CN210015365U - Three-dimensional turntable - Google Patents
Three-dimensional turntable Download PDFInfo
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- CN210015365U CN210015365U CN201921177499.8U CN201921177499U CN210015365U CN 210015365 U CN210015365 U CN 210015365U CN 201921177499 U CN201921177499 U CN 201921177499U CN 210015365 U CN210015365 U CN 210015365U
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Abstract
An embodiment of the utility model provides a three-dimensional revolving stage, include: the system comprises a bracket, a motor closed-loop system arranged in the bracket and a system integration; the motor closed loop system includes: the system comprises an x-axis motor, a y-axis motor, a z-axis motor, and first to third drivers which are in one-to-one correspondence with the x-axis motor, the y-axis motor and the z-axis motor; the X-axis motor is used for simulating the acceleration of a roll angle, the Y-axis motor is used for simulating the acceleration of a pitch angle, and the Z-axis motor is used for simulating the acceleration of a yaw angle; the system integration at least comprises: the device comprises a turntable structure, a rack and a conductive slip ring; wherein: the conductive slip ring is arranged on the rack; the conductive slip ring is respectively connected with the first driver and the second driver; the controller mounting frame is connected with an output shaft of the x-axis motor; the x-axis motor is fixed on the output shaft of the y-axis motor; the y-axis motor is arranged on the rack; the rack is arranged on the turntable structure; the turntable structure is fixed on an output shaft of the z-axis motor.
Description
Technical Field
The utility model relates to an automobile hardware is in ring test field, in particular to three-dimensional revolving stage.
Background
Electronic Stability Control (ESC) systems for vehicles mainly receive and analyze information sensed by vehicle motion, and Control the braking pressure or driving force of each wheel cylinder of the vehicle under operating conditions such as oversteer or understeer of the vehicle to maintain optimal Stability of the vehicle and ensure the vehicle to run as intended by the driver.
The ESC system mainly comprises three parts, namely a sensor, an Electronic Control Unit (ECU) and an actuator. These parts cooperate with each other to play their own roles. The sensors include longitudinal and lateral acceleration sensors, yaw rate sensors, and the like, and detect the speed of each wheel, measure the rotation angle of the vehicle with respect to the vertical axis, and recognize the driving direction of the driver.
Simulation test verification is a link in the development process of a driving system (particularly an intelligent driving system). The sensors of some ESC systems are separated from the ECU, and only analog sensing signals need to be input into the ECU when simulation test is carried out. However, in some ESC systems, longitudinal acceleration, lateral acceleration and yaw rate sensor assemblies (hereinafter referred to as sensor assemblies) are integrated inside the ECU, and the ECU does not provide an external sensor interface, in which case, analog sensing signals cannot be input to the ECU.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a three-dimensional turntable, which provides a test bench capable of simulating longitudinal acceleration, lateral acceleration and yaw velocity of a vehicle simultaneously for simulation test.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a three-dimensional turret comprising: the system comprises a bracket, a motor closed-loop system arranged in the bracket and a system integration; the motor closed loop system includes: the system comprises an x-axis motor, a y-axis motor, a z-axis motor, and first to third drivers which are in one-to-one correspondence with the x-axis motor, the y-axis motor and the z-axis motor; the x-axis motor is used for simulating roll angle acceleration, the y-axis motor is used for simulating pitch angle acceleration, and the z-axis motor is used for simulating yaw angle acceleration;
the system integration at least comprises: the device comprises a turntable structure, a rack and a conductive slip ring;
wherein:
the conductive slip ring is mounted on the rack; the conductive slip ring is respectively connected with the first driver and the second driver;
the controller mounting frame is connected with an output shaft of the x-axis motor;
the x-axis motor is fixed on an output shaft of the y-axis motor;
the y-axis motor is arranged on the rack;
the rack is mounted on the turntable structure;
the turntable structure is fixed on an output shaft of the z-axis motor.
