Road simulation method, test bench and system for commercial vehicle steering system

Abstract

The present invention discloses a commercial vehicle steering system road simulation method, test bench and system, the method comprising the following steps: step S1, simulating a target signal including the steering resistance on the left and right sides of the front axle of the steering system through the test bench, and obtaining a test bench response signal; step S2, after the simulation is completed, comparing the difference between the test bench response signal and the target signal, and when the difference is less than the preset difference, determining that the steering system road simulation requirements are met. The commercial vehicle steering system road simulation method provided by the present application uses the horizontal resistance of the left steering knuckle of the front axle of the steering system and the right steering knuckle of the steering system as a new road simulation target signal to achieve simulation and reproduction of the road working conditions of the steering system, without causing a large coupling between the vertical motion and lateral motion simulation response signals, the error between the simulation signal and the target signal is small, and the simulation accuracy of the target signal meets the requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial vehicle system testing, and in particular to a commercial vehicle steering system road simulation method, a test bench and a system. Background Art

[0002] The existing road simulation scheme for commercial vehicle steering system follows the road simulation scheme for passenger vehicle steering system, and selects the steering wheel input end 1 angle signal, the front axle left steering knuckle 7 acceleration signal, the front axle right steering knuckle 11 acceleration signal, the steering straight tie rod 5 strain signal, and the steering tie rod 9 strain signal as the road simulation targets. Figure 1 The steering wheel input angle is used as the steering system driving signal, the acceleration of the left and right steering knuckles of the front axle are used to simulate the vertical excitation of the road surface on the front axle, and the strain signal of the steering tie rod and the strain signal of the steering tie rod are used to simulate the resistance of the ground surface to the steering system.

[0003] When commercial vehicles are driving, the strain signal of the steering tie rod and the stiffness of the steering tie rod are large, and the strain signal generated is small, resulting in a large target simulation error; due to the large structural difference between the commercial vehicle steering system and the passenger car, the commercial vehicle steering system will cause the tie rod posture to change due to vertical vibration, and at the same time will produce a large strain, resulting in a large coupling between vertical movement and lateral movement, which makes it difficult to calculate the transfer function and causes the target signal simulation accuracy to fail to meet the requirements. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and to provide a road simulation method, a test bench and a system for a commercial vehicle steering system.

[0005] In a first aspect, the present application provides a commercial vehicle steering system road simulation method, test bench and system, comprising the following steps:

[0006] Step S1, simulating a target signal including the steering resistance on the left and right sides of the front axle of the steering system through a test bench, and obtaining a test bench response signal;

[0007] Step S2: After the simulation is completed, the difference between the test bench response signal and the target signal is compared. When the difference is less than a preset difference, it is determined that the steering system road simulation requirements are met.

[0008] According to the first aspect, in a first possible implementation manner of the first aspect, step S1 specifically includes the following steps:

[0009] Step S11, on a test bench, a commercial vehicle steering system road simulation is carried out using a steering wheel input end angle signal, a vertical acceleration signal of the left and right steering knuckles on the front end, and a horizontal resistance signal of the left and right steering knuckles on the front axle as iterative target signals.

[0010] According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, before step S11, the following steps are further included:

[0011] Step S0: Obtain the horizontal resistance of the steering knuckles on the left and right sides of the front axle of the steering system.

[0012] According to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, step S0 specifically includes the following steps:

[0013] Step S01, obtaining a linear proportionality coefficient between the strain signals on the left and right sides of the front axle and the horizontal resistance on the left and right sides of the front axle;

[0014] Step S02, obtaining a steering system road spectrum signal;

[0015] Step S03: Obtain the horizontal resistance of the steering knuckles on the left and right sides of the front axle through the obtained linear proportional coefficient and the steering system road spectrum signal.

[0016] According to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, step S01 specifically includes the following steps:

[0017] Step S011, attach strain gauges to the left and right arms of the front axle, and obtain the linear proportional coefficients of the strain signals on the left and right sides of the front axle and the horizontal resistances on the left and right sides of the front axle through a test bench calibration method.

