CN114593923B - Automobile steering performance test method and system - Google Patents
Automobile steering performance test method and system Download PDFInfo
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Abstract
The invention provides a method for testing steering performance of an automobile, which comprises the following steps that an electric power steering system performs auxiliary automobile steering movement test: calculating the measuring torque of a sensor according to the angle of the steering wheel of the automobile and the variation value of the angle, and constructing an automobile steering driving model; an electric power steering system is adopted to provide power for steering of an automobile steering wheel, the measured torque of an auxiliary motor driver is calculated, the torque of the auxiliary motor driver is calculated, and an auxiliary power steering driving model is constructed; and constructing an automobile steering performance test model, and testing the automobile transformation performance by the central control module after strengthening training according to the automobile steering performance test model. According to the invention, the automobile steering performance test model for testing the automobile performance in real time is constructed by the automobile steering driving model auxiliary power steering driving model, so that the conditions under the automobile motion state can be comprehensively and carefully restored, and the defect of the automobile steering performance test conditions in the solid state mode in the prior art can be overcome.
Description
Technical Field
The invention belongs to the technical field of automobile performance testing, and particularly relates to an automobile steering performance testing method, an automobile steering performance testing system, automobile steering performance testing equipment and an automobile steering performance testing medium.
Background
In vehicle travel, the driver is often required to change or restore the direction of travel of the vehicle, which is accomplished by the steering system. Wheeled vehicles are steered by the driver by steering the steering wheel to deflect the steered wheel through an angle relative to the longitudinal axis of the vehicle. The steering system is of two types, namely a mechanical steering system and a power steering system, the mechanical steering system uses an artificial power source, all transmission mechanisms of the mechanical steering system are mechanical, and the transmission mechanisms comprise a steering control mechanism, a steering gear and a steering transmission mechanism. The power steering system is different from the mechanical steering system in that a set of steering power assisting device is added on the basis of the power steering system to form the power steering system.
The early power steering system is a hydraulic power steering system, utilizes an oil pump to provide pressure, adjusts oil pressure by controlling the opening degree of a valve, and controls the power steering system according to the running state of an automobile. In the steering process of the automobile, steering action is still completed by a driver, and the oil pressure of the power steering system only has an auxiliary effect on steering.
However, in the prior art, when a certain parameter is measured, other automobile motion parameters are fixed to change conditions for measuring the change condition of the parameter, the measuring method is solid and cannot restore the multi-parameter coordinated motion condition under the automobile motion scene, the simultaneous dynamic measurement of the automobile multi-parameter is completed, and the solid state measuring mode in the prior art can lead to the defects that the parameters obtained by the automobile performance test are not representative and have larger errors.
Disclosure of Invention
The invention provides a method and a system for testing the steering performance of an automobile aiming at the defects.
The invention provides the following technical scheme: the method for testing the steering performance of the automobile comprises the following steps that an electric power steering system performs auxiliary automobile steering movement testing:
s1: real-time monitoring angle theta of steering wheel of automobile s And according to the angle theta of the steering wheel of the automobile s And a variation value delta theta thereof s Calculating the sensor measurement torque T c According to the angle theta of the steering wheel of the automobile s Steering wheel drive torque T d Constructing an automobile steering driving model;
s2: an electric power steering system is adopted to power steering of an automobile steering wheel, and the measured torque T of an auxiliary motor driver is calculated b According to the rotation angle theta of the auxiliary motor driver of the electric power steering system m Calculating auxiliary motor driver torque T a Constructing an auxiliary power steering driving model;
s3: and (3) constructing an automobile steering performance test model according to the automobile steering driving model constructed in the step (S1) and the auxiliary power steering driving model constructed in the step (S2), and testing the automobile transformation performance after the central control module is subjected to reinforcement training according to the automobile steering performance test model.
Further, the automobile steering driving model constructed in the step S1 is as follows:
wherein B is s Is used for damping the gear of the steering wheel of the automobile,
for the angular speed of the steering wheel of a motor vehicle, < >>
For angular acceleration of steering wheel of car, J s Is the steering column torque inertia coefficient.
Further, the steering wheel driver torque T d The calculation of (1) comprises the following steps of monitoring the creep force s of the steering wheel of the automobile in real time and calculating the torque T of a steering wheel driver d The model is as follows:
T d ＝(Δθ s -θ s )(K d s)
wherein s is the creep force of the steering wheel of the automobile, K d Is the steering wheel drive stiffness coefficient.
