CN1724974A - Detection method of stage test wheel medium and maximum steering angle - Google Patents
Detection method of stage test wheel medium and maximum steering angle Download PDFInfo
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- CN1724974A CN1724974A CN 200510007113 CN200510007113A CN1724974A CN 1724974 A CN1724974 A CN 1724974A CN 200510007113 CN200510007113 CN 200510007113 CN 200510007113 A CN200510007113 A CN 200510007113A CN 1724974 A CN1724974 A CN 1724974A
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Abstract
The invention is a bench type wheel balanced position and maximum turning angle detecting method, according to the character that the turning trapezoid of an auto-car causes right and left turning symmetry relative to the balanced position, in the whole course that the wheels turn from the maximum left turning angle to the maximum right turning angle, able to obtain two symmetric delta-corresponded right and left detected angles and maximum turning angle differences by detecting the turning angles and turning angle differences of the right and left wheels at the same time, calculating to be able to obtain the detected angles beta0 and alpha0 of the right and left wheels as in the balanced position, and because the change rate of delta is relatively large when the right and left turning angles are larger relative to the balanced position, able to select two relatively small symmetric delta to calculate the balanced angle and able to calculate a plurality of symmetric delta, separately, to obtain a plurality of belta0 and alpha0, averaging them and thus accurately detecting the maximum inner and outer turning angles of the right and left wheels.
Description
Technical field
The present invention be automobile on the wheel turning angle check-out console, carry out left and right wheels meta and the maximum method that turns to inside and outside angle to detect, belong to bench teat automotive performance detection technique field.
Background technology
At present, automobile is on the wheel turning angle check-out console, carry out the left and right wheels maximum when turning to inside and outside angle to detect, because meta that can't automatic accurate definite wheel reaches check-out console as the wheel meta at random with deflecting roller, the angular error of wheel meta, caused maximum turn to that inside and outside angle detects than mistake, repeatability is very poor, even same turning to occur, and maximum interior angle is less than the testing result at maximum exterior angle.For overcoming the deficiency of above-mentioned detection method, the present invention determines the wheel meta by accurate, thereby accurately detects the steering locking angle of wheel.
Summary of the invention
The present invention is that automobile is on the wheel turning angle check-out console, (or to the right) turns to and makes it to reach steering locking angle left earlier, with this state as measurement of angle zero point, slowly steering wheel rotation makes wheel progressively reach maximum right turn angle (or maximum left steering angle) from maximum left steering angle (or maximum right turn angle) then, measures the steering angle of each synchronization left and right sides check-out console in this process.In this course, revolver turns to interior angle from maximum, turns to the relative meta of interior angle to reduce gradually, after being zero meta, revolver from meta become turn to behind the exterior angle again from zero relatively meta increase gradually, reach maximum until revolver and turn to the exterior angle.In this same process, right wheel turns to the exterior angle from maximum, turns to the relative meta in exterior angle to reduce gradually, after being zero meta, right wheel from meta become turn to behind the interior angle again from zero relatively meta increase gradually, reach maximum until right side wheel and turn to interior angle.
Principle of the present invention is: turn to symmetric characteristics about relative meta according to trapezoidal the causing of motor turning, turn to the interior angle state as angular detection zero point with the revolver maximum, steering wheel rotation slowly turns to the right then, relation between the inside and outside wheel steering angle that causes by steering trapezium, by measuring the steering angle of synchronization left and right sides check-out console, revolver angle detected value β and value of delta=β-α of right wheel angle detected value α start from scratch to increase gradually, when the wheel meta, the δ value reaches maximal value δ
m, equal the poor of the maximum interior angle of revolver and the maximum exterior angle of right wheel, when wheel continued to turn right, value of delta was more and more littler, when the right wheel of turning right turn to interior angle to equal the revolver maximum to turn to interior angle the time, δ equals zero; In whole steering angle testing process, meta has two symmetric points of numerous identical δ relatively, represent the symmetric position that turns to about the relative meta of steering trapezium with wheel, by detecting β and α, can determine corresponding β of symmetrical identical δ and α detected value, thus the corresponding revolver angle beta in site in can calculating
0With right side wheel angle [alpha]
0, β
0Be the revolver maximum and turn to interior angle, α
0Be right wheel maximum and turn to the exterior angle, the maximum detection angles of revolver deducts β
0Be the revolver maximum and turn to the exterior angle, the maximum detection angles of right wheel deducts α
0Be right wheel maximum and turn to interior angle; Since about when turning to the big steering angle of relative meta, the rate of change of δ is bigger, judges precision for improving, and can get two less relatively symmetrical δ
2Value is calculated the meta angle, and can be respectively to a plurality of symmetrical δ
2Calculate, obtain a plurality of β
0And α
0, get its mean value; Two δ as symmetry
2Be worth when slightly variant, can adopt insertion to obtain identical δ
2The detection angles that value is corresponding; Near meta, the rate of change of δ is very little, and is very high as the angular detection precision, and the point of detection is enough close, also can determine the angle of meta by the maximal value of δ.
