CN115248000B - Device and method for measuring steering angle and misalignment angle of two sides of front wheel of vehicle and vehicle - Google Patents
Device and method for measuring steering angle and misalignment angle of two sides of front wheel of vehicle and vehicle Download PDFInfo
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- CN115248000B CN115248000B CN202210020014.4A CN202210020014A CN115248000B CN 115248000 B CN115248000 B CN 115248000B CN 202210020014 A CN202210020014 A CN 202210020014A CN 115248000 B CN115248000 B CN 115248000B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention provides a device and a method for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle and the vehicle, which relate to the technical field of vehicles and comprise the following steps: the misalignment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device; the misalignment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device both comprise: two motors with consistent parameters; one as a transmitter and one as a receiver; the misalignment angle measurement electric signal acquisition device measures misalignment angles; the steering angle measurement electric signal acquisition device is used for measuring a single-side steering angle; summing the steering angle of the wheel at one side with the misalignment angle to obtain the steering angle of the wheel at the other side; the problem that the steering angle and the misalignment angle of the front wheels are not easy to obtain in real time in the running process of the vehicle in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a device and a method for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle and the vehicle.
Background
The existing measurement of the steering angle of the front wheels and the offset angles of the two front wheels is mostly realized through a detection platform, the detection platform is combined with a floating disc on a gyrator and an angle sensor to finish the measurement of the steering angle of the front wheels of the vehicle, and the limitation of the measurement method is that the real-time information of the steering angle of the front wheels during the running of the vehicle can not be acquired.
For vehicles which are required to be used for researching transverse control problems, the method has important significance for real-time acquisition of the front wheel steering angle and misalignment angle information. Meanwhile, the real-time acquisition of the front wheel steering angle and the misalignment angle information is also beneficial to the real-time monitoring of the normal operation of the vehicle steering mechanism during the running of the vehicle road, is also beneficial to the timely discovery of the abnormality of the vehicle steering function, and avoids the subsequent larger accident.
Aiming at the actual application requirements, four requirements for measuring the steering angle and the misalignment angle of the front wheel of the vehicle are obtained: real-time performance, sensitivity, accuracy and reliability. The existing real-time measurement technology has the defects that when a vehicle runs on a muddy road or a road with more dust, soil can obstruct or even shield a sending and receiving window of laser signals, and certain requirements are placed on the running environment of a chassis of the vehicle.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a device and a method for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle and the vehicle, and solves the problem that the steering angles and misalignment angles of the front wheel of the vehicle in the prior art are not easy to obtain in real time during running of the vehicle.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention provides a device for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle, which comprises:
the misalignment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device;
the misalignment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device both comprise: two motors with consistent parameters; one as a transmitter and one as a receiver.
Further, the motor is a small synchronous motor, a three-phase symmetrical star-shaped connection whole-step winding is embedded in an iron core groove, and a single exciting winding is arranged on a rotor.
Further, the one serves as a transmitter and the one serves as a receiver; further comprises: the transmitter exciting winding is connected with a single-phase alternating-current exciting power supply, and the receiver exciting winding is not connected with the exciting power supply; the three whole-step windings of the transmitter and the receiver are correspondingly connected with each other.
Further, the rotor of the motor and the wheel rotate around the Z axis in the Z axis direction to realize the transmission ratio of 1:1, and ensuring that the rotating angle of the wheel around the Z axis is consistent with the rotating angle of the motor rotor.
The invention provides a method for measuring steering angles and misalignment angles of two sides of a front wheel, which is based on the device for measuring the steering angles and misalignment angles of the two sides of the front wheel, and comprises the following steps:
the misalignment angle measurement electric signal acquisition device measures misalignment angles;
the steering angle measurement electric signal acquisition device is used for measuring a single-side steering angle;
and summing the steering angle of the wheel at one side with the misalignment angle to obtain the steering angle of the wheel at the other side.
Further, the misalignment angle measurement electric signal acquisition device measures misalignment angles; the method comprises the following steps: the transmitter rotor in the misalignment angle measurement electric signal acquisition device is connected with the steering knuckle of the front wheel of the vehicle, the receiver rotor is connected with the steering knuckle of the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels and the receiver and the transmitter rotors are adjusted to be at the same position; when the steering angles of the two front wheels are offset in the running process of the vehicle, the same offset exists between the rotation directions of the rotors of the transmitter and the receiver, and the offset angle of the two wheels of the vehicle can be measured by collecting offset signals from the receiver.
