WO2019110905A1 - Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation vibratoire - Google Patents
Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation vibratoire Download PDFInfo
- Publication number
- WO2019110905A1 WO2019110905A1 PCT/FR2018/053089 FR2018053089W WO2019110905A1 WO 2019110905 A1 WO2019110905 A1 WO 2019110905A1 FR 2018053089 W FR2018053089 W FR 2018053089W WO 2019110905 A1 WO2019110905 A1 WO 2019110905A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering system
- power steering
- assistance
- mes
- vehicle
- Prior art date
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
-
- 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
- G01M17/06—Steering behaviour; Rolling behaviour
Definitions
- the present invention relates to characterization methods for empirically determining at least one property of a power steering system, such as for example the position of the end stops of a steering rack or the frequency response characteristics. the power steering system when developing or calibrating the system at the factory.
- the known characterization methods require that a human operator installs the power steering system on a test bench and then maneuvers the steering wheel according to pre-established special maneuver cycles, so that sensors and recorders test bench can observe the reactions of the steering system and measure the indicator parameters that can then quantify the property we are looking for.
- the objects assigned to the invention therefore seek to overcome the aforementioned drawbacks and to propose a method of characterization of a power steering system that allows a rapid, reliable and cost-effective characterization of said power steering system.
- the objects assigned to the invention are also intended to propose a new method for characterizing a power steering system which has great versatility, in that said method is easily adapted to many models of power steering systems and / or allows a complete characterization of several properties of the same power steering system.
- the objects assigned to the invention are achieved by means of a method of characterizing a power steering system for determining empirically at least one property of said power steering system, called “desired property", said power steering system comprising at least one heading defining device, such as a steering wheel, which makes it possible to define the orientation, called the "steering angle", of the power steering system, a steering mechanism provided with at least one movable member , such as a rack, the position of which is adapted to correspond to the selected steering angle, as well as at least one assistance engine arranged to be able to drive said steering mechanism, said method being characterized in that it includes, apart from a piloting phase during which the power steering system is assigned to driving a vehicle in order to follow that vehicle a trajectory which is determined according to the
- an activation instruction which follows one or more pre-established “exploration cycles”, a measurement step (b), according to which one measures, during the scanning cycle (s) or at the end of said one or more scanning cycles, at least one physical parameter, called “indicator parameter”, which is specific to the response provided by the power assisted steering system.
- automatic assistance engine and which is characteristic of the property sought, and a step (c) of analysis, during which the desired property is quantified from the measurement or measurements of the pa Indicator range.
- the invention thus uses the assistance engine itself as a means (unique) for activating the steering mechanism according to the selected exploration cycle or cycles, without the need to use a means of control.
- auxiliary drive and in particular an auxiliary motor, external to the steering system.
- the automation of the scanning cycles advantageously makes it possible to apply to the assistance engine, during the phases in which the steering system is characterized, particularly precise instructions, which are much more precise than during manual maneuvers, and in particular constant velocity, acceleration or force setpoints for predetermined periods of time or predetermined displacement distances of the movable member, thereby permitting accurately measure the indicator parameter (s), without the activation of the power steering system itself constituting a source of potential error that would be related to an excessive and uncontrolled variability of the setpoint with respect to the exploration cycle ideal target.
- the invention makes it possible, in particular, to equip the power steering system, regardless of the model of said system, with an on-board calculation module which contains a complete set of characterization functions, for example in the form of a library file stored in a non-volatile memory of said module, so that the power steering system will be intrinsically provided with the tools necessary for its characterization, and more generally the characterization of several of its properties.
- Figure 1 illustrates, in a schematic view, a power steering system.
- FIG. 2 illustrates an example of a vibratory scanning cycle in which an alternating sinusoidal torque setpoint whose frequency is varied is applied to the assistance motor.
- FIG. 3 illustrates a safety function which, by superimposing itself on the exploration cycles as needed, makes it possible to limit the torque developed by the assistance motor when the steering mechanism approaches the end stops.
- the invention relates to a method of characterizing a power steering system 1 for determining empirically at least one property of said power steering system 1, specific to said system, called “desired property”.
- said power steering system 1 comprises at least one heading definition device 2 which makes it possible to define the orientation, called a "steering angle" A1, of the power steering system.
