JP5182579B2 - Motorcycle shift simulator - Google Patents

Description

  The present invention relates to a technical field for presenting a force sense, and more particularly, to a force sense presentation device for presenting a force sense of rotational motion.

By presenting force sensations to the operation parts such as grips, levers, handles, gloves, and medical instruments operated by the operator, it is possible to input data, perform simulations, and connect to virtual destinations via virtual or computer networks. The actual operation unit is being operated.
In order to present a force sense to the operation unit, a force is applied to the object according to the position and angle of the operation unit in response to the user's operation. For this reason, the force sense presentation device includes a sensor (group) that measures the position and angle of the operation unit and the torque of the operation, a controller that calculates the strength and direction of the force to be presented according to the measurement value of the sensor, A drive unit that applies force to the operation unit in accordance with the control of the controller. The drive unit includes a drive mechanism and an actuator such as a motor.

By the way, recently, for four-wheel and two-wheel moving bodies, there are various types according to the operation amount and operation speed of various operation parts (handle, accelerator pedal, brake lever, gear shift lever, clutch lever, etc.) by the driver (operator). Electronic control has been made. In addition, sensory evaluation (feeling) related to operator operations is also emphasized.
Therefore, (1) what kind of operation the operator performs, (2) how does the operator feel about the operation, (3) what is the relationship between the sense of operation and the specifications of the actual parts, (4) evaluation There is a growing need for accurate information, such as how to design to present a high sense of operation, and (5) whether components can be rationalized while presenting a certain operational feeling.

  By installing a torque sensor and an acceleration sensor in the operation unit of the actual machine, it is possible to obtain data on what operation the operator performs. However, in order to evaluate a sense of operation, an evaluation that compares at least two types of operations is not an absolute evaluation, but an accurate and precise measurement. Human sensitivity, such as weight, pitch, tone, and emotional sensation, can be measured more accurately by comparing them under the same conditions. Therefore, in order to statistically perform a sensory evaluation test and use the result for design or simulation, first, a test of comparison under different conditions for the same condition is required.

  In order to obtain the actual operation of the operation unit and the operational feeling data, if the same operation force (presentation force such as load and torque) is not applied to the operation unit when operating the actual device, it is accurate. No operation is performed. This load changes according to the position (and speed) of the operation unit. For example, in the case of a brake, there is a pattern that it is light at the position of the operation unit at the start of gripping and heavier when braking harder. In this regard, if an actual machine is used, an accurate pattern can be given to the operation unit. However, for the sensory evaluation test, it is necessary to compare different objects. In order to compare the operation feeling with the actual machine, it is necessary to prepare two kinds of actual machines or wait for the time to replace the parts. Then, it is very difficult to perform a comparative test in a state where the feeling of operation remains. In a metaphor with a sound or color stimulus, after a stimulus is presented, it takes time, or after being exposed to another unnecessary stimulus, a stimulus to be compared is presented.

Patent Documents 1 and 2 disclose a method for prompting input of three-dimensional data while presenting a force sense corresponding to a virtual object on an operation grip. In this method, the virtual object can be switched by switching the data, and data about what operation the operator performs according to the different virtual object can be obtained. However, the operation unit disclosed in these documents is mainly a pen-type grip and cannot be applied to a model corresponding to the actual machine as it is.
In Patent Document 3, the gear shift pedal operation feeling is devised so as to be close to the gear shift feeling in an actual vehicle, but the gear shift operation feeling pattern cannot be changed unless the components are replaced. It is not suitable for measurements that compare feelings.

Japanese Patent No. 3534147 Japanese Unexamined Patent Publication No. 2000-246680 JP 2006-347289 A

When collecting data using an actual machine as to how an operation unit such as a moving body is operated, the following points become problems.
1. Only present patterns can be presented, and it is difficult to set pattern parameters for various combinations of components.
2. Since it takes time to reassemble components, the accuracy of the sensory evaluation test is reduced and the test takes time.
3. It is difficult to conduct sensory evaluation tests under the same conditions (date and time, riding posture, etc.).

Moreover, it is not assumed that the conventional force sense presentation device is applied to an actual operation unit such as a moving body.
[Problem 1] As described above, the conventional example has a disadvantage in that it is impossible to measure how the operation unit of the moving body is operated while presenting a pattern of a real machine or a virtual operation feeling. It was.
[Problem 2] In addition, a different pattern is given to the operation unit, so that it is not possible to accurately perform an operation feeling (feeling) comparison test (for example, the SD method or the paired comparison method under the same conditions). was there.
[Problem 3] From the above, there is an inconvenience that the operation feeling of the operation unit of the moving body is quantified and cannot be used for design, panellist (e.g., test rider) evaluation variation, and marketing.

  [Object of the invention] An object of the present invention is to provide a force sense presentation device capable of collecting operation input data and evaluation data of operation feeling while presenting patterns having different operation feelings.

  [Focus Point] The inventor of the present invention has focused on the fact that the pattern of the operation unit of the moving object can be presented by the force sense presentation device from the technical knowledge of operating the force sense presentation device with high accuracy. In particular, the present inventors have come up with the idea that operation input data can be collected under the same conditions and sensory evaluation tests can be performed with extremely high accuracy by changing the operational feeling pattern by force sense presentation.

[Problem solving hand stage present invention that correspond to Examples 1 and 2, base and, the actual component support part mounted on said base for supporting the sheets and handles for motorcycles, the base supporting the motor An equipped housing, a motor mounted in the housing, having a motor shaft, and applying a torque according to a predetermined control torque signal to the motor shaft; and an external attached to the motor shaft and applied to the motor shaft A torque sensor for measuring the operation torque from the motor, a shift lever of the two-wheeled vehicle that rotates with the motor shaft as a rotation axis, and an encoder that measures the rotation angle of the shift lever.
Furthermore, the present invention calculates the torque (control torque u) to the shift lever according to the operation torque, the rotation angle, and a predetermined torque pattern, and the control torque signal is calculated as the motor. By transmitting to the control lever, the shift lever is provided with a controller for presenting and controlling the sense of force.
As a result, the above technical problems 1, 2 and 3 were solved.

