CN118090015A - Characterization method of friction force of electric steering pipe column - Google Patents
Characterization method of friction force of electric steering pipe column Download PDFInfo
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- CN118090015A CN118090015A CN202410513321.5A CN202410513321A CN118090015A CN 118090015 A CN118090015 A CN 118090015A CN 202410513321 A CN202410513321 A CN 202410513321A CN 118090015 A CN118090015 A CN 118090015A
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- 230000007246 mechanism Effects 0.000 claims description 8
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering
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Abstract
A characterization method of electric steering column friction force comprises the following steps: the output shaft rotates at a set rotating speed within a set angle range, and the torque of the output shaft is monitored in real time through a torque sensor; recording a rotation angle signal of an output shaft and a torque signal of the output shaft, carrying out low-pass filtering on the frequency distribution of the torque signal, and obtaining low-frequency no-load moment fluctuation through the low-frequency signal after filtering; meanwhile, carrying out band-pass filtering on the frequency distribution of the torque signal, and respectively obtaining medium-frequency no-load moment fluctuation quantity and high-frequency no-load moment fluctuation quantity by the filtered medium-frequency signal and high-frequency signal; the friction force data are analyzed by introducing low-frequency no-load moment fluctuation quantity, medium-frequency no-load moment fluctuation quantity and high-frequency no-load moment fluctuation quantity, so that the information such as the friction force level of the worm gear and the fluctuation level of the booster motor can be conveniently obtained, each part in the electric steering column can be conveniently managed and controlled, and the steering hand feeling is finally ensured to be in a more ideal state.
Description
Technical Field
The invention relates to an automobile electric steering column, in particular to a characterization method of friction force of an electric steering column.
Background
With the development of automobile technology and the improvement of road traffic and the improvement of the requirements of people on driving control performance, modern automobiles have put forward new and higher requirements on control stability, comfort and safety; the automobile steering system is used as an operation tie between people and automobiles, and the quality of the system performance is directly related to the comfort and the safety of a driver in the driving process.
The electric steering column is a power-assisted steering system with the largest market occupation, and consists of a mechanical part and an electric control part, wherein the mechanical design and manufacturing level and the electric control level are mutually matched to supplement each other. Under the condition of a certain electric control level, the capability of the mechanical part is particularly important, and the friction force is an important mechanical parameter of the electric steering column, so that the hand feeling of a driver, the whole vehicle alignment and auxiliary driving functions such as APA, LKA and the like are influenced, and even the intelligent driving function is influenced.
At present, the friction force of the electric steering column is only at the level of the maximum value, the minimum value and the average value, the friction force level of the electric steering column cannot be comprehensively measured only from the three data, and meanwhile, the analysis method of the test data is not clearly described.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a characterization method of electric steering column friction force, and aims to obtain an index of the electric steering column friction force.
The characterization method of the friction force of the electric steering column comprises the electric steering column, wherein the electric steering column is fixedly arranged on an experiment bench, the axial direction of the electric steering column is vertical or horizontal, a height adjusting mechanism of the electric steering column is in a locking state, a power assisting mechanism of the electric steering column is in a closing state, the output end of the electric steering column is connected with a torque sensor and a driving motor, the driving motor is fixedly connected on the experiment bench, the driving motor is used for enabling an output shaft to rotate at a set rotating speed within a set angle range, and the torque sensor is used for monitoring the torque of the output shaft in real time;
the characterization method comprises the following steps:
Step 1: acquiring the meshing frequency f1 of the worm gear and the worm, and the rotor frequency f2 of the booster motor;
Step 2: the difference between the peak value and the valley value of the low-frequency signal in the same stroke is recorded as the fluctuation quantity of the low-frequency no-load moment, and the low-frequency signal is a signal in the range of 0 to (f 1-0.5) Hz; the difference between the peak value and the valley value of the intermediate frequency signal in the same stroke is recorded as the fluctuation amount of intermediate frequency no-load moment, and the intermediate frequency signal is a signal in the range of (f 1-0.5) Hz to (f 2-0.5) Hz; the difference between the peak value and the valley value of the high-frequency signal in the same stroke is recorded as the fluctuation quantity of the high-frequency no-load moment, and the high-frequency signal is a signal in the range of (f 2-0.5) Hz-50 Hz;
Step 3: the output shaft rotates at a set rotating speed within a set angle range, and the torque of the output shaft is monitored in real time through a torque sensor;
Step 4: recording a rotation Angle signal of the output shaft and a Torque signal of the output shaft, recording a data set of the rotation Angle signal as [ Angle ], and recording a data set of the Torque signal as [ Torque ];
Step 5: setting a data calculation range, selecting Torque signals in the same stroke middle section of the output shaft from [ Torque ] according to the data calculation range, and recording the Torque signals as a Torque signal set to be calculated;
step 6: converting the torque signal set to be calculated into a frequency curve of the torque signal;
step 7: the frequency distribution of the torque signal is subjected to low-pass filtering, and the low-frequency no-load moment fluctuation quantity is obtained through the low-frequency signal after the filtering; meanwhile, band-pass filtering is carried out on the frequency distribution of the torque signal, and the medium-frequency no-load moment fluctuation quantity and the high-frequency no-load moment fluctuation quantity are respectively obtained through the medium-frequency signal and the high-frequency signal after the filtering.
