CN206400349U - A kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire - Google Patents
A kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire Download PDFInfo
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- CN206400349U CN206400349U CN201720098812.3U CN201720098812U CN206400349U CN 206400349 U CN206400349 U CN 206400349U CN 201720098812 U CN201720098812 U CN 201720098812U CN 206400349 U CN206400349 U CN 206400349U
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Abstract
The utility model announces a kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire, steering drag is accurately simulated by Resistance motor on stub position, highly reduction actual steering system turns to posture and dynamic characteristic, and can adjust the automobile steering-by-wire hardware in loop road surface resistance simulation experimental bench of target simulation resistance in real time according to in-circuit emulation software.Including support meanss, turn to execution system, resistance simulation system, knuckle, Hardware Real-time Simulation platform and signal transmission cable.The experimental bench is calculated according to the Full Vehicle Dynamics model run in Hardware Real-time Simulation platform, in real time obtains wheel by road surface torque as target loading moment, can be with the different speeds of dynamic analog, the different steering drags turned under being intended to.And by being available for the support meanss of regulation from different steering gears and adjustment, the steering of different automobile types can be simulated, with certain versatility.
Description
Technical field
The utility model is related to Automotive Steering Technology field, and a kind of hardware suitable for automobile steering-by-wire of specific design exists
It is the-loop test bed.
Background technology
Automobile steer-by-wire system performance directly affects control stability in vehicle traveling process, security and comfortable
Property.Automobile steering system experienced the stages such as traditional mechanical steering, hydraulic power-assist steering system and electric boosting steering system,
Manipulation, ride experience to driver have larger lifting.The common ground of above-mentioned steering is operating mechanism and turns to execution
Exist between mechanism and mechanically connect, gearratio is fixed, and the steering characteristic of vehicle changes with speed.Current Vehicle Electronic Control
Technology fast development promotes the technical reform of automobile steering system and innovation.Steering-by-wire technology has started to be looked forward to by some cars
Accreditation and application, major motor corporations and colleges and universities have started to be studied for steering-by-wire since the last century.Steering-by-wire
System eliminates operating mechanism and turns to the mechanical connection between executing agency, turns to driver by electronic control unit and anticipates
Figure passes to steering executing agency and real-time feedback information.The electronic control unit of steering-by-wire technology can set any transmission
Than so as to break away from the limitation of conventional steering gearratio fixation so that Vehicular turn characteristic does not change with speed, lifting car
Drive active safety and stability.
Automobile steering system needed from research and development to volume production application experience physical prototyping design, bench test, real vehicle test and
A series of stages such as adjustment is perfect.Wire-controlled steering system eliminates operating mechanism and turns to the mechanical connection between executing agency,
Control logic is complex in control system, and reliability and security need further checking, therefore to avoid unnecessary peace
It is complete unexpected, need fully to debug the soft and hardware of system before real train test is carried out, until system has optimality
Energy.Therefore, the exploitation built to wire-controlled steering system of steering-by-wire hardware in loop experimental bench is particularly important.
Because steering-by-wire hardware in loop experimental bench needs reflection, automobile can be applied to car in steering procedure by environment
External force on wheel, so the simulation of road pavement steering drag is the important component of test-bed, is turned to simulating vehicle
During the torque that is formed on stub position of the road surface external force that is subject to of wheel.
Current resistance simulation is various informative, typical mode have spring-loaded, jack loaded type, electro-hydraulic servo formula,
Magnetic powders brake formula and motor loaded type；If application number 200820081713.5 is using one end fixation spring simulated resistance, simulation resistance
Power size and the decrement or elongation of spring are linear, once Spring Selection is completed, spring rate keeps constant, resistance
Simulation is only relevant with spring deformation amount, but resistance simulation size is uncontrolled, and accuracy can not meet requirement of experiment, it is impossible to reflect
In actual vehicle steering procedure by external force situation.Application number 201010191612.5 carries out resistance simulation using electrohydraulic system,
Resistance simulation control is carried out for hydraulic cylinder using servo valve, it is with high costs because hydraulic system equipment requirement is higher, and take
Space is larger, complicated, while hydraulic system has oil leak hidden danger, there is no method effectively to solve at present, hydraulic system is defeated in addition
Go out and there is certain hysteresis quality, it is impossible to meet the requirement of real-time of emulation.Application number 201310274371.4 is hindered using motor
Power is simulated, and motor, which is arranged on, to be turned in executing agency, and motor output shaft is engaged to simulate steering resistance with turning to executing agency's rack
Power, is not to reflect steering drag by tire in view of reality external environment, it is impossible to which reflect reality situation completely.