Further, the sensor measures torque T c The calculation formula of (2) is as follows:
wherein x is r R is the displacement of a steering wheel rack of an automobile S Radius, K, of the steering wheel gear of the vehicle s Is the rigidity coefficient of the steering column of the steering wheel of the automobile.
Further, the auxiliary motor driver torque T a The calculation of (1) comprises the following steps of monitoring the displacement x of the rack of the steering wheel of the automobile in real time r And an auxiliary motor angle theta m Auxiliary motor driver torque T a The formula of (2) is as follows:
wherein x is r R is the displacement of a steering wheel rack of an automobile S Radius, K, of the steering wheel gear of the vehicle a For assisting the motor drive stiffness coefficient, G is the motor drive ratio.
Further, the step S2 calculates the measured torque T of the auxiliary motor driver b The method comprises the following steps: real-time monitoring automobile auxiliary motor current I m Calculating a measured torque T of an auxiliary motor drive b ：
T b ＝GK t I m
Wherein I is m To assist motor current, K t G is the motor gear ratio, which is the auxiliary motor torque coefficient.
Further, the auxiliary power steering driving model constructed in the step S2 is as follows:
wherein J is m To assist the rotation inertia coefficient of the motor, B m To assist in the viscous damping of the motor shaft,
for assisting the angular speed of the motor>
Is the auxiliary motor angular acceleration.
Further, the automobile steering performance test model constructed in the step S3 is as follows:
wherein X is a test result matrix of a state vector of the automobile steering performance test, M is a test coefficient of the state vector, and N 1 To assist the state coefficient of the motor, N 2 The driving moment coefficient is tested for the steering of the automobile; x is a state vector matrix of the automobile steering performance test,
wherein θ s For the angle of the steering wheel of the vehicle->
Is the angular velocity theta of the steering wheel of the automobile m For assisting the angle of the motor->
To assist the angular acceleration of the motor, I m Is an auxiliary motor current; u (u) 1 To assist the motor state matrix, u 1 =u, U is auxiliary motor real-time voltage; u (u) 2 Driving force matrix for testing steering performance of automobile, u 2 ＝[(T d -T c )(T b -T a )] T The method comprises the steps of carrying out a first treatment on the surface of the Y is a steering torque state matrix acting on a steering column of an automobile steering wheel, C y A steering torque state coefficient matrix; z is the automobile steering performance test result matrix, D T For the coefficient matrix of the result of the automobile steering performance test, y 1 Y is the performance test result of the steering wheel of the automobile 2 Y is the performance test result of an auxiliary motor of the electric power steering system 1 ＝[(T d -T c )θ s ] T ，y 2 ＝[(T b -T a )θ m ] T 。
Further, the state vector test coefficients M are calculated as follows:
wherein Q is 1 ＝K s /J s ，Q 2 ＝B s /J s ，
Q 8 ＝-K t /L m ，Q 9 ＝-K t /L m ；
Auxiliary motor state coefficient N 1 The calculation formula is as follows:
automobile steering test driving moment coefficient N 2 The calculation formula is as follows:
steering torque state coefficient matrix C y The calculation formula is as follows:
automobile steering performance test result coefficient matrix D T The calculation formula is as follows:
wherein B is m To assist in motor shaft viscous damping, K t To assist the motor torque coefficient, B r For viscous damping of the frame, L m R is used for assisting the real-time inductance of the motor p Radius of steering column pinion, M r For the mass of the steering wheel frame, J s For the moment of inertia of steering column, J m To assist the rotation inertia coefficient of the motor, K s K is the rigidity coefficient of steering column of automobile steering wheel d And G is the motor transmission ratio, which is the rigidity coefficient of the steering wheel driver.
The invention also provides an automobile steering performance test system adopting the method, which comprises an automobile steering wheel parameter monitoring module, an electric power steering system monitoring module, an automobile steering driving model building module, an auxiliary power steering driving model building module, an automobile steering performance test model building model and a central control module;
automobile steering wheel parameter monitoring module for monitoring angle theta of automobile steering wheel in real time s Creep force s of automobile steering wheel of auxiliary motor and displacement x of rack of automobile steering wheel r ；
Monitoring module of electric power steering system for monitoring in real timeMeasuring the angle theta of the auxiliary motor m And automobile auxiliary motor current I m ；
The automobile steering driving model construction module is used for and according to the angle theta of an automobile steering wheel s And a variation value delta theta thereof s Calculating the sensor measurement torque T c According to the angle theta of the steering wheel of the automobile s Steering wheel drive torque T d Constructing an automobile steering driving model;
auxiliary power steering driving model for calculating a measured torque T of an auxiliary motor driver b According to the rotation angle theta of the auxiliary motor driver of the electric power steering system m Calculating auxiliary motor driver torque T a Constructing an auxiliary power steering driving model;
the automobile steering performance test model is used for constructing an automobile steering performance test model according to the constructed automobile steering driving model and the constructed auxiliary power steering driving model;
and the central control module is used for testing the transformation performance of the automobile after the reinforced training according to the automobile steering performance test model.
