JP2015040762A - Simulation device for evaluating vehicle maneuverability - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an HILS device for evaluating vehicle maneuverability, configured to improve calculation accuracy and evaluation accuracy of the device, by using a model for tire characteristics having many error factors, while using a real machine for chassis or suspension characteristics which have difficulty in modeling.SOLUTION: An HILS device includes: a platform device having a support part on which a vehicle is mounted, and which applies displacement independently to a vehicle body and each of wheels, and a measuring instrument for measuring displacement and/or force applied to the vehicle body and wheels; and a controller for controlling displacement of the vehicle body and the wheels in the support part. The controller controls each displacement in the support part so as to achieve displacement of the vehicle body and wheels calculated on the basis of a travel condition of the vehicle, a model of tire characteristics, and/or the displacement and/or applied force measured in the vehicle body and the wheels, to simulate a motion state of the traveling vehicle.

Description

  The present invention relates to a simulation apparatus for evaluating the motion performance of a vehicle such as an automobile. More specifically, the present invention relates to a hardware-in-the-loop simulation (HILS) apparatus that is advantageously used for evaluating the motion performance of a vehicle. Related.

  In order to evaluate the motion performance and characteristics of vehicles such as automobiles, instead of conducting actual vehicle running tests, the characteristics of the components of the vehicle (chassis characteristics, tire characteristics, etc.) are mathematically modeled, and the vehicle Simulation tests that reproduce the movements and behaviors of computers by computer calculations are now being implemented. Naturally, the simulation test does not require test equipment for actual vehicle driving under various driving conditions, and therefore, for the purpose of improving vehicle motion performance or for developing new vehicle configurations and control technologies. This is advantageous in that the cost can be greatly reduced in narrowing down the conditions and trial and error tests. In the simulation test for evaluating the motion performance of the vehicle, specifically, there are cases where the entire configuration of each part of the vehicle is modeled and executed, but the configuration to be tested or other configurations For the above, a so-called “HILS” apparatus is also used in which an actual apparatus or component (actual machine) is used, and the response output of the actual machine given by the computer is incorporated into the simulation calculation. As such an HILS apparatus, for example, Patent Document 1 proposes an apparatus that executes an ABS braking simulation by combining a mathematical model of the characteristics of a vehicle body and a tire and a braking hydraulic system component and an ABS apparatus as an actual machine. Yes. Further, in Patent Document 2, in an apparatus for calculating a vehicle motion with respect to an output of a real machine of a vehicle stability control apparatus given an input from a computer, a mathematical model output result and an actual vehicle running are calculated. In order to match the test results, a configuration is disclosed in which the parameters of the mathematical model are corrected based on the results of the actual vehicle running test.

JP2008-94241 JP 2001-349808 A

Anthony Best Dynamics, England homepage (http://www.abd.uk.com/en/kinematics_&_compliance/spmm4000) SPMM4000 catalog 2011

  As already mentioned, the actual running test for evaluating the vehicle motion performance is costly and requires a lot of labor and time for preparation. Also, in actual running tests, it is difficult to control changes in environmental conditions such as road surface conditions, temperature, air temperature, pressure, etc., and because the degree of tire wear also changes, tire characteristics, In particular, there are many error factors in the characteristics related to the interaction between the tire and the road surface. Therefore, if a measurement is repeatedly performed and data is measured and analyzed in order to perform quantitative evaluation, on the other hand, there may be a case where the evaluation results vary greatly, and good evaluation accuracy cannot be obtained. On the other hand, in the case of a simulation test or a HILS test, where there are few variations in the evaluation results, it is difficult to model all the vehicle configurations such as chassis characteristics and tire characteristics with high accuracy. It may be difficult to increase the evaluation accuracy. In this regard, in particular, chassis and suspension modeling is generally difficult. For example, in the case of a suspension, there are relatively many input parameters (vertical load, lateral load, longitudinal load, torsion torque, stroke, steer, left / right wheel interference, etc.) Even when modeling as an assembly, it has generally been found difficult to model with high accuracy.

  Thus, one object of the present invention is a HILS apparatus for evaluating vehicle motion performance, and for a suspension or chassis input / output that is difficult to model, use a real machine and tire characteristics that are difficult to control error factors. Is to obtain and analyze data relating to vehicle motion performance using a mathematical model, and to provide a device with improved evaluation accuracy.