[0018] According to the third possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, step S02 specifically includes the following steps:

[0019] Step S021, through the electrical measurement of the commercial vehicle steering system, use data processing software to intercept the road spectrum signal segment to obtain the steering wheel input angle signal, the vertical acceleration signal of the left and right steering knuckles of the front axle, and the strain signal of the left and right knuckle arms of the front axle.

[0020] In a second aspect, the present application provides a commercial vehicle steering system road simulation test bench, which is applied to the commercial vehicle steering system road simulation method as described above, and includes:

[0021] The frame mechanism comprises a front support, a rear support and a steering system mounting platform disposed between the front support and the rear support, wherein the steering system mounting platform is used to mount the steering system;

[0022] A front axle left side actuator, comprising a front axle left side horizontal actuator, a front axle left side vertical actuator and a front axle left side steering knuckle fixture, wherein the front axle left side horizontal actuator and the front axle left side vertical actuator are both used to connect to the front axle left side steering knuckle of the steering system through the front axle left side steering knuckle fixture;

[0023] A front axle right side actuator, comprising a front axle right side horizontal actuator, a front axle right side vertical actuator and a front axle right side steering knuckle fixture, wherein the front axle right side horizontal actuator and the front axle right side vertical actuator are both used to be connected to the front axle right side steering knuckle of the steering system through the front axle right side steering knuckle fixture;

[0024] The driving mechanism comprises a servo driving motor at the input end of the steering wheel, which is fixed on the mounting platform of the steering system and is used for transmission connection with the input end of the steering wheel of the steering system.

[0025] In a third aspect, the present application provides a commercial vehicle steering system road simulation system, characterized in that it includes:

[0026] A steering system road simulation module is used to simulate the target signal including the steering resistance on the left and right sides of the front axle of the steering system through a test bench and obtain a test bench response signal;

[0027] The simulation verification module is connected to the steering system road simulation module for comparing the difference between the test bench response signal and the target signal. When the difference is less than a preset difference, it is determined that the steering system road simulation requirement is met.

[0028] According to the second aspect, in a first possible implementation manner of the second aspect, the steering system road simulation module includes:

[0029] The target signal iteration submodule is used to carry out road simulation of the commercial vehicle steering system on the test bench using the steering wheel input angle signal, the vertical acceleration signal of the left and right steering knuckles on the front end, and the horizontal resistance signal of the left and right steering knuckles on the front axle as iterative target signals.

[0030] According to the second aspect, in a second possible implementation manner of the second aspect, further comprising:

[0031] The left and right steering knuckle horizontal resistance acquisition module is used to obtain the horizontal resistance of the left and right steering knuckles of the front axle of the steering system.

[0032] Compared with the prior art, the advantages of the present invention are as follows:

[0033] The commercial vehicle steering system road simulation method provided in the present application uses the horizontal resistance of the left steering knuckle of the front axle of the steering system and the right steering knuckle of the steering system as new road simulation target signals to realize the simulation and reproduction of the road working conditions of the steering system. It will not cause a large coupling between the vertical movement and the lateral movement simulation response signals. The error between the simulation signal and the target signal is small, and the simulation accuracy of the target signal meets the requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of a steering system of a road simulation method of a passenger car steering system used in existing commercial vehicles;

[0035] Figure 2 It is a schematic diagram of the transmission route of the steering wheel steering action of the commercial vehicle steering system;

[0036] Figure 3 A method flow chart of a road simulation method for a commercial vehicle steering system provided in this application;

[0037] Figure 4 Another method flow chart of the commercial vehicle steering system road simulation method provided by the present application;

[0038] Figure 5 A schematic diagram of a steering system for a commercial vehicle steering system road simulation method provided in this application;

[0039] Figure 6 A linear relationship diagram between the left joint arm of the front axle and the horizontal resistance of the left side of the front axle in the road simulation method of the commercial vehicle steering system provided in this application;

[0040] Figure 7 A linear relationship diagram between the right knuckle arm of the front axle and the horizontal resistance of the right side of the front axle in the road simulation method of the commercial vehicle steering system provided in this application;

[0041] Figure 8 A schematic diagram of the structure of a commercial vehicle steering system road simulation test bench provided for this application;

[0042] Fig. 9 Another structural schematic diagram of a commercial vehicle steering system road simulation test bench provided in this application;

[0043] Fig.10 This is a functional module block diagram of the commercial vehicle steering system road simulation system provided in this application.