The beneficial effects of the invention are as follows:
1. with rapid development of technology, power steering systems in automobiles have been developed from early hydraulic power steering systems to electro-hydraulic power steering systems to electric power steering systems with better energy conservation, safety and drivability. According to the automobile steering performance test method provided by the invention, the electric power steering system is adopted to assist the automobile steering wheel to drive the automobile to move, and the performance test is carried out, so that the steering stability of the automobile is improved, meanwhile, the automobile steering driving model is respectively constructed, the automobile steering performance test model for real-time test of the automobile performance is constructed by the automobile steering driving model, and then the automobile steering performance test model for the central control module is constructed by the automobile steering driving model, so that the condition of the automobile in a moving state can be comprehensively and carefully restored, and the defect of the automobile steering performance test condition in a solid state mode in the prior art is overcome.
2. The invention solves the defect that most of the existing testing methods of steering systems on automobiles are based on mechanical transmission modes, and avoids the defect that performance tests caused by the condition that the characteristic steering transmission ratio of a mechanical structure is fixed cannot fully and accurately know the performance of the automobiles under the condition of movement. The power assisting system performs certain operation compensation according to the running condition of the vehicle during the automobile steering, so that the automobile runs according to the wishes of a driver. Because the electric power steering system is powered by the vehicle-mounted storage battery, compared with a hydraulic device, the electric power steering system which directly utilizes the motor to provide power assistance has better economical efficiency than the hydraulic power steering system. The power-assisted steering system has the advantages that the power-assisted amount of the electric power-assisted steering system is controlled by the microcontroller, the steering flexibility of the automobile is improved, the electric power-assisted steering system only consumes energy when being used for power assistance, and the popularization of the electric power-assisted steering system can adapt to the current large trend of energy conservation and environmental protection.
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The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a schematic flow chart of a method for testing steering performance of an automobile;
fig. 2 is a schematic structural diagram of an automobile steering performance test system provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, in order to provide a method for testing steering performance of an automobile, an electric power steering system of the method performs an auxiliary automobile steering motion test, and the method comprises the following steps:
s1: real-time monitoring angle theta of steering wheel of automobile s And according to the angle theta of the steering wheel of the automobile s And a variation value delta theta thereof s Calculating the sensor measurement torque T c According to the angle theta of the steering wheel of the automobile s Steering wheel drive torque T d Constructing an automobile steering driving model;
s2: an electric power steering system is adopted to power steering of an automobile steering wheel, and the measured torque T of an auxiliary motor driver is calculated b According to the rotation angle theta of the auxiliary motor driver of the electric power steering system m Calculating auxiliary motor driver torque T a Constructing an auxiliary power steering driving model;
s3: and (3) constructing an automobile steering performance test model according to the automobile steering driving model constructed in the step (S1) and the auxiliary power steering driving model constructed in the step (S2), and testing the automobile transformation performance after the central control module is subjected to reinforcement training according to the automobile steering performance test model.
The automobile steering driving model constructed in the step S1 is as follows:
wherein B is s Is used for damping the gear of the steering wheel of the automobile,
for the angular speed of the steering wheel of a motor vehicle, < >>
For angular acceleration of steering wheel of car, J s For the moment of inertia of steering column, J s Typically 0.03-0.05 kg.m 2 ，B s Typically 0.07-0.08 kg.m/(rad/s).
Steering wheel driver torque T d The calculation of (1) comprises the following steps of monitoring the creep force s of the steering wheel of the automobile in real time and calculating the torque T of a steering wheel driver d The model is as follows:
T d ＝(Δθ s -θ s )(K d s)
wherein s is the creep force of the steering wheel of the automobile, K d K is the rigidity coefficient of the steering wheel driver d Typically 110-120 N.m/rad.
