Test device

Abstract

An aspect of the present application provides a test device including: an input-side driving section capable of rotationally driving a steering shaft of a steering device as a test object; and a control section that controls the input-side driving section to rotationally drive the steering shaft in accordance with a prescribed test waveform, the control section being configured to be capable of performing reverse control that immediately reverses the rotational direction of the steering shaft when the angular position of the steering shaft reaches a tip position that is the end of the movable range of the steering shaft, the reverse control including a jump process that jumps to a next control point that is expected to be the same degree of torque as the present time when the angular position of the steering shaft reaches the tip position.

Description

[0001] This application is a divisional application of patent application CN201980064031.4, originally filed on September 25, 2019, entitled "Testing Apparatus, Method for Setting Test Process and Test Method for Control Device". Technical Field

[0002] This invention relates to a testing apparatus. Background Technology

[0003] For example, Patent Document 1 (Japanese Patent Application Publication No. 2015-219115) describes a known testing apparatus for testing the durability of vehicle control devices (steering control devices). Summary of the Invention

[0004] In the durability test of the control mechanism, the steering shaft is repeatedly driven to rotate back and forth at a specified angular velocity throughout the entire movable range. Driven at the specified angular velocity, when the steering shaft reaches the end of the movable range (the contact position), the rack end violently impacts the gearbox, etc., and a load significantly exceeding the permissible value may be instantaneously applied to the test object. Such excessive load applied to the test object will compromise the accuracy of the test results.

[0005] The first, fourth, and fifth aspects of the present invention were made in view of the above circumstances, and the object is to provide a testing device that drives a steering shaft in a manner that does not apply torque exceeding the allowable value to the test subject when reaching the contact position, thereby enabling a more appropriate evaluation of the test subject.

[0006] Furthermore, in testing the control device, it is necessary to accurately control the load applied to the linkage. However, the test device and the control device itself are complex in construction, and especially because the rigidity of the test object is relatively low, the load variation (response) of the control quantity applied to the motor is extremely complex. Consequently, because the error (deviation) between the target value and the measured value of the motor control quantity is relatively large, it remains difficult to control the load with very high precision even with conventional feedback control.

[0007] The second aspect of the present invention is made in view of the above circumstances, and its object is to provide a testing apparatus that can control the load applied to the manipulator with higher precision, thereby enabling a more appropriate evaluation of the test subject.

[0008] Furthermore, existing control device testing involves applying load to the tie rod using mechanical mechanisms such as coil springs or leaf springs. This makes it difficult to set the load to an arbitrary value. Moreover, the existing mechanical load-applying methods cannot apply complex loads to the tie rod in actual vehicles, loads that vary depending on the steering angle or direction of rotation.

[0009] A third aspect of the present invention is made in view of the above circumstances, and its object is to provide a testing apparatus that increases the degree of freedom of the load applied to the control device, applies a load closer to that applied to the control device installed on an actual vehicle, and enables a more appropriate evaluation of the test subject.

[0010] In addition, the testing of the control device suffers from problems such as complex testing conditions and complicated setting of testing conditions.

[0011] The sixth aspect of the present invention is made in view of the above circumstances, and its purpose is to simplify the setting of test conditions.

[0012] In addition, the method of mounting the test subject on the test device varies depending on the type of test subject. If an incorrect mounting method is used, excessive load may be applied to the test subject, which may lead to damage to the test subject.

[0013] The seventh aspect of the present invention is made in view of the above circumstances, and its object is to stop the test before applying excessive load to the test subject by gradually increasing the load applied to the test subject to a set value, thereby preventing damage to the test subject due to incorrect installation.

[0014] (Solutions)

[0015] A first aspect of the present invention provides a testing apparatus comprising: an input-side drive unit capable of rotating a steering shaft that serves as a control device for a test object; a control unit for controlling the input-side drive unit; and a position detection unit for detecting the angular position of the steering shaft, wherein the control unit is configured to control the input-side drive unit in a manner that limits the upper limit of the torque of the steering shaft when the angular position of the steering shaft reaches a contact position that is the end of the movable range of the steering shaft.

[0016] The aforementioned testing device can also be configured such that the control unit can control the drive of the steering shaft by using the angular position of the steering shaft as the control quantity for position control and the torque of the steering shaft as the control quantity for torque control. Position control is performed when the angular position of the steering shaft is outside a first angular range including the contact position, and when the angular position of the steering shaft reaches the first angular range, the control unit switches from position control to torque control.

[0017] The aforementioned testing device can also be configured to control the rotation of the steering shaft in torque control such that the angular velocity of the steering shaft does not exceed a specified upper limit.

[0018] The aforementioned testing device can also be configured such that, when switching from position control to torque control, the first target torque is set to the target value of the torque, and after the torque reaches the first target torque and a predetermined duration has elapsed, the device switches from torque control to position control.

[0019] The aforementioned testing device can also be configured such that, when switching from position control to torque control, the first target torque is set as the target value of the torque; when the torque reaches the first target torque, the target value of the torque is changed to a second target torque that is different from the first target torque; after reaching the second target torque, and after a predetermined duration, the device switches from torque control to position control.

[0020] The aforementioned testing device can also be configured to control the input-side drive unit by changing the torque at a predetermined speed from the moment the torque reaches the first target torque until the moment it reaches the second target torque.

[0021] The aforementioned testing device can also be configured such that the input-side drive unit includes: a position detection unit for detecting the angular position of the steering shaft; and a torque detection unit for detecting the torque of the steering shaft.

[0022] The aforementioned testing device may also be configured to include: an output-side drive unit that applies a load to a lever, which is a control device for the test object, in the form of axial force; and a load detection unit for detecting the load, wherein the output-side drive unit includes a first motor that generates the load.

[0023] A second aspect of the present invention provides a testing apparatus comprising: an output-side drive unit that applies a load to a linkage, which is a control device for a test object, in an axial force manner; a load detection unit for detecting the load; and a control unit for controlling the output-side drive unit, the output-side drive unit including a first motor that generates the load, the control unit including a target value calculation unit that calculates a target value of a control quantity of the first motor based on a target value of the load, the target value calculation unit calculating the target value of the control quantity of the first motor based on a measured value of the control quantity of the first motor when the same waveform load is repeatedly applied to the linkage.