1, turns to the theoretical relationship of inside and outside wheel steering angle
ctgθ-ctgγ＝K/L……(1)
The interior wheel inside lock of θ---foreign steamer outer corner ° γ---°
K---two stub center line extended lines between the intersection point of ground apart from mm
L---wheelbase mm
For institute's inspection vehicle, K/L is a definite value, and establishing the revolver detection angles is β, and right wheel detection angles is α, synchronization detection angles difference δ=β-α.If β
1Be the steering angle of the relative meta of revolver, α
1Take turns the steering angle of relative meta for the right side.If each synchronization wheel interior angle is changed to 2 °, the left and right wheels maximum turns to interior angle to be 40 °, K/L=0.4.Earlier deflecting roller being forwarded to the left-hand rotation maximum angle, serves as to detect zero point with this angle position, lists following table by (1) formula:
| β | α | β 1 | α 1 | δ |
| 0 | 0 | 40 | 32.1 | 0 |
| 2 | 1.3 | 38 | 30.8 | 0.7 |
| 4 | 2.7 | 36 | 29.4 | 1.3 |
| 6 | 4.1 | 34 | 28 | 1.9 |
| 8 | 5.5 | 32 | 26.6 | 2.5 |
| 10 | 7 | 30 | 25.1 | 3 |
| 12 | 8.4 | 28 | 23.7 | 3.6 |
| 14 | 9.9 | 26 | 22.2 | 4.1 |
| 16 | 11.4 | 24 | 20.7 | 4.6 |
| 18 | 12.9 | 22 | 19.2 | 5.1 |
| 20 | 14.5 | 20 | 17.6 | 5.5 |
| 22 | 16.1 | 18 | 16.0 | 5.9 |
| 24 | 17.7 | 16 | 14.4 | 6.3 |
| 26 | 19.3 | 14 | 12.8 | 6.7 |
| 28 | 21 | 12 | 11.1 | 7 |
| 30 | 22.7 | 10 | 9.4 | 7.3 |
| 32 | 24.5 | 8 | 7.6 | 7.5 |
| 34 | 26.3 | 6 | 5.8 | 7.7 |
| 36 | 28.2 | 4 | 3.9 | 7.8 |
| 38 | 30.13 | 2 | 1.97 | 7.87 |
| β | α | β 1 | α 1 | δ |
| 41.97 | 34.1 | 1.97 | 2 | 7.87 |
| 43.9 | 36.1 | 3.9 | 4 | 7.8 |
| 45.8 | 38.1 | 5.8 | 6 | 7.7 |
| 47.6 | 40.1 | 7.6 | 8 | 7.5 |
| 49.4 | 42.1 | 9.4 | 10 | 7.3 |
| 51.1 | 44.1 | 11.1 | 12 | 7 |
| 52.8 | 46.1 | 12.8 | 14 | 6.7 |
| 54.4 | 48.1 | 14.4 | 16 | 6.3 |
| 56.0 | 50.1 | 16.0 | 18 | 5.9 |
| 57.6 | 52.1 | 17.6 | 20 | 5.5 |
| 59.2 | 54.1 | 19.2 | 22 | 5.1 |
| 60.7 | 56.1 | 20.7 | 24 | 4.6 |
| 62.2 | 58.1 | 22.2 | 26 | 4.1 |
| 63.7 | 60.1 | 23.7 | 28 | 3.6 |
| 65.1 | 62.1 | 25.1 | 30 | 3 |
| 66.6 | 64.1 | 26.6 | 32 | 2.5 |
| 68 | 66.1 | 28 | 34 | 1.9 |
| 69.4 | 68.1 | 29.4 | 36 | 1.3 |
| 70.8 | 70.1 | 30.8 | 38 | 0.7 |
| 72.1 | 72.1 | 32.1 | 40 | 0 |
2, angular relationship analysis and definite
As seen from the above table, to the process of the steering locking angle degree of turning right, δ increases gradually by zero at left-hand rotation steering locking angle degree, when wheel is in meta, δ has reached maximal value, and wheel continues to turn right then, and δ is decreased to zero gradually by maximal value, the critical point of δ maximal value is the meta of two wheels, because the rate of change of δ is less near meta, so, have only when the angular detection precision very high, and check point can be determined the meta of wheel by the critical point of δ maximal value when enough close.If the angular detection precision is not really high, it is bigger that sampling spot departs from critical point, still can cause bigger detection error.