Sensor measuring torque T c The calculation formula of (2) is as follows:
wherein x is r R is the displacement of a steering wheel rack of an automobile S Radius, K, of the steering wheel gear of the vehicle s K is the rigidity coefficient of steering column of automobile steering wheel s Typically 100-110 N.m/rad.
Auxiliary motor driver torque T a The calculation of (1) comprises the following steps of monitoring the displacement x of the rack of the steering wheel of the automobile in real time r And an auxiliary motor angle theta m Auxiliary motor driver torque T a The formula of (2) is as follows:
wherein x is r R is the displacement of a steering wheel rack of an automobile S Radius, K, of the steering wheel gear of the vehicle a To assist the motor drive stiffness, G is the motor drive ratio and G is typically 12-14.
S2, calculating the measured torque T of the auxiliary motor driver b The method comprises the following steps: real-time monitoring automobile auxiliary motor current I m Calculating a measured torque T of an auxiliary motor drive b ：
T b ＝GK t I m
Wherein I is m To assist motor current, K t For assisting the torque coefficient of the motor, G is the motor transmission ratio, K t Typically 0.04-0.06 N.m/A.
The auxiliary power steering driving model constructed in the step S2 is as follows:
wherein J is m To assist the rotation inertia coefficient of the motor, B m To assist in the viscous damping of the motor shaft,
for assisting the angular speed of the motor>
To assist motor angular acceleration, J m Typically 0.0003-0.0005 kg.m 2 ，B m Typically 0.003-0.004 kg.m/(rad/s)
S3, an automobile steering performance test model constructed in the step is as follows:
wherein X is a test result matrix of a state vector of the automobile steering performance test, M is a test coefficient of the state vector, and N 1 To assist the state coefficient of the motor, N 2 The driving moment coefficient is tested for the steering of the automobile; x is a state vector matrix of the automobile steering performance test,
wherein θ s For the angle of the steering wheel of the vehicle->
Is the angular velocity theta of the steering wheel of the automobile m For assisting the angle of the motor->
To assist the angular acceleration of the motor, I m Is an auxiliary motor current; u (u) 1 To assist the motor state matrix, u 1 The value of the auxiliary motor is =U, and U is the real-time voltage of the auxiliary motor obtained by the real-time monitoring of the electric power steering system monitoring module; u (u) 2 Driving force matrix for testing steering performance of automobile, u 2 ＝[(T d -T c )(T b -T a )] T The method comprises the steps of carrying out a first treatment on the surface of the Y is steering torque acting on steering column of steering wheel of automobileState matrix, C y A steering torque state coefficient matrix; z is the automobile steering performance test result matrix, D T For the coefficient matrix of the result of the automobile steering performance test, y 1 Y is the performance test result of the steering wheel of the automobile 2 Y is the performance test result of an auxiliary motor of the electric power steering system 1 ＝[(T d -T c )θ s ] T ，y 2 ＝[(T b -T a )θ m ] T 。
The state vector test coefficients M are calculated as follows:
wherein Q is 1 ＝K s /J s ，Q 2 ＝B s /J s ，
Auxiliary motor state coefficient N 1 The calculation formula is as follows:
automobile steering test driving moment coefficient N 2 The calculation formula is as follows:
steering torque state coefficient matrix C y The calculation formula is as follows:
automobile steering performance test result coefficient matrix D T The calculation formula is as follows:
wherein B is r For viscous damping of the frame, generally 3700-3800N/(m/s), L m Real-time inductance of auxiliary motor obtained by real-time monitoring of electric power steering system monitoring module is generally 0.005-0.006H, R p For steering column pinion radius, typically 0.006-0.008m, M r The mass of the steering wheel frame is generally 30-35kg.
As shown in fig. 2, the automobile steering performance test system adopting the method provided by the invention comprises an automobile steering wheel parameter monitoring module, an automobile steering driving model building module, an auxiliary power steering driving model building module, an automobile steering performance test model building model and a central control module;
automobile steering wheel parameter monitoring module for monitoring angle theta of automobile steering wheel in real time s Creep force s of automobile steering wheel of auxiliary motor and displacement x of rack of automobile steering wheel r ；
The electric power steering system monitoring module is used for monitoring the angle theta of the auxiliary motor in real time m And automobile auxiliary motor current I m Real-time voltage U of auxiliary motor and real-time inductance L of auxiliary motor m ；
The automobile steering driving model construction module is used for and according to the angle theta of an automobile steering wheel s And a variation value delta theta thereof s Calculating the sensor measurement torque T c According to the angle theta of the steering wheel of the automobile s Steering wheel drive torque T d Constructing an automobile steering driving model;
auxiliary power steering driving model for calculatingMeasuring torque T of auxiliary motor drive b According to the rotation angle theta of the auxiliary motor driver of the electric power steering system m Calculating auxiliary motor driver torque T a Constructing an auxiliary power steering driving model;
the automobile steering performance test model is used for constructing an automobile steering performance test model according to the constructed automobile steering driving model and the constructed auxiliary power steering driving model;
and the central control module is used for testing the transformation performance of the automobile after the reinforced training according to the automobile steering performance test model.