- the heading defining device 2 will comprise a steering wheel 2 which allows a driver (human) to freely define said angle of Al steering to provide manual steering of a vehicle equipped with the power steering system 1.
- Said steering system also comprises a steering mechanism 3 provided with at least one movable member 4, such as a rack 4, whose position P4 adapts to correspond to the chosen A1 steering angle.
- the movable member 4 can therefore be likened to a rack in the following.
- said movable member 4, and more particularly the rack 4 may preferably be movably mounted and guided in translation in a steering housing.
- the steering mechanism 3 thus makes it possible to modify the orientation of an orientable member 5, such as a steering wheel 5, driven in displacement by the rack 4, in order to direct a vehicle on which said power steering system 1 is embedded. .
- the steering mechanism 3 may comprise steering rods 6 which each connect one end of the rack 4 to a steerable rocket carrier and carrying the corresponding steering wheel 5.
- the power steering system 1 also comprises at least one assistance engine 7 arranged to be able to drive said steering mechanism 3.
- Said assistance motor 7 will preferably be an electric motor, with two directions of operation, in order to be able to drive the steering mechanism 3 indifferently to the left or to the right, for example a brushless motor.
- the assistance engine 7 is placed, via a computer comprising a first embedded module 8, that is to say an integral part of the system 1, said "assistance module” 8, dependent of the heading definition apparatus 2.
- the heading definition apparatus 2 may preferably be used to define a steering angle setpoint A2, which may typically be defined, in the case where the apparatus 2 comprises a steering wheel 2 or is formed by a steering wheel. pipe 2, by the angular position P2 of said steering wheel 2.
- the heading definition apparatus 2 can provide a force data T2, called the "flying torque", which corresponds to the force exerted by the driver on said heading definition apparatus 2, and more particularly to the torque exerted by the driver on the steering wheel 2.
- Said steering wheel torque T2 can be measured by a torque sensor 9 associated with the steering wheel 2.
- the assistance module 8 defines, according to an assistance law stored in said assistance module 8, an assistance force instruction (assist torque setpoint) T7 that it applies to the assistance engine 7, in order to match the angle of the actual A1 steering of the system 1, and consequently the yaw angle of the wheels 5, with the orientation defined by the heading definition apparatus 2.
- the invention can preferably be applied to a power steering system in which the steering wheel 2 is mechanically connected to the rack 4 and thus mechanically connected, at least indirectly, to the assistance engine 7 , for example by means of a steering column 10 carrying said steering wheel 2 and provided with a pinion 11 which meshes with the rack 4.
- the steering wheel 2 is an integral part of the steering mechanism 3, and can transmit a manual steering force and / or a steering movement to the movable member (rack) 4, and conversely, be driven by the assistance engine 7.
- the assistance motor 7 may be coupled to the rack 4 by any suitable mechanism, and in particular by a motor pinion 12, possibly separate from the pinion 11 of the steering column, and which meshes directly with the rack 4, as is illustrated in Figure 1, or by a ball screw, or again via a gearbox placed on the steering column 10 to form a so-called “single gear” mechanism.
- a motor pinion 12 possibly separate from the pinion 11 of the steering column, and which meshes directly with the rack 4, as is illustrated in Figure 1, or by a ball screw, or again via a gearbox placed on the steering column 10 to form a so-called “single gear” mechanism.
- the heading definition device 2 intervenes during a phase called "pilot phase", during which the power steering system 1 is actually assigned to driving a vehicle, in order to follow said vehicle a trajectory that is determined according to the situation of said vehicle relative to its environment.
- the method comprises, outside of such a driving phase, that is to say at a moment when the steering system 1, and more generally the vehicle, is outside a traffic situation, and it is therefore not necessary to take into account the environment of said vehicle to define a vehicle trajectory adapted to such an environment, or necessary to respect a particular trajectory to ensure the safety of the vehicle and its occupants, a step (a) of automatic activation of the assistance engine 7, during which a computer 13 is used to automatically generate and apply to the assistance engine 7, without requiring external action on the device.
- an activation instruction which follows one or more pre-established “pre-established” “exploration cycles” CY
- a measurement step (b) according to which one measures, during the exploration cycle (s) CY or the outcome of said or desdi ts CY scan cycles, at least one physical parameter, called “indicator parameter”, which is specific to the response provided by the power steering system 1 to the automatic activation of the assistance engine 7 and which is characteristic of the property sought, then a step (c) of analysis, during which the desired property is quantized from the measurement or measurements of the indicator parameter.
