CN1330954C - Automobile electric power-assisted steering system simulation testing arrangement - Google Patents

Automobile electric power-assisted steering system simulation testing arrangement Download PDF

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Publication number
CN1330954C
CN1330954C CNB2004100133989A CN200410013398A CN1330954C CN 1330954 C CN1330954 C CN 1330954C CN B2004100133989 A CNB2004100133989 A CN B2004100133989A CN 200410013398 A CN200410013398 A CN 200410013398A CN 1330954 C CN1330954 C CN 1330954C
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China
Prior art keywords
steering
wheel
resistance
eps
servo motor
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CNB2004100133989A
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Chinese (zh)
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CN1595091A (en
Inventor
唐小琦
赵国庆
李新华
金国栋
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华中科技大学
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Abstract

The present invention discloses an automobile electric power-assisted steering system simulation testing device. A resistance servo motor is used for simulating the resistance of wheels for a steering output shaft. A torque signal is transmitted to a data acquisition card. A controller of the servo motor is connected with the data acquisition card and is used for controlling the torque of the resistance servo motor. A current sensor is used for measuring the current of a motor of the EPS and providing a voltage signal which is proportional to the current of the motor for the data acquisition card. An angle sensor is positioned on a steering wheel and is used for measuring a deflection angle of the wheels and providing a wheel deflection angle signal for the data acquisition card. A computer collects data and transfers a control command through the data acquisition card, processes the data, and obtains a testing result. In the simulation environment, the present invention can debug software and hardware of different EPS, can test the performance, can evaluate and optimize the control policy, and can debug each module independently. Before a car test is carried out, the present invention can lead parameters of the EPS to be matched, can accelerate the developing progress and can save expenditure.