Optionally, the system integration further includes: integrating an EPB caliper; the EPB calipers are integrally mounted on the turntable structure.
Optionally, the bracket is further provided with an inserting box.
Optionally, the system integration further includes: the signal generation board card is arranged on the turntable structure;
the conductive slip ring is connected with the signal generation board card through an EtherCAT bus.
Optionally, the system integration further comprises a signal extractor.
Optionally, the system assembly further includes a first winding disk and a second winding disk;
the second winding disc is arranged on the rack and used for winding a wiring harness between the x-axis motor and the first driver;
the first winding disk is arranged on the surface of the second winding disk; the first winding disc is used for winding the wiring harness led out by the signal leading-out device.
Optionally, the system assembly further includes a terminal block disposed in the receptacle.
Optionally, a wire casing is arranged on the rack.
Therefore, in the three-dimensional turntable of the utility model, the controller mounting frame is used for placing the ECU of the ESC system, and the x-axis motor can drive the controller mounting frame to move under the control of the first driver because the controller mounting frame is connected with the output shaft of the x-axis motor, so that a lateral acceleration assembly in the ECU generates a corresponding lateral inclination angle acceleration sensing signal; the x-axis motor is fixed on the output shaft of the y-axis motor, so that when the y-axis motor moves under the control of the second driver, the controller mounting frame on the output shaft of the x-axis motor can be driven to move synchronously, and a pitch sensor assembly in the ECU generates a corresponding pitch angle acceleration sensing signal; the turntable structure is fixed on an output shaft of the z-axis motor, the x-axis motor, the y-axis motor and the like are arranged on the turntable structure, and when the z-axis motor moves under the control of the third driver, the x-axis motor and the y-axis motor can be driven to further drive the mounting frame of the controller to move synchronously, so that a yaw angular acceleration sensor assembly in the ECU generates corresponding yaw angular acceleration sensing signals; therefore, the embodiment of the utility model provides a three-dimensional revolving stage can be used to simulate vehicle longitudinal acceleration, lateral acceleration and yaw angular velocity simultaneously. In addition, the conductive slip ring can transmit external motion attitude signals to the first driver and the second driver respectively, and meanwhile, the connecting wire can be prevented from being wound due to the motion of the three-dimensional rotary table.
Drawings
Fig. 1 is a schematic view of an exemplary overall structure of a three-dimensional turntable according to an embodiment of the present invention;
FIGS. 2-4 are exemplary block diagrams of system integration at three different angles;
fig. 5 is a schematic diagram of longitudinal acceleration, lateral acceleration and yaw rate provided by an embodiment of the present invention;
fig. 6 is a schematic functional diagram of a signal generation board card provided in an embodiment of the present invention;
fig. 7 is an exemplary structure diagram of an ESP provided in an embodiment of the present invention;
fig. 8 is a schematic diagram of hardware devices required for simulation test according to an embodiment of the present invention;
fig. 9 is a schematic diagram of signal interaction between devices in a simulation test according to an embodiment of the present invention.
Detailed Description
For reference and clarity, the terms, abbreviations or abbreviations used hereinafter are summarized as follows:
ESC: electronic Stability Control, Electronic Stability Control system;
ESP: electronic Stability Program, a vehicle body Electronic Stability system, having the same function as ESC;
EtherCAT: control Automation Technology, ethernet Control Automation Technology.
EtherCAT is an open architecture, Ethernet-based field bus system;
EPB: electrical Park Brake, electronic parking Brake system;
CAN: controller Area Network, Controller Area Network;
HIL: hardware-in-the-loop, Hardware in loop.
In the development process of the modern automobile electronic system, the HIL technology is used for simultaneously detecting the performance of software and hardware of the system, so that the development speed is greatly improved, and the development cost is reduced.
In some vehicle models, longitudinal acceleration, lateral acceleration and yaw rate sensor assemblies (referred to as yaw sensors) are integrated inside the ECU, and most of the current hardware-in-loop test schemes cannot simulate excitation signals generated by such sensor assemblies.