- characterization module 13
- the first module namely the assistance module 8 used for steering assistance in the piloting phase
- the second module namely the characterization module 13 for controlling the automated process for characterizing the control system.
- power steering 1 out of control phase will coexist within the same onboard computer on the vehicle.
- the invention makes it possible to inherently use the assistance engine 7 embedded in the power steering system 1 as an exclusive driving source for driving the steering mechanism 3 during the characterization, without requiring an external active motion source, such as the manual force of an operator or an external additional engine, which would be distinct from the assistance engine 7 (and for example integrated into a robotic arm).
- the characterization according to the invention can therefore advantageously be achieved without the need to act mechanically actively, manually or by an external motor, on the power steering system 1, and more particularly on the mechanism of direction 3, from the outside, and more particularly without it being necessary to actuate, manually or by an external motor, one of the mobile mechanical members, such as the driving wheel
- the animation of the steering mechanism 3 for the purpose of the characterization according to the invention can therefore be performed autonomously, easily and at a lower cost, by using exclusively drive means (assistance motor 7), and the case appropriate control means (characterization module 13) intrinsically present in the power steering system 1.
- passive external loads such as for example blocking wedges, springs and / or dampers
- the characterization method according to the invention takes place outside any piloting phase of a vehicle, in a test situation that can be described as a "virtual" situation, since said situation does not require not having to respect a particular trajectory or a particular dynamic behavior of the vehicle, and thus makes it possible to characterize the power steering system 1 as such, separately from the influence of the vehicle, by decorrelating the use of said steering system assisted by the use of the vehicle itself, and therefore without imposing restrictions to the characterization process related to the safety of said vehicle or occupants of the latter.
- the method according to the invention will thus be particularly suitable for factory characterization, excluding traffic, typically on a test bench, of a vehicle equipped with a power steering system 1, or even of a power steering system 1 only, before the assembly of said system 1 on a vehicle, and for example a power steering system 1 on which the wheels 5, and where appropriate the rods 6 have not yet been put in place.
- step (a) of automatic activation for the purpose of characterization takes place outside a vehicle control phase, it is advantageous to control the assistance engine 7 by means of a CY scan cycle.
- an activation instruction whose nature, form and duration, defined according to a predetermined activation pattern ("pattern"), will be chosen arbitrarily and freely, so as to be able to highlight, optimally, the desired property, and without having to meet a requirement of trajectory of a vehicle, and in particular without having to take into consideration the safety of the vehicle, the occupants of said vehicle, or persons or objects present in the environment of said vehicle.
- said scanning cycles will not be subject to any restriction related to such parameters representative of the dynamics of the vehicle, and therefore will not require, in practice, for their definition and their application, any external information gathering related to such parameters, and in particular no visual information.
- the assistance engine 7 without having to take information concerning parameters representative of the dynamics of the vehicle in its environment, information taken by the senses (particularly tactile and visual).
- a human driver who would then react to this information by manually operating the steering wheel 2, either by an automatic acquisition process (for example by means of a camera or a radar, in particular laser, infrared or ultrasounds) which would be implemented by an autopilot module.
- said scanning cycles may optionally be dimensioned so as to meet certain hardware limitations inherent in the design of the power steering system 1 itself, such as for example the maximum torque that can deliver the assistance engine 7 (And therefore the maximum electric current that said assistance motor 7 can tolerate without damage).
- the scanning cycle may preferably comprise at least one change of sign, which corresponds to a reversal of the activation direction of the assistance motor 7, so as to activate said engine of 7 assistance to the right, then to the left (or vice versa).
- an "elementary" exploration cycle may preferably comprise a positive half cycle and a negative half cycle.
- an elementary cycle comprising a single alternation, of constant sign, for example a positive sign, in order to solicit the assistance motor 7 only in one direction, to the right or on the contrary to the left, if that is enough to define the property sought.
- each elementary cycle CY can be repeated as many times as necessary, preferably identically, up to a predetermined number of iterations Ni.
- the repetition of the cycles of exploration CY will make it possible to multiply, during the successive cycles, the measurements of a same indicator parameter, for example by means of at least one, indeed exactly one, measure of said indicator parameter by cycle.