Further, the steering angle measurement electric signal acquisition device measures a single-side steering angle, sums the steering angle of the single-side wheel with the misalignment angle to obtain the steering angle of the other-side wheel, and specifically comprises the following steps: the transmitter in the steering angle measurement electric signal acquisition device is not fixed with the wheels, the motor rotor is fixed, the receiver rotor is connected with a steering knuckle on one side of the front wheels of the vehicle, the receiver rotor and the yaw angle of the wheels are guaranteed to have the same rotation angle, the position of the receiver rotor is adjusted to be consistent with that of the transmitter rotor, the receiver rotor rotates along with the yaw angle of the wheels when the vehicle turns, at the moment, the angle offset between the receiver rotor and the transmitter rotor is the yaw angle of the wheels, at the moment, the receiver offset signal is acquired, and the steering angle of the wheels can be measured; and summing the steering angle of the wheel at one side with the misalignment angle to obtain the steering angle of the wheel at the other side.
Further, the offset angle of two wheels of the vehicle can be measured by collecting offset signals from the receiver; the method comprises the following steps: when the misalignment angle measurement electric signal acquisition device works, the three-phase whole-step windings of the transmitter and the receiver are correspondingly connected with each other; the transmitter rotor excitation winding is connected with a single-phase alternating-current excitation power supply; the single winding of the receiver rotor is an output winding and is not connected with an excitation power supply;
defining the included angle between the output winding axis and the u-phase winding axis of the receiver as theta 2 The included angle between the exciting winding axis and the u-phase winding axis of the transmitter is theta 1 Difference of two angles theta 1 -θ 2 =θ is the misalignment angle;
the induced electromotive force in the three-phase whole-step winding of the transmitter generates current in a loop formed by two sets of whole-step windings, and the magnetic flux generated by the magnetomotive force of the whole-step winding of the receiver induces the electromotive force in the output winding, and the effective value of the induced electromotive force is as follows:
E＝E m cosθ
wherein: e (E) m An effective value of the maximum electromotive force when the misalignment angle θ=0;
since the cosine function does not reflect the deflection direction of the transmitter rotor, the position of the receiver rotor winding perpendicular to the transmitter rotor winding is actually taken as the deflection angle θ 2 The starting positions of (2) are:
E 2 ＝E m cos(θ-90°)＝E m sinθ
at this time, the output electromotive force reflects the magnitude of the misalignment angle and the deflection direction of the transmitter, and the conversion between the rotation angle signal and the voltage signal is realized.
The invention also provides a vehicle, which is provided with the device for measuring the steering angles and the misalignment angles of the two sides of the front wheel and executes the method for measuring the steering angles and the misalignment angles of the two sides of the front wheel.
(III) beneficial effects
The invention provides a device and a method for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle and the vehicle.
The beneficial effects are as follows:
1. according to the scheme, the rotation angle signal is converted into the electric signal, so that the rotation angle signal is detected, the electric signal exists when the rotation angle signal exists, the electric signal changes along with the rotation angle signal, and the detection instantaneity and the rotation angle information persistence are achieved;
2. in the implementation process of the scheme, the mechanical connection is adopted to realize the conversion of mechanical corner signals to electric signals, the electric signal transmission is adopted in the signal transmission mode, and compared with the scheme of adopting laser transmission and receiving to realize front wheel corner detection, the detection implementation process is not influenced by environments such as the muddy degree of the ground, and the reliability is higher;
3. the scheme can realize the detection of the size and the direction of the turning angle, is not limited by the steering directions of the wheels at two sides, can detect the turning angle even if the wheels at two sides steer in different directions, is not only suitable for detecting the front wheel turning angle of a conventional vehicle model, but also suitable for detecting the front wheel turning angle of special vehicle models such as a distributed driving vehicle and the like
Drawings
FIG. 1 is a schematic diagram of a device for measuring steering angles and misalignment angles on two sides of a front wheel of a vehicle;
fig. 2 is a schematic diagram of the mounting positions of a motor and wheels of a device for measuring steering angles and misalignment angles on two sides of a front wheel of a vehicle;
FIG. 3 is a schematic flow chart of a method for measuring steering angles and misalignment angles on two sides of a front wheel of a vehicle;
FIG. 4 is a schematic diagram of a method for measuring steering angle of a front wheel and a steering angle of a misalignment angle;
fig. 5 is a schematic diagram of the relative positions of a transmitter and a receiver of the method for measuring the steering angle and the misalignment angle of two sides of a front wheel of a vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The embodiment of the invention provides a device for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle, which is shown in figures 1-2 and comprises the following components: the device comprises an misalignment angle measurement electric signal acquisition device 1-1 and a steering angle measurement electric signal acquisition device 1-2;
the misalignment angle measurement electric signal acquisition device 1-1 and the steering angle measurement electric signal acquisition device 1-2 both comprise: two motors with consistent parameters; one as a transmitter and one as a receiver.