Description

The automobile electric booster steering system simulation testing device
Technical field
The invention belongs to Vehicle Engineering testing apparatus technical field, be specifically related to a kind of automobile electric booster steering system simulation testing device.
Background technology
Electric boosting steering system (EPS:Electric Power Steering System) is the steering that a kind of direct dependence motor provides booster torquemoment.This system is different from traditional hydraulic power-assist steering system (HPS:Hydraulic Power Steering System) and electric-controlled hydraulic servo steering system (ECPS:Electronically Controlled Power Steering System), it does not need complicated mechanical and hydrostatic control, but control the amplitude and the direction of assist motor electric current according to the size that microprocessor is gathered the speed of a motor vehicle of automobile and pilot control moment, to realize purpose to the vehicle steering power-assisted.The setting that this method can be steering characteristic provides sufficient degree of freedom, can realize accurately that people set in advance at the different speed of a motor vehicle, the different needed power steering of turning, can make the driver obtain stronger road feel, lighter steering force, vehicle be had return preferably stable stability, higher anti-interference and capability of fast response.Particularly it can solve the unstable problem of pure hydraulic power-assisted steering bearing circle when galloping, but also has series of advantages such as efficient, energy-conservation, high-performance, low cost.Therefore, electric boosting steering system replaces the inexorable trend that hydraulic power-assist steering system has become the Hyundai Motor development.Over past ten years, huge fund is all dropped in countries in the world, competitively exploitation.
EPS is the power steering system that a kind of direct dependence motor provides auxiliary torque, and its system principle diagram as shown in Figure 1.Dissimilar EPS has essentially identical principle of work: torque sensor 7 with turn to input shaft 2 to link together, when turning to input shaft 2 to rotate, torque sensor is started working, the displacement that relatively rotates that the input shaft of torque sensor and output shaft are produced under the torsion bar effect becomes electric signal and passes to EPS controller 11, EPS controller 11 is determined to be integrated in the action of electromagnetic clutch 19 of one (when engine speed is equal to or greater than idling with assist motor 3 according to engine rotational speed signal 9, electromagnetic clutch closes, otherwise disconnect), and according to the size and Orientation of the electric current 8 of the signal deciding assist motor 3 of vehicle speed sensor 10 and torque sensor 7, assist motor 3 rotates, by electromagnetic clutch 19 and speed reduction unit 13 rotating torque is loaded into and turns on the output shaft 4, thereby finish the power steering of assist motor.Therefore provide different power-assisted effects by motor when it can be readily embodied in the different speed of a motor vehicle, guarantee automobile light and flexible when low speed driving, reliable and stable when running at high speed.Therefore the setting of EPS steering characteristic has higher degree of freedom.
Yet, in the performance history of EPS, how under laboratory environment fast control strategy and the control performance to the EPS that developed test, be the problem that the researcher will consider emphatically.
Under the normal condition, carry out soft, hardware debug, be necessary for it and set up an operation debugging enironment, and be preferably in the actual vehicle environment and carry out EPS.But so not only prolong the construction cycle, the spending of increasing funds, and can waste lot of manpower and material resources.
At present, the EPS proving installation that uses in the reality adopts is to be spring-loaded method simulation wheel to act on resistance on the steering gear.As shown in Figure 2.When the hand-power steering wheel rotation 1, hand-power by turn to input shaft 2, turn to output shaft 4, gear 5 drives tooth bars 6 and moves horizontally, cause spring 12 distortion, thereby apply a reacting force for bearing circle 1.This method has the simple and reliable advantage of mechanism, but its shortcoming also is conspicuous, and the change curve of spring loading force and displacement is non-adjustable, and wheel has big gap to the situation of bearing circle reacting force when moving with actual vehicle.Therefore, wheel carried out emulation to the steering gear resistance when this method can't be moved actual vehicle, was not easy to the debugging of the control strategy of EPS.More can't test the characteristic of EPS.
Summary of the invention
The objective of the invention is to overcome the defective of prior art, a kind of automobile electric booster steering system simulation testing device is provided, utilize this proving installation, the loading force curve of being surveyed is adjustable, and error is little, wheel carries out emulation to the steering gear resistance in the time of can moving actual vehicle, so that the control strategy of debugging EPS and its characteristic tested.
A kind of automobile electric booster steering system simulation testing device provided by the invention is characterized in that: this device comprises resistance servo motor, speed reduction unit, servomotor controller, current sensor, angular transducer and is inserted with the computing machine of data collecting card.Resistance servo motor links to each other with the output shaft that turns to of automobile electric booster steering system by speed reduction unit and universal joint, is used for the simulated automotive wheel to turning to the resistance of output shaft, and its torque signal is sent to data collecting card.Servomotor controller links to each other with data collecting card, is used to control the moment of torsion of resistance servo motor.Current sensor is used to measure the current of electric of electric boosting steering system, provides one and the proportional voltage signal of current of electric to data collecting card.Angular transducer is positioned on the bearing circle, is used to measure the deflection angle of wheel, and provides wheel deflection angle signal to data collecting card.Computing machine is by the data collecting card image data and transmit control command, and the data of gathering are handled, and obtains test result.
Utilize the present invention can be under simulated environment the software and hardware of different EPS to be debugged and performance test, control strategy is assessed and optimized, each module is debugged separately; Can before track test, carry out parameter matching, accelerate the development progress of EPS, reduce expenses EPS.Compare with existing vehicle-mounted debugging technique, the present invention has the following advantages:
(1) can debug separately EPS, save a large amount of manpower and materials;
(2) debugging need not carried out at vehicle environment, has saved the funds spending;
(3) debugging enironment designs and produces easily, and the cycle is short;
(4) adjustment layout and change vehicle parameter are all very easy, and the cycle is short, and expense is few, only corresponding software need be set and get final product, and accommodation is big.
Description of drawings
Fig. 1 is the structural representation of electric boosting steering system;
Fig. 2 is the structural representation of existing electric boosting steering system and spring-loaded system;
Fig. 3 is the structural representation of electric boosting steering system simulation testing device provided by the invention;