- the accuracy and reliability of the analysis step (c) can be advantageously improved. during which the property sought is quantized from said indicator parameter, respectively from said average.
- one or more indicator parameters among: the position P7 (and thus the displacements) of the shaft of the assistance motor 7, the position (and therefore the displacements) P4 of the movable member 4 (rack) or the position P2 (and therefore the displacements) of the steering wheel 2, preferably expressed in the reference of the assistance engine 7, the speed P7 ', P4', P2 ', and in particular the angular velocity ( preferably expressed in the reference system of the engine 7, taking into consideration the possible mechanical transmission ratios) of one or other of these components 7, 4, 2, the force T7 delivered by the assistance engine 7 , the flywheel torque T2, or a retaining force T4 exerted by an external element on the movable member (rack) 4 against the assistance motor 7.
- the suffix "_mes” may be added in what follows to explicitly designate an indicator parameter (measured or evaluated) associated with a given quantity, especially when it is necessary to explicitly differentiate the actual value measured by said parameter indicating a corresponding setpoint value. However, for simplicity of description, it will generally be possible to equate the indicator parameter (actual measured quantity) with the corresponding instruction.
- the method makes it possible to determine at least one desired property, among a mechanical resonance frequency of the steering mechanism 3, a cutoff frequency or a bandwidth of the steering mechanism 3 with respect to vibrations,
- step (a) of automatic activation a cycle of exploration in effort CY_force which takes the form of a cycle of vibration exploration CY_sinus, such as illustrated in FIG. 2, according to which the assistance motor 7 is excited by means of an alternating torque command T7 periodic, preferably sinusoidal, whose frequency f7 is varied over several frequency steps in a predetermined range, preferably between 0Hz and 200 Hz.
- the frequency domain f7 thus scanned will range from at least 0.5 Hz to 20 Hz, or even up to 50 Hz or 100 Hz, and in particular at least between 10 Hz and 15 Hz, which is generally the domain in which a resonance frequency (mechanical) of the power steering system 1 can be observed.
- the alternations 20, 120 may preferably form here a sinusoidal signal.
- the amplitude that is to say the peak value T7_1, T7_2, of the motor torque setpoint T7, will preferably correspond to a value between 20% and 50% of the maximum torque T7_max of assistance that may be provided by the assistance engine T7, so as to solicit the assistance engine 7 sufficiently important to obtain significant measurements (especially with regard to background noise), while avoiding damaging the engine of assistance 7 by a current of too high intensity.
- T7_2 -T7_l so as to create a symmetrical activation, left and right.
- the cycle of vibration exploration CY_sinus and therefore the uninterrupted succession of alternations, lasts for a sufficient duration, preferably equal to or greater than 30 s, and typically between 30 s and 90 s, in order to be able to stabilize the measurements and thus characterize, in gain and / or in phase, the response of the steering system 1, and more particularly the response of the steering mechanism 3.
- the input (the excitation source of the system 1) corresponding here to the assistance motor 7, can be used as parameter indicator a representative parameter of a state of an output of said system 1, for example at the steering wheel of pipe 2, or at one end of the rack 4.
- the displacements of the output member can be damped by means of an external load of the damping type, or even blocking the position of said output member 2, 4, that is, to say here block in position the driving wheel 2, or respectively the rack 4, and observe, as an indicator parameter, the forces (couples) T2_mes, T4_mes induced at said output member 2, 4 by the activation of the assistance motor 7.
- the indicator parameter here the motor torque T7 representative of the input of the portion of the system 1 considered and the indicator parameter (here the position P2_mes, P4_mes or the effort T2_mes , T4_mes) representative of the output of said portion of the system 1, it is advantageously possible to determine the gain and / or the phase of the transfer function (typically T2_mes / T7 or P2_mes / T7 or T4_mes / T7 or P4_mes / T7) which characterizes the portion considered of the power steering system 1, and more particularly of the steering mechanism 3.
- the characterization process may also include, during the activation step (a), a sub-step (a1) for securing, during which the motor torque setpoint T7 applied to the motor of the motor is set. assistance 7, in order to maintain said torque setpoint below (in absolute value) of a predetermined safety threshold T7_safe, said safety threshold T7_safe being adjusted, and more particularly reduced, when it is in a phase d approach of an Xlim limit position that one wishes not to exceed, and for example when one is in the approach phase of a limit stop SI, S2.