In view of this, the utility model provides a can simulate vehicle longitudinal acceleration, lateral acceleration and yaw angular velocity's three-dimensional revolving stage simultaneously to simulate vehicle attitude more really and change, provide accurate, reliable sensor excitation signal for the sensor assembly.
The three-dimensional rotary table can be used in the hardware development or application software control strategy development stage of automobile ESP and ESC, and can be used for testing ESP and ESC.
The three-dimensional turntable includes: motor closed loop system, revolving stage structure and system integration.
Fig. 1 shows the overall structure of the three-dimensional turret described above, and fig. 2-4 mainly show exemplary structures in which the system is integrated at three different angles.
Wherein, motor closed loop system includes:
the x-axis motor 11 and its accompanying structures (in fig. 1, "the x-axis motor 11 and its accompanying structures" are denoted by "1");
the y-axis motor 21 and its accessory structures (the "y-axis motor 21 and its accessory structures" are denoted by "2" in fig. 1);
the z-axis motor 31 and its accompanying structures (the "z-axis motor 31 and its accompanying structures" are denoted by "3" in fig. 1).
In addition, referring to fig. 2-4, the motor closed-loop system further includes:
first, second, and third drivers (not shown) 12, 22, and 31 corresponding to the x-axis motor 11, the y-axis motor 21, and the z-axis motor one to one.
The turret structure comprises at least a support 4;
the system integration at least comprises: the rotary table structure 5, the rack 6 and the conductive slip ring 7;
referring to fig. 2-4, the relationship between the above devices is as follows:
the conductive slip ring 7 is arranged on the rack 6, and the conductive slip ring 7 is respectively connected with the first driver 12 and the second driver 22;
the controller mounting frame 8 is connected with an output shaft of an x-axis motor 11;
the x-axis motor 11 is fixed on the output shaft of the y-axis motor 21;
the y-axis motor 21 is arranged on the stand 6;
the rack 6 is arranged on the turntable structure 5;
the turntable structure 5 is fixed on the output shaft of the z-axis motor 31.
The controller mounting frame 8 is used for mounting an ECU (electronic control unit) of an ESC (electronic stability control) or EPB (electronic stability brake) system, and because the controller mounting frame 8 is connected with an output shaft of the x-axis motor 11, the x-axis motor 11 can drive the controller mounting frame 8 to synchronously move when rotating under the control of the first driver 12, so that a lateral acceleration assembly in the ECU generates a corresponding lateral inclination angle acceleration sensing signal;
the x-axis motor 11 is fixed on the output shaft of the y-axis motor 21, so that when the y-axis motor 21 rotates under the control of the second driver 22, the controller mounting frame 8 on the output shaft of the x-axis motor 11 can be driven to synchronously rotate, and a pitch sensor assembly in the ECU generates a corresponding pitch angle acceleration sensing signal;
the turntable structure 5 is fixed on an output shaft of the z-axis motor 31, the x-axis motor 11, the y-axis motor 21 and the like are arranged on the turntable structure 5, and when the z-axis motor 31 rotates around the z-axis under the control of the third driver, the x-axis motor 11 and the y-axis motor 21 can be driven, and then the controller mounting frame 8 is driven to move synchronously, so that a yaw angular acceleration sensor assembly in the ECU generates corresponding yaw angular acceleration sensing signals;
as such, the three-dimensional turntable provided by the embodiment of the present invention can be used to simulate the longitudinal acceleration, the lateral acceleration and the yaw rate of the vehicle at the same time (see fig. 5 for an illustration of the longitudinal acceleration, the lateral acceleration and the yaw rate). In addition, the conductive slip ring 7 can transmit external motion attitude signals to the first driver 12 and the second driver 22 respectively, and can prevent the connection wires from being wound due to the motion of the three-dimensional rotary table.