[0024] The aforementioned testing device can also be configured such that the control unit includes a learning data generation unit, which generates learning data based on the measured value of the control quantity of the first motor, and a target value calculation unit calculates the target value based on the learning data.

[0025] The aforementioned testing device can also be configured such that the target value calculation unit includes: a deviation calculation unit, which calculates the load deviation based on the target value and the measured value of the load; a correction value calculation unit, which calculates the correction value of the control quantity of the first motor based on the load deviation; and a correction unit, which outputs the value of the learning data plus the correction value as the target value of the control quantity of the first motor.

[0026] The aforementioned testing device can also be configured such that the correction value calculation unit calculates the value obtained by multiplying the conversion coefficient of converting the load into the control quantity of the first motor by the load deviation as the correction value.

[0027] The aforementioned testing device can also be configured such that the learning data generation unit generates the average value of multiple measured values ​​of the control quantity of the first motor as learning data.

[0028] The aforementioned testing device can also be configured such that the control unit repeatedly executes a control loop consisting of multiple control points, and the learning data is obtained by averaging the measured values ​​of the control quantity for multiple specified control points.

[0029] The aforementioned testing device may also be configured such that the specified multiple control points include: a corresponding control point corresponding to the object control point that is the object of control at this moment; and a nearby control point near the corresponding control point.

[0030] The aforementioned testing device can also be configured such that the corresponding control point is the same as the object control point.

[0031] The aforementioned testing device can also be configured to set the phase difference between the object control point and the corresponding control point.

[0032] The aforementioned testing device can also be configured such that, when the control unit repeatedly executes a control loop consisting of multiple control points, the learning data is obtained by averaging the measured values ​​of the control quantity over the most recent multiple control loops.

[0033] The aforementioned testing device can also be configured to generate learning data for each control point.

[0034] The aforementioned testing device can also be configured such that, when the number of measured values ​​of the control quantity of the first motor obtained is less than a predetermined number, the target value calculation unit uses the converted control quantity, which is the angular velocity of the steering shaft of the test object converted into the angular velocity of the first motor, as learning data to calculate the target value of the control quantity of the first motor.

[0035] The aforementioned testing device can also be configured such that the control quantity of the first motor is angular velocity.

[0036] The aforementioned testing device can also be configured such that the control quantity of the first motor is shaft torque.

[0037] The aforementioned testing device can also be configured such that the first motor is any one of a servo motor, a direct-drive motor, and a linear motor.

[0038] The aforementioned testing device can also be configured such that the output-side drive unit includes a rotary encoder, which detects at least one of the angular position and angular velocity of the first motor.

[0039] The aforementioned testing device may also be configured to include an input-side drive unit that, under the control of a control unit, drives the steering shaft of the test object to rotate. The input-side drive unit includes a position detection unit that detects the angular position of the steering shaft.

[0040] The aforementioned testing device can also be configured such that the input-side drive unit includes a torque detection unit for detecting the torque of the steering shaft, and the control unit is configured to detect the center position θ of the movable range of the test object. C The centering process includes: a directional drive step, which rotates the steering shaft in one direction until the torque of the steering shaft reaches a predetermined value; and a first contact position detection step, which detects the angular position θ of the steering shaft when the torque of the steering shaft reaches the predetermined value after the directional drive step. A The reverse drive step rotates the steering shaft in the opposite direction until the torque of the steering shaft reaches a specified value; the second contact position detection step detects the angular position θ of the steering shaft when the torque of the steering shaft reaches the specified value after the reverse drive step. B The center position calculation steps are as follows: the center position θ of the movable range of the steering shaft is calculated using the following formula (1). C :

[0041]

[0042] A third aspect of the present invention provides a testing apparatus comprising: an output-side drive unit that applies a load to a linkage serving as a control device for a test object in the manner of axial force; a position detection unit that detects the angular position of a steering shaft of the test object; and a control unit that controls the output-side drive unit to apply a load according to the angular position.

[0043] The aforementioned testing device can also be configured such that the control unit controls the output-side drive unit in a manner that monotonically increases or decreases the load with respect to the angular position.

[0044] The aforementioned testing device can also be configured such that the control unit controls the output-side drive unit in such a way that the rate of change of the load with respect to the angular position is a constant.

[0045] The aforementioned testing device can also be configured such that the control unit controls the output-side drive unit by switching the relationship between the angular position and the load according to the rotation direction of the steering shaft.

[0046] The aforementioned testing device can also be configured such that the output-side drive unit applies a load in the opposite direction to the movement direction of the linkage.

[0047] The aforementioned testing device can also be configured such that the control unit controls the output-side drive unit, such that when the output-side drive unit is connected to a tie rod on one side of the test object, the rate of change of the load relative to the rotation angle of the steering shaft is greater when the rotation direction of the steering shaft is to one side, compared to when the rotation direction of the steering shaft is to the other side.

[0048] The aforementioned testing device may also be configured to include: a torque detection unit for detecting the torque of the steering shaft; and a rotation direction detection unit for detecting the rotation direction of the steering shaft, wherein the control unit controls the output-side drive unit in such a way that no load is applied to the tie rod when the direction of the torque of the steering shaft is inconsistent with the rotation direction.

[0049] The aforementioned testing apparatus may also be configured such that the control unit includes: a torque setpoint receiving unit, which is capable of receiving an upper limit torque value, which is a setpoint value representing the upper limit of the allowable range of torque, and an input of a first index representing a setpoint torque value different from the upper limit torque value; and a torque setpoint calculation unit, which calculates the setpoint torque value based on the upper limit torque value and the first index received by the torque setpoint receiving unit.

[0050] The aforementioned testing device can also be configured such that the first index is the ratio of the torque setpoint to the torque upper limit, and the torque setpoint calculation unit calculates the torque upper limit multiplied by the first index as the torque setpoint.

[0051] The aforementioned testing device may also be configured to include a second motor that drives the steering shaft, and a control unit that includes a command value calculation unit that calculates the command value of the second motor based on a torque setpoint.