The method further comprises the following steps: the same stroke middle section of the output shaft is a middle section stroke when the output shaft rotates clockwise or a middle section stroke when the output shaft rotates anticlockwise; the data calculation range is obtained according to a set value A, the value range of the set value A is 60% -90%, the readiness of the data is ensured, the sampling amount is met, and the calculation range is as follows: (1-A) 0.5 to 0.5 A+0.5.
The method further comprises the following steps: the specific process of the step 6 is as follows:
Step 6.1: the sampling frequency of the torque signal is marked as Fs, the abscissa of a frequency curve is f=n/(N×dt), the value range of N is an integer between 1 and N, and the sampling period dt=1/Fs;
step 6.2: after Fourier transformation is carried out on the torque signal set to be calculated, the ordinate of the frequency curve is obtained;
step 6.3: and obtaining a frequency curve according to the abscissa and the ordinate of the frequency curve.
The invention has the beneficial effects that: the friction force data are analyzed by introducing low-frequency no-load moment fluctuation quantity, medium-frequency no-load moment fluctuation quantity and high-frequency no-load moment fluctuation quantity, so that the information such as the friction force level of the worm gear and the fluctuation level of the booster motor can be conveniently obtained, each part in the electric steering column can be conveniently managed and controlled, and the steering hand feeling is finally ensured to be in a more ideal state.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram showing the connection relationship between an electric steering column and a test bench according to the present invention;
FIG. 3 is a graph of the angle versus torque of raw data in accordance with the present invention;
FIG. 4 is a graph of frequency of torque signals according to the present invention;
FIG. 5 is a graph of low frequency no-load torque fluctuation versus rotation angle signal plotted in the present invention;
FIG. 6 is a graph of medium frequency no-load torque fluctuation versus rotation angle signal plotted in the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings. Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The terms left, middle, right, upper, lower, etc. in the embodiments of the present invention are merely relative concepts or references to the normal use state of the product, and should not be construed as limiting.
The utility model provides a characterization method of electric steering column frictional force, as shown in fig. 2, including electric steering column 2, electric steering column 2 fixed mounting is on experiment bench 1, electric steering column 2's axial is vertical or horizontal, electric steering column 2's altitude mixture control mechanism is the locking state, electric steering column 2's helping hand mechanism is the off state, electric steering column 2's output is connected with torque sensor 3 and driving motor 4, driving motor 4 fixed connection is on experiment bench 1 (not shown in the figure), the output shaft passes through torque sensor 3 back driving shaft linkage of driving motor 4, driving motor 4 is used for making the output shaft rotate with the rotational speed of settlement in the angle range of settlement, torque sensor 3 is used for real-time supervision output shaft's moment of torsion;
as shown in fig. 1, the characterization method includes the steps of:
Step 1: acquiring the meshing frequency f1 of the worm gear and the worm, and the rotor frequency f2 of the booster motor;
Step 2: the difference between the peak value and the valley value of the low-frequency signal in the same stroke is recorded as the fluctuation amount of low-frequency no-load moment, the low-frequency signal is a signal in the range of 0 to (f 1-0.5) Hz, and the low-frequency signal of the no-load rotation moment of the electric steering column can reflect the moment fluctuation of worm gear transmission, namely the friction force data of the worm gear; the difference between the peak value and the valley value of the intermediate frequency signal in the same stroke is recorded as the fluctuation amount of intermediate frequency no-load moment, the intermediate frequency signal is a signal in the range of (f 1-0.5) Hz to (f 2-0.5) Hz, and the low frequency signal of the no-load rotation moment of the electric steering column can reflect the fluctuation of the rotation moment of the tooth socket of the power-assisted motor, namely the friction force data of the rotation of the tooth socket of the motor; the difference between the peak value and the valley value of the high-frequency signal in the same stroke is recorded as the fluctuation amount of the high-frequency no-load moment, the high-frequency signal is a signal in the range of (f 2-0.5) Hz-50 Hz, and the high-frequency signal of the no-load rotation moment of the electric steering column can reflect moment fluctuation generated by other parts or test equipment, namely friction force data generated by other parts or test equipment;
