EP1279014A1 - Dispositif d'essai et systeme de commande pour ledit dispositif - Google Patents

Dispositif d'essai et systeme de commande pour ledit dispositif

Info

Publication number
EP1279014A1
EP1279014A1 EP01918076A EP01918076A EP1279014A1 EP 1279014 A1 EP1279014 A1 EP 1279014A1 EP 01918076 A EP01918076 A EP 01918076A EP 01918076 A EP01918076 A EP 01918076A EP 1279014 A1 EP1279014 A1 EP 1279014A1
Authority
EP
European Patent Office
Prior art keywords
speed
test device
pulling
collision test
objects
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP01918076A
Other languages
German (de)
English (en)
Inventor
Börje Johansson
Kjell Norberg
Johann Galic
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
ABB AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB AB filed Critical ABB AB
Publication of EP1279014A1 publication Critical patent/EP1279014A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/0078—Shock-testing of vehicles

Definitions

  • test device and a control system for a test device
  • the present invention relates to a collision test device for executing a collision between a first and a second object.
  • the test device comprises a tow rope by which the first object is pulled and accelerated towards the second object.
  • the invention also relates to a control system for and a method of controlling a collision test device, in which at least a first and a second object are pulled towards each other by means of separate pulling devices.
  • tow rope should be regarded in a wide sense, and is intended to include all kinds of wires, stranded wire ropes, webs or the like that could be used for the purpose of pulling a test object. However, such a rope should have a shape and a flexibility that permits it to be coiled on a drum.
  • the collision test could be of any kind for the purpose of testing specific collision properties of the object or objects in question.
  • a typical application is the testing of cars that either are brought to collide with each other or with another object such as a wall, a post, a model of an animal or a human being or the like, for the purpose of testing what impact such a collision will have on the car itself, its passengers and/or the object with which it collides.
  • Such a collision test is also known as a crash test.
  • the disclosed test device comprises a tow rope by means of which a tested vehicle is pulled to move in transit.
  • the vehicle is detached from the tow rope when a predetermined velocity is reached in order for the tested vehicle to collide with a collision unit, for example a collision wall.
  • the device comprises one multifunctional winding drum which is driven by means of a motor.
  • the tow rope runs from the winding drum to and around a second non-driven drum and back to the winding drum. Hence, the tow rope is uncoiled from the winding drum at a sending end thereof and coiled onto the winding drum at a receiving end thereof.
  • a rope tension adjusting unit is provided in the sending side of the tow rope and absorbs the slack of the tow rope near the winding drum.
  • the rope tension adjusting unit contributes to the achievement of a precise control of the position and speed of the test vehicle.
  • slack in the system in which the tow rope is linked may occur, having detrimental effect on the control of the position and speed of the test vehicle.
  • JP-9-257633 discloses a vehicle collision test device that includes a first tow rope and a second tow rope which are coupled to a first and a second vehicle individually and detachably. Each tow rope is connected to a respective winding drum. Each tow rope is uncoiled from its winding drum at a sending side thereof and coiled onto the drum at a receiving side thereof. A pair of guide pulleys are set up on a base which can be rotated and which is driven by an actuating cylinder. Hence, the moving direction of the vehicles, and the collision angle, can be adjusted. The tow ropes extend around at least one common, second drum. Thereby a purely mechanical synchronisation of the vehicle velocities is obtained.
  • the collision test device shall have a construction that promotes the execution of collision tests between two moving objects with equal or different individual speeds where a very precise control of the impact points on the respective object is required.
  • the device shall permit precise control position and speed of the tested objects by collision tests between vehicles for the transportation of humans, preferably cars.
  • a collision test may include such test objects as buses, trains, lorries, etc.
  • control system for a collision test device, particularly but not necessarily only adapted for the inventive collision test device.
  • the control system shall promote the execution of collision tests between two moving objects with equal or different individual speeds where a very precise control of the impact points on the respective object is required.
  • the device shall permit precise control position and speed of the tested objects by collision tests between vehicles for the transportation of humans, preferably cars.
  • the object of the invention is obtained by means of the initially defined collision test device, which is characterised in that it comprises a first driven coiling drum onto which the tow rope is coiled during the pulling of the first object, and a second, separate drum from which the rope is uncoiled during said pulling.
  • the inventive solution results in a pulling device by means of which the position and speed of at least one of the test objects, here the first one, can be very precisely controlled during the pulling thereof. The occurrence of slack in the rope is largely eliminated and the risk of rope slip is also vastly reduced or even eliminated.
  • the test device comprises a first motor for driving the first drum, and a second motor for driving the second drum.