[0052] The aforementioned testing device can also be configured such that the control unit is capable of performing centering processing, which includes: a directional drive step that rotates the steering shaft in one direction until the torque of the steering shaft reaches a predetermined value; and a first contact position detection step that detects the angular position θ of the steering shaft when the torque of the steering shaft reaches the predetermined value after the directional drive step. A The reverse drive step rotates the steering shaft in the opposite direction until the torque of the steering shaft reaches a specified value; the second contact position detection step detects the angular position θ of the steering shaft when the torque of the steering shaft reaches the specified value after the reverse drive step. B The center position calculation steps are as follows: the center position θ of the movable range of the steering shaft is calculated using the following formula (1). C :

[0053]

[0054] The aforementioned testing apparatus can also be configured such that the centering process includes a center position movement step, which rotates the steering shaft to the center position θ. C .

[0055] The aforementioned testing device can also be configured such that the output-side drive unit includes a movable stage, which is driven to rotate about a rotation axis orthogonal to the direction of movement of the tie rod, and a mounting structure for mounting the end of the tie rod is provided at the position of the movable stage away from the rotation axis.

[0056] The aforementioned testing device can also be configured such that the movable stage includes a pair of arms extending in a front-back direction substantially orthogonal to the axis of rotation, and formed symmetrically with respect to a plane containing the axis of rotation, with a tie rod mounted on one of the arms.

[0057] The aforementioned testing device can also be configured such that the control unit is capable of performing polarity checking processing, which includes: an input receiving step that receives an input indicating whether the test object is for forward pulling or backward pulling; a first output-side position detection step that detects the angular position of the movable stage; a driving step that drives the steering shaft to rotate by a predetermined rotation angle in a predetermined rotation direction; a second output-side position detection step that detects the angular position of the movable stage after the driving step; a rotation direction determination step that determines the rotation direction of the movable stage in the driving step based on the detection results of the first and second output-side position detection steps; and a polarity determination step that determines whether the relationship between the rotation direction of the steering shaft and the rotation direction of the movable stage matches the type of test object.

[0058] The aforementioned testing device may also be configured such that the polarity check process includes: a torque upper limit value reduction step, which reduces the torque upper limit value, which is a set value of the torque upper limit of the steering shaft, before the drive step; and a torque upper limit value restoration step, which restores the torque upper limit value to its original value after the drive step.

[0059] The aforementioned testing apparatus may also be configured such that the control unit is configured to perform speed transmission ratio detection processing, which includes: a global rotation drive step that rotates the steering shaft approximately as a whole within its movable range; a global output side position detection step that, in the global rotation drive step, detects the angular position of the movable stage at multiple angular positions at predetermined intervals within the approximately whole movable range of the steering shaft; and a speed transmission ratio calculation step that calculates the speed transmission ratio based on the detection results of the global output side position detection step, wherein the speed transmission ratio is the ratio of the rotation angle of the movable stage in each interval of the movable range of the steering shaft divided by multiple angular positions to the rotation angle of the steering shaft.

[0060] The aforementioned testing device can also be configured such that, in the global rotation drive step, the steering shaft is driven intermittently at predetermined intervals, and in the global output side position detection step, the angular position of the movable stage is detected each time the steering shaft is rotated at predetermined intervals.

[0061] The aforementioned testing device may also be configured to include a fitting step, which determines a formula representing the relationship between the angular position of the steering shaft and the speed transmission ratio based on the speed transmission ratio values ​​of each interval calculated by the speed transmission ratio calculation step.

[0062] The aforementioned testing apparatus may also be configured such that the control unit includes: a load setting value receiving unit, which is capable of receiving a load upper limit value as an upper limit setting value of the allowable range of the load and a second index representing a load setting value different from the load upper limit value; and a load setting value calculation unit, which calculates the load setting value based on the load upper limit value and the second index received by the load setting value receiving unit.

[0063] The aforementioned testing device can also be configured such that the second indicator is the ratio of the load setpoint to the load upper limit, and the load setpoint calculation unit outputs the load upper limit multiplied by the second indicator as the load setpoint.

[0064] The aforementioned testing device can also be configured such that the control unit includes a target value calculation unit, which calculates the target value of the control quantity of the first motor based on the load setpoint.

[0065] A fourth aspect of the present invention provides a testing apparatus comprising: an input-side drive unit capable of rotating a steering shaft that serves as a manipulator for a test subject; and a control unit that controls the rotational drive of the steering shaft performed by the input-side drive unit. The control unit is configured to execute a reversal control that immediately reverses the rotational direction of the steering shaft when the angular position of the steering shaft reaches a contact position, which is the end of the movable range of the steering shaft. The reversal control includes a jump process that, when the angular position of the steering shaft reaches the contact position, jumps to the next control point where the torque is expected to be of the same magnitude as at that moment.

[0066] A fifth aspect of the present invention provides a testing apparatus comprising: an input-side drive unit capable of rotating a steering shaft that serves as a manipulator for a test subject; and a control unit that controls the rotational drive of the steering shaft performed by the input-side drive unit. The control unit is configured to perform a reversal control that reverses the rotation direction of the steering shaft when the angular position of the steering shaft reaches a contact position at the end of the movable range of the steering shaft. The reversal control includes a jump process in which, when the torque of the steering shaft exceeds a predetermined value, the device jumps to a next control point where the target value of the angular position of the steering shaft decreases to the same degree as the value at that moment.

[0067] The sixth aspect of the present invention provides a method for setting a test process, which is a method for setting a test process that changes over time, wherein the test process is set in a modular and hierarchical manner.

[0068] The above configuration method can also be configured such that the test process includes multiple process modules that are executed sequentially, and each process module defines a part of the test process.

[0069] The above configuration method can also be configured such that the process module includes: a first-level process module that defines the basic unit of the test process; and a second-level process module that contains multiple first-level process modules.

[0070] The above configuration method can also be configured such that the process module includes a third-level process module, the third-level process module contains at least one second-level process module, and contains multiple first-level process modules or second-level process modules.

[0071] The above setting method can also be configured to include: setting a global boundary that applies to the entire range of the process module; and setting a local boundary that applies specifically to a portion of the range of the process module.