- a function called "security function" is used which defines, as illustrated in FIG.
- the safety threshold T7_safe is lowered (that is to say that its absolute value decreases), from a position of Xsafe safety which precedes the limit position Xlim in the direction of movement considered, and preferably until canceled when reaching said limit position Xlim.
- the safety function can form a decreasing ramp from the Xsafe safety position to the Xlim limit position.
- the safety threshold T7_safe can return directly to its maximum value (plateau value), such as the illustrates the rectangular corner-shaped border of the authorized domain DI in FIG.
- the limit position Xlim is preferably defined as a percentage, for example between 75% and 100%, and more particularly between 80% and 95% of the position of the corresponding end stop SI, S2.
- the invention also relates as such to a power steering system 1 to implement all or part of the aforementioned characterization processes.
- the invention thus relates more particularly to a power steering system 1 which comprises a characterization module 13 forming a complete characterization "toolbox", containing and allowing to selectively implement an exploration cycle among a plurality of cycles. available, especially to facilitate automatic calibration and debugging of System 1 at the factory.
- a power steering system 1 intended to equip a vehicle and comprising at least one heading definition device 2, such as a steering wheel, which allows a driver to define a steering angle A1 of the steering wheel.
- a steering mechanism 3 provided with at least one movable member 4, such as a rack, whose position P4 adapts to correspond to the selected steering angle A1, as well as to the less an assistance engine 7 arranged to be able to drive said steering mechanism 3, said power steering system 1 comprising firstly a first onboard module 8, said “assistance module” 8, which contains a first set of functions said "laws of assistance”, which make it possible to generate, when the power steering system 1 is assigned to the driving of a vehicle, guidance instructions to the assistance engine 7, in order to forward to said vehicle the path that is determined according to the situation of said vehicle relative to its environment, and secondly a second module 13 on board, called “characterization module” 13, which contains a second set of functions, called “functions of characterization ', distinct from the assistance laws, and which make it possible to implement, during a period when the power steering system is not assigned to driving a vehicle, and automatically, a characterization process for to empirically determine at least one property of said power steering system, called “desired property".
- the characterization module 13 is preferably an electronic or computer module.
- said characterization method comprises a step (a) of automatic activation of the assistance engine 7, during which the second embedded module 13 automatically generates and applies to the assistance engine 7, without requiring external action on the heading definition device 2, an activation instruction T7, V7, P7 which follows one or more cycles called “exploration cycles” CY preset, to allow a step (b) of measurement, according to which at least one physical parameter, called “indicator parameter” P7_mes, T7_mes, P4_mes, T2_mes, V2_mes, etc., which is measured during the scanning cycle (s) CY or at the end of said one or more scanning cycles CY, which is specific to the response provided by the power steering system 1 to the automatic activation of the assistance engine 7 and which is characteristic of the desired property, then a step (c) of analysis, during which the property searched from the measure (s) of the indicator parameter.
- the characterization module 13, as well as the assistance module 8, will therefore preferably be integrated with the steering system 1, and in particular integrated with an on-board calculation module that
- the characterization functions and more particularly the exploration cycles CY that these characterization functions automatically implement, can advantageously be stored in a non-volatile memory of the characterization module 13, for example in the form of function libraries (dll files). ) programmed in said characterization module 13 and / or maps ("maps").
- the characterization module 13 will thus contain a plurality of pre-established exploration cycles CY, so that, for example, it is possible to selectively activate, out of the driving phase of the vehicle, a cycle CY chosen from the exploration cycles described in the foregoing. .
- the second onboard module (characterization module) 13 includes a vibration characterization function which uses a cycle of vibration exploration CY_sinus according to which the assistance motor 7 is excited by means of a periodic alternating torque setpoint T7, preferably sinusoidal, whose frequency f7 is varied over several frequency steps in a predetermined range, and which measures, at different frequency steps, the torque T2_mes and / or the displacement P2 generated at the driving wheel 2 in response to said excitation.
- a vibration characterization function which uses a cycle of vibration exploration CY_sinus according to which the assistance motor 7 is excited by means of a periodic alternating torque setpoint T7, preferably sinusoidal, whose frequency f7 is varied over several frequency steps in a predetermined range, and which measures, at different frequency steps, the torque T2_mes and / or the displacement P2 generated at the driving wheel 2 in response to said excitation.