  The present invention interprets the meaning of the terms described in each claim in consideration of the description of the present specification and the drawings, and certifies the invention according to each claim. There are the following advantageous effects in relation to

[Operation effects of the invention] In the present invention, by driving the rotary shaft of the shift lever in the motor, presents a presentation force pattern of any gear shift operation to the shift lever. Therefore, by changing the presentation force pattern without changing the gear shift mechanism, it is possible to switch and present the operational feeling of different mechanisms in a short time. For this reason, the sensory evaluation test using paired comparison etc. can be performed stably in a short time. And since the shift lever is directly connected to the rotating shaft of the motor, it is possible to perform a sensory evaluation test without causing a feeling of discomfort.

  Two embodiments will be disclosed as the best mode for carrying out the invention. The first embodiment is a force sense presentation device, and the second embodiment is a motorcycle shift simulator shown in FIG. Embodiments including Examples 1 and 2 are referred to as embodiments.

<1. Rotational force presentation>
<1.1 Seat position and operation unit layout>
First, Example 1 of this embodiment is disclosed.
Referring to FIG. 1, the force sense presentation device includes an operation posture holding unit 10, an actual machine component support unit 20, an operation unit 22, a sensor 24, a controller 28, and an actuator 30.
The operation posture holding unit 10 holds the operation posture of the operator of the moving body. In the example illustrated in FIG. 1, the operation posture holding unit 10 includes a motorcycle seat 12 and a handle 14. In a motorcycle, the seat 12 and the handle 14 hold the operating posture of the operator (rider). In the present embodiment, an actual machine part can be used as the operation posture holding unit 10.

  The actual machine component support unit 20 supports the operation posture holding unit 10 and supports the actual machine component of the movable body arranged according to the position of the operation posture holding unit 10. In the example illustrated in FIG. 1, the actual machine parts are, for example, the seat 12, the handle 14, the frame 16, the fuel tank 18, a mirror, a meter, a light, and the like. The actual machine component support unit 20 is provided on the base 8 and supports the front wheel side and rear wheel side frames 16. On the rear wheel side, if a pair of left and right rear suspension holes 17 to which the rear suspension is attached in the actual machine are used for support, the actual machine parts can be supported in a balanced manner. Further, by adjusting the length in the longitudinal direction (vertical direction in the figure) of the actual machine component support portion 20, the operation posture can be made the same as the height in the actual machine. For example, in the example shown in FIG. 1 and the like, the length of the actual machine component support portion 20 is set to a height that takes into account the sinking of the rear suspension or the like. Further, by attaching a plurality of casters 31 to the lower surface of the base 8, the entire force sense presentation device can be easily moved.

  The operation unit 22 is a target operated by the operator and a target for presenting a force sense. The operation unit 22 is disposed at a position where the operator can operate with the hand or leg in the operation posture. The operation unit 22 is a motorcycle shift lever 62 in the example shown in FIG. 3, and the accelerator lever 23 of the electric vehicle in the example shown in FIG. In addition, the operation unit 22 may be a handle, an accelerator pedal, an accelerator lever, a brake lever, a gear shift lever, a clutch lever, an MT shift lever, etc. for operating the moving body.

  The sensor 24 measures an operation amount 34 of the operation unit 22. When the operation unit 22 is a shift lever 62, an accelerator lever 23, or the like that rotates, the sensor 24 preferably includes a torque sensor 60 that measures an operation load and an encoder 66 that measures a rotation angle (FIG. 9). , FIG. 11). In the case of an MT shift lever or the like, the sensor 24 measures a three-dimensional operation amount 34 from the rotation center point. The sensor 24 transmits the measured operation amount 34 to the controller 28. The time change of the operation amount 34 becomes operation input data 35 operated by the operator while presenting the force sense. The operation input data 35 is, for example, time series data such as the rotation angle θ of the operation unit 22, the time change of the rotation angle θ (time differentiation of θ), and the operation torque τ.

  The controller 28 calculates a presentation force with a presentation force pattern 36 that is predetermined according to the operation amount 34. The actuator 30 presents a force sense to the operation unit 22 in accordance with the presenting force. The presentation force pattern 36 is created in advance for each force sense to be presented and stored in the storage unit 29. The presentation force may be force or torque. The controller 28 reads the presentation force pattern 36 corresponding to the force sense to be presented, calculates the presentation force corresponding to the presentation force pattern 36 and the operation amount, and transmits a presentation force signal 38 to the actuator 30.

  When the operation unit 22 is rotated by a single rotation shaft 44 such as the shift lever 62, the actuator 30 can be the motor 42. In this case, according to the type of the motor 42, the controller 28 transmits the driving current and driving pulse of the motor 42 as the presentation force signal 38 (control torque u in the second embodiment).

  As described above, the force sense presentation device according to the present embodiment can present different force senses without changing other actual machine parts and the like when the presentation force pattern 36 is switched. Then, it is possible to apply a paired comparison method that compares two operational feelings while maintaining the operational posture, and the accuracy and reliability of a sensory evaluation test or the like can be significantly improved.

  As shown in FIG. 2, the actuator 30 such as the motor 42 may be mounted on the housing 32. The housing 32 supports the operation unit 22 such as the shift lever 62 and the actuator 30 such as the motor 42 without interfering with actual machine parts. In addition, a housing base 33 is provided to adjust the height of the shift pedal.

  As shown in FIG. 3, when the housing 32 is removed for explanation, the motor 42 is arranged in accordance with the positions of the footrest 63 and the leg base plate 64 which are actual machine parts. The motor 42 has a motor shaft 40 to which a sensor 24 and a shift lever 62 (operation unit 22) that is the operation unit 22 are attached. A cutout 65 is provided in a part of the leg plate 64 so as not to interfere with the motor shaft 40.

  As shown in FIGS. 4 and 5, an electric vehicle can be used as the force sense presentation device. The electric vehicle proceeds when the operator (driver) depresses the accelerator lever 23 which is the operation unit 22, and when released, the electromagnetic brake is applied. Here, in order to present the operational feeling of the accelerator lever 23, the motor 42 is disposed on the rotation shaft 44 of the accelerator lever 23 to present a sense of force. In the example shown in FIGS. 4 and 5, the actual machine parts are also used for the actual machine parts support part 20, but the pipes shown in FIG. You may make it employ | adopt the actual machine component support part 20 of a type | mold.