  • the device comprises means for maintaining a predetermined tension of the tow rope between the first and second drums.
  • said means for maintaining a predetermined tension of the tow rope comprises a means for controlling the effect of the second motor based on the torque on the drum caused by the tow rope as the latter is uncoiled from the second drum.
  • the device comprises means for determining the position and speed of the pulled object continuously or repeatedly during the pulling of the first object towards the second object.
  • Information or data regarding the position and speed of the pulled object is preferably used for the purpose of controlling the torque of the motor driving the first drum, in order to enable adjustments of the speed and position during a pulling sequence, or even stopping the motor and braking the drum for the purpose of interrupting the pulling.
  • the means for determining position and speed of the pulled object comprises a laser device by means of which the position of the pulled object is continuously or repeatedly determined during the pulling. Accordingly a very precise determination of the position and speed of the pulled object is permitted.
  • the test device comprises a transmitter connected to a shaft of the first or second drum, the transmitter being either an incremental pulse encoder or a position encoder. The signal from the transmitter is converted into speed and position values.
  • the inventive collision test device comprises a control unit having means for comparing the position and speed values obtained by the means for determining position and speed with desired set values for position and speed of the first object, and to control the torque of the first motor and hence the speed of the pulled object based on said comparison.
  • the set values define a position-speed profile that should be followed in order to obtain a desired speed and position at the collision moment.
  • the position speed profile is based on given collision parameters such as geometry and weight of the object, collision point of the object, desired speed at the collision moment, etc.
  • the inventive test device for the purpose of executing a collision test in which both the first and second objects are moving, the inventive test device comprises a second tow rope by means of which the second object is pulled and accelerated towards the first object, a third driven coiling drum onto which the second tow rope is coiled during the pulling of the second object, and a fourth, separate drum from which the second tow rope is uncoiled during said pulling.
  • the tension of the second tow rope and the control of the position and the speed of the second object is achieved in the same principle way as has been described above for the first object.
  • the test device comprises a control unit having means for controlling and synchronising the positions and speeds of the first and second object based on a continuous or repeated determination of the individual positions and speeds of the first and second objects during the pulling thereof, and a comparison of those positions and speeds. If, for example, the position and speed of one of the objects deviates from the desired values according to the position-speed profile, consideration thereof is taken for the control of the speed, and position, of both objects. This is essential because no matter how well one of the objects follow its position-speed profile, that will be meaningless if the other does not follow its position-speed profile. By means of the inventive device correction adjustments with regard to such offsets are taken. For example a certain offset above a threshold value should induce an interruption of the whole test procedure at an early stage in order to reduce costs.
  • the collision test device comprises at least one track along which the first object is pulled towards the second object, and that the angle with which the track is directed towards the second object or a track along which the second object is pulled is adjustable.
  • the application flexibility of the inventive device is improved and, with regard to the precise position and speed control provided through the invention, a plurality of collision conditions can achieved.
  • the first and or the second object is a vehicle.
  • the inventive test device is particularly adapted to the testing of cars and may be used for collision tests between cars or cars and other vehicles.
  • the object of the invention is also achieved by means of the initially defined control system, which is characterised in that it comprises: means for determining the position and speed of the first object continuously or repeatedly during the pulling of the first object towards the second object, means for determining the position and speed of the second object continuously or repeatedly during the pulling of the second object towards the first object, and a control unit having means for controlling and synchronising the speeds (and thereby the positions) of the first and second objects based on the positions and speeds determined for each object.
  • the means for determining the position and speed of the first object and/or the means for determining the position and speed of the second object comprises a laser device by means of which the position of the pulled object is continuously or repeatedly determined during the pulling thereof.
  • the means for controlling and synchronising the speeds of the first and second objects comprises a computer processor means for processing data comprising; means for comparing the data regarding position and speed of the first and second object with desired set values for position and speed of the first and second object, and to control the effect of separate pulling devices and hence the speed of the first and second object based on said comparison.