The content of the invention
The utility model is in view of the shortcomings of the prior art, it is proposed that a kind of hardware in loop suitable for automobile steering-by-wire is tried
Platform is tested, under the torque mode of design, carries out Torque Control to realize quick dynamic load by resistance simulation electric machine controller.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is as follows：One kind is applied to automobile steering-by-wire
Hardware-in-the-loop test platform, including support meanss, turn to execution system, resistance simulation system, two knuckles, real-time simulation put down
Platform and signal transmission cable, it is characterised in that：Support meanss are provided with steering execution system, knuckle and its installation as pedestal
Component and real-time simulation platform, it is simple in construction to be easy to laboratory to arrange；Turn to execution system by with steering gear rack ball pin
The track rod of connection is using being bolted on knuckle arm, and Resistance-load motor is connected with deceleration device by housing bolts
Fixation is connect, and is arranged on by bolt in resistance simulation system supporting plate, Resistance motor output shaft slows down to increase by decelerator to be turned round,
By key connection function on king pin position, knuckle is turning to the collective effect of execution system and resistance simulation system
Lower motion, characterizes athletic posture when pivoted wheels on vehicle is turned to, the real vehicle steering of altitude simulation；Support meanss are by aluminium section bar
Framework is fixed by cast aluminium corner fittings to form, and each aluminium section bar rod member can be adjusted by elastic cast aluminium corner fittings on section aluminum guide rail direction
Relative position, by adjusting aluminium section bar rod member and changing steering gear, form different wheelspan and steering trapezium, mould can be met
Intend different automobile types steering；
Support meanss include：Bottom support frame, left and right turn section hanger bar, steering execution system supporting plate, left and right turn
Save supporting plate；Described bottom support frame includes base, turns to execution system supporting plate mounting rod, seat slide guide rod and turn
To joint arm hanger bar stabiliser bar；The base includes left-right longeron, it is preceding in after the longitudinal directions of three crossbeams and two lateral adjustments lead
To bar；The steering execution system supporting plate mounting rod is arranged on perpendicular to horizontal plane can be with longitudinally adjust on longitudinally guiding bar；
The steering execution system supporting plate is arranged on parallel to horizontal plane to be turned on execution system supporting plate mounting rod；The knuckle
Arm sling peg is arranged on the front beam of mounting seat perpendicular to horizontal plane, parallel to front beam and perpendicular to joint arm hanger bar peace
Dress knuckle arm hanger bar stabiliser bar is reinforced to whole support meanss；
The support meanss are fixed framework by cast aluminium corner fittings by aluminium section bar and formed, and can pass through on section aluminum guide rail direction
Elastic cast aluminium corner fittings adjusts the relative position of each aluminium section bar rod member, by adjusting aluminium section bar rod member and changing steering gear, is formed not
Same wheelspan and steering trapezium, can meet simulation different automobile types steering；
It is described steering execution system include turn to actuating motor, rack and pinion steering gear, rack, left and right turn drag link,
Turn to actuating motor controller；Rack and pinion steering gear is integrally L-shaped, is horizontally set in steering supporting plate；Steering is held
Row motor is fixed on steering gear housing, is turned to actuating motor output shaft and is stretched into motor installing hole；Actuating motor is turned to pass through
Motor rotary motion is changed into rack motion by worm and gear, rack-and-pinion double reduction mechanism；Rack two ends pass through ball
Pin is connected with track rod；The knuckle arm of each the track rod other end and knuckle is hinged；Turn to actuating motor
Input is connected by cable with turning to the output end of actuating motor controller, turns to the input and reality of actuating motor controller
When emulation platform an output end be connected；
The resistance simulation system include left and right resistance simulation motor, left and right deceleration device, resistance simulation electric machine controller,
Left and right turn section and its support meanss；Speed reducer housing is bolted with resistance simulation motor support plate upper plate；Decelerator