The friction force level of the electric steering column is evaluated by introducing three parameters of low-frequency no-load moment fluctuation quantity, medium-frequency no-load moment fluctuation quantity and high-frequency no-load moment fluctuation quantity, because the electric steering column is a multi-part system, wherein a transmission mechanism relates to important parts such as a worm wheel, a worm and a power-assisted motor, the smaller the friction force fluctuation of the electric steering column is, the more favorable for improving steering feel, the fluctuation of the worm wheel, the worm and the power-assisted motor can be judged by carrying out frequency analysis on friction force data of the electric steering column, the manufacturing difference of parts such as the worm wheel, the worm and the power-assisted motor, the friction force of each electric steering column is different due to mutual matching tolerance and the like of the parts, and the friction force data is analyzed to obtain the information such as the friction force level of the worm wheel and the worm, the fluctuation level of the power-assisted motor, and the like, so that each part in the electric steering column is convenient to control, and the aim of improving the steering feel is finally realized;
Step 3: the output shaft rotates at a set rotating speed within a set angle range, and the torque of the output shaft is monitored in real time through a torque sensor;
Step 4: recording a rotation Angle signal of the output shaft and a Torque signal of the output shaft, recording a data set of the rotation Angle signal as [ Angle ], and recording a data set of the Torque signal as [ Torque ];
Step 5: setting a data calculation range, wherein the tail end of the stroke of the output shaft relates to a reversing process, the testing equipment and the electric steering column are not in a stable running state, the real data of a product cannot be accurately reflected, and a Torque signal in the same stroke middle section of the output shaft is selected from [ Torque ] according to the data calculation range and is recorded as a Torque signal set to be calculated; the same stroke middle section of the output shaft is a middle section stroke when the output shaft rotates clockwise or a middle section stroke when the output shaft rotates anticlockwise; the data calculation range is obtained according to a set value A, the value range of the set value A is 60% -90%, the readiness of the data is ensured, the sampling amount is met, and the calculation range is as follows: (1-a) 0.5 to 0.5 a+0.5;
Step 6: the method comprises the following specific processes of converting a torque signal set to be calculated into a frequency curve of a torque signal:
Step 6.1: the sampling frequency of the torque signal is marked as Fs, the sampling frequency is generally determined by the specification of a torque signal sensor arranged on an experiment table, the abscissa of a frequency curve is f=n/(N×dt), the value range of N is an integer between 1 and N, and the sampling period dt=1/Fs;
step 6.2: after Fourier transformation is carried out on the torque signal set to be calculated, the ordinate of the frequency curve is obtained;
step 6.3: obtaining a frequency curve according to the abscissa and the ordinate of the frequency curve;
step 7: the frequency distribution of the torque signal is subjected to low-pass filtering, and the low-frequency no-load moment fluctuation quantity is obtained through the low-frequency signal after the filtering; meanwhile, band-pass filtering is carried out on the frequency distribution of the torque signal, and the medium-frequency no-load moment fluctuation quantity and the high-frequency no-load moment fluctuation quantity are respectively obtained through the medium-frequency signal and the high-frequency signal after the filtering.
Wherein, in order to facilitate visual understanding of the friction force of the electric steering column, a low-frequency no-load moment-corner signal curve is drawn according to the corresponding relation between the low-frequency no-load moment and the corner signal as shown in fig. 5; drawing a curve of the intermediate frequency no-load moment-corner signal according to the corresponding relation between the intermediate frequency no-load moment wave and the corner signal as shown in fig. 6; for ease of analysis, a corner-Torque curve is plotted according to the correspondence of [ Angle ] and [ Torque ] as shown in FIG. 3, and a frequency curve of the Torque signal is also plotted as shown in FIG. 4.