  By the way, in a technical field related to an evaluation test of characteristics and performance of each part structure of a vehicle such as an automobile, a test apparatus capable of measuring suspension characteristics or chassis characteristics mounted on an actual vehicle has already been put into practical use (for example, Non-patent document 1). In such a test apparatus for measuring chassis / suspension characteristics, a vehicle is placed on a gantry, and the vehicle body and each wheel are fixed on a table or pad that can move independently. The table or pad to which the vehicle body or each wheel is fixed is displaced with an arbitrary force, and the displacement (response) of each wheel or vehicle body is measured, and the response characteristics to the external force or external displacement of each part of the chassis suspension. Will be measured. In such a chassis / suspension characteristic measuring and testing apparatus, if the displacement given to each wheel or vehicle body given from the table or pad is set to the same displacement as the actual running obtained through simulation calculation, in the vehicle. It is considered that a state close to actual driving can be simulated (reproduced).

  Therefore, in the present invention, a HILS apparatus for evaluating vehicle motion performance using the configuration of a test apparatus capable of independently moving each wheel of the vehicle and the vehicle body as described above is proposed.

  According to the present invention, the above-described problem is an apparatus for simulating a motion state of a vehicle, and the support unit, the vehicle body, and each wheel on which the vehicle is placed and capable of independently shifting the vehicle body and each wheel. A gantry device having a measuring instrument for measuring the displacement of the gantry and the force acting on the vehicle body and each wheel, and a control arithmetic unit for controlling the displacement of the vehicle body of the gantry device and the support portion of each wheel, The control calculator calculates the vehicle running conditions, the tire characteristic model and / or the displacement measured at the vehicle body and each wheel and / or the displacement of the vehicle body and each wheel calculated based on the force acting on the vehicle body and each wheel. This is achieved by a device that simulates the motion state of a running vehicle by controlling the displacement of each of the support portions to be realized.

  In the above-described configuration of the present invention, if necessary, in the HILS apparatus, a vehicle is used as an actual machine, and a mathematical model is used for tire characteristics, particularly characteristics relating to the interaction between the tire and the road surface. Thus, the motion state of the traveling vehicle is simulated. That is, in the above device, in short, in a state where the vehicle is mounted on the gantry, a steering angle and a braking force (or braking / driving force) are applied (input) to the vehicle, and the vehicle body corresponding to these applied inputs. And the response displacement of each wheel and the driving conditions that can be arbitrarily set, such as vehicle speed, acceleration / deceleration force (inertial force), center of gravity height, road surface friction state, tire characteristics, etc. The displacement of the vehicle body and each wheel is calculated by the calculation using the function formula of Then, the vehicle body and each wheel are further displaced so that the calculated displacement is realized in the vehicle body and each wheel, and further, using the response of the actual machine to the displacement, the equation of motion of the vehicle, the functional equation of the tire force, etc. The calculation using is performed, and the simulation calculation of the motion state of the running vehicle is executed. That is, by combining the response and calculation of the vehicle as an actual machine, a simulation of the movement of the running vehicle is achieved. According to such a configuration, an actual machine is used for a chassis / suspension part of a vehicle that is difficult to model, while a mathematical model is used for a tire characteristic part with many error factors in an actual running test. Therefore, it is expected that the reproduction of the vehicle motion will be more accurately achieved compared to the conventional vehicle motion simulation.

  In the above configuration, the gantry device may be any device as long as the relative positions of the vehicle body and the wheels can be displaced. Typically, with respect to the direction of displacement of the vehicle body and each wheel, the front and rear, left and right, up and down direction, or pitch, roll, and yaw direction can be arbitrarily realized in each part of the vehicle body and each wheel. It is preferable. Furthermore, it is preferable that the camber angle, toe angle, and rudder angle of each wheel tire can be controlled and measured at the support portion of each wheel. The vehicle to be inspected may typically be a vehicle that is actually used, but the vehicle body is fixed to the support portion and actively displaced, and uses the input / output response characteristics as an actual machine. Since the portion is a chassis, the vehicle body does not have to be an actual vehicle used (the vehicle weight and the height of the center of gravity are parameters that are arbitrarily set in the calculation). The control arithmetic unit for calculating the displacement of the vehicle body and each wheel by the displacement control for the vehicle body and each wheel and the calculation using the equation of motion of the vehicle, the tire force function, etc. may be an arbitrary computer.

  Thus, according to the present invention described above, in the simulation of the vehicle motion, the characteristics of the actual machine are used for the chassis / suspension characteristics that are difficult to model. Since a mathematical model is used for many tire characteristics, it is expected that a simulation result in which the influence of modeling error and environment-induced error is reduced as compared with the conventional one will be obtained. Then, by referring to the simulation result, various characteristics (turning characteristics, roll / pitch / yaw displacement or vibration characteristics, etc.) during traveling of the vehicle, and various parts (particularly chassis suspension) during traveling of the vehicle. It is possible to achieve a more accurate estimation or evaluation of the dynamic characteristics of (part). These evaluation results may be used for vehicle motion research and vehicle structure improvement / development.