Further, the motor is a small synchronous motor, a three-phase symmetrical star-shaped connection whole-step winding is embedded in an iron core groove, and a single exciting winding is arranged on a rotor.
Further, the one serves as a transmitter and the one serves as a receiver; further comprises: the transmitter exciting winding is connected with a single-phase alternating-current exciting power supply, and the receiver exciting winding is not connected with the exciting power supply; the three whole-step windings of the transmitter and the receiver are correspondingly connected with each other.
Further, the rotor of the motor and the wheel rotate around the Z axis in the Z axis direction to realize the transmission ratio of 1:1, and ensuring that the rotating angle of the wheel around the Z axis is consistent with the rotating angle of the motor rotor.
As shown in fig. 3, the embodiment of the present invention further provides a method for measuring steering angles and misalignment angles of two sides of a front wheel, which is based on the foregoing device for measuring steering angles and misalignment angles of two sides of a front wheel, and includes:
s1, the misalignment angle measurement electric signal acquisition device measures misalignment angles;
s2, the steering angle measurement electric signal acquisition device measures a single-side steering angle;
and S3, summing the steering angle of the wheel on one side with the misalignment angle to obtain the steering angle of the wheel on the other side.
Further, the misalignment angle measurement electric signal acquisition device measures misalignment angles; the method comprises the following steps: the transmitter rotor in the misalignment angle measurement electric signal acquisition device is connected with the steering knuckle of the front wheel of the vehicle, the receiver rotor is connected with the steering knuckle of the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels and the receiver and the transmitter rotors are adjusted to be at the same position; when the steering angles of the two front wheels are offset in the running process of the vehicle, the same offset exists between the rotation directions of the rotors of the transmitter and the receiver, and the offset angle of the two wheels of the vehicle can be measured by collecting offset signals from the receiver.
Further, the steering angle measurement electric signal acquisition device measures a single-side steering angle, sums the steering angle of the single-side wheel with the misalignment angle to obtain the steering angle of the other-side wheel, and specifically comprises the following steps: the transmitter in the steering angle measurement electric signal acquisition device is not fixed with the wheels, the motor rotor is fixed, the receiver rotor is connected with a steering knuckle on one side of the front wheels of the vehicle, the receiver rotor and the yaw angle of the wheels are guaranteed to have the same rotation angle, the position of the receiver rotor is adjusted to be consistent with that of the transmitter rotor, the receiver rotor rotates along with the yaw angle of the wheels when the vehicle turns, at the moment, the angle offset between the receiver rotor and the transmitter rotor is the yaw angle of the wheels, at the moment, the receiver offset signal is acquired, and the steering angle of the wheels can be measured; and summing the steering angle of the wheel at one side with the misalignment angle to obtain the steering angle of the wheel at the other side.
By way of example, the relative positions of the transmitters and the receivers are shown in fig. 5, (1) two motors (3) are transmitters, (2) two motors (4) are receivers, (1) one pair of receivers and transmitters is used for measuring the difference between the steering angles of the left and right front wheels, (3) one pair of receivers and transmitters is used for measuring the steering angle of the single-side front wheel. Setting the motor rotor windings of the motor (1) and the motor rotor windings of the motor (2) at the right front wheel to be vertical, enabling the motor rotor windings and the front wheels at the two sides to realize synchronous movement through gear connection, and acquiring induced electromotive force of the motor (2) to obtain a misalignment angle theta when the misalignment angle of the front wheels is deviated, namely the misalignment angle theta exists, so as to obtain the deviation of the rotation angles of the front wheels; the method comprises the steps that (3) is not connected with wheels, (4) is arranged on a single-side wheel, two motor rotor windings are adjusted to be vertical, rotors of (3) are fixed, synchronous movement is achieved between the rotors of (4) and wheel yaw steering through gear connection, when the front wheel is steered, the misalignment angle theta of the rotors of (3) and (4) is the front wheel corner, and the misalignment angle theta is the single-side front wheel corner is obtained through collecting induced electromotive force of (4). And adding or subtracting the measured front wheel corner at one side and the measured front wheel corner deviation to obtain the front wheel corner at the other side, thereby realizing real-time measurement of the front wheel corner and the front wheel corner deviation at two sides through the device.