- the characterization module 13 will also preferably include a selector for selecting and executing one or the other of said available characterization functions, separately from the other characterization functions and the assistance functions, and thus to control automatically, and autonomously, the assistance engine 7 for characterization, regardless of the driving of the vehicle.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/770,726 US20210164869A1 (en) | 2017-12-07 | 2018-12-03 | Use of an assist motor of a power steering system to generate test cycles according to a vibration ascertaining cycle |
CN201880088840.4A CN111684257A (zh) | 2017-12-07 | 2018-12-03 | 使用动力转向系统的辅助电机以根据振动确定周期生成测试周期 |
DE112018006220.1T DE112018006220T5 (de) | 2017-12-07 | 2018-12-03 | Verwendung eines Unterstützungsmotors eines Servolenkungssystems zum Erzeugen von Testzyklen gemäß einem Schwingungserfassungszyklus |
JP2020529763A JP2021505464A (ja) | 2017-12-07 | 2018-12-03 | 振動の確認サイクルによるテストサイクルを生成するためのパワーステアリングシステムにおけるアシストモータの使用 |
BR112020011408-1A BR112020011408A2 (pt) | 2017-12-07 | 2018-12-03 | utilização de um motor de assistencia de um sistema de direção assistida de acordo com um ciclo de verificação de vibração |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1761762 | 2017-12-07 | ||
FR1761762A FR3074897B1 (fr) | 2017-12-07 | 2017-12-07 | Utilisation d'un moteur d'assistance d'un systeme de direction assistee afin de generer des cycles de test selon un cycle d'exploitation vibratoire |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019110905A1 true WO2019110905A1 (fr) | 2019-06-13 |
Family
ID=61003246
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2018/053089 WO2019110905A1 (fr) | 2017-12-07 | 2018-12-03 | Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation vibratoire |
Country Status (7)
Country | Link |
---|---|
US (1) | US20210164869A1 (fr) |
JP (1) | JP2021505464A (fr) |
CN (1) | CN111684257A (fr) |
BR (1) | BR112020011408A2 (fr) |
DE (1) | DE112018006220T5 (fr) |
FR (1) | FR3074897B1 (fr) |
WO (1) | WO2019110905A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115343075A (zh) * | 2022-07-29 | 2022-11-15 | 中国第一汽车股份有限公司 | 一种用于动力学模型辨识的转向拉杆刚度测量装置以及测试方法 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3074898B1 (fr) * | 2017-12-07 | 2020-07-17 | Jtekt Europe | Utilisation d’un moteur d’assistance d’un systeme de direction assistee afin de generer des cycles de test selon un cycle d’exploitation en effort |
US11623683B2 (en) * | 2021-06-25 | 2023-04-11 | GM Global Technology Operations LLC | Vehicle power steering test system control |
JP2023017224A (ja) * | 2021-07-26 | 2023-02-07 | トヨタ自動車株式会社 | 車両用空調装置 |
DE102022125613B3 (de) | 2022-10-05 | 2023-10-19 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Schwingungsanalyse eines Lenksystems sowie Lenksystemprüfstand |
DE102022125611B3 (de) | 2022-10-05 | 2023-10-19 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Messgenauer Lenksystemprüfstand und dessen Verwendung |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1972524A2 (fr) * | 2007-03-19 | 2008-09-24 | JTEKT Corporation | Appareil de test pour appareil de direction |
EP2259041A1 (fr) * | 2009-06-05 | 2010-12-08 | Emmetec S.r.l. | Dispositif universel pour tester des ensembles de direction assistée électrique |
CN105182968A (zh) * | 2015-09-24 | 2015-12-23 | 吉林大学 | 一种适用于汽车c-eps系统的硬件在环性能测试试验台 |
-
2017
- 2017-12-07 FR FR1761762A patent/FR3074897B1/fr not_active Expired - Fee Related
-
2018
- 2018-12-03 BR BR112020011408-1A patent/BR112020011408A2/pt not_active Application Discontinuation
- 2018-12-03 DE DE112018006220.1T patent/DE112018006220T5/de not_active Withdrawn
- 2018-12-03 JP JP2020529763A patent/JP2021505464A/ja active Pending
- 2018-12-03 CN CN201880088840.4A patent/CN111684257A/zh active Pending
- 2018-12-03 WO PCT/FR2018/053089 patent/WO2019110905A1/fr active Application Filing