  In the example illustrated in FIGS. 1 to 5, when the operation amount 34 is stored as data in the storage unit 29 while presenting a force sense to the operation unit 22, the operator can change the operation unit 22 according to various situations. Operation input data 35 indicating whether to operate can be recorded. Further, the sensory evaluation test can be performed by prompting the operation while presenting the sense of force, and having the evaluation of the operational feeling written on a handwritten evaluation sheet or the like.

1.1 Effect of the relationship between the position of the seat and the operation unit As described above, in this embodiment, the operation unit 22 is disposed at a position where the operator can operate with the hand or the leg in the operation posture, and the operation posture holding unit 10, the actuator 30 presents a force sensation to the operation unit 22 in accordance with a presentation force pattern 36 determined in advance in accordance with the operation amount 34 while maintaining the operation posture of the operator of the moving body.
Therefore, by switching the data of the presentation force pattern 36, it is possible to present a plurality of types of force senses with the same operation posture. Thereby, it is possible to present a plurality of types of operational feelings without requiring getting on and off and waiting for parts replacement time. For this reason, the sensory evaluation test can be performed by a statistical method such as a paired comparison method by having the evaluation of the operational feeling written on the evaluation sheet or the like. In addition, in order to measure the operation amount 34 in a state where a force sense is presented according to the presentation force pattern 36, the actual operation amount 34 corresponding to the force sense to be presented is quantified by recording this operation input data 35. Can be handled in an automated manner. Since the operation input data 35 can be operated with the same operation posture without waiting time, the comparison of the operation input data 35 when different force senses are presented can be accurately measured.

<1.2 Motor shaft direct connection>
Referring to FIGS. 2 to 5 again, in the preferred embodiment, the motor shaft 40 is directly connected to the rotating shaft 44 of the operating portion 22. That is, in this example, the operation unit 22 has a rotation shaft 44 that is rotated by the hand or the leg. The actuator 30 includes a motor 42. Further, the rotating shaft 44 of the operation unit 22 is directly connected to the motor shaft 40 of the motor 42.

  The rotating shaft 44 is the rotating shaft 44 of the motorcycle shift lever 62 in the example shown in FIGS. 2 and 3, and the rotating shaft 44 of the accelerator lever 23 of the electric vehicle in the examples shown in FIGS. 4 and 5. .

1.2 Effect of direct connection of motor shaft When the rotation shaft 44 of the operation unit 22 is directly connected to the motor shaft 40, it is not necessary to interpose a transmission system between the motor 42 and the operation unit 22. The effect of extra mass and moment of inertia does not occur in the presentation of force, and force sense can be presented accurately.

<1.3 Positioning relationship between sheet position and display / operation unit>
Referring to FIGS. 1 and 4 again, in the preferred embodiment, the display operation unit 48 is arranged at a position where it can be visually observed in the operation posture and can be input. The display operation unit 48 displays test items of the sensory evaluation test according to the presentation force pattern 36 and transmits evaluation data 50 input by the operator to the controller 28.

  The display operation unit 48 may display GUI (graphical user interface) display data 52 such as a button as a touch panel, for example, and accept an operation of an operator (rider, driver). Then, by changing the content of the display data 52 to be displayed, it is possible to select one of the plurality of presentation force patterns 36 or to perform time-series control that prompts sequential selection. Also, the evaluation data 50 can be recorded as the evaluation data 50 specifying the force presentation presented by the input to the display operation unit 48 without requiring handwriting on the evaluation sheet or the like.

  In particular, as shown in FIGS. 1 and 4, the display operation unit 48 is arranged at a substantially lower center than the side mirror at the center of the handle 14 of the moving body, so that the operator can visually observe it in a normal operation posture. It can be operated without changing the posture. For this reason, it is possible to perform the selection operation of the presentation force pattern 36 and the input operation of the evaluation data 50 while maximally leaving the sense of the operation while urging the operation unit 22 to present the force sense.

1.3 Effect of the layout relationship between the seat position and the display / operation unit As described above, since the display / operation unit 48 is arranged at a position where the operation posture can be input, the evaluation data 50 can be input without changing the operation posture. Can do. Therefore, it is possible to improve the accuracy of the evaluation for changing the presentation force pattern 36 while leaving the feeling of operation on the operation unit 22 that presents the sense of force. For example, when the number of the presentation force pattern 36 being presented is displayed on the display operation unit 48 and can be arbitrarily switched by the operation of the operator, the presenting force sense can be compared more reliably. As a result, the accuracy of the sensory evaluation test by the paired comparison method in which the two types of presentation force patterns 36 are sequentially presented and compared can be remarkably improved and stabilized.

<1.4 Speaker layout>
Referring again to FIGS. 1 and 4, in a preferred embodiment, a speaker 54 is disposed in the vicinity of the sound source location of the moving body by the operation of the operation unit 22, and the controller 28 controls the operation amount 34 and the operation amount 34. A sound signal 56 predetermined according to the presentation force pattern 36 is output to the speaker 54.

In the motorcycle shown in FIG. 1, a speaker 54 is disposed in the vicinity of the operation unit 22 that is the shift lever 62 and the actuator 30. The sound source that generates the mechanical sound by the operation of the shift lever 62 is a gear shift mechanism (not shown), and the speaker 54 is preferably disposed in the direction of the gear shift mechanism with the hearing of the operator as a starting point.
Then, the controller 28 associates the timing at which the gear shift mechanism generates a mechanical sound with the presentation force pattern 36 and outputs a sound signal 56 to the speaker 54 in accordance with the operation amount 34. For example, when outputting a differential meshing sound that completes the shift by the gear shift mechanism, the shift completion time in the presentation force pattern 36 matches the operation amount 34 such as the rotation angle θ of the operation unit 22 (shift lever 62). At this time, the sound signal 56 is output. The sound signal 56 may be recorded in advance according to the actual machine modeled by the presentation power pattern 36, or may be created by combining a plurality of recorded data.

  In the electric vehicle shown in FIGS. 4 and 5, the motor sound of the electric vehicle changes according to the operation of the accelerator lever 23. The controller 28 may output a sound signal 56 corresponding to the motor sound of the electric vehicle to the speaker 54 in accordance with the operation amount 34 of the accelerator lever 23. In this case, the controller 28 may use not only the rotation angle θ of the rotation axis 44 of the accelerator lever 23 but also the operation load applied to the accelerator lever 23 when controlling the output of the sound signal 56. In this case, it is possible to control the output of the sound in a state where the accelerator lever 23 is released and the electromagnetic brake is applied without depending on the rotation angle θ.