  • control unit comprises a storage means for storing predetermined test parameters, and means for calculating said set values for the position and speed of the first and second object based on the given test parameters.
  • the storage means may comprise a data storage disk or the like.
  • the test parameters could, for instance be the same as the ones mentioned above for the inventive test device.
  • control system is preferably adapted for the control of the inventive collision test device defined above.
  • the invention also regards a method of controlling a collision test device in which at least a first and a second object are pulled towards each other by means of separate pulling devices, characterised in that:
  • the position and speed of the first object is determined continuously or repeatedly during the pulling of the first object towards the second object.
  • the position and speed of the second object is determined continuously or repeatedly during the pulling of the second object towards the first object
  • the speeds (and thereby the positions) of the first and second objects are controlled and synchronised by means of a control unit, based on the positions and speeds determined for each object.
  • the invention also regards the use of a collision test device according to the invention for testing the collision properties of vehicles.
  • the vehicles may be of a similar type such as two cars, or dissimilar types including buses, trucks, etc.
  • Fig.1 is a schematic view of a preferred embodiment of a collision test device according to the invention.
  • Fig. 2 is a diagram representing a preferred embodiment of a control system for a test collision device.
  • Fig. 1 shows a collision test device according to one embodiment of the invention.
  • the device is arranged for the purpose of executing collision tests between a first and a second test object 1,2.
  • the objects 1,2 comprise a first and a second vehicle, or , more precisely, a first and a second car.
  • the device comprises a first and a second tow rope 3,4 respectively for the purpose of pulling and accelerating the first and the second objects 1,2 towards each other until they meet and collide at a predetermined spot.
  • the tow ropes 3,4 form parts of a first and a second track 5,6 for pulling and guiding the objects 1,2 towards each other.
  • Each track 5,6 comprises a trolley (not shown) via which the object 1,2 is pulled by the respective tow rope 3,4.
  • the trolley is clamped to the rope 3,4 associated thereto and has a pin or the like via which it engages the object 1,2. It runs in a suitably shapes groove or recess arranged on or under a floor, said groove or recess permitting a guiding of the trolley in two directions, vertically and horisontally to the direction of movement of the object 1,2 pulled thereby.
  • the first and second track 5,6 extend in the horizontal plane and are arranged so as to permit adjustment of the angle between them, that is the angle between the moving directions of the first and second objects 1,2 is variable.
  • the device also comprises a first and a second drum 9,10 for the purpose of coiling and uncoiling the first tow rope 3 during the pulling of the first object 1.
  • Each track 5,6 further comprises a pair of guiding rolls 7,8 via which the rope is guided to the respective drum.
  • the device comprises a corresponding third and fourth drum 11,12 for the second tow rope 4.
  • Motors 13,14,15,16 that are torque, speed and position controlled drive a respective one of the drums 9-12.
  • At least one of the drums 9-12 is equipped with brakes, preferably disk brakes for the purpose of permitting a rapid speed reduction or stopping.
  • drums 9-12 and motors 13-16 are generally identical as to the arrangement, only the first track will be described in detail hereinafter.
  • the first drum 9 is arranged at an end region of the track 5 and driven by a first motor 13.
  • the second drum 10 is arranged at the opposite start end region of the track and driven by a second motor 14.
  • the drums can be driven in the opposite directions if necessary, for example in order to carry out a collision test at the other end of the test track.
  • a control system that will be described more in detail below controls the motors 13,14 such that a predetermined rope tension is obtained throughout the test course, from initial acceleration to final stopping of the tow rope movement during a collision test.
  • the tracks 5,6 are independent in the sense that the tow ropes 3,4 are individually guided (not via any common roll or the like), and so, consequently, the speeds of the first and second object 1,2 can follow very different position-speed profiles during one and the same test collision course.
  • the test collision device also comprises a control system for the control thereof.
  • the control system is schematically shown in Fig. 2. It comprises means 17,18 for determining the position and speed of the first and second objects 1,2, as shown in fig. 1.
  • the means 17,18 comprise a laser device for each of the tracks 5,6 respectively by means of which the position of the pulled object 1,2 is continuously or repeatedly determined during the pulling. Position and speed measurements by means of such equipment permit a very exact and direct determination of the speed and position of the pulled obj ects 1,2.
  • Fig. 2 shows a block diagram in which the principles of the inventive control system is applied to a test device like the one described above.
  • Fig. 2 Motors, corresponding to the motors 13-16, are indicated.
  • the upper half of Fig. 2 is associated to the control of the first track 5, while the lower part is associated to the control of the second track 6.
  • the means 17,18 for determining the position of the test objects are indicated and form part of the control system.