Shell is bolted with resistance simulation motor housing；The input of resistance simulation motor passes through cable and resistance simulation motor
The output end connection of controller, the input of resistance simulation electric machine controller is connected with real-time simulation platform output end；
The knuckle erecting device includes stub, knuckle supporting plate, lower bearing, upper bearing (metal), resistance simulation system branch
Fagging is constituted, and knuckle supporting plate is fixed on the outside of knuckle arm hanger bar by screw, nut, and stub passes through metal (upper quilt
It is fixed between knuckle supporting plate and resistance simulation system supporting plate and can be freely rotated around vertical；Knuckle is clamped in master
On pin, can freely it be rotated with simulated automotive deflecting roller kinematics characteristic around vertical with stub；Reducer output shaft connects with stub key
Connect, reducer input shaft is gripped with resistance simulation motor output shaft.
Improvement to above-mentioned technical proposal：Real-time simulation platform is used as the TT＆C system core of Resistance-load experimental bench, profit
With its information acquisition module via resistance simulation electric machine controller, the knuckle turn that photoelectric encoder output is obtained is resolved and gathered
Angle information；Resistance simulation electric machine controller is set as torque control model, is believed by the DA exported to collecting real-time simulation platform
Number processing computing driving resistance simulation motor loading drag size and direction；Turn to actuating motor controller and be set as corner closed loop
Control model, turns to actuating motor controller and is turned according to the expectation front wheel angle obtained in real time from CAN with actual front wheel
Angle information, driving turns to actuating motor and carries out angle closed-loop control to knuckle；Industrial computer passes through ICP/IP protocol and reality
When Simulation Platform Software connect, be responsible for measurement and control program download and real time data inspecting.
Further improvement to above-mentioned technical proposal：Resistance simulation system uses low inertia AC servo motor, in design
Torque mode under Torque Control is carried out to realize quick dynamic load by resistance simulation electric machine controller；Resistance-load process
In, it can be calculated according to the Full Vehicle Dynamics model run in real-time simulation platform and obtain wheel by road surface torque as target
Loading moment, can be with the different speeds of dynamic analog, the different steering situations turned under being intended to, by real-time simulation platform software
DA passages by resistance simulation controller carry out Dynamic High-accuracy Resistance-load.
Further improvement to above-mentioned technical proposal：Can be real-time using the software manipulation interface installed on industrial computer
Resistance control system loading parameter is adjusted, and experimental result can be monitored in real time and possess data storage function.
Further improvement to above-mentioned technical proposal：Different control systems by different power drives, wherein, it is upper
Machine, real-time emulation system, Resistance motor have 220V AC powers to power；Resistance simulation electric machine controller, driving and steering system control
Device processed, encoder have 5V dc sources to power；Motor is turned to be powered by 12V dc sources.
Beneficial effect：
1st, the utility model is calculated according to the Full Vehicle Dynamics model run in real-time simulation platform obtains wheel by road
Face torque, can be with the steering situation under the different speeds of dynamic analog as target loading moment.
2nd, the utility model steering drag action mode is the moment of resistance acted on stub, and vivid reflection turns to appearance
State, truly reflects wheel steering system kinematics characteristic.
3rd, the utility model can by changing resistance simulation systematic control algorithm in resistance simulation electric machine controller, with than
Control effect under more different control algolithms, preferable control algolithm is determined for different situations.
4th, the utility model real-time simulation platform can be easy to monitoring to obtain in steering procedure with host computer real-time communication
Corner, moment of resistance information, foundation is provided for later data analysis.
5th, the utility model support device structure is simple, is available for adjustment, facilitates laboratory mounting arrangements and with certain logical
It is applied to the steering of simulation different automobile types with property.