1.4 Effects of Speaker Arrangement As described above, by synchronizing the sound output with the operation amount 34 corresponding to the presentation force pattern 36, the operational feeling of the actual device can be further enhanced. And by arranging the speaker 54 near the sound source of the actual machine, the motor shaft 40 is directly connected to the rotating shaft 44 of the operation unit 22, and the reproducibility of the actual machine operation can be achieved even if the mechanism of the operation unit 22 is different from the actual machine. Can be increased. Thereby, the conditions of the sensory evaluation test are made the same as those of the actual machine, and the reliability of the operation input data 35 can be further increased.

<1.5 Applicable machine [manual operation, leg operation]>
In the present embodiment, as an example of the operation unit 22 for presenting a force sense, a motorcycle shift lever 62 (FIG. 3) operated by a leg and an electric vehicle (FIG. 5) operated by a hand are disclosed. As described above, in this embodiment, if the operation unit 22 performs a rotating operation, the force sense presentation by the single motor 42 can be easily performed. For this reason, there are many actual machines to which this embodiment can be applied.

  As a thing to operate a leg, in a motorcycle, there are a shift pedal and a brake pedal. If the operational feeling of the brake pedal and the operation input data 35 can be measured, information useful for the development of anti-lock brake control and the development of a dual combined brake system can be obtained.

In four-wheeled vehicles, there are accelerator pedals, brake pedals, parking brake pedals, etc. that operate the legs. If the accelerator pedal operation input data 35 can be measured, it is possible to obtain useful information for development of an automatic transmission, design of accelerator pedal weights according to differences in main driver layers, and the like. Furthermore, if the accelerator pedal operation input data 35 can be measured while presenting a force sense, it is possible to develop a simulation device or the like for learning an operation with a small amount of fuel consumption.
As with the motorcycle, information useful for various developments can be obtained for the brake pedal.
If a force sense is presented to the clutch pedal of the manual transmission and the operation input data 35 can be obtained, a sensory evaluation test of the feeling of operation of the clutch pedal can be performed. Further, the clutch / pedal operation input data 35 corresponding to various aspects can be used for designing the situation where the half-clutch is operated.
The parking brake operation input data 35 prompts an operation according to a term such as “full power” or “hurry up” in order to quantify the difference in the operation amount 34 according to the difference in the driver layer. The operation input data 35 can be quantitatively classified by the operator's muscle strength, reaction speed, and the like.

As a manual operation, a motorcycle has a handle and a brake lever. The usefulness of the brake lever operation input data 35 is the same as that of the brake lever.
In addition, there are handles, parking brakes, shift knobs, etc. that are manually operated with four wheels. Furthermore, it can be applied to sensory evaluation tests of all-terrain vehicles (ATVs) and outboard motors.
Furthermore, the present invention can be applied as a device that can arbitrarily set the presentation force pattern 36 of the gear shift operation of a shift mechanism (shift-by-wire, etc.) that does not mechanically perform a gear shift change.

・ 1.5 Effect of actual machine [manual operation, leg operation] ・ Since the operation unit 22 of the rotating moving body is force-presented by a motor, an arbitrary operational feeling (presentation force pattern 36) can be presented and presented By changing the force pattern 36, different operational feelings can be presented under the same conditions. For this reason, an arbitrary shift operation load can be presented to the shift pedal by controlling the manual operation or the leg operation of the moving body.
-Since the gear change sensation can be switched instantly, a pair comparison under the same conditions is possible.

<2. Shift simulator>
Next, Example 2 is disclosed. In the second embodiment, a motorcycle shift simulator for quantifying the feeling (operation feeling) of a gear shift of a motorcycle is disclosed.
As a measure for quantifying the gear shift feeling of a motorcycle, it is conceivable to collect scores of evaluation words representing the feeling of gear shift such as weight and moderation, and create a multiple regression equation and the like. In order to create the multiple regression equation of the feeling evaluation word, a plurality of operators (panelists) operate the gear shifts of the plurality of presentation force patterns 36 to give a rating to the feeling evaluation word. Tests must be performed and this score processed using statistical techniques.
Hereinafter, in the second embodiment, since the rotation-only operation unit 22 called a motorcycle shift lever is targeted, the presentation force is referred to as torque, and the presentation force pattern 36 is referred to as a torque pattern 37.
Thus, in order to create a multiple regression equation, it is necessary to perform a gear shift feeling sensory evaluation test. However, when performing a sensory evaluation test using an actual vehicle, the following inconvenience becomes a problem.

1. An arbitrary torque pattern 37 cannot be created and presented.
It is difficult to set the torque pattern 37 for the gear shift operation by combining the mission components. Changing the specifications of the transmission components such as the gear shift cam plate, stopper spring, and return spring changes the physical parameters that affect the torque pattern 37, but they do not correspond one-on-one. For this reason, it is very difficult to set the torque pattern 37 to an arbitrary value change by combining the specifications of the mission component parts.

2. The time required for the sensory evaluation test increases and the evaluation accuracy decreases.
Even if the mission components are to be rearranged, the work takes time, and the sensory evaluation test takes time. That is, during the sensory evaluation test, it is necessary to evaluate a large number of gear shift operation torque patterns 37, but in order to change the gear shift operation torque patterns 37, it is necessary to rearrange the mission components. Since it takes a considerable amount of time to rearrange the mission components, the time required for the sensory evaluation test becomes longer.

3. The same conditions cannot be accurately reproduced in the sensory evaluation test.
When the component parts are rearranged, the torque pattern 37 of the gear shift operation cannot be determined under the same conditions (date and time, riding posture, etc.). That is, when performing a sensory evaluation test with one vehicle, it is possible to determine the torque pattern 37 of the gear shift operation under the same conditions due to the fact that the date and time of determination is different due to the rearrangement of the mission components and the influence of the assembly error Can not. Even when two or more vehicles can be prepared, the boarding posture is not the same, and the influence of differences between vehicles other than the mission components is a problem. In addition, in the case of a paired comparison test, there is also a problem that the previous operation feeling is faded when getting on and off.