  • the control system comprises a means, i.e. a control unit 30, for controlling and synchronising the speeds and positions of the first and second objects 1,2, said means comprising a computer processor means or co-ordination control unit 19 for processing data comprising means, preferably an arithmetic logic circuit, for comparing the data regarding position and speed of the first and second object 1,2 with desired set values for position and speed of the first and second object 1,2, and to generate signals for controlling the effect of separate pulling devices, here the motors 13-16, and hence the speed of the first and second object 1,2 based on said comparison.
  • the computer processor means comprises a personal computer or server including a CPU, or other type of digital controller.
  • the set values define position- speed profiles that will ensure that the objects hit each other at predetermined impact points at the collision spot, that is the track intersection.
  • the co-ordination control unit 19 comprises a storage means, preferably a data disk, for storage of such position-speed profiles or a software routine for calculating such profiles based on given test parameters, such as weight and geometry of the object or objects, desired final speed of the objects, etc.
  • Each track 5,6 can be operated in single mode, for example when one of the objects is a vehicle and the other object is a stationary object, for example a test collision wall, also known as an impact block.
  • the two tracks are operated in coordinated movements to make two moving objects collide with the requested precision.
  • the control unit 30 is arranged to control the operation of the test device according to the following principles:
  • the objects 1,2 are accelerated through the action of the motors 13-16 and are released from the trolleys shortly prior to collision in order to avoid interference from the respective propulsion system (pulling devices). Accordingly, the objects 1,2 are freewheeling from the release points to the collision spot.
  • the control unit, or more precisely the software routine thereof, is configured to compensate for any loss of speed during freewheeling. The compensation is based on the test parameters already mentioned.
  • control unit calculates the instantaneous speed value and position that each object 1,2 shall have along their respective track 5,6 at each moment and that will result in a collision with the specified speeds and impact points.
  • the control unit 30 of the control system comprises position controllers 20, ramp generators 21, first and second summation units 22,23, a speed controller 24, differentiators 25, third summation units 26, and motor torque controllers 27. It also comprises position calculators 29. These means 20-29,29 are preferably arranged as logic circuits in current converters connected to the respective motors 13-16. They may however, as an alternative, be included in the co-ordination unit 19.
  • the co-ordination control unit 19 controls each track with a speed reference and acceleration rate setting (v-ref. 1, v-ref. 2, ace. -set 1, and acc.-set 2).
  • the control unit 19 also sets the rope tensioning force to the uncoiling motors 14,16 via a signal denoted FBAS in fig. 2. This dynamically controlled tension largely eliminates slack in the rope system.
  • the control unit 30 is preferably configured to record the relative distance of each vehicle from the point of impact, as measured, and to control the speeds, and hence the positions, of the first and second object based upon those relative distances.
  • the control system is adapted to first check and control that the distance of the first vehicle from the impact point is always exactly twice the distance between the second vehicle and the impact point.
  • the speed reference from the co-ordination control unit 19 passes the ramp generator 21 and the first and second summation units 22,23 that are connected to the speed controller 24.
  • the third summation unit 26 adds the output from the speed controller 24 and the differentiator 25.
  • the FBAS signal is also added in the third summation unit 26.
  • the output from the differentiator is a feed- forward signal from the the ramp generator 21.
  • Deviations from the calculated position-speed profile result in a correction signal ⁇ pos to the position controller 20, which adjusts the speeds of each track 5,6 so that the speeds and position of the test objects 1,2 are synchronised.
  • the position measured by the laser device 17,18 (including a ⁇ pos calculator as shown in fig 2 for calculating the position deviation with regard to set values) is used to generate the ⁇ pos signal but in the case of loss of laser signal the position value derived from a shaft encoder 28 (arranged at the at least one drum motor shaft at each track 5,6 and part of the inventive device) is substituted for the laser based signal.
  • the position is calculated by the position calculator 29 and forwarded as an input signal to the co-ordination control unit 19.
  • the laser device may, however, be substituted by other means such as, for example, radar devices.
  • the output from the third summation unit 26 is delivered to the motor torque controller 27, which controls the torque of the motor 13-16 based on that signal.
  • control system of the invention preferably comprises a software means for calculating of position and speed of the objects (1,2), and that, when the software means is run on a computer or a processor it makes said computer or processor carry out the steps of
  • the invention contributes to smooth operation and a controlled acceleration so as not to disturb sophisticated and sensitive sensors that might be attached to crash test dummies placed in the vehicles under test.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Programmable Controllers (AREA)