[0044] In the figure, 1. steering wheel input end; 3. steering gear; 5. steering straight tie rod; 6. front axle upper arm; 7. front axle left steering knuckle; 8. front axle left joint arm; 9. steering tie rod; 10. front axle right joint arm; 11. front axle right steering knuckle; 13. frame; 15. front axle; 101. steering wheel input end servo drive motor; 102. front support; 103. front axle left horizontal actuator; 104. front axle left vertical actuator; 105. front axle left steering knuckle fixture; 106. commercial vehicle steering system; 107. rear support; 108. steering system mounting platform; 109. front axle right steering knuckle fixture; 110. front axle right vertical actuator; 111. front axle right horizontal actuator; 100. steering system road simulation module; 200. simulation verification module. DETAILED DESCRIPTION

[0045] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the embodiments described. On the contrary, it is intended to cover changes, modifications and equivalents included in the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0046] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] Note: The example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0048] The existing road simulation method for commercial vehicle steering system follows the road simulation method for passenger vehicle steering system, such as Figure 1 As shown, a total of five signal points, including the steering wheel input end 1's steering angle signal, the front axle left steering knuckle 7's acceleration signal, the front axle right steering knuckle 11's acceleration signal, the steering tie rod 5's strain signal, and the steering tie rod 9's strain signal, are selected as road simulation target signals.

[0049] Please refer to Figure 2 The transmission route of the steering action of the steering wheel of the steering system of a commercial vehicle is: from the steering wheel input end 1, the steering gear 3, the steering straight tie rod 5, the front axle upper arm 6 to the front axle left steering knuckle 7, and then from the front axle left knuckle arm 8, the steering tie rod 9, the front axle right knuckle arm 10 to the front axle right steering knuckle 11, thereby driving the tire to complete the steering action.

[0050] When a commercial vehicle is driving, the stiffness of the steering tie rod 5 and the steering tie rod 9 is relatively large, and the strain signal generated is relatively small, resulting in a large error between the simulated response signal and the target signal. In addition, a large coupling is generated between the vertical movement and the lateral movement of the commercial vehicle steering system 106, resulting in the simulation signal accuracy failing to meet the requirements. Therefore, the existing road simulation method for the passenger car steering system is not suitable for the road simulation of the commercial vehicle steering system 106.

[0051] In order to solve the problem that the existing road simulation method for commercial vehicle steering system follows the road simulation method for passenger car steering system, the road spectrum iteration is seriously divergent and it is impossible to realize the road simulation of the commercial vehicle steering system on the test bench, the present application provides a new road simulation method for commercial vehicle steering system 106 to improve the simulation signal accuracy and reduce the simulation error.

[0052] Please refer to Figure 3 The present application provides a commercial vehicle steering system road simulation method, test bench and system, comprising the following steps:

[0053] Step S1, simulating a target signal including the steering resistance on both sides of the front axle 15 of the steering system through a test bench, and obtaining a test bench response signal, wherein the test bench response signal is a road simulation signal of the steering system;

[0054] Step S2: After the simulation is completed, the difference between the test bench response signal and the target signal is compared. When the difference is less than a preset difference, it is determined that the steering system road simulation requirements are met.

[0055] The commercial vehicle steering system road simulation method provided in the present application uses the horizontal resistance of the left steering knuckle 7 of the front axle of the steering system and the right steering knuckle 11 of the front axle of the steering system as new road simulation target signals to realize the simulation and reproduction of the road working conditions of the steering system, and will not cause a large coupling between the vertical movement and the lateral movement simulation response signals, thereby solving the problem of serious divergence of the steering system road spectrum iteration. The road spectrum iteration error of the steering system simulation target signal is less than 10%, and the test bench realizes the road simulation function of the commercial vehicle steering system 106. The error between the simulation signal and the target signal is small, and the simulation accuracy of the target signal meets the requirements.