In this second embodiment, in order to improve the inconvenience of the sensory evaluation test using an actual vehicle, an application of force sense presentation using the motor 42 is proposed. The example shown in FIG. 6 is a standard type motorcycle shift simulator, and the example shown in FIG. 7 is a cruiser (American) type motorcycle shift simulator. As shown in FIGS. 6 and 7, the motorcycle shift simulator according to the second embodiment includes a base 8 and an actual machine component support portion 20 mounted on the base 8 that supports a seat 12 and a handle 14 for a motorcycle. And a housing 32 mounted on the base 8 for supporting the motor 42.
The motorcycle shift simulator is mounted in the housing 32 and has a motor shaft 40. The motor 42 applies torque to the motor shaft 40 according to a predetermined control torque signal 39, and the control torque signal 39 is supplied to the motor 42. And a controller 28 for outputting to the controller. The controller 28 calculates a control torque to the shift lever 62 according to the operation torque τ, the rotation angle θ, and a predetermined torque pattern 37, and sends the control torque signal 39 to the motor 42. By transmitting, a force sense is presented and controlled to the shift lever 62.

  In the example shown in FIGS. 6 and 7, the seat 12, the handle 14, the fuel tank 18, the shift lever 62, the footrest 63, and the like can use parts equivalent to those of the actual vehicle, and are reinforced by the actual machine reinforcing portion 21 as necessary. However, it is supported by the actual machine component support section 20. In addition, the height of the seat 12 was set to be the height at the time of boarding by one person on the design. As a result, the difference from the actual vehicle is reduced. And the caster 31 was attached so that it could move easily so that a sensory evaluation test could be performed in various places.

  In the second embodiment, since the motor 42 applies torque according to the control torque signal 39 to the motor shaft 40, the control torque according to the predetermined torque pattern 37 is presented to the shift lever 62 (operation unit 22). Accordingly, it is possible to present an operational feeling similar to that of the component parts. Moreover, by changing the pattern of the control torque signal 39, it is possible to present while switching the operational feeling of different models or virtual models without changing the components. For this reason, in the sensory evaluation test for the operational feeling of the shift lever 62, a highly accurate paired comparison method can be applied.

  Similarly to the first embodiment, as shown in FIGS. 6 and 7, the display operation unit 48 may be installed at a position where it can be operated in a normal riding posture. The display operation unit 48 receives an operation feeling (torque pattern 37) selection operation, and inputs an evaluation value in the sensory evaluation test and displays the number of the torque pattern 37 being presented. By arranging the display operation unit 48 at a position where it can be operated in a normal riding posture, a paired comparison sensory evaluation test under the same conditions (comparing the torque patterns 37 of two types of gear shift operations, each shift feeling evaluation) It is possible to determine the difference in how the words are felt.

<2.1 Shift lever rotation shaft direct connection>
Referring to FIG. 8, the motorcycle shift simulator measures a motor 42 installed in the housing 32 and rotating the motor shaft 40 and an external operation torque τ attached to the motor shaft 40 and applied to the motor shaft 40. And a torque sensor 60. The measured value of the torque sensor 60 is transmitted to the controller 28 via the output terminal 61. Further, an encoder 66 for measuring the rotation angle θ of the shift lever 62 is attached to the shift lever 62 (FIG. 9). The shift lever 62 is attached to the motor shaft 40 and rotates about the motor shaft 40 as the rotation shaft 44. The rotation shaft 44 of the shift lever 62 is the rotation shaft 44 of the motor 42 and the motor shaft 40.

  As shown in FIG. 9, in the second embodiment, the rotation shaft 44 portion of the shift lever 62 is directly connected to the outer portion 40 </ b> A of the motor shaft 40 of the DD motor 42. A torque sensor 60 for measuring an operation torque τ to the shaft of the motor shaft 40 is inserted into the other end of the shaft portion 40A. The torque sensor 60 has an output terminal 61 for outputting the measured operation torque τ. The DD motor 42 includes a stator 84 and a rotor 82 that rotates relative to the stator 84, and the rotor 82 rotates integrally with the inner portion 40 </ b> B of the motor shaft 40.

The outer portion 40A and the inner portion 40B of the motor shaft 40 are rotatably supported by a bearing 80, and the shift lever 62, the outer portion 40A, the torque sensor 60, the inner portion 40B, and the rotor 82 rotate as a unit. The torque sensor 60 measures the operation torque τ at the rotation angle θ with reference to the rotated state. Furthermore, an encoder 66 for measuring the rotation angle θ of the shaft is attached to the opposite end of the motor shaft 40 directly connecting the shift lever 62. A coupling 86 may be used for this attachment.
The DD motor 42 is driven by a servo driver 74 (FIG. 11). The servo driver 74 controls the output of the DD motor 42 by causing the current flowing through the stator 84 of the DD motor 42 to follow a command value (control torque u) input from the outside.

  Further, the inner portion 40B of the motor shaft 40 has a screw hole and is joined to the shift lever 62 and the screw 41. If a notch for determining the direction is provided on the inner side portion 40B and projections corresponding to a plurality of types of shift levers 62 are set, the shift lever 62 can be replaced only by screwing with the screws 41.

2.1 Effect of Direct Connection of Shift Lever Rotating Shaft As described above, by driving the rotating shaft 44 of the shift lever 62 by the DD motor 42, the torque pattern 37 of an arbitrary gear shift operation can be presented to the shift lever 62. Thus, by changing the torque pattern 37 without changing the gear shift mechanism, it is possible to switch and present the operational feeling of the different mechanisms in a short time. That is, by making it possible to instantaneously change the torque pattern 37 of the gear shift operation from the outside, the sensory evaluation test by the pair comparison method under the same conditions can be stably performed in a short time.

  If the rotation shaft 44 of the shift lever 62 and the rotation shaft 44 of the motor 42 do not coincide with each other, the output torque of the motor 44 must be transmitted to the rotation shaft 44 of the shift lever 62 using a gear, a toothed belt, or the like. No longer. Since backlash occurs during torque transmission, the effect of backlash is included in the gear shift operation load experienced by the operator. As described above, when the rotating shafts 44 are not matched, the mechanism becomes complicated, and the possibility that the gear shift feeling will be uncomfortable increases, which adversely affects the accuracy of the sensory evaluation test. In this regard, in the second embodiment, the rotation shaft 44 of the shift lever 62 and the rotation shaft 44 of the motor 42 are made to coincide with each other, so that the feeling of discomfort does not occur.