Abstract

Dispositif d'essai de collisions permettant de provoquer une collision entre des premier et second objets (1, 2), qui comporte un câble de traction (3, 4) à l'aide duquel le premier objet (1) est tiré et accéléré vers le second objet (2). Ledit dispositif comporte un premier tambour (9) d'enroulement entraîné autour duquel un câble de traction (3) est enroulé lors de la traction du premier objet (1), et un second tambour séparé (10) duquel le câble (3) est déroulé pendant la traction. La présente invention concerne également un système de commande pour un dispositif d'essai de collision dans lequel au moins des premier et second objets (1, 2) sont tirés l'un vers l'autre au moyen de dispositifs de traction séparés. Ledit système comporte un moyen (17) permettant de déterminer la position et la vitesse du premier objet (1) en continu ou de manière répétée pendant la traction du premier objet (1) vers le second objet (2), un moyen (18) permettant de déterminer la position et la vitesse du second objet (2) en continu ou de manière répétée pendant la traction du second objet (2) vers le premier objet (1), et une unité de commande (30) dotée de moyens permettant de commander et de synchroniser les positions et les vitesses des premier et second objets (1, 2) sur la base des positions et des vitesses déterminées pour chaque objet (1).
EP01918076A 2000-03-27 2001-03-27 Dispositif d'essai et systeme de commande pour ledit dispositif Withdrawn EP1279014A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE0001093A SE518791C2 (sv) 2000-03-27 2000-03-27 Kollisionstestanordning
SE0001093 2000-03-27
PCT/SE2001/000661 WO2001073392A1 (fr) 2000-03-27 2001-03-27 Dispositif d'essai et systeme de commande pour ledit dispositif

Publications (1)

Publication Number Publication Date
EP1279014A1 true EP1279014A1 (fr) 2003-01-29

Family

ID=20279039

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01918076A Withdrawn EP1279014A1 (fr) 2000-03-27 2001-03-27 Dispositif d'essai et systeme de commande pour ledit dispositif

Country Status (4)

Country Link
EP (1) EP1279014A1 (fr)
AU (2) AU2001244946A1 (fr)
SE (1) SE518791C2 (fr)
WO (2) WO2001073393A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE524771C2 (sv) * 2002-11-19 2004-09-28 Abb Ab Anordning och förfarande för kollisionstest
DE102004056380B4 (de) * 2004-11-23 2010-07-08 TÜV Kraftfahrt GmbH - TÜV Rheinland Group Messvorrichtung und Verfahren zur Messung eines freifliegenden Körpers
DE102008030612B3 (de) 2008-06-27 2009-12-31 Audi Ag Vorrichtung und Verfahren zum Herbeiführen von kollisionsnahen und kollisionsfreien Situationen zwischen einem Testfahrzeug und einem Kollisionsobjekt und Einrichtung zur Funktionsprüfung eines Fahrerassistenzsystems
DE102011012542A1 (de) 2011-02-26 2012-08-30 Continental Safety Engineering International Gmbh Testvorrichtung und Verfahren
CN103454059B (zh) * 2013-04-10 2015-12-09 浙江吉利汽车研究院有限公司杭州分公司 汽车碰撞试验定位装置及定位方法
CN116062183B (zh) * 2023-03-22 2023-06-09 中国空气动力研究与发展中心设备设计与测试技术研究所 一种用于跨介质飞行器水空跨越试验的高速拖曳系统

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Publication number Priority date Publication date Assignee Title
JP3435969B2 (ja) 1996-03-21 2003-08-11 株式会社明電舎 車両衝突試験装置
JP3395511B2 (ja) 1996-04-19 2003-04-14 株式会社明電舎 異速度側面衝突試験装置
JPH10260106A (ja) 1997-03-19 1998-09-29 Nissan Altia Co Ltd 車輛衝突実験装置

Non-Patent Citations (1)

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Title
See references of WO0173392A1 *

Also Published As

Publication number Publication date
WO2001073393A1 (fr) 2001-10-04
SE0001093D0 (sv) 2000-03-27
AU2001244946A1 (en) 2001-10-08
SE0001093L (sv) 2001-09-28
AU2001242984A1 (en) 2001-10-08
SE518791C2 (sv) 2002-11-19
WO2001073392A1 (fr) 2001-10-04

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