As seen from the above table, δ at the relative identical left and right sides of meta steering angle has symmetry, though actual automobile corner characteristic is not the theoretical characteristics that is equal to (1) formula, trapezoidal to cause the symmetry characteristics that turn to about relative meta be constant but by motor turning, the present invention detects and calculates the meta angle by the steering trapezium symmetry, when symmetrical δ equates, the interior angle or the exterior angle of meta left and right rotation angles equate relatively, and, δ angle rate of change when meta is than big left and right sides steering angle relatively is bigger, so, can determine δ in 2 °～10 ° scopes at β and α
2Value is sought the respective detection angle of symmetrical δ, the detection angles when calculating the wheel meta, thus the maximum that can get left and right wheels turns to inside and outside angle, improves the accuracy that detects greatly.
2.1, calculate the meta angle beta with the revolver detection angles
0(being that the revolver maximum turns to interior angle).
β
0＝β
2+[β
3+(δ
m-δ
2)-β
2]/2……(2)
δ
2---the δ value of in 2 °～10 ° scopes, determining
β
2---δ in 2 °～10 ° scopes
2Corresponding revolver detection angles
β
3---at symmetrical δ
2Corresponding revolver detection angles
δ
m---the δ maximal value that is detected
2.2, calculate the meta angle [alpha] with right side wheel detection angles
0(promptly right wheel maximum turns to the exterior angle).
α
0＝α
2+[α
3-(δ
m-δ
2)-α
2]/2……(3)
α
2---δ in 2 °～10 ° scopes
2Corresponding right side wheel detection angles
α
3---at symmetrical δ
2Corresponding right side wheel detection angles
2.3, the derivation and the checking computations of formula
For simplicity, derive with the notion of arithmetic and check (2) formula and (3) formula.
(δ
m-δ
2)＝(β
0-α
0)-(β
2-α
2)＝(β
0-β
2)-(α
0-α
2)
Be from δ
2During to meta, detect interior angle and the differential seat angle that detects the exterior angle, β
3+ (δ
m-δ
2) be equivalent to revolver with the rate of change of interior angle from zero point to symmetrical δ
2The angle of position, and α
3-(δ
m-δ
2) be equivalent to right wheel with the rate of change at exterior angle from zero point to symmetrical δ
2The angle of position is so derivation of (2) formula and (3) formula and checking computations are just very simple and very clear.
2.4, as two δ of symmetry
2Take a sample when slightly variant, can be to δ bigger than normal
2Adopt insertion to obtain identical δ
2The detection angles that value is corresponding.When detection obtains β
0And α
0After, the maximal value of the β that examines deducts β
0Then for the maximum of revolver turns to the exterior angle, the maximal value of the α that examines deducts α
0Then the maximum for right wheel turns to interior angle.
Embodiment
After reaching vehicle front-wheel on the wheel turning angle check-out console, can pull the hand brake and make the stationkeeping of rear axle constant, elder generation's steering wheel rotation is turned left and is reached steering locking angle and be stabilized in this angle to making it, with this position as detection angles zero point, the bearing circle that continues then slowly to turn right makes wheel gradually reach maximum right turn angle from maximum left-hand rotation contention, measure the steering angle β and the α of each synchronization left and right sides check-out console in this process, and obtain corresponding δ value, in being 2 °～10 ° scopes, β determines δ
2Value and corresponding β
2, α
2Value finds or adopts insertion to calculate symmetrical δ
2Corresponding β
3, α
3Value can calculate β automatically according to (2) formula and (3) formula
0And α
0
1, by giving an example in the last table: δ
2=2.5, δ
m=7.9, β
2=8 °, α
2=5.5 °, β
3=66.6 °, α
3=64.1 °
By (2) formula β
0=8+[66.6+ (7.9-2.5)-8]/2=40 °
By (3) formula α
0=5.5+[64.1-(7.9-2.5)-5.5]/2=32.1 °
2, adopt insertion to ask δ by last table
2Equal 2.8 relative angle
β
2＝10-[(10-8)/(3-2.5)]×(3-2.8)＝9.2
α
2＝7-[(7-5.5)/(3-2.5)]×(3-2.8)＝6.4
β
3＝65.1+[(66.6-65.1)/(3-2.5)]×(2.8-2.5)＝66
α
3＝62.1+[(64.1-62.1)/(3-2.5)]×(2.8-2.5)＝63.3
β
0＝9.2+[66+(7.9-2.8)-9.2]/2＝40.15
α
0＝6.4+[63.3-(7.9-2.8)-6.4]/2＝32.3
The present invention has advantages such as method is simple, the searching meta is accurate, the detection error is little.