[0072] The above setting method can also be configured to set local boundaries for multiple intervals.

[0073] The above setting method can also be configured such that the boundary includes an upper limit value and a lower limit value.

[0074] The above setting method can also be configured such that the limit includes at least one of the following (a) to (d):

[0075] (a) The angular position of the rotation of the steering axis of the test object;

[0076] (b) The torque applied to the steering shaft of the test object;

[0077] (c) The angular position of the arm of the test device, which is equivalent to the articulated arm;

[0078] (d) Load applied to the tie rod of the test object.

[0079] The above setting method can also be configured such that the local boundary is set as a relative value relative to the overall boundary.

[0080] A seventh aspect of the present invention provides a method for testing a control device, comprising a slow-up step, wherein the load applied to the test object as an axial force is gradually increased to a set value.

[0081] The above testing method can also be configured to increase the load in stages by a set number of times.

[0082] (Invention Effects)

[0083] In the first, fourth, and fifth aspects of the present invention, when the contact position is reached, the steering shaft is driven in such a way that a specified torque not exceeding the allowable value is applied to the test object, thereby enabling a more accurate evaluation of the test object.

[0084] The second aspect of the invention enables the load on the manipulator to be controlled with greater precision, thereby enabling a more accurate evaluation of the test subject.

[0085] The third aspect of the invention can increase the degree of freedom of the load applied to the control device and can apply a load that is closer to that applied to the control device installed in an actual vehicle, thereby enabling a more accurate evaluation of the test subject.

[0086] The sixth aspect of the present invention enables more efficient setting of complex test conditions for the control device.

[0087] The seventh aspect of the present invention can stop the test before applying excessive load to the test subject, thus preventing damage to the test subject due to incorrect installation of the test subject in the test apparatus. Attached Figure Description

[0088] Figure 1 This is an external view of the testing device according to an embodiment of the present invention.

[0089] Figure 2 It is a schematic diagram showing the state of the test object connected to the various parts of the test device.

[0090] Figure 3 This is an external view of the input-side drive unit.

[0091] Figure 4 This is an external view of the input-side drive unit.

[0092] Figure 5 This is a side view of the support section.

[0093] Figure 6 This is an exterior view of the column base.

[0094] Figure 7 This is a diagram showing the main structure of the output-side drive unit.

[0095] Figure 8 This is an external view of the output-side drive unit.

[0096] Figure 9 It is a block diagram representing the general structure of a control system.

[0097] Figure 10 This is the menu screen that appears after the testing device is started.

[0098] Figure 11 This is the settings screen displayed during the test condition setting process.

[0099] Figure 12 This is a diagram illustrating the nesting structure of process modules.

[0100] Figure 13 It is a diagram representing the approximate structure of the expansion order table.

[0101] Figure 14 This is the settings screen displayed during the execution of the test group's settings subroutine.

[0102] Figure 15 This is the settings screen displayed during the execution of the test block settings subroutine.

[0103] Figure 16 This is the settings screen displayed during the execution of the waveform pattern setting subroutine.

[0104] Figure 17 It is a diagram showing the general structure of the waveform pattern editing screen.

[0105] Figure 18 It is a diagram that shows the general structure of the boundary setting screen.

[0106] Figure 19 This is a flowchart illustrating the steps involved in the durability test of the control device.

[0107] Figure 20 This is a flowchart representing the steps involved in polarity checking.

[0108] Figure 21 This is a flowchart representing the steps of the centering process.

[0109] Figure 22 This is a flowchart representing the steps involved in the speed transfer ratio detection and processing.

[0110] Figure 23 This is a flowchart illustrating the steps of basic drive control.

[0111] Figure 24 This is a flowchart illustrating the steps involved in input axis control (position control).

[0112] Figure 25 This is a flowchart illustrating the steps involved in load control.

[0113] Figure 26 This is a flowchart representing the steps to slow down the processing.

[0114] Figure 27 This is a graph illustrating how the load rate changes as processing slows down.

[0115] Figure 28This is a flowchart illustrating the steps of a variation of load control.

[0116] Figure 29 This is a flowchart illustrating the steps of a variation of load control.

[0117] Figure 30 This is a graph showing the relationship between the angular position of the steering shaft and the load in Embodiment 1 of the elastic load control.

[0118] Figure 31 This is a graph showing the relationship between the angular position of the steering shaft and the load in Embodiment 2 of the elastic load control.

[0119] Figure 32 This is a flowchart illustrating the steps involved in resilient load control.

[0120] Figure 33 This is a flowchart illustrating the steps involved in vibration control.

[0121] Figure 34 This is a flowchart illustrating the steps involved in touch control.

[0122] Figure 35 This is a flowchart illustrating the steps involved in touch control.

[0123] Figure 36 This is a flowchart illustrating the steps of input shaft control (torque control).

[0124] Figure 37 This is a flowchart illustrating the steps of inverted control.

[0125] Figure 38 It is a graph (input shaft test waveform) used to illustrate the action of reverse control.

[0126] Figure 39 This is a flowchart representing the steps involved in the skip processing.

[0127] Figure 40 It is a graph (input axis test waveform) used to illustrate the action of a variation of the jump destination exploration process.

[0128] Figure 41 This is a flowchart representing the steps of a variant of the jump destination exploration process. Detailed Implementation

[0129] Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings. Furthermore, in the following description, identical or corresponding items will be labeled with the same or corresponding reference numerals, and repeated descriptions will be omitted. Also, when multiple items with the same reference numerals are shown in various figures, not all of the displayed items will be labeled; for a portion of the displayed items, the labeling will be appropriately omitted. Furthermore, for a pair of structures arranged left and right, in principle, the structure on the left will be described, while the structure on the right will be enclosed in square brackets and described together, with repeated descriptions omitted.

[0130] The test apparatus 1 (so-called "maneuvering test apparatus") of one embodiment of the present invention is an apparatus capable of testing the control apparatus (steering mechanism) of vehicles such as automobiles. Using the test apparatus 1, the control apparatus of special vehicles such as passenger cars, trucks, buses and trailers can be tested.