In other embodiments, the control of the motor has the following functions:
1) the software function mainly realizes the motor control state and the protection logic;
2) the conversion relation between the ESP/ESC sensor signal and the motor rotation angle;
3) an x-axis and y-axis motor position control module;
4) a z-axis motor speed control module;
5) position and speed feedback function of the motor.
In addition, the motor has the following advantages:
firstly, a motor drive control scheme based on EtherCAT real-time communication can be simplified on the topological structure of a control system;
secondly, controlling by using digital quantity to reduce part of signal wiring harnesses;
and thirdly, the motor feedback uses an absolute encoder, a limit sensor can be eliminated, the structure is optimized, and the initial zero position of the mechanical mechanism can be conveniently determined.
The structure of the turntable will be described below.
The space layout design of the bracket 4 comprehensively considers the structure size parameters and the attractiveness of the motor model selection and integration, the model selection of the slip ring, the EPB and other testing equipment and the like. Illustratively, the rack 4 may have dimensions of 800mm (width) x 800mm (length) x 1800mm (height).
In addition, in other embodiments of the present invention, the rack 4 may further have a plug box. In one example, the space above the rack 4 may leave a space of 396mm (9U) for installation and placement of standard receptacles, which illustratively include power receptacles and the like.
The revolving stage structure has been introduced, the utility model discloses will carry out detailed introduction to system integration.
The system integration aspect mainly comprises a conductive slip ring, a wiring harness integration method, power supply integration, EPB caliper integration, ESP integration and the like. Now introduced separately.
Firstly, power integration:
the voltages required by the electrical appliances in the three-dimensional turntable are four: 220VAC, 24VDC, 15VDC and 5 VDC. The switching of the power supply is mainly realized by the following methods:
(1)220 VAC: the power supply plug box above the three-dimensional turntable support is directly supplied by an external power supply, and particularly, a 3U84TE plug box can be used;
(2)24 VDC: the power supply plug box is used for switching 220VAC to a 24VDC switching power supply (indicated by 13 in figure 3) on the rotary disc structure after passing through the conductive slip ring, and the 24VDC is obtained through conversion;
(3)15VDC and 5 VDC: this is done by switching from 24VDC via a signal generating board (denoted by 16 in fig. 3) described later.
Secondly, wire harness integration:
the wire harness integration has the following characteristics:
signals such as digital IO, VSD and wheel speed are directly expanded on the turntable tool through an EtherCAT network interface so as to reduce slip ring wiring; the signal generating board can be connected to an EtherCAT network interface of the simulator through a conductive slip ring, so that the expansion of signals such as digital IO, VSD and wheel speed is realized;
the 24V power supply is converted into +/-15V and +/-5V power supplies through the signal generation board card, and the number of slip ring power supply signals can be reduced.
Thirdly, a signal generation board card:
the signal generating board card can be arranged on the turntable structure 5; the conductive slip ring and the signal generation board card can be connected through an EtherCAT bus.
The signal generation board card uses an EtherCAT bus for real-time communication, as shown in fig. 6, which has great advantages in wire harness integration and slip ring cost.
The fault injection of the EPS and ESC sensors can be expanded through the signal generation board card.
Fourthly, EPB caliper integration:
in other embodiments of the present invention, the system integration in all the above embodiments may further include: EPB caliper assemblies 14, the number of EPB caliper assemblies 14 can be two, are mounted on the turntable structure 5.
EPB calliper is integrated 14 mainly realizes integratedly through corresponding frock, considers the size and the weight of EPB calliper, designs the Z axle for the carousel structure in this embodiment in order to bear EPB, can effectively solve the problem of EPB heavy current excess slip ring in simulation process, avoids the circuit to drop too big.
Still referring to fig. 2-4, the system assembly may further include a first winding disk 91 and a second winding disk 92;
in addition, in other embodiments of the present invention, still referring to fig. 2-4, the system integration in all the above embodiments further includes a signal extractor 15 for extracting the signal of the ESP controller.