Brief description of the drawings
Principle described in a kind of Fig. 1 hardware-in-the-loop test platforms suitable for automobile steering-by-wire described in the utility model
Figure.
Three-dimensional described in a kind of Fig. 2 hardware-in-the-loop test platforms suitable for automobile steering-by-wire described in the utility model
Assembly figure.
Support described in a kind of Fig. 3 hardware-in-the-loop test platforms suitable for automobile steering-by-wire described in the utility model
Apparatus structure schematic diagram.
Gear described in a kind of Fig. 4 hardware-in-the-loop test platforms suitable for automobile steering-by-wire described in the utility model
Rack steering gear schematic diagram.
Steering described in a kind of Fig. 5 hardware-in-the-loop test platforms suitable for automobile steering-by-wire described in the utility model
Save erecting device structural representation.
A kind of Fig. 6 hardware in loop road surface resistance simulations suitable for automobile steering-by-wire described in the utility model are tested
The structured flowchart of control system part described in platform.
In figure：Support meanss 1, steering execution system 2, resistance simulation system 3, knuckle 4, real-time simulation platform 5, signal
Transmit cable 6；
Support meanss 1 include：Bottom support frame 1-1, left and right turn section hanger bar 1-2 and 1-12, steering execution system branch
Fagging 1-3, knuckle arm hanger bar stabiliser bar 1-4, left and right turn section supporting plate 1-5 and 1-6, the support of left and right resistance simulation system
Plate 1-7 and 1-8；
Base include before in after three crossbeams 1-9,1-10,1-11, seat slide guide rod 1-13 and 1-14, turn to perform
System supporting plate mounting rod 1-15 and 1-16, longitudinally guiding bar 1-17 and 1-18, left-right longeron 1-19 and 1-20；
Right turn section erecting device includes：Right turn section supporting plate 1-6, right resistance simulation system supporting plate 1-8, lower bearing
1-21, stub 1-22, upper bearing (metal) 1-23；
Turning to execution system includes：Turn to actuating motor 2-1, rack and pinion steering gear 2-2, rack 2-3, left and right turn horizontal
Pull bar 2-4 and 2-5, turn to actuating motor controller 2-6 steering screws 2-7 and steering gear worm 2-8 mating connection, it is worm gear 2-8, small
Gear 2-9；
The knuckle arm 4-3 and 4-4 of each the track rod other end and knuckle are hinged；Turn to the input of actuating motor
End is by cable with turning to actuating motor controller 2-6；
Resistance simulation system includes：Left and right resistance simulation motor 3-1 and 3-2, left and right deceleration device 3-3 and 3-4, left and right corner
Displacement transducer 3-5 and 3-6, resistance simulation electric machine controller 3-7 and 3-8；
Knuckle includes：Left and right turn section 4-1 and 4-2, knuckle arm 4-3 and 4-4.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is further illustrated to the utility model
As shown in Fig. 2 a kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire, including support meanss 1, steering are held
Row system 2, resistance simulation system 3, two knuckles 4, real-time simulation platform 5 and signal transmission cable 6, according to Fig. 2 and Fig. 3 institutes
Show, support meanss 1 include：Bottom support frame 1-1, left and right turn section hanger bar 1-2 and 1-12, steering execution system supporting plate 1-
3rd, left and right turn section supporting plate 1-5 and 1-6；Described bottom support frame includes base, turns to execution system supporting plate mounting rod
1-15 and 1-16, seat slide guide rod 1-13 and 1-14 and knuckle arm hanger bar stabiliser bar 1-4；The base includes left and right
Longeron 1-19 and 1-20, it is preceding in after three crossbeams 1-9,1-10,1-11 and two lateral adjustments longitudinally guiding bar 1-17 and 1-
18；The steering execution system supporting plate mounting rod 1-15 and 1-16 is arranged on longitudinally guiding bar 1-17 and 1- perpendicular to horizontal plane
Can be with longitudinally adjust on 18；The steering execution system supporting plate 1-3 is arranged on parallel to horizontal plane turns to execution system support
On plate mounting rod 1-15 and 1-16；The knuckle arm hanger bar 1-2 and 1-12 is arranged on mounting seat perpendicular to horizontal plane
On front beam 1-9, knuckle arm hanger bar is installed parallel to front beam 1-9 and perpendicular to joint arm hanger bar 1-2 and 1-12 stable
Bar 1-4 is reinforced to whole support meanss；The support meanss are all formed by connecting by aluminium section bar by cast aluminium angle bar, are being pacified
There is the displacement of the lines free degree in dress track slot, be easy to regulation to turn to execution system and Resistance-load system mounting location on direction.