[0131] Figure 1 This is an external view of test apparatus 1. Additionally, in the following description, Figure 1 The direction from the upper right to the lower left is defined as the X-axis, the direction from the upper left to the lower right is defined as the Y-axis, and the direction from the bottom to the top is defined as the Z-axis. The X-axis and Y-axis are horizontal directions that are orthogonal to each other, and the Z-axis is a vertical direction. In addition, the X-axis corresponds to the direction of travel of a vehicle with a control device installed as the test subject W. The positive X-axis direction is called "forward", the negative X-axis direction is called "rear", the positive Y-axis direction is called "left", and the negative Y-axis direction is called "right".

[0132] Figure 2 This is a schematic diagram showing the state in which the test object W is installed in the test device 1. The test device 1 is a device that applies axial force (load L) to the left and right linkages W4, which are the control mechanism of the test object W, and rotates the steering shaft W1, thereby testing the performance and durability of the control mechanism.

[0133] like Figure 1 As shown, the test device 1 includes: a frame 10, an input-side drive unit 20, a support column 30 supporting the input-side drive unit 20, a column platform 40, a support column 50 supporting the column platform 40, a pair of output-side drive units 60 (60L, 60R) on the left and right, and a worktable 70.

[0134] like Figure 2 As shown, the input-side drive unit 20 is connected to the steering shaft W1 of the test object W, and rotates the steering shaft W1. Furthermore, the output-side drive units 60L and 60R are respectively connected to the left and right tie rods W4 of the test object W, and apply a load L to the tie rods W4. The steering column W2 of the test object W is mounted on the column stand 40, and the steering gearbox W3 of the test object W is mounted on the worktable 70.

[0135] like Figure 1 As shown, support columns 30 and 50, output-side drive units 60L and 60R, and worktable 70 are mounted on the frame 10. Furthermore, input-side drive unit 20 is mounted on support column 30, and column base 40 is mounted on support column 50.

[0136] The frame 10 includes: a fixed frame 11 disposed at the front; a fixed frame 12 disposed behind the fixed frame 11; and a pair of movable frames 15 (15L, 15R) disposed on the left and right sides of the fixed frame 12. On the fixed frame 11, a pair of bases 71 for the worktable 70 are mounted at the center, and a pair of bases 611b for output-side drive units 60L, 60R are mounted on the left and right sides, separated from the worktable 70. A base 51 for the support column 50 is mounted on the right movable frame 15R, and a base 31 for the support column 30 is mounted on the left movable frame 15L.

[0137] On the upper surface of the fixed frame 11, multiple T-slots 111 extending in the Y-axis direction are formed on the left and right sides, separated by the worktable 70, and multiple T-slots 112 extending in the X-axis direction are formed in the center of the left and right sides. Multiple T-slots 121 extending in the Y-axis direction are formed on the upper surface of the fixed frame 12. Furthermore, multiple T-slots 151 extending in the X-axis direction are also formed on the upper surface of each movable frame 15. Multiple T-slot nuts (not shown) are embedded in each of the T-slots 111, 112, 121, and 151.

[0138] In addition, feed screw mechanisms (not shown) are provided parallel to each T-slot 111, 112, 121 and 151 in each fixed frame 11, 12 and each movable frame 15L, 15R.

[0139] Each movable frame 15 is fixed to the fixed frame 12 by means of T-slot nuts and bolts (not shown) embedded in each T-slot 121. By loosening the bolts, the feed screw mechanism, which is arranged parallel to the T-slots 121, can be moved, thereby adjusting the position of the movable frame 15 in the Y-axis direction.

[0140] The base 611b of each output-side drive unit 60 is fixed to the fixing frame 11 by T-slot nuts and bolts (not shown) embedded in each T-slot 111. By loosening the bolts, the feed screw mechanism, which is arranged parallel to the T-slots 111, can be moved, thereby adjusting the position of each output-side drive unit 60 in the Y-axis direction.

[0141] Each base 71 of the worktable 70 is fixed to the fixing frame 11 by T-slot nuts and bolts (not shown) embedded in each T-slot 112. By loosening the bolts, the feed screw mechanism, which is arranged parallel to the T-slots 112, can be moved, thereby adjusting the position of the worktable 70 in the X-axis direction.

[0142] The base 31 of the support column 30 and the base 51 of the support column 50 are fixed to the movable frame 15 by means of a T-slot nut and bolt (not shown) embedded in the T-slot 151 of the movable frame 15. By loosening the bolt, the feed screw mechanism, which is arranged parallel to the T-slot 151, can be moved, and the position of each support column 30 and 50 in the X-axis direction can be adjusted.

[0143] That is, the front-back, left-right positions of the support column 30 (input-side drive unit 20) and the support column 50 (column platform 40), the left-right positions of each output-side drive unit 60, and the front-back position of the worktable 70 can be adjusted according to the shape and size of the test object W.

[0144] Figure 3 and Figure 4 This diagram shows the input-side drive unit 20 installed on the support column 30. Figure 5 This is a side view of the support column 30 (excluding the lifting section 36 described later). The support column 30 includes: a base 31, a rotating platform 32, a linear platform 33, a rotating column 34, and a lifting section 36 that is vertically mounted on the rotating column 34. Figure 3 , Figure 4 An input-side drive unit 20 is installed on the lifting unit 36.

[0145] like Figure 5 As shown, the rotating stage 32 includes: a cylindrical portion 321 fixed to the base 31; and a cylindrical portion 322 rotatably embedded in the cylindrical portion 321.

[0146] The linear stage 33 includes: a fixed block 331 fixed to the upper end of the column portion 322 of the rotating stage 32 at one end of its lower surface in the sliding direction (Y-axis direction in the illustrated configuration); and a movable block 332 that can slide relative to the fixed block 331 in the aforementioned sliding direction.

[0147] The rotating column 34 includes: a cylindrical column portion 342 erected on a movable block 332 of a linear stage 33; a cylindrical tube portion 341 rotatably fitted with the column portion 342; and a rack 343 mounted on the side of the tube portion 341 parallel to the axis. The rotating stage 32 and the rotating column 34 are eccentrically connected via the linear stage 33, with their rotation axes pointing vertically. By rotating the eccentrically connected rotating stage 32 and rotating column 34 and sliding the linear stage 33, the orientation of the lifting portion 36 (and the input-side drive portion 20 mounted on the lifting portion 36) around the Z-axis and its position in the X and Y-axis directions can be adjusted.