It should be understood that the specific order or hierarchy of steps in the processes disclosed are examples of exemplary approaches. Based on design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. As will be apparent to those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure.
Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the invention may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components (elements), units, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present invention.
The various illustrative logical blocks or units described in the embodiments of the invention may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described. A general purpose processor may be a microprocessor, but in the alternative, the general purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In an example, a storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may reside in a user terminal. In the alternative, the processor and the storage medium may reside as distinct components in a user terminal.
In one or more exemplary designs, the above-described functions of embodiments of the present invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer readable media includes both computer storage media and communication media that facilitate transfer of computer programs from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media may include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to carry or store program code in the form of instructions or data structures and other data structures that may be read by a general or special purpose computer, or a general or special purpose processor. Further, any connection is properly termed a computer-readable medium, e.g., if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless such as infrared, radio, and microwave, and is also included in the definition of computer-readable medium. The disks (disks) and disks (disks) include compact disks, laser disks, optical disks, DVDs, floppy disks, and blu-ray discs where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included within the computer-readable media.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The method for testing the steering performance of the automobile is characterized by comprising the following steps of:
s1: real-time monitoring angle theta of steering wheel of automobile s And according to the angle theta of the steering wheel of the automobile s And a variation value delta theta thereof s Calculating the sensor measurement torque T c According to the angle theta of the steering wheel of the automobile s Steering wheel drive torque T d Constructing an automobile steering driving model;
s2: an electric power steering system is adopted to power steering of an automobile steering wheel, and the measured torque T of an auxiliary motor driver is calculated b According to the rotation angle theta of the auxiliary motor driver of the electric power steering system m Calculating auxiliary motor driver torque T a Constructing an auxiliary power steering driving model;
s3: according to the automobile steering driving model constructed in the step S1 and the auxiliary power steering driving model constructed in the step S2, an automobile steering performance test model is constructed, and after the central control module is subjected to reinforcement training according to the automobile steering performance test model, the automobile transformation performance is tested;
the automobile steering performance test model constructed in the step S3 is as follows:
wherein X is a test result matrix of a state vector of the automobile steering performance test, M is a test coefficient of the state vector, and N 1 To assist the state coefficient of the motor, N 2 The driving moment coefficient is tested for the steering of the automobile; x is a state vector matrix of the automobile steering performance test,
wherein θ s For the angle of the steering wheel of the vehicle->
For the angular speed of the steering wheel of a motor vehicle, < >>
For assisting the angle of the motor->
To assist the angular acceleration of the motor, I m Is an auxiliary motor current; u (u) 1 To assist the motor state matrix, u 1 =u, U is auxiliary motor real-time voltage; u (u) 2 Driving force matrix for testing steering performance of automobile, u 2 ＝[(T d -T c )(T b -T a )] T The method comprises the steps of carrying out a first treatment on the surface of the Y is a steering torque state matrix acting on a steering column of an automobile steering wheel, C y A steering torque state coefficient matrix; z is the automobile steering performance test result matrix, D T For the coefficient matrix of the result of the automobile steering performance test, y 1 Y is the performance test result of the steering wheel of the automobile 2 Y is the performance test result of an auxiliary motor of the electric power steering system 1 ＝[(T d -T c ) θ s ] T ，y 2 ＝[(T b -T a ) θ m ] T 。
2. The method for testing the steering performance of the automobile according to claim 1, wherein the steering driving model of the automobile constructed in the step S1 is as follows:
wherein B is s Is used for damping the gear of the steering wheel of the automobile,
for the angular speed of the steering wheel of a motor vehicle, < >>
For angular acceleration of steering wheel of car, J s Is the steering column torque inertia coefficient.