As shown in Figure 2 and Figure 4 the steering execution system include turning to actuating motor 2-1, rack and pinion steering gear 2-2,
Rack 2-3, left and right turn drag link 2-4 and 2-5, steering actuating motor controller 2-6；Rack and pinion steering gear 2-2 is in integrally L
Shape, is horizontally set on steering supporting plate 1-3；Turn to actuating motor 2-1 to be fixed on steering gear 2-2 housings, steering is held
Row motor 2-1 output shafts are stretched into motor installing hole；The steering screw 2-7 that is connected on actuating motor 2-1 output shafts is turned to, snail is turned to
Bar 2-7 and steering gear worm 2-8 is connected；The little gear 2-9 being connected in worm gear 2-8 rotary shafts and steering rack 2-3, which coordinates, to be connected
Connect；Rack 2-3 two ends are connected 2-4 and 2-5 by ball pin with track rod；Each the track rod other end and knuckle
Knuckle arm 4-3 and 4-4 are hinged；The input of steering actuating motor is by cable with turning to the defeated of actuating motor controller 2-6
Go out end connection, the input for turning to actuating motor controller 2-6 is connected with an output end of real-time simulation platform 5.
As shown in Figures 2 and 3, the resistance simulation system includes left and right resistance simulation motor 3-1 and 3-2, left and right deceleration
Device 3-3 and 3-4, resistance simulation electric machine controller 3-7 and 3-8, left and right turn section 4-1 and 4-2 and its support meanss 1-5,1-7
With 1-6,1-8；The knuckle erecting device includes stub 1-22, knuckle supporting plate 1-6, lower bearing 1- by taking right side as an example
21st, upper bearing (metal) 1-23, resistance simulation system supporting plate 1-8 are constituted, and knuckle supporting plate 1-6 is fixed on by screw, nut to be turned
To on the outside of joint arm hanger bar 1-12, stub 1-22 by metal (upper 1-21 and 1-23 be fixed on knuckle supporting plate 1-6 and
It can be rotated around vertical between resistance simulation system supporting plate 1-8 and freely；Right turn section 4-2 is clamped on right stub 1-22,
Can freely it be rotated around vertical with stub 1-22；Decelerator 3-4 output shafts are connected with stub 1-22 keys, decelerator 3-4 output shafts with
Resistance simulation motor 3-2 output shafts are gripped；Decelerator 3-4 shells pass through spiral shell with resistance simulation system supporting plate 1-8 upper plates
Bolt is fixed；Decelerator 3-4 shells are bolted with resistance simulation motor 3-2 shells；Resistance simulation motor 3-2 input
Be connected by cable 6 with resistance simulation electric machine controller 3-8 output end, resistance simulation electric machine controller 3-8 input with
One output end of real-time simulation platform 5 is connected.
As shown in Figure 6：Different control systems is powered by different power supplys, wherein, host computer, real-time emulation system, resistance
Force motor has 220V AC powers to power；Resistance simulation electric machine controller, driving and steering system controller, encoder have 5V direct currents
Power supply is powered；Motor is turned to be powered by 12V dc sources.