Wherein, the second winding disk 92 is installed on the rack 6, the second winding disk 92 belongs to the accessory structure of the y-axis motor, and can be used for winding the wire harness between the x-axis motor 11 and the first driver 12, or also can be called as: the x-axis motor 11 is connected with the first driver 12 through a second winding disc 92;
the first winding disk 91 is mounted on the surface of the second winding disk 92. The first winding disk 91 belongs to an auxiliary structure of the x-axis motor and is used for winding the wiring harness led out by the signal leading-out device 15.
In order to facilitate wiring, the rack 6 can be provided with a wire slot 10.
In other embodiments of the present invention, the system integration in all the above embodiments may further include a terminal block to divide the wire into a plurality of terminals, and the terminal block may be disposed in the box.
The three-dimensional turret overall structure composition in one example can be seen in table 1 below.
TABLE 1
It should be noted that the brake resistor in table 1 serves to prevent the current from being too large when the motor is braked, the CGM in table 1 is a module providing access to a CAN bus node, and 1te in table 1 is 5.08 mm; 44.45mm for 1U.
The complete structure of the ESP is shown in fig. 7, where "701" in fig. 7 indicates a pump structure, and the pump structure needs to be removed in a simulation test, and only the structure related to the control function indicated by "702" is reserved.
The VSD of Table 1 can be used in conjunction with section 702 of the ESP of the figure to derive a corresponding signal output.
Next, HIL simulation tests performed based on the above-described three-dimensional turntable are described.
Referring to fig. 8, the hardware devices required for the simulation test include: the system comprises an upper computer, a real-time simulation system (real-time simulation cabinet), a three-dimensional turntable and the like. The three-dimensional turntable can simulate the working condition of vehicle testing.
Specifically, software such as MathWorks Simulink, Veristand and NI LabVIEW can be installed in the upper computer.
The Veristand is used for loading a control algorithm and a vehicle simulation model (such as a whole vehicle model in the figure 8) in modeling environments such as NI LabVIEW and MathWorks Simulink, running an ESP/EPB/ESC test interface, monitoring running tasks on line and interacting with a lower computer.
The lower computer (real-time simulation cabinet) uses an NI-RT real-time simulation system, and the main functions of the system comprise:
(1) simulating ESP/EPB/ESC controller input signals, such as providing wheel speed analog signals, wheel cylinder brake pressure analog signals, switching signals and the like through a hardware board card;
(2) collecting ESP/EPB/ESC controller actuator signals, such as wheel cylinder electromagnetic valve driving signals and the like;
(3) motor control and communication functions.
The structure of the three-dimensional turntable is described in the foregoing description.
The working principle of each part is as follows:
1) and after the upper computer completes the construction and parameter setting of the vehicle model, the vehicle model is downloaded to the lower computer and is subjected to real-time signal interaction with the lower computer.
2) The lower computer transmits a wheel speed signal, a switch instruction signal and a bus signal required by the ESP/EPB to the ESP/EPB sample piece through the conductive slip ring, so that the sample piece enters a working state;
3) the lower computer transmits the motion attitude signals which are calculated by the vehicle model and are subjected to decoupling to the motor driver 1 and the motor driver 2 through the conductive slip ring respectively, and the signals transmitted to the motor driver 3 are directly transmitted through external wiring without passing through the conductive slip ring;
4) three motors drive the three-dimensional rotating platform to adjust the attitude of the test piece ESP or ESC, so that the working condition of vehicle test can be simulated, and the real-time motion simulation of the vehicle attitude is realized;
5) the yaw sensor of the test piece correspondingly feeds back the corresponding state according to the control algorithm of the yaw sensor, and transmits the corresponding braking parameter to the real-time simulation cabinet through the signal generation board card (the acquisition board card);
6) and the real-time simulation cabinet makes corresponding state adjustment on the vehicle model.
The signal interaction among the devices in the simulation test can be seen in fig. 9, and it should be noted that the motion simulation turntable in fig. 9 is a three-dimensional turntable, and the motor drivers 1 to 3 correspond to the first driver, the second driver and the third driver, respectively.