Compared with the prior art:
the existing friction force processing method is used for evaluating friction force data, and the three points are as follows:
1) Average, taking the average of all data for clockwise and counterclockwise directions of friction data, i.e. average of each direction
2) The ripple value, the maximum minus the minimum in each direction is the ripple value of each opposite direction,
3) Symmetry, the average of the two directions is poor, namely the relativity of the product.
4) On the basis of the prior art, three evaluation indexes are added: the three indexes of the low-frequency no-load moment fluctuation quantity, the medium-frequency no-load moment fluctuation quantity and the high-frequency no-load moment fluctuation quantity can be used for specifically evaluating important mechanisms (worm gears and motors) of products, and the previous fluctuation quantity is only one integral level and cannot be further refined and analyzed; according to the invention, more technical parameters of the pipe column are obtained from the same data, and meanwhile, the method not only provides a more comprehensive calculation method for the technical requirements of a host factory on suppliers, but also provides a more detailed and more specialized method for the detection and optimization of the follow-up hand feeling problems of the steering pipe column manufacturer.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A characterization method of electric steering column friction force is characterized in that: the electric steering column is fixedly arranged on an experiment bench, the axial direction of the electric steering column is vertical or horizontal, a height adjusting mechanism of the electric steering column is in a locking state, a power assisting mechanism of the electric steering column is in a closing state, the output end of the electric steering column is connected with a torque sensor and a driving motor, the driving motor is fixedly connected on the experiment bench, the driving motor is used for enabling an output shaft to rotate at a set rotating speed within a set angle range, and the torque sensor is used for monitoring the torque of the output shaft in real time;
the characterization method comprises the following steps:
Step 1: acquiring the meshing frequency f1 of the worm gear and the worm, and the rotor frequency f2 of the booster motor;
Step 2: the difference between the peak value and the valley value of the low-frequency signal in the same stroke is recorded as the fluctuation quantity of the low-frequency no-load moment, and the low-frequency signal is a signal in the range of 0 to (f 1-0.5) Hz; the difference between the peak value and the valley value of the intermediate frequency signal in the same stroke is recorded as the fluctuation amount of intermediate frequency no-load moment, and the intermediate frequency signal is a signal in the range of (f 1-0.5) Hz to (f 2-0.5) Hz; the difference between the peak value and the valley value of the high-frequency signal in the same stroke is recorded as the fluctuation quantity of the high-frequency no-load moment, and the high-frequency signal is a signal in the range of (f 2-0.5) Hz-50 Hz;
Step 3: the output shaft rotates at a set rotating speed within a set angle range, and the torque of the output shaft is monitored in real time through a torque sensor;
Step 4: recording a rotation Angle signal of the output shaft and a Torque signal of the output shaft, recording a data set of the rotation Angle signal as [ Angle ], and recording a data set of the Torque signal as [ Torque ];
Step 5: setting a data calculation range, selecting Torque signals in the same stroke middle section of the output shaft from [ Torque ] according to the data calculation range, and recording the Torque signals as a Torque signal set to be calculated;
step 6: converting the torque signal set to be calculated into a frequency curve of the torque signal;
step 7: the frequency distribution of the torque signal is subjected to low-pass filtering, and the low-frequency no-load moment fluctuation quantity is obtained through the low-frequency signal after the filtering; meanwhile, band-pass filtering is carried out on the frequency distribution of the torque signal, and the medium-frequency no-load moment fluctuation quantity and the high-frequency no-load moment fluctuation quantity are respectively obtained through the medium-frequency signal and the high-frequency signal after the filtering.
2. The method for characterizing friction of an electric steering column according to claim 1, wherein: the same stroke middle section of the output shaft is a middle section stroke when the output shaft rotates clockwise or a middle section stroke when the output shaft rotates anticlockwise; the data calculation range is obtained according to a set value A, the value range of the set value A is 60% -90%, the readiness of the data is ensured, the sampling amount is met, and the calculation range is as follows: (1-A) 0.5 to 0.5 A+0.5.
3. The method for characterizing friction of an electric steering column according to claim 1, wherein: the specific process of the step 6 is as follows:
Step 6.1: the sampling frequency of the torque signal is marked as Fs, the abscissa of a frequency curve is f=n/(N×dt), the value range of N is an integer between 1 and N, and the sampling period dt=1/Fs;
step 6.2: after Fourier transformation is carried out on the torque signal set to be calculated, the ordinate of the frequency curve is obtained;
step 6.3: and obtaining a frequency curve according to the abscissa and the ordinate of the frequency curve.
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