[0056] When simulating the target signal of the steering resistance on the left and right sides of the steering system, there are two options. One is to select the strain signals of the front axle upper arm 6 and the right forearm of the front axle 15 as the target signal, and the other is to select the strain signals of the front axle left section arm 8 and the front axle right section arm 10 as the target signal. Through comparative analysis and test bench verification, it is found that the strain signal of the front axle upper arm 6 is less affected by the horizontal steering resistance on the left and right sides of the front axle 15, but is more affected by the vertical excitation of the ground, and is more seriously coupled with the vertical excitation of the ground, which will lead to the inability to decouple and the inability of the iterative process to converge. The front axle left section arm 8 and the front axle right section arm 10 are more affected by the horizontal steering resistance on the left and right sides of the front axle 15, and are less affected by the vertical excitation of the ground, and the degree of coupling with the vertical excitation of the ground is very small, which is easy to decouple and the iterative process is easy to converge. Therefore, the strain signals of the front axle left section arm 8 and the front axle right section arm 10 are selected as the simulation target signals.

[0057] In one embodiment, please refer to Figure 4 , the step S1 specifically comprises the following steps:

[0058] Step S11, on the test bench, using the steering wheel input end 1 angle signal, the vertical acceleration signal of the left and right steering knuckles on the front end, and the horizontal resistance signal of the left and right steering knuckles on the front axle 15 as iterative target signals to carry out road simulation of the commercial vehicle steering system 106.

[0059] In one embodiment, before step S11, the following steps are also included:

[0060] Step S0: acquiring the horizontal resistance of the steering knuckles on the left and right sides of the front axle 15 of the steering system as the target signal of the road simulation of the steering system.

[0061] In one embodiment, the step S0 specifically includes the following steps:

[0062] Step S01, obtaining the linear proportionality coefficient between the strain signals on the left and right sides of the front axle 15 and the horizontal resistance on the left and right sides of the front axle 15, and the linear relationship between the strain signals of the left and right joint arms 8 and the horizontal resistance on the left and right sides of the front axle 15;

[0063] Step S02, obtaining a steering system road spectrum signal;

[0064] Step S03: Obtain the horizontal resistance of the steering knuckles on the left and right sides of the front axle 15 by using the obtained linear proportional coefficient and the steering system road spectrum signal.

[0065] In one embodiment, since the strain signal is greatly affected by external interference and errors, and the force signal is easy to iterate, the present application confirms through a test bench calibration method that there is a linear proportional relationship between the left front axle arm 8 and the horizontal resistance on the left side of the front axle 15, and between the right front axle arm 10 and the right vehicle level of the front axle 15, and finds out the linear proportional coefficient between them through the test bench calibration. The step S01 specifically includes the following steps:

[0066] Step S011, attach strain gauges to the left and right arms of the front axle 15, and obtain the linear proportional coefficient K (including K left and K right) between the strain signals on the left and right sides of the front axle 15 and the horizontal resistance on the left and right sides of the front axle 15, as well as the linear relationship between the strain signals of the left and right arms 8 and the horizontal resistance on the left and right sides of the front axle 15 through a test bench calibration method.

[0067] Through the test bench calibration, the linear relationship between the left front axle arm 8 and the horizontal resistance on the left side of the front axle 15, and the linear relationship between the right front axle arm 10 and the horizontal resistance on the right side of the front axle 15 are drawn by the software as shown in Figure 6-7, that is, horizontal resistance = K*strain signal, which are converted into horizontal resistance acting on the left and right steering knuckles of the front axle 15 in the same direction.

[0068] In one embodiment, the step S02 specifically includes the following steps:

[0069] Step S021, through the electrical measurement of the commercial vehicle steering system 106, use data processing software to intercept the road spectrum signal segment to obtain the steering wheel input terminal 1 angle signal, the vertical acceleration signal of the left and right steering knuckles of the front axle 15, and the strain signal of the left and right knuckle arms of the front axle.