To sum up, the utility model provides a technical scheme has following advantage:
the three-dimensional rotary table can integrate an ESP/ESC controller assembly, an ESP motor, an EPB caliper motor and other actuator assemblies, can provide necessary sensor signal analog signals such as wheel speed, brake pedal signals, switch signals and the like for the ESP/ESC through an external interface, can also acquire execution signals such as an indicating lamp, the ESP motor, brake calipers and the like output by the ESP through an integrated signal generation board card, and then transmits the execution signals to a real-time simulation system through a high-speed communication interface to form a closed-loop simulation environment;
secondly, the three-dimensional turntable can respectively simulate the changes of the longitudinal acceleration, the lateral acceleration and the yaw velocity of the vehicle through three motors, so as to realize the real-time motion simulation of the vehicle posture, and further realize the closed-loop control of yaw;
and thirdly, the three-dimensional rotary table can be suitable for testing some novel ESP/ESC integrating the yaw rate sensor assembly into the ECU so as to realize HIL closed loop simulation test of the ESP/ESC. And during testing, the controller integrated with the yaw sensor is arranged on a controller mounting frame of the three-dimensional turntable.
And fourthly, the three-dimensional turntable receives the attitude control instruction of the real-time simulation system through the EtherCAT interface, simulates the motion attitude of the vehicle in real time and provides real motion excitation for the yaw sensor.
The description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A three-dimensional turret, comprising: the system comprises a bracket, a motor closed-loop system arranged in the bracket and a system integration; the motor closed loop system includes: the system comprises an x-axis motor, a y-axis motor, a z-axis motor, and first to third drivers which are in one-to-one correspondence with the x-axis motor, the y-axis motor and the z-axis motor; the x-axis motor is used for simulating roll angle acceleration, the y-axis motor is used for simulating pitch angle acceleration, and the z-axis motor is used for simulating yaw angle acceleration;
the system integration at least comprises: the device comprises a turntable structure, a rack and a conductive slip ring;
wherein:
the conductive slip ring is mounted on the rack; the conductive slip ring is respectively connected with the first driver and the second driver;
the controller mounting frame is connected with an output shaft of the x-axis motor;
the x-axis motor is fixed on an output shaft of the y-axis motor;
the y-axis motor is arranged on the rack;
the rack is mounted on the turntable structure;
the turntable structure is fixed on an output shaft of the z-axis motor.
2. The three-dimensional turret according to claim 1, wherein the system integration further comprises: integrating an EPB caliper; the EPB calipers are integrally mounted on the turntable structure.
3. The three-dimensional turret according to claim 2, wherein the frame further has a receptacle mounted thereon.
4. The three-dimensional turret according to claim 3, wherein the system integration further comprises: the signal generation board card is arranged on the turntable structure;
the conductive slip ring is connected with the signal generation board card through an EtherCAT bus.
5. The three-dimensional turret according to claim 4, wherein the system integration further comprises a signal extractor.
6. The three-dimensional turret according to claim 5,
the system assembly further comprises a first winding disc and a second winding disc;
the second winding disc is arranged on the rack and used for winding a wiring harness between the x-axis motor and the first driver;
the first winding disk is arranged on the surface of the second winding disk; the first winding disc is used for winding the wiring harness led out by the signal leading-out device.
7. The three-dimensional turret of claim 6, wherein the system integration further comprises a terminal block disposed in the jackbox.
8. A three-dimensional turret according to any of claims 1-7, wherein a raceway is provided on the gantry.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311814A (en) * | 2021-06-09 | 2021-08-27 | 中国第一汽车股份有限公司 | Electronic stability control system test method, device, equipment and medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311814A (en) * | 2021-06-09 | 2021-08-27 | 中国第一汽车股份有限公司 | Electronic stability control system test method, device, equipment and medium |
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Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hengrun Technology Co., Ltd Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
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