[0148] like Figure 3As shown, the lifting unit 36 ​​includes: a main body 361 that can slide vertically into the cylindrical portion 341 of the rotating column 34; a horizontally extending shaft 362 that is rotatably fitted into the main body 361; and a rotating portion 363 mounted on the front end of the shaft 362. A gear mechanism 361g, including a pinion (not shown) meshing with the rack 343, is provided in the main body 361 of the lifting unit 36. When the handle 361a, which is coupled to the input shaft of the gear mechanism 361g, is rotated, the pinion rotates, and the lifting unit 36 ​​moves vertically along the rotating column 34. This allows adjustment of the height of the input-side drive unit 20 mounted on the lifting unit 36.

[0149] The main body 361 of the lifting unit 36 ​​includes a rotating mechanism (not shown) that rotates the shaft 362 about a central axis. When the handle (not shown) connected to the rotating mechanism is turned, the rotating unit 363 and the input-side drive unit 20 rotate together with the shaft 362, thereby adjusting the tilt of the input-side drive unit 20 about the horizontal axis.

[0150] The rotating part 363 of the lifting part 36 Figure 3 , Figure 4 Includes: fixed to shaft 362 ( Figure 3 The fixed frame 363a at the front end of the drive unit 20; the movable frame 363b for mounting the input-side drive unit 20; and the sliding mechanism 364 for slidably connecting the fixed frame 363a and the movable frame 363b in a direction perpendicular to the axis 362. The sliding mechanism 364 includes: a pair of rails 364a for guiding the sliding of the movable frame 363b. Figure 4 ); and the feed screw mechanism 364b that slides the movable frame 363b. Figure 3 When the handle (not shown) connected to the feed screw of the feed screw mechanism 364b is rotated, the movable frame 363b of the rotating part 363 of the input side drive unit 20 is moved in a direction perpendicular to the shaft 362 (more specifically, in the axial direction of the steering shaft W1 of the test body W connected to the input side drive unit 20) by means of the feed screw mechanism 364b.

[0151] like Figure 4 As shown, the input-side drive unit 20 includes: a servo motor 21; an optional speed reducer 22 that slows down the output speed of the servo motor 21; a torque sensor 23 (torque detection unit) that detects the output torque; and a chuck 24 (output shaft) that mounts the steering shaft W1 of the test object W.

[0152] Figure 6 This is a diagram showing the column base 40 installed on the support column 50. The support column 50 includes: a column 55; a lifting part 56 that is vertically mounted on the column 55; a linear guide part 52 that guides the lifting part 56 to rise and fall; and a drive part 54 that raises and lowers the lifting part 56.

[0153] The linear guide 52 includes: an upper plate 521 horizontally mounted on the upper end of the support column 55; a lower plate 522 horizontally mounted on the lower part of the support column 55; and three guide rods 523 connecting the upper plate 521 and the lower plate 522. Figure 6 (Only two rods are shown in the image). Three grooves 561 are formed in the lifting section 56, which slidably engage with each guide rod 523 and extend in the vertical direction. By engaging the three sets of guide rods 523 with the grooves 561, the movable direction of the lifting section 56 is restricted to the vertical direction only.

[0154] The drive unit 54 includes: a worm gear 542 connecting the upper plate 521 and the lower plate 522 of the linear guide unit 52; and a gearbox 544 mounted on the lifting unit 56. The gearbox 544 includes: a worm wheel (not shown) meshing with the worm gear 542; and a handle (not shown) connected to the worm wheel. When the handle is turned, the worm wheel rotates, and the drive unit 54 and the lifting unit 56 move up and down.

[0155] The lifting unit 56 includes a rotating mechanism 562 (gear mechanism) that rotates the column base 40 about a horizontal axis. The column base 40 is mounted on a horizontally extending shaft 562b (output shaft) of the rotating mechanism 562. When the handle 562a, which is coupled to the input shaft of the rotating mechanism 562, is turned, the shaft 562b rotates slowly, and the tilt of the column base 40 mounted on the shaft 562b changes.

[0156] Figure 7 and Figure 8 This is a diagram showing the output-side drive section 60R on the right side. Figure 7 This is a diagram showing the main structure of the output-side drive unit 60R as viewed from the front. Figure 8 This is an external view of the output-side drive unit 60R, viewed from the left. Furthermore, Figure 7 and Figure 8 For ease of explanation, a portion of the structure of the output-side drive unit 60R is omitted from the illustration.

[0157] The output-side drive unit 60 includes: a frame 61 ( Figure 8 ), servo motor 62, optional reducer 63, torque sensor 64, ball spline 65, movable stage 66, servo motor 67 ( Figure 7 ) and direct-acting mechanism 68 ( Figure 7 The ball spline 65 includes a spline shaft 651 and a nut 652. The spline shaft 651 and the nut 652 are slidably engaged in the axial direction. Additionally, the torque sensor 64 is an example of a torque detection unit that detects the torque generated by the servo motor 62 and amplified by an optional reducer 63.

[0158] Spline shaft 651 is connected to the output shaft of reducer 63 via torque sensor 64. Spline shaft 651 is driven to rotate by the output of servo motor 62, which is reduced in speed by reducer 63. Nut 652, which engages with spline shaft 651, is also driven to rotate along with spline shaft 651. The torque applied to ball spline 65 is detected by torque sensor 64, and the height of movable stage 66 for mounting tie rod W4 of test object W can be adjusted using linear motion mechanism 68. Linear motion mechanism 68 is driven by servo motor 67. The structure of linear motion mechanism 68 will be described later.