Fig. 4 is the signal transmission synoptic diagram of Fig. 3;
Fig. 5 is that the stressing conditions of wheel is analyzed synoptic diagram, among the figure, and 29 expression wheels, 30 expression pinion wheels, 31 expression rack-and-pinion;
Fig. 6 is the main program flow chart of emulation testing software;
Fig. 7 is EPS debugging process flow diagram;
Fig. 8 is EPS experiment process figure.
Embodiment
The present invention adopts servomotor to replace spring, and controls the size of servomotor exciting current with a cover control system, thereby the change servomotor is applied to reacting force on the bearing circle by turning to output shaft.The characteristics of motion by the research automobile, set up automobile at the volley wheel to the mathematical model of the resistance of steering mechanism, computing machine goes out the resistance of wheel according to the speed of a motor vehicle, wheel deflection angle and auto model and calculation of parameter, to excitation control signal of servomotor output, the control servomotor outputs to the resistance size of EPS output shaft.Simple setting and adjustment by to the simulation software parameter can adapt to the requirement of various dissimilar EPS.
This method, can according to the mathematical model analog simulation when the vehicle operating wheel to the resistance of bearing circle, approaching with practical situation, be convenient to the control strategy chamber of experimentizing debugging, and can test the characteristic of EPS to EPS.
The present invention is further detailed explanation below in conjunction with accompanying drawing and example.
Structure of the present invention as shown in Figure 3, mainly comprise resistance servo motor 15 (, representing with resistance servo motor), speed reduction unit 25, servomotor controller 17, current sensor 22, angular transducer 14, data collecting card 20 and computing machine 21 here in order to distinguish mutually with assist motor 3.
Computing machine 21 adopts the PC of the above rank CPU of Pentium usually, has a unnecessary ISA or PCI slot at least, uses for data collecting card 20.
Data collecting card 20 is inserted in the ISA or PCI groove of computing machine 21.Optional usefulness has multi-channel A/D, multichannel D/A, and the universal data collection card of multichannel DI and DO is chosen corresponding model as required.Present embodiment adopts Taiwan to grind magnificent PCL-812PG.
Resistance servo motor 15 turns to output shaft 4 to link to each other by 9 to 1 speed reduction unit 25 and universal joint 26 with EPS, and its function is that the simulated automotive wheel is to turning to the resistance of output shaft 4.Torque signal 24, the current signal 28 of resistance servo motor 15 are sent to data collecting card 20.Servomotor and servomotor controller that present embodiment adopts Central China numerical control company to produce.
Servomotor controller 17 is used to control the moment of torsion of resistance servo motor 15, and links to each other with data collecting card 20.
Angular transducer 14 is positioned on the bearing circle 1, is used to measure the deflection angle of wheel, provides wheel deflection angle signal 14 ' to data collecting card 20.Present embodiment adopts Shanghai to think the rotary 5 circle potentiometers of 25HPS-5 wire-wound that rich mechanical electric company limited produces, and also can adopt the photo-electric code-disc.
Current sensor 22 adopts the external hanging type Hall current sensor, is used to measure the assist motor electric current of electric boosting steering system, and one and the proportional voltage signal 22 ' of current of electric are provided.
Accelerator pedal signal 18 is the analog voltage signal of 0-5V from accelerator pedal, is the control signal of driver to car speed, has reflected the current movement velocity of vehicle.Data collecting card 20 is gathered following signal: accelerator pedal signal 18, wheel deflection angle δ signal 14 ', from the torque sensor signal 7 ' of torque sensor 7, the output torque signal 27 of assist motor 3, current of electric 22, the torque signal 24 of resistance servo motor 15, current signal 28 also send these signals to computing machine 21 and handle.
Computing machine 21 calculates the movement velocity and the engine speed (realizing with a simple proportional algorithm) of vehicle according to accelerator pedal signal 18, to EPS controller 11 one of output and engine speed and the proportional pulse signal 9 of car speed and 10, make the EPS operate as normal by data collecting card 20.The tester passes through in power steering wheel rotation 1, turned to output shaft 4 to apply a moment of torsion, and wheel is deflected, computing machine 21 is according to wheel deflection angle δ, vehicle movement speed 10, and goes out resistance wheel Tr according to vehicle movement model given below and calculation of parameter.Send one and the proportional control signal 23 of resistance wheel Tr (its span is 0-5V) by data collecting card 20 to servomotor controller 17, control servomotor controller 17 outputs to the resistance of EPS output shaft 4 to resistance servo motor 15 one of output and control signal 23 proportional exciting currents 16 with control resistance servo motor 15.
Torque signal 24, the current of electric 28 of resistance servo motor output, torque signal 27, the current of electric 22 of assist motor 3 outputs are delivered to data collecting card 20, are used for EPS performance test and FEEDBACK CONTROL.
Torque sensor signal 7 ', vehicle speed signal 10 that EPS controller 11 is gathered from torque sensor 7 are to Control current signal 8 of servomotor 3 outputs, the size and Orientation of control power-assisted.
The torque signal 24 of voltage signal 22 ' and dynamometer machine output is delivered to data collecting card 20, after handling by computing machine 21, be used for the electric boosting steering system performance test.
Vehicle movement model when at first analyzing motor turning.
Suppose when setting up differential equation of motion: driving force is not too big, do not consider of the influence of ground tangential force to tire cornering characteristics, there is not aerodynamic effect, ignore the variation of the tire characteristics that left and right sides ξ wheel tyre causes owing to the variation of load and the influence of tyre moment, directly with front wheel angle as input, ignore the effect of suspension, like this automobile being simplified to one is had the tire of lateral elasticity to be supported on ground, is had the two degrees of freedom car model of side direction and weaving by former and later two.During analysis, make the initial point of vehicle axis system overlap (as Fig. 5) with the automobile barycenter.
OX and OY are the longitudinal axis and the transverse axis of vehicle axis system.The component that is engraved in when systemic velocity V and t on the OX axle is u, and the component on the OY axle is v.Because with translation and rotation, at t+ Δ t constantly, the size of systemic velocity and direction all change in the vehicle axis system during motor turning.So the component of automobile barycenter acceleration on the OX axle is ax=du/dt-v*Wr, the component on the OY axle is
ay=du/dt+u*Wr,
Then the differential equation of motion during motor turning is:
Fy2+Fy1*cosδ=m*(dv/dt+u*Wr),(1)
a*Fy1*cosδ-b*Fy2=Iz*dWr/dt,(2)
Simplify (1) (2) formula, can get:
k1*a1+k2*a2=m(dv/dt+u*Wr),(3)
a*k1*a1-b*k2*a2=Iz*dWr/dt,(4)
Wherein m represents car mass, Fy1, Fy2 faces the cornering force of front and back wheel with representing, be lateral deviation power, δ represents front wheel steering angle, Iz represents the moment of inertia of automobile around the Z axle, k1 represent the front-wheel cornering stiffness (28000~-80000N/rad), k2 represent the trailing wheel cornering stiffness (28000~-80000N/rad).