3. The method for testing the steering performance of an automobile according to claim 2, wherein the steering wheel driver torque T d The calculation of (1) comprises the following steps of monitoring the creep force s of the steering wheel of the automobile in real time and calculating the torque T of a steering wheel driver d The model is as follows:
T d ＝(Δθ s -θ s )(K d s)
wherein s is the creep force of the steering wheel of the automobile, K d Is the steering wheel drive stiffness coefficient.
4. The method for testing the steering performance of an automobile according to claim 2, wherein the sensor measures torque T c The calculation formula of (2) is as follows:
wherein x is r R is the displacement of a steering wheel rack of an automobile S Radius, K, of the steering wheel gear of the vehicle s Is the rigidity coefficient of the steering column of the steering wheel of the automobile.
5. The method for testing the steering performance of an automobile according to claim 1, wherein the auxiliary motor driver torque T a The calculation of (1) comprises the following steps of monitoring the displacement x of the rack of the steering wheel of the automobile in real time r And an auxiliary motor angle theta m Auxiliary motor driver torque T a The formula of (2) is as follows:
wherein x is r R is the displacement of a steering wheel rack of an automobile S Radius, K, of the steering wheel gear of the vehicle a For assisting the motor drive stiffness coefficient, G is the motor drive ratio.
6. The method for testing the steering performance of the automobile according to claim 1, wherein the step S2 calculates the measured torque T of the auxiliary motor driver b The method comprises the following steps: real-time monitoring automobile auxiliary motor current I m Calculating a measured torque T of an auxiliary motor drive b ：
T b ＝GK t I m
Wherein I is m To assist motor current, K t G is the motor gear ratio, which is the auxiliary motor torque coefficient.
7. The method for testing the steering performance of the automobile according to claim 1, wherein the auxiliary power steering driving model constructed in the step S2 is as follows:
wherein J is m To assist the rotation inertia coefficient of the motor, B m To assist in the viscous damping of the motor shaft,
in order to assist the angular velocity of the motor,
is the auxiliary motor angular acceleration.
8. The method for testing the steering performance of an automobile according to claim 1, wherein the state vector test coefficient M is calculated as follows:
wherein Q is 1 ＝K s /J s ，Q 2 ＝B s /J s ，
Q 8 ＝-K t /L m ，Q 9 ＝-K t /L m ；
Auxiliary motor state coefficient N 1 The calculation formula is as follows:
automobile steering test driving moment coefficient N 2 The calculation formula is as follows:
steering torque state coefficient matrix C y The calculation formula is as follows:
automobile steering performance test result coefficient matrix D T The calculation formula is as follows:
wherein B is m To assist in motor shaft viscous damping, K t To assist the motor torque coefficient, B r For viscous damping of the frame, L m R is used for assisting the real-time inductance of the motor p For steering column pinion radius, M r For the mass of the steering wheel frame, J s For the moment of inertia of steering column, J m To assist the rotation inertia coefficient of the motor, K s K is the rigidity coefficient of steering column of automobile steering wheel d And G is the motor transmission ratio, which is the rigidity coefficient of the steering wheel driver.
9. The automobile steering performance test system adopting the method according to claim 1, comprising an automobile steering wheel parameter monitoring module, an electric power steering system monitoring module, an automobile steering driving model building module, an auxiliary power steering driving model building module, an automobile steering performance test model building model and a central control module;
automobile steering wheel parameter monitoring module for monitoring angle theta of automobile steering wheel in real time s Creep force s of automobile steering wheel of auxiliary motor and displacement x of rack of automobile steering wheel r ；
The electric power steering system monitoring module is used for monitoring the angle theta of the auxiliary motor in real time m And automobile auxiliary motor current I m ；
The automobile steering driving model construction module is used for and according to the angle theta of an automobile steering wheel s And a variation value delta theta thereof s Calculating the sensor measurement torque T c According to the angle theta of the steering wheel of the automobile s Steering wheel drive torque T d Constructing an automobile steering driving model;
auxiliary power steering driving model for calculating a measured torque T of an auxiliary motor driver b According to the rotation angle theta of the auxiliary motor driver of the electric power steering system m Calculating auxiliary motor driver torque T a Constructing an auxiliary power steering driving model;
the automobile steering performance test model is used for constructing an automobile steering performance test model according to the constructed automobile steering driving model and the constructed auxiliary power steering driving model;
and the central control module is used for testing the transformation performance of the automobile after the reinforced training according to the automobile steering performance test model.
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