[0159] The movable stage 66 is a part in a vehicle equipped with a control device that corresponds to the steering knuckle of the axle supporting the steering control wheel. A pair of arms 661 extending in a longitudinal direction, approximately orthogonal to the axis of the ball spline 65 (i.e., the rotation axis of the movable stage 66), are provided at the lower part of the movable stage 66. The pair of arms 661 includes a front arm 661f extending forward and a rear arm 661r extending rearward. The front arm 661f and the rear arm 661r are symmetrical about each other with respect to the rotation axis of the movable stage 66, and are also approximately symmetrical with respect to the rotation axis of the movable stage 66. The arms 661 are equivalent to the articulated arms of the vehicle, and the rod ends of the tie rod W4 of the test object W can be mounted on the arms 661. When torque is applied to the movable stage 66 using the servo motor 62, a load L is applied as an axial force to the tie rod W4 of the test object W.

[0160] Furthermore, in actual vehicles, the control joint of the linkage W4 used to mount the control device is supported by the suspension system, so it moves up and down relative to the vehicle frame during driving. That is, the control device mounted in an actual vehicle is dynamically deformed by the control joint during driving. By using the servo motor 67 and the direct-acting mechanism 68 to move the movable stage 66 up and down, the test object W can be subjected to the same dynamic deformation as when the vehicle is in motion. Therefore, the test object W can be tested under test conditions that are closer to those of an actual vehicle, and the test object W can be evaluated more appropriately.

[0161] like Figure 8 As shown, frame 61 includes: a lower frame 611 mounted on fixed frame 11; and an upper frame 612 mounted on upper plate 611a of lower frame 611. A reducer 63 and a servo motor 67 are mounted on upper plate 611a of lower frame 611. Figure 7 ).

[0162] like Figure 7 and Figure 8As shown, the linear motion mechanism 68 includes: an upper frame 681 and a lower frame 682 fixed to the lower frame 611; a movable frame 683 disposed between the upper frame 681 and the lower frame 682, which can move up and down; and a slide guide 684 that guides the movable frame 683 to move up and down. Figure 7 ); and the feed screw mechanism 685 that drives the movable frame 683. Figure 7 ).

[0163] Figure 7 The sliding guide 684 shown includes: a vertically erected rod 684a; and a sleeve 684b slidably fitted with the rod 684a. The sleeve 684b is, for example, a sliding bearing, or a rolling bearing including rolling elements such as balls or rollers. The rod 684a is fixed to the upper frame 681 at its upper end and to the lower frame 682 at its lower end. Furthermore, the sleeve 684b is fixed to a movable frame 683.

[0164] Figure 7 The feed screw mechanism 685 shown includes: a vertically upright ball screw 685a; and a nut 685b that engages with the ball screw 685a. The ball screw 685a is rotatably supported at its upper end by a bearing 681b disposed on the upper frame 681, and at its lower end by a bearing 682b disposed on the lower frame 682. Furthermore, the nut 685b is fixed to the movable frame 683.

[0165] The spline shaft 651 is rotatably supported at its upper end by a bearing 681a mounted on the upper frame 681, and at its lower end by a bearing 682a mounted on the lower frame 682. A nut 652, slidably fitted with the spline shaft 651, and a movable stage 66 mounted on the nut 652 are supported by a bearing 683a mounted on the movable frame 683 in a manner that allows them to rotate coaxially with the spline shaft 651. The movable stage 66, together with the ball spline 65, is driven to rotate by a servo motor 62. When the movable frame 683 is driven up and down by a servo motor 67 and a linear motion mechanism 68, the nut 652 and the movable stage 66 also move up and down together with the movable frame 683.

[0166] like Figure 8 As shown, the movable platform 66 has the aforementioned pair of arms 661 (front arm 661f, rear arm 661r) extending in the longitudinal direction in the initial state (initial position) equivalent to the straight-forward movement of the vehicle. Figure 7As shown, an elongated hole 661h extending in the extension direction of arm 661 is formed in arm 661 for mounting the tie rod end W41 of the test object W. Furthermore, the front arm 661f is the arm 661 for mounting the test object W for so-called "forward pulling," and the rear arm 661r is the arm 661 for mounting the test object W for so-called "rear pulling." However, it is also possible to mount it on the opposite arm (for example, mounting the test object W for "forward pulling" on the rear arm 661r) for testing. However, when mounted on the opposite arm, since the rotation direction of the control joint in the actual vehicle is opposite to the rotation direction of the movable platform 66, it is necessary to set the polarity of the test device 1 (i.e., the relationship between the rotation direction of the steering shaft W1 and the rotation direction of the movable platform 66) to "negative."

[0167] A force sensor 662 is provided on arm 661. This force sensor 662 is a load detection unit that detects the axial force (load L) applied to the tie rod W4 of the test object W. The tie rod end W41 of the test object W is mounted on arm 661 (front arm 661f or rear arm 661r) via the force sensor 662. Alternatively, the load detection unit can be directly mounted on the test object W. For example, a strain gauge can be attached to the surface of the tie rod W4 of the test object W and used as the load detection unit.

[0168] Figure 9 This is a block diagram showing the schematic structure of the control system 1a of the testing apparatus 1. The control system 1a is a computer system including a control unit 82 that controls the operation of the entire testing apparatus 1 and a measurement unit 84 that performs various measurements. The control unit 82 includes: a CPU 821, a main storage device 822, an interface unit 823, and a storage device 824 (auxiliary storage device). The storage device 824 is, for example, an HDD (hard disk drive) or an SSD (solid-state drive), and stores various programs (e.g., management program 824a, setting program 824b, and test program 824c, etc., described later) and various setting data for controlling the testing apparatus 1.

[0169] Interface unit 823 is a unit responsible for input / output between control unit 82 and external devices. Interface unit 823 may include, for example, a user interface for input / output with the user; a network interface for wired or wireless connection to various networks such as LAN (Local Area Network); and one or more communication interfaces such as USB (Universal Serial Bus) or GPIB (Universal Interface Bus) for wired or wireless connection to external devices. The user interface may include, for example, one or more input / output devices such as various operation switches, displays, LCDs (Liquid Crystal Displays), various pointing devices such as mice and touchpads, touchscreens, cameras, printers, scanners, buzzers, speakers, microphones, and memory card readers / writers. Furthermore, portable terminals such as smartphones capable of communicating with control unit 82 may be used as part of interface unit 823 or control unit 82.