A represents the distance of barycenter to front axle, and b represents the distance of barycenter to rear axle, and a1 among Fig. 5, a2 are side drift angle, and the side drift angle of barycenter is B, and B=v/u, ξ are the angle of vehicle front speed v 1 and X-axis.
ξ=B+a*Wr/u,a1=B+a*Wr/u-δ,a2=B-b*Wr/u,
Can be in the hope of the variation size of automobile absolute velocity Speed according to above-mentioned model according to the variation of pickup.Engine speed EngRPM can be tried to achieve by the speed of a motor vehicle,
EngRPM=Speed*1000*KfTRate[i]*KfMRate/2/3.14159/0.51/60。
KfMRate is a base ratio, KfTRate[i] be each ratio of gear of variator.
Introduce electric boosting steering system simulation testing device resistance wheel mathematical model below.For the steering axle (comprising two parts integral body up and down) of steering, put on the moment Ts of bearing circle and torque Ta that motor passes to steering axle and must and act on moment of resistance T1 balance on the steering axle, T1 is caused with respect to the moment of resistance that the resistance on ground produces by wheel.Be steering axle below as shown in Figure 6, rack and pinion steering gear just, the simple stress analysis of steering linkage and wheel.TR is applied to the commentaries on classics distance that turns on the pinion wheel.When motor turning, ground is bound to produce the resistance distance with respect to wheel, and wheel is just returned.Fig. 6 represents the stressing conditions of pinion wheel and wheel.
The stressed of wheel is decomposed into along the Fx of wheel plane direction and the direction Fy of vertical wheel plane.
F x = A K x s 1 - s , F y = A K y tan α 1 - s ,
K xAnd K yRepresent wheel tire stiffness (0.1-20KN/mm) and horizontal tire stiffness (0.1-2KN/mm) longitudinally respectively, A represents the contact area of tire, and S represents slip rate, and α represents side drift angle, and δ is a wheel steering angle, so:
Resistance F R=F xSin δ+F yCos δ
Because steering wheel angle θ SwAnd the pass between the wheel steering angle δ is: θ Sw=n δ, n are turning rate, so surface resistance is apart from passing to the resistance of pinion wheel apart from T rFor
T r = F R × r = ( AK x s 1 - s sin θ sw n + AK y tan α 1 - s cos θ sw n ) × r .
R is the radius of pinion wheel.
Fig. 7 to Fig. 9 has provided main flow chart, EPS debugging process flow diagram and the EPS test flow chart of emulation testing software.Being described as follows of main flow chart:
1. power on after the success initialization 812PG card parameter;
2. to the various parameter initialization assignment of test platform, comprise surface resistance coefficient, coefficient of road adhesion, radius of wheel, turn to the pinion wheel radius, contact area of turning rate, the vertical tire stiffness of wheel, the horizontal tire stiffness of wheel, tire, slip rate, side drift angle, gear ratio, the speed of a motor vehicle, engine speed etc.;
3. scan menu button, determine that the EPS debugging still is the EPS test.Forward corresponding program then to.
Use the present invention, can adopt two kinds of methods to carry out emulation testing, a kind of for becoming speed of a motor vehicle method, another kind is to decide speed of a motor vehicle method.The former is used for the function test of electric boosting steering system, and the latter is used for the various characteristics test of electric boosting steering system.
1, becomes speed of a motor vehicle method.Tester's bend the throttle, the computing machine of simulation testing device goes out the travel speed of vehicle and the resistance of wheel according to position, wheel deflection angle and auto model and the calculation of parameter of accelerator pedal, export an excitation signal by data collecting card to resistance servo motor, the control resistance servo motor outputs to the resistance of EPS, exports a vehicle speed pulse signal simultaneously and gives the resistance servo motor controller.Tester's steering wheel rotation applies a moment of torsion to steering mechanism.
In the test, the tester is in the process of steering wheel rotation, and smoothly whether sensation, whether when having catching phenomenon, bearing circle to have or not tangible vibration sense, steering wheel rotation to a certain angle to stop whether output terminal has inertial delay etc.
2, decide speed of a motor vehicle method.By computer screen menu setting fixed vehicle speed, computing machine utilizes auto model and calculation of parameter to go out resistance wheel according to the speed of a motor vehicle, wheel deflection angle, to excitation signal of resistance servo motor output, the control resistance servo motor outputs to the resistance of electric boosting steering system steering mechanism by data collecting card.Tester's steering wheel rotation applies a moment of torsion to steering mechanism, gathers torque sensor signal, vehicle speed signal by data collecting card, to the suitable Control current of servomotor output, with the size and Orientation of control power-assisted.This method is used to test the various characteristics curve of electric boosting steering system.As:
(1) load-characteristic test
(1.1) test routine
Set the speed of a motor vehicle by on-screen menu and (, can give fixing spacing value of the speed of a motor vehicle, as 0 according to the vehicle difference, 20km/h, 40km/h etc.), with lower speed steering wheel rotation, bearing circle forwards maximum angle to from 0 degree, return 0 degree, backward rotation returns 0 degree to reverse maximum angular.Simulation testing device writes down angle, the load loading moment of bearing circle automatically.
(1.2) trial curve
According to the test figure of front, draw steering wheel angle-load loading moment curve, steering wheel angle-hand-power curve automatically
(2) current of electric attribute testing
(2.1) test routine
Set the speed of a motor vehicle by on-screen menu, with lower speed steering wheel rotation, bearing circle forwards maximum angle to from 0 degree, returns 0 degree, and backward rotation returns 0 degree to reverse maximum angular.Simulation testing device writes down the angle and the driven by servomotor electric current of bearing circle automatically.
(2.2) trial curve
According to the test figure of front, draw steering wheel angle-driven by servomotor current curve automatically.
(3) impulse test
(3.1) test routine
Set the speed of a motor vehicle by on-screen menu, the bearing circle transfixion applies impulsive force in a clockwise direction at the output terminal of steering gear, and the angle that simulation testing device writes down the size and Orientation dish of impulsive force automatically changes.Output terminal in steering gear applies impulsive force with counter clockwise direction then, and the angle that simulation testing device writes down the size and Orientation dish of impulsive force automatically changes.
(3.2) trial curve
According to the test figure of front, draw steering wheel angle-impulsive force curve automatically.
(4) low speed just returns and tests
(4.1) test routine
Set low speed of a motor vehicle (as 20km/h) by on-screen menu, by hand-power steering wheel rotation in a clockwise direction fast, the angle that simulation testing device writes down bearing circle automatically changes.Then, fast with the counter clockwise direction steering wheel rotation, the angle that simulation testing device writes down bearing circle automatically changes.
(4.2) trial curve
According to the test figure of front, draw steering wheel angle-time curve automatically.
(5) high speed is returned and is just tested
Test method is the same, just the speed of a motor vehicle is set under the higher speed, as 80km/h.