<2.2 Reproducibility of actual machine operation>
Referring to FIGS. 6 and 7 again, the following operation can be reproduced in the sensory evaluation test of the gear shift feeling according to the second embodiment.
1. When presenting gear shift operation sound In a real vehicle, a gear dog will be heard when the gear shift is changed. Since such a sound is not generated in the DD motor 42, a sound equivalent to an actual vehicle is generated from the speaker 54 in accordance with the angle of the gear shift change, thereby controlling not only the sense of operation feeling but also the stimulation to the hearing. And the influence of sound during the sensory evaluation test is reduced.
Referring to FIG. 6 again, the speaker 54 may be disposed in the vicinity of the motor 42. The controller 28 outputs a sound signal 56 corresponding to the operation amount 34 (for example, the rotation angle θ) and the torque pattern 37 to the speaker 54. In the example shown in FIG. 6, two speakers 54 are provided, and in the example shown in FIG. 7, one speaker 54 is provided.

2. When presenting a gear shift shock In a real vehicle, when the gear shift is changed, the vehicle body vibration is generated due to the coupling of the clutch plate. A gear shift shock can be simulated by attaching a vibration generator 70 for vibrating the simulator and operating the vibration generator 70 in accordance with the angle of the gear shift change.
In this example, the motorcycle shift simulator includes a vibration generator 70 that vibrates the seat 12 and the handle 14 in accordance with a predetermined vibration generation signal 68. Then, the controller 28 transmits a vibration generation signal 68 corresponding to the operation amount 34 and the torque pattern 37 to the vibration generation unit 70. Thereby, vibration imitating an actual machine can be presented according to the operation amount 34 (for example, the rotation angle θ of the motor shaft 40).

  In the example shown in FIGS. 6 and 7, it is possible to present good vibration to the operator (rider) by mounting the vibration generating unit 70 on the actual machine component support unit 20 on the seat 12 side (rear wheel side). . Further, in the example shown in FIG. 6, the actual machine component support section 20 supports the actual machine parts with the pair of left and right rear suspension holes 17 to which the rear suspension is mounted in the actual machine, and therefore vibration generated by the vibration generator 70 is It can be transmitted to the whole part in the same way as the actual machine.

3. When considering throttle opening and clutch disengagement In the running state, the physical parameters change depending on the throttle opening and clutch disengagement in addition to the specifications of the mission components. In order to take these into consideration in the motorcycle shift simulator in this embodiment, sensors 24 such as potentiometers 96A and 96B are attached to the throttle grip 98 (or throttle wire) and the clutch lever 100 (or clutch cable) (FIG. 11). Alternatively, the throttle opening degree or clutch disengagement may be measured, and these pieces of information may be used for calculating the control torque.

-2.2 Reproducibility of actual machine operation As described above, by arranging the speaker 54 and presenting operation sounds according to the rotation angle θ of the shift lever 62 and the motor shaft 40, the options presented in the sensory evaluation test increase. And a wider range of evaluations. Further, in the example using the vibration generating unit 70, it is possible to present a feeling of operation closer to the actual machine while using the force sense by the DD motor 42 by presenting the vehicle body vibration accompanying the coupling of the clutch plate.

<2.3 Control and results>
The torque pattern 37 is a function of the operation amount 34 of the operation unit 22 such as the shift lever 62. A mechanical resistance force and a repulsive force due to a spring or the like are generated in the operation unit 22. For example, the operation unit 22 gives the operator a sense of resistance immediately before the operation is completed, and returns to the origin by the restoring force of the spring. Attempts have been made to adjust the magnitude of the force that the operation unit 22 presents to the operator in accordance with the operation amount 34. The torque pattern 37 of the operation unit 22 is a torque [N · m] presented to the operator from the operation unit 22 in accordance with the position and state of the operation unit 22, and the torque pattern 37 of the actual machine may be measured. The virtual torque pattern 37 may be artificially defined from the measured values of a plurality of actual machines.

When the operation unit 22 rotates like the shift lever 62, the torque pattern 37 is a function of the rotation angle θ. Referring to FIG. 10, the torque pattern 37 is a torque / angle diagram in which the horizontal axis represents the rotation angle θ [deg] of the shift lever 62 and the vertical axis represents the operation torque τ [N · m] of the shift lever 62. The name of each period and each time point is defined as follows.
q1: Gaga period
q2: Play period before shifting
q3: Shifting period
q4: Play period after shifting
q5: Return to origin period
t1: Return spring mounting torque point
t2: Shift start point
t3: Shift completion point
t4: Rotation end
P0: Initial torque
Pmax: Peak torque
Pmin: Minimal torque
a: Peak phase

  In the torque pattern 37A at the time of upshift / downshift (during gear shift operation), the gear shift period q3 is a period during which the cam is operated, and the gear shift operation can be stopped unless reaching the gear shift completion point t3. Even when the rotation end t4 is reached, the shaft rotates excessively due to elastic deformation of the link or the like. A torque pattern 37B at the time of shift return (at the time of return to origin) is indicated by a dotted line.

  Since the vertical axis of the torque / angle diagram is the operating torque τ [N · m], it depends on the length from the rotating shaft 44 of the shift lever 62 to the operating portions 62A and 62B (FIGS. 3 and 8). Therefore, a torque / angle diagram is prepared for each type of shift lever 62. Alternatively, the vertical axis of the torque / angle diagram may be the load [N], and the load may be converted into the torque by calculating the control torque u while separately managing the length of the shift lever 62.

Referring to FIG. 11, the controller 28 measures the rotation angle θ of the shift lever 62 by counting the signal from the A / D board 94 </ b> A that converts the operation torque τ from the torque sensor 60 into digital data and the encoder 66. And a counter board 92. Further, the controller 28 calculates a control torque to the shift lever 62 according to the operation torque τ, the rotation angle θ, and a predetermined torque pattern 37, and controls the control torque signal 39 (control torque). By transmitting u) to the motor 42, control for presenting a force sense to the shift lever 62 is performed.
In the example shown in FIG. 11, the control software 90 calculates the control torque to the shift lever 62, and transmits the control torque signal 39 (control torque u) to the servo driver 74 via the D / A board 95A. The driver 74 drives the DD motor 42 in accordance with the control torque signal 39 (control torque u).