[0070] In one embodiment, the commercial vehicle steering system road simulation method provided by the present application is implemented as follows: Figure 5 As shown, the steering signal of the steering wheel input terminal 1, the vertical acceleration and horizontal resistance of the left steering knuckle 7 of the front axle (converted from the strain signal of the left knuckle arm 8 of the front axle), and the vertical acceleration and horizontal resistance of the right steering knuckle 11 of the front axle (converted from the strain signal of the right knuckle arm 10 of the front axle) are used as the target signals of the road simulation, a total of 5 signals, and then the transfer function is calculated and the drive is inversely calculated through the steering test bench, so as to reproduce the road working conditions of the steering system on the test bench; this scheme can not only fully simulate the input action of the commercial vehicle steering system 106 by iterating the steering wheel input terminal 1, but also simulate the vertical excitation of the steering system by iterating the vertical acceleration of the left steering knuckle 7 of the front axle and the vertical acceleration of the right steering knuckle 11 of the front axle, and fully simulate the steering resistance of the steering system by iterating the horizontal resistance of the left steering knuckle 7 of the front axle and the horizontal resistance of the right steering knuckle 11 of the front axle.

[0071] In one embodiment, in step S2, when the difference is less than 10%, it is determined that the road simulation requirement of the steering system test bench is met.

[0072] Based on the same invention concept, please refer to Figure 8-9 The present application provides a commercial vehicle steering system 106 road simulation test bench, which is applied to the commercial vehicle steering system road simulation method as described above, including:

[0073] The frame mechanism includes a front support 102, a rear support 107, and a steering system mounting platform 108 disposed between the front support 102 and the rear support 107, wherein the steering system mounting platform 108 is used to install the steering system, and the front support 102 and the rear support 107 are used to suspend and support the steering system mounting platform 108 on the test site;

[0074] The left side actuator of the front axle 15 includes a left side horizontal actuator 103, a left side vertical actuator 104 and a left side steering knuckle fixture 105 of the front axle. The left side horizontal actuator of the front axle 15 and the left side vertical actuator of the front axle 15 are both used to be connected to the left side steering knuckle 7 of the front axle of the steering system through the left side steering knuckle fixture 105, and respectively respond to the horizontal resistance and vertical acceleration of the left side steering knuckle 7 of the front axle;

[0075] The right-side actuator of the front axle 15 includes a right-side horizontal actuator 111, a right-side vertical actuator 110 and a right-side steering knuckle fixture 109 of the front axle. The right-side horizontal actuator 111 and the right-side vertical actuator of the front axle 15 are both used to be connected to the right-side steering knuckle 11 of the front axle of the steering system through the right-side steering knuckle fixture 109, and respectively respond to the water skin resistance and vertical acceleration of the right-side steering knuckle 11 of the front axle;

[0076] The driving mechanism includes a steering wheel input end servo driving motor 101, which is fixed on the steering system mounting platform 108 and is used for transmission connection with the steering wheel input end 1 of the steering system and responding to the steering wheel input end 1 angle signal.

[0077] Based on the same invention concept, please refer to Fig.10 , the present application provides a commercial vehicle steering system road simulation system, comprising:

[0078] A steering system road simulation module 100 is used to simulate a target signal including steering resistance on both sides of the front axle of the steering system through a test bench and obtain a test bench response signal;

[0079] The simulation verification module 200 is in communication connection with the steering system road simulation module, and is used to compare the difference between the test bench response signal and the target signal. When the difference is less than a preset difference, it is determined that the steering system road simulation requirement is met.

[0080] In one embodiment, the steering system road simulation module includes:

[0081] The target signal iteration submodule is used to carry out road simulation of the commercial vehicle steering system on the test bench using the steering wheel input angle signal, the vertical acceleration signal of the left and right steering knuckles on the front end, and the horizontal resistance signal of the left and right steering knuckles on the front axle as iterative target signals.

[0082] In one embodiment, it further includes:

[0083] The left and right steering knuckle horizontal resistance acquisition module is used to obtain the horizontal resistance of the left and right steering knuckles of the front axle of the steering system.