The course of work of hardware in loop road surface resistance simulation experimental bench is as follows：
As depicted in figs. 1 and 2, host computer transmits target rotation angle signal δ _ target to real-time simulation platform 5, is driven with simulating
The person of sailing, which turns to, to be intended to.Real-time simulation platform 5 collects actual rotational angle δ _ real signals with 20ms frequencies simultaneously, and wherein actual rotational angle δ _
Real is collected by the encoder 3-5 integrated with resistance simulation motor 3-1.Real-time simulation platform 5 is by target rotation angle signal
δ _ target and actual rotational angle signal δ _ real is sent to steering actuating motor controller 2-6, turns to actuating motor controller 2-6
According to writing with a brush dipped in Chinese ink the control method of setting in advance to target rotation angle signal δ _ target and actual rotational angle signal δ _ real processing
Computing, generates suitable pwm signal and turns to actuating motor 2-1 actions through over-power circuit driving.Actuating motor 2-1 is turned to pass through
Steering gear 2-2 drives knuckle 4-1 to be rotated around main pin axis.After being rotated with the stub 1-22 that knuckle 4-1 is connected, by slowing down
Device 3-3 drives resistance simulation motor 3-1 motions, and the encoder 3-5 integrated with resistance simulation motor 3-1 can be collected
Angle Position is relative to be changed.Real-time actual rotational angle δ _ real is sent to by encoder 3-5 by resistance simulation electric machine controller 3-7
Real-time simulation platform 5, be nested in Vehicle system dynamics simulation software in real-time simulation platform 5 according to actual rotational angle signal δ _
Real is calculated and is obtained road resistance T_resistance, and is fed back in resistance simulation electric machine controller 3-7, resistance simulation motor
Controller 3-7 driving resistance simulation motors 3-1 produces the torque for specifying size and direction, and master is acted on after decelerator 3-3
Sell on 1-22 positions to simulate steering drag.After target rotation angle signal δ _ target is close with actual rotational angle signal δ _ real,
Turn to actuating motor 2-1 and act on torques of the knuckle 4-1 around main pin axis with resistance simulation motor 3-1 by decelerator 3-3
Acting on the resultant moment of stub 1-22 torques formation gradually tends to 0, completes go to action.Host computer can by bus with real time
Emulation platform 5 is connected, and the Various types of data in the resistance simulation experimental bench course of work is obtained in real time, is easy to post analysis steering-by-wire
Control strategy.
Claims (2)
1. a kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire, including support meanss, steering execution system, resistance mould
Plan system, knuckle, real-time simulation platform, signal transmission cable, it is characterised in that：Support meanss are turned to and performed as pedestal
System, knuckle and its mounting assembly, real-time simulation platform are separately mounted in support meanss, turn to execution system by with
The track rod of steering gear rack ball pin connection, which is utilized, to be bolted on knuckle arm, Resistance-load motor and deceleration device
It is connected, and is arranged on by bolt in resistance simulation system supporting plate by housing bolts, Resistance motor output shaft passes through
Decelerator, which slows down to increase, to be turned round, by key connection function on king pin position.
2. a kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire according to claim 1, it is characterised in that：Institute
State support meanss to be formed by cast aluminium corner fittings fixation framework by aluminium section bar, adjusted by cast aluminium corner fittings on section aluminum guide rail direction
Save the relative position of each aluminium section bar rod member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720098812.3U CN206400349U (en) | 2017-01-26 | 2017-01-26 | A kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720098812.3U CN206400349U (en) | 2017-01-26 | 2017-01-26 | A kind of hardware-in-the-loop test platform suitable for automobile steering-by-wire |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598036A (en) * | 2017-01-26 | 2017-04-26 | 湖北汽车工业学院 | Hardware-in-loop test bench suitable for automobile steer-by-wire |
| CN110954337A (en) * | 2019-11-19 | 2020-04-03 | 同济大学 | Steering resistance compensation structure for vehicle test |
-
2017
- 2017-01-26 CN CN201720098812.3U patent/CN206400349U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598036A (en) * | 2017-01-26 | 2017-04-26 | 湖北汽车工业学院 | Hardware-in-loop test bench suitable for automobile steer-by-wire |
| CN110954337A (en) * | 2019-11-19 | 2020-04-03 | 同济大学 | Steering resistance compensation structure for vehicle test |
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