Claims (1)
1, the detection method of bench teat wheel meta and steering locking angle, be that automobile is on the wheel turning angle check-out console, determine the wheel meta and carry out the steering locking angle detection, it is characterized in that: turn to symmetric characteristics about relative meta according to trapezoidal the causing of motor turning, turn to the interior angle state as angular detection zero point with the revolver maximum, steering wheel rotation slowly turns to the right then, relation between the inside and outside wheel steering angle that causes by steering trapezium, by measuring the steering angle of synchronization left and right sides check-out console, revolver angle detected value β and value of delta=β-α of right wheel angle detected value α start from scratch to increase gradually, when the wheel meta, the δ value reaches maximal value δ m, equal the maximum interior angle of revolver and take turns the poor of maximum exterior angle with the right side, when wheel continues to turn right, value of delta is more and more littler, when the right wheel of turning right turn to interior angle to equal the revolver maximum to turn to interior angle the time, δ equals zero; In whole steering angle testing process, meta has two symmetric points of numerous identical δ relatively, represent the symmetric position that turns to about the relative meta of steering trapezium with wheel, by detecting β and α, can determine corresponding β of symmetrical identical δ and α detected value, thus the corresponding revolver angle beta in site in can calculating
0With right side wheel angle [alpha]
0, β
0Be the revolver maximum and turn to interior angle, α
0Be right wheel maximum and turn to the exterior angle, the maximum detection angles of revolver deducts β
0Be the revolver maximum and turn to the exterior angle, the maximum detection angles of right wheel deducts α
0Be right wheel maximum and turn to interior angle; Since about when turning to the big steering angle of relative meta, the rate of change of δ is bigger, judges precision for improving, and can get two less relatively symmetrical δ
2Value is calculated the meta angle, and can be respectively to a plurality of symmetrical δ
2Calculate, obtain a plurality of β
0And α
0, get its mean value; Two δ as symmetry
2Be worth when slightly variant, can adopt insertion to obtain identical δ
2The detection angles that value is corresponding; Near meta, the rate of change of δ is very little, and is very high as the angular detection precision, and the point of detection is enough close, also can determine the angle of meta by the maximal value of δ.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100071135A CN1328572C (en) | 2005-01-20 | 2005-01-20 | Detection method of stage test wheel medium and maximum steering angle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100071135A CN1328572C (en) | 2005-01-20 | 2005-01-20 | Detection method of stage test wheel medium and maximum steering angle |
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| Publication Number | Publication Date |
|---|---|
| CN1724974A true CN1724974A (en) | 2006-01-25 |
| CN1328572C CN1328572C (en) | 2007-07-25 |
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ID=35924537
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|---|---|---|---|
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| CN (1) | CN1328572C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104568258A (en) * | 2014-12-31 | 2015-04-29 | 徐工集团工程机械股份有限公司科技分公司 | Method for measuring static-state steering resisting moment of loading machine |
| CN105711483A (en) * | 2016-04-20 | 2016-06-29 | 高碑店市博伟汽车配件有限公司 | Auxiliary lighting system for curves |
| CN107101605A (en) * | 2017-04-25 | 2017-08-29 | 江苏金坛汽车工业有限公司 | Vehicle steering left and right rotation angles adjust the process of uniformity |
| CN108082284A (en) * | 2016-11-22 | 2018-05-29 | 福特全球技术公司 | Synchronous Vehicular turn |
| CN110285985A (en) * | 2019-05-31 | 2019-09-27 | 驭势科技（浙江）有限公司 | Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system |
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| AU706372B2 (en) * | 1997-04-25 | 1999-06-17 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Mounting structure for wheel angle detector and rotation amount detector for vehicle wheel |
| JP3422235B2 (en) * | 1997-10-31 | 2003-06-30 | 日産自動車株式会社 | Electric power steering device |
| CN2573999Y (en) * | 2002-10-24 | 2003-09-17 | 重庆宗申技术开发研究有限公司 | Steering angle measuring device for motorcycle |
| CN2594778Y (en) * | 2003-01-08 | 2003-12-24 | 张同合 | Digital wheel positioner on vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104568258A (en) * | 2014-12-31 | 2015-04-29 | 徐工集团工程机械股份有限公司科技分公司 | Method for measuring static-state steering resisting moment of loading machine |
| CN105711483A (en) * | 2016-04-20 | 2016-06-29 | 高碑店市博伟汽车配件有限公司 | Auxiliary lighting system for curves |
| CN108082284A (en) * | 2016-11-22 | 2018-05-29 | 福特全球技术公司 | Synchronous Vehicular turn |
| CN107101605A (en) * | 2017-04-25 | 2017-08-29 | 江苏金坛汽车工业有限公司 | Vehicle steering left and right rotation angles adjust the process of uniformity |
| CN107101605B (en) * | 2017-04-25 | 2019-11-12 | 江苏金坛汽车工业有限公司 | The process of vehicle steering wheel left and right rotation angles adjustment consistency |
| CN110285985A (en) * | 2019-05-31 | 2019-09-27 | 驭势科技（浙江）有限公司 | Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system |
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| Publication number | Publication date |
|---|---|
| CN1328572C (en) | 2007-07-25 |
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