[0084] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0085] The present invention implements all or part of the process in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0086] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0087] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0088] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0089] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, servers or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0090] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0093] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A road simulation method for a commercial vehicle steering system, characterized in that: The following steps are involved: Step S1, simulating a target signal including the steering resistance on the left and right sides of the front axle of the steering system through a test bench, and obtaining a test bench response signal; Step S2: after the simulation is finished, comparing the difference between the test bench response signal and the target signal, and when the difference is less than a preset difference, it is determined that the steering system road simulation requirements are met; Wherein, the step S1 specifically includes the following steps: Step S11, on a test bench, using the steering wheel input end angle signal, the vertical acceleration signals of the left and right steering knuckles on the front end, and the horizontal resistance signals of the left and right steering knuckles on the front axle as iterative target signals to carry out a road simulation of a commercial vehicle steering system; Before step S11, the method further includes the following steps: Step S0, obtaining the horizontal resistance of the steering knuckles on the left and right sides of the front axle of the steering system; Wherein, the step S0 specifically comprises the following steps: Step S01, obtaining a linear proportionality coefficient between the strain signals on the left and right sides of the front axle and the horizontal resistance on the left and right sides of the front axle; Step S02, obtaining a steering system road spectrum signal; Step S03: Obtain the horizontal resistance of the steering knuckles on the left and right sides of the front axle through the obtained linear proportional coefficient and the steering system road spectrum signal.

2. The commercial vehicle steering system road simulation method according to claim 1, characterized in that: The step S01 specifically comprises the following steps: Step S011, attach strain gauges to the left and right arms of the front axle, and obtain the linear proportional coefficients of the strain signals on the left and right sides of the front axle and the horizontal resistances on the left and right sides of the front axle through a test bench calibration method.

3. The commercial vehicle steering system road simulation method according to claim 1, characterized in that: The step S02 specifically includes the following steps: Step S021, through the electrical measurement of the commercial vehicle steering system, use data processing software to intercept the road spectrum signal segment to obtain the steering wheel input angle signal, the vertical acceleration signal of the left and right steering knuckles of the front axle, and the strain signal of the left and right knuckle arms of the front axle.

4. A commercial vehicle steering system road simulation test bench, characterized in that: The method for simulating a road condition of a commercial vehicle steering system as claimed in any one of claims 1 to 3 comprises: The frame mechanism comprises a front support, a rear support and a steering system mounting platform disposed between the front support and the rear support, wherein the steering system mounting platform is used to mount the steering system; A front axle left side actuator, comprising a front axle left side horizontal actuator, a front axle left side vertical actuator and a front axle left side steering knuckle fixture, wherein the front axle left side horizontal actuator and the front axle left side vertical actuator are both used to connect to the front axle left side steering knuckle of the steering system through the front axle left side steering knuckle fixture; A front axle right side actuator, comprising a front axle right side horizontal actuator, a front axle right side vertical actuator and a front axle right side steering knuckle fixture, wherein the front axle right side horizontal actuator and the front axle right side vertical actuator are both used to be connected to the front axle right side steering knuckle of the steering system through the front axle right side steering knuckle fixture; The driving mechanism comprises a servo driving motor at the input end of the steering wheel, which is fixed on the mounting platform of the steering system and is used for transmission connection with the input end of the steering wheel of the steering system.

5. A commercial vehicle steering system road simulation system, characterized in that: include: A steering system road simulation module is used to simulate the target signal including the steering resistance on the left and right sides of the front axle of the steering system through a test bench and obtain a test bench response signal; A simulation verification module is connected to the steering system road simulation module for comparing the difference between the test bench response signal and the target signal, and when the difference is less than a preset difference, it is determined that the steering system road simulation requirement is met; Wherein, the steering system road simulation module includes: The target signal iteration submodule is used to carry out road simulation of the commercial vehicle steering system on the test bench using the steering wheel input angle signal, the vertical acceleration signal of the left and right steering knuckles on the front end, and the horizontal resistance signal of the left and right steering knuckles on the front axle as iterative target signals; Among them, it also includes: The left and right steering knuckle horizontal resistance acquisition module is used to obtain the horizontal resistance of the left and right steering knuckles on the front axle of the steering system; Wherein, the left and right steering knuckle horizontal resistance acquisition modules are also used for: Obtain the linear proportionality coefficient between the strain signals on the left and right sides of the front axle and the horizontal resistance on the left and right sides of the front axle; Obtain the steering system road spectrum signal; The horizontal resistance of the steering knuckles on the left and right sides of the front axle is obtained by obtaining the linear proportional coefficient and the steering system road spectrum signal.

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