  The control software 90 is provided with a storage unit 29. The storage unit 29 includes a plurality of types of torque patterns 37, formula data for calculating the control torque signal 39, program data for the control software 90, sound signals 56, and vibration generation as necessary. A vibration pattern for generating the signal 68 is stored in advance.

  In the example including the vibration generation unit 70, the control software 90 transmits the vibration generation signal 68 to the vibration generation unit 70 via the D / A board 95 </ b> B. In calculating the control torque u, when using information such as the throttle opening degree and the clutch disengagement, the operation state of the throttle grip 98 and the clutch lever 100 is measured by the potentiometers 96A and 96B, and the A / D board 94B, The measured value is taken into the control software 90 via 94C.

  The controller 28 calculates a control torque u serving as a command to the servo driver 74 based on information such as the operation torque τ of the motor shaft 40 and the rotation angle θ of the motor shaft 40. This control torque u is the control torque u of the DD motor. The control torque u is a torque for realizing impedance control, and is composed of a torque for compensating the inertia of the rotor 82 and the motor shaft 40 of the DD motor 42, a torque for presenting a gear shift operation load, and the like. The torque pattern 37 of the gear shift operation can be changed instantaneously by an external signal. The servo driver 74 continuously controls the output torque of the DD motor 42 in real time by causing the current flowing through the stator 84 of the DD motor 42 to follow the control torque u input from the outside.

  The control torque u can be obtained by the following equation (3) from the equation (1) representing the actual dynamic characteristics of the motor and the equation (2) representing the target dynamic characteristics.

θ: Rotor rotation angle (same as the rotation angle θ of the manipulated variable)
J: Rotor moment of inertia
D: Coefficient of viscous resistance τ: Torque applied externally (operation torque τ)
u: Control torque (control torque signal 39)
Jd: Target moment of inertia
Dd: Target viscous drag coefficient
Kd (θ): Torque / angle characteristics presented in the simulator (corresponding to torque pattern 37)

-Parameters set with reference to actual vehicle specifications The target inertia moment Jd and target viscous resistance coefficient Dd are set in advance with reference to the actual vehicle specifications. These can be set to arbitrary values, but Jd is calculated (set) from the equivalent moment of inertia around the rotation shaft 44 of the shift lever 62 of the gear shift mechanism of the actual vehicle and the position of the rotation shaft 44 of the shift lever 62 of the actual vehicle. Thus, the dynamic characteristics of the rotating shaft 44 of the DD motor 42 can be brought close to the dynamic characteristics of the shift lever 62 around the rotating shaft 44 of the actual vehicle. Since there is almost no viscous resistance around the rotating shaft 44 of the shift lever 62 of the actual vehicle, it is preferable to make Dd as small as possible. However, if Jd and Dd are too small relative to J and D, the control tends to become unstable.

Parameters determined by the DD motor 42 The moment of inertia J of the motor rotation shaft 44 and the viscous resistance coefficient D of the motor are determined in advance by the characteristics of the DD motor 42. J is the sum of the motor shaft 40, the rotor 82 of the DD motor 42, the torque sensor 60, and the moment of inertia around the motor rotation shaft 44 of the shift lever 62. D can be estimated in advance from the step response of the DD motor 42.

・ Prepared torque and angle characteristics (= presentation sample)
Kd (θ) is prepared in advance according to the inspection purpose such as a sensory evaluation test. Jd and Dd are constants, but Kd is a function of θ. Kd (θ) is usually set with reference to the torque / angle characteristics of the actual vehicle. However, it is also possible to set characteristics that do not actually exist. The torque / angle characteristics of the actual vehicle are determined by the return spring mounting torque and spring constant, the stopper spring mounting torque and spring constant, the shape of the gear shift cam plate, and the like.
When the shift lever 62 of the motorcycle simulator of this embodiment is replaced, the moment of inertia J of the motor rotating shaft 44 is changed. When the distance between the motor rotation shaft 44 and the shift pedal changes, Kd (θ) is also changed. When assuming two types of actual machines in which the position of the rotation shaft 44 of the gear shift lever is different, Jd and Kd (θ) are changed.

Since the angular velocity ω necessary for calculating the control torque u cannot be obtained directly from the sensor 24 such as the encoder 66, the angular velocity ω is obtained by calculating the time derivative of the rotation angle θ using Equation 4 or the like. When the torque pattern 37 to be presented is identified by n, the equation (3) becomes the equation (5), and the control torque u _n according to the torque / angle characteristic (Kd _n (θ)) where the number of the torque pattern 37 is _n. Can be calculated.

Referring to FIG. 12, the control software 90 includes a torque / angle characteristic calculation unit 104, a differentiation calculation unit 106, and an impedance calculation unit 108. The torque / angle characteristic calculation unit 104 identifies a torque pattern 37 to be presented in response to an input from the display operation unit 48 and the like, reads the torque / angle diagram that is the torque pattern 37 from the storage unit 29, and A torque / angle characteristic (Kd _n (θ)) corresponding to the rotation angle θ input from 92 is calculated and transmitted to the impedance calculator 108. The differential calculation unit 106 calculates the time derivative of the rotation angle θ using Equation (4) or the like to obtain the change in the rotation angle θ (angular velocity ω), and transmits the angular velocity ω to the impedance calculation unit 108. Impedance calculating portion 108, since the torque angle characteristics (Kd _n (theta)) angular velocity ω and constants (J, Jd, D, Dd) and obtains the control torque u _n by Equation (5), the control torque u _n is transmitted to the D / A board 95A. Servo driver 74, by tracking the current flowing through the stator 84 of the DD motor 42 to the control torque u _n, controls the output of the DD motor 42.

  Referring to FIG. 13, the control torque u (control torque signal 39) is calculated in the control mode (step S1), and the control torque u is set to 0 in other modes (step S2). If in the control mode, the operation torque τ and the rotation angle θ are input (step S3), the differential calculation unit 106 calculates the angular velocity ω (step S4), and the impedance calculation unit 108 calculates the control torque u ( Step S5), the control torque u is output.