Claims (1)

1, a kind of automobile electric booster steering system simulation testing device is characterized in that: this device comprises resistance servo motor (15), speed reduction unit (25), servomotor controller (17), current sensor (22), angular transducer (14) and is inserted with the computing machine (21) of data collecting card (20);
Resistance servo motor (15) links to each other with the output shaft (4) that turns to of electric boosting steering system by speed reduction unit (25) and universal joint (26), be used for the simulated automotive wheel to turning to the resistance of output shaft (4), its torque signal (24) is sent to data collecting card (20);
Servomotor controller (17) links to each other with data collecting card (20), is used to control the moment of torsion of resistance servo motor (15);
Current sensor (22) is used to measure the current of electric of electric boosting steering system, to data collecting card (20) provide one with the proportional voltage signal of current of electric (22 ');
Angular transducer (14) is positioned on the bearing circle (1), is used to measure the deflection angle of wheel, and provides wheel deflection angle signal (14 ') to data collecting card (20);
Computing machine (21) is by data collecting card (20) image data and transmit control command, and the data of gathering are handled, and obtains test result.
CNB2004100133989A 2004-06-29 2004-06-29 Automobile electric power-assisted steering system simulation testing arrangement CN1330954C (en)

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CN1330954C true CN1330954C (en) 2007-08-08

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