  Other objects and advantages of the present invention will become apparent from the following description of preferred embodiments of the present invention.

FIG. 1 is a schematic diagram of an embodiment of an HILS apparatus according to the present invention. FIG. 2 is a block diagram showing a signal flow in the embodiment of the HILS apparatus according to the present invention.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2f, r ... Wheel 3 ... Vehicle body 5 ... Handle 5 ... Rail 10 ... Mounting device (suspension characteristic measuring device)
12fL, fR, rL, rR ... wheel support 12a ... pad 14 ... car body support 14a ... center table 20 ... computer

  The present invention will now be described in detail with reference to a few preferred embodiments with reference to the accompanying drawings. In the figure, the same reference numerals indicate the same parts.

  Referring to FIG. 1, in one embodiment of the HILS apparatus according to the present invention, a vehicle 1 such as an automobile is placed on a gantry device (suspension characteristic measuring device) 10. The gantry device 10 (for example, SPMM (suspension special measurement device) of Anthony Best Dynamics Ltd., England) typically has a front and rear left and right wheels 2f and 2r of the vehicle 1 respectively. Correspondingly, there are provided support bases 12fL, fR, rL, rR for supporting them, and a support base 14 fixed to and supported by the vehicle body 3 of the vehicle 1, and more specifically, support bases 12fL to rR. A pad 12a is provided on each of the contact surfaces with the upper wheels 2f, 2r (tires), and the center table 14a is fixed to the vehicle body 3 at the upper portion of the support base 14. . The pads 12a of the support bases 12fL to rR and the center table 14a of the support base 14 are configured to be independently displaceable at an arbitrary force and distance under the control of the computer 20, respectively. Each pad 12a may be displaceable in the front / rear / left / right / up / down and pitch / roll / yaw directions of the vehicle, and the center table 14a is displaced in the front / rear / left / right / up / down and pitch / roll directions of the vehicle. It may be possible. Further, the gantry device 10 may be provided with a mechanism for controlling the steering angle of the wheel by driving the steering wheel (handle) 5 of the vehicle with an arbitrary steering torque by an arbitrary type of actuator. Furthermore, in the gantry device 10, a measuring instrument (not shown) for measuring the force and displacement acting on each pad 12a and the center table 14a, and the camber angle, toe angle and steering angle of each wheel are determined. A measuring instrument (not shown) for measuring, a measuring instrument (not shown) for measuring the force or torque acting on the axle, a measuring instrument (not shown) for measuring the stroke and acting force of the suspension, etc. are provided, These values may be transmitted to the computer 20 so that they can be used for arithmetic processing in the computer 20.

  The computer 20 may be any type of computer that can be used in a vehicle HILS device. The computer 20 is provided in the gantry device 10 by transmitting a control command to each part of the gantry device 10 by processing operation of the CPU and other elements in accordance with a program stored in advance in a storage device such as a memory in the computer. The acquisition of measurement data from the measurement instrument group is performed through an appropriately adjusted interface, and the measurement data from the measurement instrument group is used under the virtual driving conditions of the vehicle set as appropriate. The movement state of each part is configured to be simulated by calculation.

  The vehicle used as an actual machine in the above-described HILS apparatus for a vehicle may be any vehicle. In particular, in the configuration of the above-described embodiment, the vehicle body is displaced integrally with the center table 14a, so that it does not have to be a vehicle body of an actually used vehicle. Further, each wheel of the vehicle is held so as not to rotate substantially, for example, in a state where a braking device of the vehicle is operated, while on the contact surface with the pad 12a, the tire is attached to the tire. It is slidable so that the generation of longitudinal force, lateral force, cornering force, slip rate or slip angle that can occur during driving (obtained by calculation under the setting of virtual friction state) can be realized. It's okay. What is important in the configuration of this embodiment is that the input / output values of the actual machine are the input / output values of the chassis / suspension part between the vehicle body and the tire used in the simulation by mathematical calculation of the vehicle motion. Is used.