  In step S2, first, when the rider operates the shift lever 62, the shift lever 62 rotates. The encoder 66 measures the rotation angle θ, and the counter board 92 converts it into a digital rotation angle θ. Further, a force sense corresponding to the control torque u is presented to the shift lever 62 in the state of the rotation angle θ. In order for the rider to continue the operation such as gear shift change, the shift lever 62 is operated with a torque exceeding the control torque. The torque of the operation is measured by the torque sensor 60, and the operation torque τ is converted into digital data by the A / D board 94A. The measurement and input of the operating torque τ and the rotation angle θ are continuously performed in real time. In step S3, the differential calculation unit 106 calculates the angular velocity ω. In step S4, the impedance calculator 108 calculates the control torque u.

Referring to FIG. 14, the display operation unit 48 includes a display operation screen 110 that displays the display data 52. The display operation unit 48 may be a touch panel display using liquid crystal or the like, and the controller 28 may generate display data. The display operation screen 110 includes pattern switching buttons 112A and 112B, a feeling evaluation word display 114, and an evaluation selection button 116. In addition, “Currently displaying pattern A” and a torque pattern 37 being presented are displayed to the rider in the upper center.
The rider switches between the two patterns A and B in sequence, and compares A's feeling of operation with B's feeling of operation. The human sense is more accurate in terms of differences than comparing absolute values. The rider evaluates the weight by comparing A's operational feeling with B's operational feeling. That is, the rider selects one evaluation from seven evaluations “same”, “slightly”, “pretty”, and “very”, and inputs them using the evaluation selection button 116. For example, if the evaluation result (evaluation score) is that A is considerably heavy by comparing the evaluation of the torque pattern 37 with the pattern A and the torque pattern 37 with the pattern B, “-2” in the column of the weight. Is clicked on the evaluation selection button 116 displayed. The operation result of the evaluation selection button 116 becomes evaluation data 50.

  In addition, by changing the display contents, presenting a certain characteristic, and displaying “Three points of the current characteristic as three points”, etc., the evaluation variation among panelists (test riders) is reduced. You can also.

2.3 Control and Effect of Result As described above, an arbitrary shift operation load can be presented to the shift lever 62 by motor control. The use of the direct drive motor 42 can eliminate the uncomfortable feeling caused by the speed reduction mechanism. Furthermore, the uncomfortable feeling caused by the inertia of the rotor 82 is reduced by the impedance control. In this way, it is possible to perform an essential sensory test excluding noisy elements. In other words, it is possible to plan and execute a sensory evaluation test that highlights the factors that are desired.
And since the gear change sensation can be switched instantaneously, a paired comparison under the same conditions becomes possible. Further, it is possible to evaluate the operational feeling of the shift lever 62 by setting the assumed torque pattern 37 without making a prototype at the stage where the parts of the gear shift mechanism are specified. Furthermore, it is possible to present a sense of force using a combination of parts that do not exist, and it is easy to plan a sensory test according to the purpose. And stable sensory evaluation under a certain condition can be inspected at a low cost and in a short time.
Also, by accumulating highly accurate sensory evaluation tests, it can be applied to test rider training. For example, during a running test using an actual vehicle, gear shift feeling is also confirmed, and the test rider is required to perform an absolute evaluation of the test vehicle. In this regard, by using the simulator according to the present embodiment, it is possible to reduce the variation between test riders, reduce the difference in the evaluation values, and to handle the variation statistically. It is possible to calculate a reliable interval.

FIG. 1 is an explanatory diagram illustrating a configuration example of the present embodiment. FIG. 2 is a front view showing an example in which the actuator is installed in the housing. FIG. 3 is a perspective view showing an example of the relationship between the motor and the operation unit. FIG. 4 is a perspective view illustrating an example in which an accelerator lever of an electric vehicle is used as an operation unit. FIG. 5 is an explanatory view showing an example of the handle portion shown in FIG. FIG. 6 is an explanatory diagram showing an example in which the second embodiment is applied to a standard type motorcycle. FIG. 7 is an explanatory diagram showing an example in which the second embodiment is applied to a cruiser type motorcycle. FIG. 8 is a perspective view showing an example of the relationship between the shift pedal and the housing shown in FIG. FIG. 9 is a cross-sectional view showing an example of the relationship between the motor and the sensor. FIG. 10 is a graph showing an example of a torque pattern (torque / angle diagram). FIG. 11 is a block diagram illustrating a configuration example of a controller according to the second embodiment. FIG. 12 is a block diagram illustrating a configuration example of the control software illustrated in FIG. FIG. 13 is a flowchart illustrating an example of information processing for calculating the control torque. FIG. 14 is an explanatory diagram illustrating a display example of the display operation unit.

Explanation of symbols

τ Operating torque θ Rotation angle
Kd (θ) Torque / angular characteristics 8 Base 10 Operation posture holding section 12 Seat 14 Handle 16 Frame 17 Rear suspension hole 18 Fuel tank 20 Actual machine parts support section 22 Operation section 23 Accelerator lever 24 Sensor 28 Controller 29 Storage section 30 Actuator 32 Housing 34 Operation amount 35 Operation input data 36 Presenting force pattern 38 Presenting force signal 39 Control torque signal 40 Motor shaft 42 Motor 44 Rotating shaft 48 Display operation unit 54 Speaker 60 Torque sensor 62 Shift lever 70 Vibration generating unit

Claims (2)

The foundation,
An actual machine component support portion mounted on the base for supporting a seat and a handle for a motorcycle;
A housing mounted on the base supporting the motor;
A motor mounted in the housing, having a motor shaft, and applying a torque corresponding to a predetermined control torque signal to the motor shaft;
A torque sensor that is attached to the motor shaft and measures an external operating torque applied to the motor shaft;
A shift lever of the two-wheeled vehicle that is attached to the motor shaft and rotates about the motor shaft as a rotation axis;
An encoder that measures the rotation angle of this shift lever;
By calculating the torque to the shift lever according to the operation torque, the rotation angle, and a predetermined torque pattern, and transmitting the control torque signal to the motor, the force to the shift lever is calculated. A controller for presenting and controlling the sense of
Motorcycle shift simulator characterized by having A vibration generating unit that vibrates the seat and the handle in accordance with a predetermined vibration generation signal;
The controller transmits a vibration generation signal corresponding to the operation amount and the torque pattern to the vibration generation unit;
Motorcycle shift simulator of claim 1 Symbol mounting, characterized in that.

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