Further, as shown in fig. 4, the offset signal is collected from the receiver, so that the offset angle of two wheels of the vehicle can be measured; the method comprises the following steps: when the misalignment angle measurement electric signal acquisition device works, the three-phase whole-step windings of the transmitter and the receiver are correspondingly connected with each other; the transmitter rotor excitation winding is connected with a single-phase alternating-current excitation power supply; the single winding of the receiver rotor is an output winding and is not connected with an excitation power supply;
defining the included angle between the output winding axis and the u-phase winding axis of the receiver as theta 2 The included angle between the exciting winding axis and the u-phase winding axis of the transmitter is theta 1 Difference of two angles theta 1 -θ 2 =θ is the misalignment angle;
the induced electromotive force in the three-phase whole-step winding of the transmitter generates current in a loop formed by two sets of whole-step windings, and the magnetic flux generated by the magnetomotive force of the whole-step winding of the receiver induces the electromotive force in the output winding, and the effective value of the induced electromotive force is as follows:
E＝E m cosθ
wherein: e (E) m An effective value of the maximum electromotive force when the misalignment angle θ=0;
since the cosine function does not reflect the deflection direction of the transmitter rotor, the position of the receiver rotor winding perpendicular to the transmitter rotor winding is actually taken as the deflection angle θ 2 The starting positions of (2) are:
E 2 ＝E m cos(θ-90°)＝E m sinθ
at this time, the output electromotive force reflects the magnitude of the misalignment angle and the deflection direction of the transmitter, and the conversion between the rotation angle signal and the voltage signal is realized.
The embodiment of the invention also provides a vehicle, which is provided with the device for measuring the steering angles and the misalignment angles of the two sides of the front wheel and executes the method for measuring the steering angles and the misalignment angles of the two sides of the front wheel.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a front wheel both sides steering angle, misalignment angle measuring device which characterized in that includes:
the misalignment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device;
the misalignment angle measurement electric signal acquisition device and the steering angle measurement electric signal acquisition device both comprise: two motors with consistent parameters; one is used as a transmitter, the other is used as a receiver, the exciting winding of the transmitter is connected with a single-phase alternating-current exciting power supply, and the exciting winding of the receiver is not connected with the exciting power supply; the three whole-step windings of the transmitter and the receiver are correspondingly connected with each other;
the misalignment angle measurement electric signal acquisition device measures misalignment angles; the method comprises the following steps: the transmitter rotor in the misalignment angle measurement electric signal acquisition device is connected with the steering knuckle of the front wheel of the vehicle, the receiver rotor is connected with the steering knuckle of the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels and the receiver and the transmitter rotors are adjusted to be at the same position;
the steering angle measurement electric signal acquisition device measures a single-side steering angle, sums the steering angle of the single-side wheel with the misalignment angle to obtain the steering angle of the other-side wheel, and specifically comprises the following steps: the transmitter in the steering angle measurement electric signal acquisition device is not fixed with the wheels, the motor rotor is fixed, the receiver rotor is connected with a steering knuckle on one side of the front wheels of the vehicle, the same rotation angle between the receiver rotor and the yaw angle of the wheels is ensured, and the position of the receiver rotor is adjusted to be consistent with the position of the transmitter rotor;
defining receiver output winding axis
The included angle between the axes of the phase windings is->
Transmitter excitation winding axis and +.>
The included angle between the axes of the phase windings is->
Difference between two angles->
Is an angle of misalignment.
2. The device for measuring steering angles and misalignment angles on two sides of a front wheel of a vehicle according to claim 1, wherein the motor is a small synchronous motor, a three-phase symmetrical star-connection type whole-step winding is embedded in an iron core groove, and a single exciting winding is arranged on a rotor.