- 2018-12-03 US US16/770,726 patent/US20210164869A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1972524A2 (fr) * | 2007-03-19 | 2008-09-24 | JTEKT Corporation | Appareil de test pour appareil de direction |
EP2259041A1 (fr) * | 2009-06-05 | 2010-12-08 | Emmetec S.r.l. | Dispositif universel pour tester des ensembles de direction assistée électrique |
CN105182968A (zh) * | 2015-09-24 | 2015-12-23 | 吉林大学 | 一种适用于汽车c-eps系统的硬件在环性能测试试验台 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115343075A (zh) * | 2022-07-29 | 2022-11-15 | 中国第一汽车股份有限公司 | 一种用于动力学模型辨识的转向拉杆刚度测量装置以及测试方法 |
Also Published As
Publication number | Publication date |
---|---|
US20210164869A1 (en) | 2021-06-03 |
FR3074897B1 (fr) | 2020-08-28 |
BR112020011408A2 (pt) | 2020-11-24 |
DE112018006220T5 (de) | 2020-09-03 |
JP2021505464A (ja) | 2021-02-18 |
FR3074897A1 (fr) | 2019-06-14 |
CN111684257A (zh) | 2020-09-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019110905A1 (fr) | Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation vibratoire | |
WO2019110902A1 (fr) | Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation en effort | |
WO2019110903A1 (fr) | Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation en vitesse | |
EP2018308B1 (fr) | Systeme de direction assistee electrique de vehicule automobile | |
WO2019110904A1 (fr) | Utilisation d'un moteur d'assistance d'un système de direction assistée afin de générer des cycles de test selon un cycle d'exploitation en position | |
EP2870042B1 (fr) | Procédé de détection du sens de déplacement d'un véhicule automobile | |
CN112710327A (zh) | 用于车辆传感器的无监督的自动对准的方法 | |
EP3166839B1 (fr) | Procédé d'estimation en temps réel de l'effort aux biellettes au sein d'un mécanisme de direction assistée | |
EP0283626A1 (fr) | Procédé de détermination de la vitesse air d'un hélicoptère, système pour la mise en oeuvre de ce procédé de détermination et procédé d'étalonnage de ces procédé et système de détermination de la vitesse air | |
WO2010072917A1 (fr) | Procede de determination d'un cap en direction du nord geographique au moyen d'une centrale inertielle | |
JP4415994B2 (ja) | ヨー角速度推定装置 | |
EP2694375B1 (fr) | Dispositif et procede de determination d'attitude d'un satellite, et satellite embarquant un tel dispositif | |
FR2953588A1 (fr) | Procede de determination d'un cap par rotation d'un dispositif inertiel | |
FR3031959A1 (fr) | Procede et dispositif de conjugaison d'organes de pilotage | |
EP3333539A1 (fr) | Dispositif électronique de pilotage d'un drone, drone, procédé de pilotage et programme d'ordinateur associés | |
CN111572631A (zh) | 转向抖动控制 | |
EP1312998A1 (fr) | Procédé et dispositif pour déterminer en temps réel le comportement d'un mobile, en particulier d'un aéronef | |
EP4104024B1 (fr) | Mesure de fonction de transferts dans un système mécatronique | |
WO2017102362A1 (fr) | Procédé de surveillance d'un système d'actionnement électromécanique | |
US20220060641A1 (en) | Vehicle sensor operation | |
EP0502770B1 (fr) | Procédé et système d'harmonisation autonome d'équipements à bord d'un véhicule, utilisant des moyens de mesure du champ de gravité terrestre | |
US10850766B2 (en) | Portable device data calibration | |
FR3107605A1 (fr) | Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles | |
FR2938910A1 (fr) | Dispositif et procede de determination de la situation d'un objet | |
FR3015543A1 (fr) | Dispositif de commande d'ouverture et de fermeture d'une porte d'aeronef |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18833911 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2020529763 Country of ref document: JP Kind code of ref document: A |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112020011408 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112020011408 Country of ref document: BR Kind code of ref document: A2 Effective date: 20200605 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18833911 Country of ref document: EP Kind code of ref document: A1 |