  In the operation of the above-described HILS apparatus for a vehicle, referring to the flow of signals in the HILS apparatus in FIG. 2, after the vehicle 1 is placed on the gantry device 10, the steering angle is applied to the vehicle by the computer 20. Alternatively, a control command for applying steering torque and / or braking (driving) power is transmitted to the gantry device 10. The steering angle or steering torque may be given by rotating the vehicle handle 5 at an arbitrarily set angular velocity, torque, and displacement. Further, the application of braking (driving) power is achieved by displacing the pad 12a immediately below each wheel 2f, 2r in the front-rear direction to generate a significant slip ratio in the tire. The force generated on the wheel (road surface reaction force) may be controlled by feedback control with reference to the acting force (pad force) and the amount of displacement in the load cell mounted on the pad 12a. Thus, when a steering angle / torque and / or braking (driving) power is applied to the vehicle, various displacements and forces / torques on the wheels according to the chassis / suspension characteristics of the vehicle 1 on the gantry device 10. For example, since a rudder angle, a toe angle, a camber angle, and a force / torque acting in each direction on the axle are generated, their displacement and force / torque are measured, and the measured values are sent to the computer 20.

  On the other hand, in the computer 20, the steering angle / angular velocity / torque and / or braking / driving power given to the vehicle, and measurement data measured by the actual machine as a response thereto are arbitrarily set. Using virtual vehicle conditions and travel conditions, such as information on vehicle mass, inertial characteristics, center of gravity height, vehicle speed, wheel speed, road surface friction state, tire characteristics (road surface reaction force-slip ratio, slip angle characteristics, etc.) Thus, simulation calculation of vehicle motion and tire force is executed. In such a simulation calculation, a vehicle motion equation and / or tire force motion (in the longitudinal, lateral, vertical, yaw, roll, and pitch directions) obtained by mathematically modeling vehicle motion and tire characteristics. By solving the equations using the series of values described above, the acceleration (or force or moment), velocity or angular velocity, and displacement amount of the front and rear, side, top and bottom, yaw, roll and pitch directions of the vehicle body and each wheel are calculated. Is done. Here, the equation of motion used may be one normally used in the field of vehicle motion.

  Thus, when the result of the simulation calculation is obtained, the displacement / displacement speed / working force of the vehicle body, the working force / displacement / orientation, etc. of each wheel tire are determined, and these are realized in the vehicle 1 on the gantry 10. Therefore, a control command for displacing the center table 14 a and the pad 12 a is transmitted from the computer 20 to the gantry device 10. Then, the center table displacement control and the pad horizontal displacement control are executed in response to the control command, whereby the state of each part of the vehicle 1 on the gantry device 10 changes according to the chassis suspension characteristics. Will be. Therefore, changes in those states (various displacements and forces / torques on the wheels, such as rudder angle, toe angle, camber angle, force / torque acting in each direction on the axle, etc.) are transmitted to the computer 20. In the computer 20, the simulation calculation of the vehicle motion and the tire force is repeatedly executed using the newly obtained measurement value, the virtual running condition and / or the previous simulation calculation result. Then, by repeating the transmission of the control command to the gantry device 10, the acquisition of the measurement value from the gantry device 10, and the simulation calculation, the simulation of the vehicle motion during traveling is achieved.

  According to the above vehicle motion simulation, as in the case of the actual running test, various vehicle motion characteristics, dynamic characteristics of each part of the vehicle (for example, vehicle body slip angle, stability factor, roll stiffness, pitch stiffness). Therefore, it is possible to evaluate the characteristics and performance of the vehicle and each part by referring to the calculation results in a timely manner.

  In the above embodiment, it should be understood that the vehicle motion simulation of the present invention uses the characteristics of the actual machine for the chassis and suspension characteristics and uses the mathematical model for the tire characteristics. In the actual driving test, the error factor due to the driving environment is eliminated, and the simulation of the vehicle motion is achieved in a state where the modeling error in the simulation calculation is greatly reduced. In addition, as in the case of an actual running test, it is advantageous in that it is possible to test and evaluate the dynamic characteristics / performance of a running vehicle without requiring facilities for actual running.

  Although the above description has been made in relation to the embodiment of the present invention, many modifications and changes can be easily made by those skilled in the art, and the present invention is limited to the embodiment exemplified above. It will be apparent that the invention is not limited and applies to various devices without departing from the inventive concept.

Claims (1)

An apparatus for simulating the motion state of a vehicle,
A support portion on which the vehicle is mounted and capable of independently giving displacement to the vehicle body and each wheel, and measurement for measuring displacement of the vehicle body and each wheel and / or force acting on the vehicle body and each wheel. A gantry device having a container;
A controller for controlling the displacement of each of the support portions of the vehicle body and the wheels of the gantry device;
The vehicle body calculated by the controller based on a running condition of the vehicle, a model of tire characteristics and / or a displacement measured at the vehicle body and the wheels and / or a force acting on the vehicle body and the wheels. And an apparatus for simulating the motion state of the running vehicle by controlling the displacement of each of the support portions so as to realize the displacement of each wheel.

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