obtained 1’ Sum torque T 1’ The rotation angle theta of another torsion motor in the process 2’ Sum torque T 2’ ;
7. mounting a steering shaft lower end fixing device 202 between the two torsion motors, and repeating the step 2 to obtain the rotation angle theta of one torsion motor in the process 1” Sum torque T 1” The rotation angle theta of another torsion motor in the process 2” Sum torque T 2” ;
9. installing a sample, a torque loading device 201 and a steering intermediate shaft lower end fixing device 202 according to the figure 1, loading the sample, the torque loading device and the steering intermediate shaft lower end fixing device to a torque T required by a test, and obtaining a rotation angle theta of a 1# torsion motor in the process 1”’ Sum torque T 1”’ The rotation angle theta of another torsion motor in the process 2”’ Sum torque T 2”’ ;
10. Detecting whether the reading of the process monitoring device 203 is larger than 0.001mm, if so, redesigning the structures of the loading device 201 and the steering shaft lower end fixing device 202, and repeating the steps 1-10;
the steering intermediate shaft stiffness measuring device and the steering intermediate shaft stiffness measuring method for dynamic model identification, which are provided by the invention, are described in detail above, specific examples are applied in the text to explain the principle and the implementation of the invention, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A steering intermediate shaft rigidity measuring device for dynamic model identification is characterized by comprising a torque loading device (201), a steering intermediate shaft lower end fixing device (202) and a process monitoring device (203);
the torque loading device (201) is fixed on a fixing device (202) at the lower end of the steering intermediate shaft;
the process monitoring device (203) is positioned on one side of the lower end fixing device (202) of the steering intermediate shaft.
2. A steering intermediate shaft rigidity measurement method for kinetic model identification, characterized in that the device is realized by using the steering intermediate shaft rigidity measurement device for kinetic model identification according to claim 1, and comprises the following steps:
step S1, calibrating the torque and the rotation angle of two torsion motors;
s2, oppositely installing two torsion motors, keeping the displacement of one torsion motor, loading the other torsion motor to the torque T required by the test, measuring and recording the rotation angle theta of one torsion motor in the test process 1 Sum torque T 1 The rotation angle theta of the other torsion motor in the test process 2 Sum torque T 2 ;
S3, respectively judging torque T of one torsion motor 1 Torque T of another torsion motor 2 Torque T of a torsion motor 1 The torque T required by the test loaded by the other torsion motor and the torque T of the other torsion motor 2 Whether the difference values of the torque T loaded to the test requirement by the other torsion motor are all smaller than a specified value is judged, if yes, the step S4 is carried out, and if not, the steps S1 to S2 are repeated;
s4, calculating the rigidity of a single torsion motor;
step S5, a torque loading device (201) is arranged between the two torsion motors, and the step S2 is repeated to obtain the rotation angle theta of one torsion motor in the process 1’ Sum torque T 1’ The rotation angle theta of another torsion motor in the process 2’ Sum torque T 2’ ;
Step S6, calculating the rigidity of the torque loading device (201);
s7, mounting a steering intermediate shaft lower end fixing device (202) between the two torsion motors, and repeating the step two to obtain the rotation angle theta of one torsion motor in the test process 1” Sum torque T 1” The rotation angle theta of the other torsion motor in the test process 2” Sum torque T 2” ;
Step S8, calculating the rigidity of the lower end fixing device (202) of the steering intermediate shaft:
step S9, after the steering intermediate shaft sample piece, the torque loading device (201) and the steering intermediate shaft lower end fixing device (202) are installed, loading is carried out on the torque T required by the test, and the rotating angle theta of the torsion motor in the test process is obtained 1”’ Sum torque T 1”’ The rotation angle theta of another torsion motor in the process 2”’ Sum torque T 2”’ ;
Step S10, whether the reading of the process monitoring device (203) is larger than a specified value or not, if so, redesigning the structures of the torque loading device (201) and the steering intermediate shaft lower end fixing device (202), repeating the steps S1-S10, and if not, performing the step S11;
s11, calculating the integral rigidity of the test;
and S12, calculating the rigidity of the steering intermediate shaft sample piece.
3. The method for measuring the rigidity of the steering intermediate shaft for the kinetic model identification as claimed in claim 2, wherein in the step S1, the torque and the rotation angle of the two torsion motors are calibrated as follows:
the parameter precision of adjusting the torque of the two torsion motors reaches at least 0.001Nm, and the parameter precision of adjusting the rotation angle of the two torsion motors reaches at least 0.001 degrees.
4. The method as claimed in claim 2, wherein in step S3, the torque T of the torsion motor is respectively determined 1 Torque T of another torsion motor 2 A torque T of the torsion motor 1 The torque T required by the test loaded by the other torsion motor and the torque T of the other torsion motor 2 Whether the differences from the torque T applied to the test by the other torsion motor are each less than the specified value of 0.001Nm.
5. The method as claimed in claim 2, wherein in step S4, the calculation formula of the stiffness of the single torsion motor is:
6. The method for measuring the stiffness of the steering intermediate shaft for the dynamic model identification as claimed in claim 2, wherein in the step S6, the stiffness of the torque loading device (201) is calculated by the formula:
7. The method for measuring the rigidity of the steering intermediate shaft for kinetic model identification as claimed in claim 2, wherein in step S8, the calculation formula of the rigidity of the lower end fixing device (202) of the steering intermediate shaft is as follows:
8. A steering countershaft stiffness measurement method for dynamic model identification according to claim 2, wherein in step S10, the monitoring device (203) checks if a reading is greater than a specified value by 0.001mm.
9. The method for measuring the stiffness of the steering intermediate shaft for the kinetic model identification as claimed in claim 2, wherein in the step S11, the calculation formula of the test global stiffness is as follows:
10. The method for measuring the rigidity of the steering intermediate shaft for dynamic model identification according to claim 2, wherein in the step S12, the calculation formula of the rigidity of the steering intermediate shaft sample member is as follows:
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