3. The device for measuring steering angles and misalignment angles on two sides of a front wheel of a vehicle according to claim 2, wherein the transmission ratio between the motor rotor and the rotation of the wheel around the Z axis in the Z axis direction is 1:1, and ensuring that the rotating angle of the wheel around the Z axis is consistent with the rotating angle of the motor rotor.
4. A method for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle, based on the device for measuring steering angles and misalignment angles of two sides of a front wheel of a vehicle according to any one of claims 1 to 3, comprising the following steps:
the misalignment angle measurement electric signal acquisition device measures misalignment angles;
the steering angle measurement electric signal acquisition device is used for measuring a single-side steering angle;
and summing the steering angle of the wheel at one side with the misalignment angle to obtain the steering angle of the wheel at the other side.
5. The method for measuring steering angles and misalignment angles on two sides of the front wheel of the vehicle according to claim 4, wherein the misalignment angle measuring electric signal acquisition device measures the misalignment angle; the method comprises the following steps: the transmitter rotor in the misalignment angle measurement electric signal acquisition device is connected with the steering knuckle of the front wheel of the vehicle, the receiver rotor is connected with the steering knuckle of the other side of the front wheel of the vehicle, the rotation of the two motor rotors is synchronous with the yaw angle of the wheels and the receiver and the transmitter rotors are adjusted to be at the same position; when the steering angles of the two front wheels are offset in the running process of the vehicle, the same offset exists between the rotation directions of the rotors of the transmitter and the receiver, and the offset angle of the two wheels of the vehicle can be measured by collecting offset signals from the receiver.
6. The method for measuring the steering angle and the misalignment angle of two sides of the front wheel of the automobile according to claim 5, wherein the steering angle measurement electric signal acquisition device measures the steering angle of one side, sums the steering angle of the one side wheel with the misalignment angle to obtain the steering angle of the other side wheel, specifically: the transmitter in the steering angle measurement electric signal acquisition device is not fixed with the wheels, the motor rotor is fixed, the receiver rotor is connected with a steering knuckle on one side of the front wheels of the vehicle, the receiver rotor and the yaw angle of the wheels are guaranteed to have the same rotation angle, the position of the receiver rotor is adjusted to be consistent with that of the transmitter rotor, the receiver rotor rotates along with the yaw angle of the wheels when the vehicle turns, at the moment, the angle offset between the receiver rotor and the transmitter rotor is the yaw angle of the wheels, at the moment, the receiver offset signal is acquired, and the steering angle of the wheels can be measured; and summing the steering angle of the wheel at one side with the misalignment angle to obtain the steering angle of the wheel at the other side.
7. The method for measuring the steering angle and the misalignment angle of two sides of the front wheel of the vehicle according to claim 6, wherein the misalignment angle of two wheels of the vehicle can be measured by collecting the misalignment signals from the receiver; the method comprises the following steps: when the misalignment angle measurement electric signal acquisition device works, the three-phase whole-step windings of the transmitter and the receiver are correspondingly connected with each other; the transmitter rotor excitation winding is connected with a single-phase alternating-current excitation power supply; the single winding of the receiver rotor is an output winding and is not connected with an excitation power supply;
defining receiver output winding axis
The included angle between the axes of the phase windings is->
Transmitter excitation winding axis and +.>
The included angle between the axes of the phase windings is->
Difference between two angles->
Is an angle of misalignment;
the induced electromotive force in the three-phase whole-step winding of the transmitter generates current in a loop formed by two sets of whole-step windings, and the magnetic flux generated by the magnetomotive force of the whole-step winding of the receiver induces the electromotive force in the output winding, and the effective value of the induced electromotive force is as follows:
since the cosine function does not reflect the deflection direction of the transmitter rotor, the position of the receiver rotor winding perpendicular to the transmitter rotor winding is actually taken as the deflection angle
The starting positions of (2) are:
8. A vehicle, characterized in that the apparatus for measuring the steering angle and the misalignment angle of both sides of the front wheel according to any one of claims 1 to 3 is mounted, and the method for measuring the steering angle and the misalignment angle of both sides of the front wheel according to any one of claims 5 to 7 is performed.
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Application publication date: 20221028 Assignee: Liaocheng Ningtai Motor Co.,Ltd. Assignor: LIAOCHENG University Contract record no.: X2023980049202 Denomination of invention: A device, method, and vehicle for measuring the steering angle and misalignment angle on both sides of a front wheel of a vehicle Granted publication date: 20230707 License type: Common License Record date: 20231207 |
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