[0170] The servo motor 21 of the input-side drive unit 20 and the servo motors 62 and 67 of each of the output-side drive units 60R and 60L are respectively connected to the control unit 82 via the servo amplifier 83.

[0171] The control unit 82 is connected to each servo amplifier 83 via optical fiber for high-speed communication. This allows for the synchronized control of the five servo motors 21, 62 (60L), 62 (60R), 67 (60L), and 67 (60R) with higher precision (high resolution and high accuracy on the time axis). Furthermore, the control unit 82 transmits commands to each servo motor to each servo amplifier 83 at regular intervals. In this specification, a single unit (one-time) of drive control of a servo motor based on a single command, or a range of drive control corresponding to a single command, is referred to as a control point.

[0172] Torque sensors 23, 64 (60L), 64 (60R) and force sensors 662 (60L), 662 (60R) are connected to the measurement unit 84. The measurement unit 84 converts the signals obtained from each sensor into digital data and transmits it to the control unit 82. In addition, the rotation information of the shaft (specifically, angular position and angular velocity) detected by the rotary encoder RE built into each servo motor is input to the control unit 82 via each servo amplifier 83. Furthermore, the rotary encoder RE is an example of a position detection unit that detects the angular position of the shaft of each servo motor, or a speed detection unit that detects the angular velocity of the shaft of each servo motor.

[0173] The testing apparatus 1 is configured to be able to connect with external devices. For example, it can connect a temperature control unit ED1, such as a thermostat bath, to regulate the temperature of the test object W. Figure 9The temperature control unit ED1 is connected to the test apparatus 1, and adds a temperature regulation function to the test apparatus 1. For example, the temperature regulation unit ED1 is set on the worktable 70 or column table 40 of the electronic control unit (ECU) supporting the test object W.

[0174] The control unit 82 operates based on test conditions input via the interface unit 823 (e.g., control quantities including angular position θ from the input-side drive unit 20). 20 angular velocity ω 20 The output-side drive unit 60 controls the drive of each servo motor synchronously by controlling the target values ​​of the load L, the displacement D of the movable stage 66, the speed V, or the acceleration A. (This will be discussed later.) Figure 19 The processing shown is performed under the control of the control unit 82.

[0175] The steering shaft W1 of the test body W is driven by the input-side drive unit 20. Figure 2 The rotation drive is controlled by the input shaft controls (S10 and S11, described later), via a certain angular velocity ω. 20 The drive can be performed in any of the following modes: constant speed mode, pattern mode that drives repeatedly according to a certain waveform pattern, and external signal mode that drives based on a continuous waveform signal input from an external source. Furthermore, the control of the rotational drive of the steering shaft W1 of the test object W using the input-side drive unit 20 can be achieved by controlling the angular position of the steering shaft W1 (i.e., the angular position of the output shaft of the input-side drive unit 20) θ. 20 As a control variable (i.e., the angular position Θ of the axis of the servo motor 21) 21 Position control (as a command value), or angular velocity ω 20 As a control variable (i.e., the angular velocity Ω of the axis of the servo motor 21) 21 Speed ​​control (as a command value).

[0176] The connecting rod W4, which is applied to the test object W using the output-side drive unit 60, is used to drive the test object W. Figure 2 The load L is controlled (load control S20, Sa20 described below) by: always applying a constant load L in a constant load mode; continuously applying a frequency mode of load L that varies according to a basic waveform at a specified frequency; repeatedly applying a pattern mode of load L that varies according to a certain waveform pattern; and applying an angular position θ relative to the steering shaft W1. 20The corresponding load L can be either a steering angle response mode or an external signal mode that varies based on a continuous waveform signal input from the outside. Furthermore, the control of the load L can be performed synchronously or in conjunction with the drive control of the steering shaft W1 of the test object W using the input-side drive unit 20 (input shaft control S10 described later) and the control of the up-and-down vibration of the tie rod end W41 of the test object W using the servo motor 67 of the output-side drive unit 60 (vibration control S30 described later).

[0177] The control of the vertical displacement D of the tie rod end W41 of the test object W, performed by the output-side drive unit 60, can be achieved through any of the following modes: a positioning mode that always applies a certain displacement D; a frequency mode that continuously applies a variable displacement D (i.e., vibration) based on a basic waveform at a predetermined frequency; a pattern mode that repeatedly applies a certain waveform pattern synchronously or asynchronously with the rotation of the steering shaft W1; and an external signal mode that applies a displacement D that varies based on a continuous waveform signal input from an external source. Furthermore, the vibration control of the tie rod end W41 of the test object W, performed by the output-side drive unit 60, can be position control using the vertical displacement D of the tie rod end W41 as the control quantity, or speed control using the vertical movement speed V of the tie rod end W41 as the control quantity, or acceleration control using the vertical movement acceleration A of the tie rod end W41 as the control quantity.

[0178] In addition to preset waveforms such as sine waves, half-sine waves, sawtooth waves, triangular waves, and trapezoidal waves, the basic waveforms used in frequency modes can also be waveforms measured by actual vehicles in motion, waveforms obtained through simulation calculations, or other arbitrary synthetic waveforms (e.g., waveforms generated by function generators).

[0179] In addition to pre-registered standard patterns, the waveform patterns used in the pattern mode can also be selected from edited patterns created by the user based on standard patterns and user-created patterns.

[0180] In addition, the continuous waveform signals used in the external signal mode include, for example, waveform signals measured during actual vehicle operation, waveform signals obtained through analog calculations, or other arbitrary synthetic waveforms (e.g., waveforms generated by function generators, etc.).

[0181] Figure 10 This is a schematic diagram of the menu screen Sc1 displayed on the touch screen of the interface unit 823 after the test device 1 is started (power is turned on). The screen (image information) displayed on the touch screen is generated by the control unit 82. The menu screen Sc1 is generated by the management program 824a called after the test device 1 is started. Figure 9 )generate.

[0182] The menu screen Sc1 includes: a start test button E11, a test condition setting button E12, and an end button E13. Touching the start test button E11 invokes the test procedure described later using the control device. Figure 19 Test program 824c ( Figure 9 The durability test and other tests will begin. Touching the test condition setting button E12 will invoke the setting program 824b. Figure 9 The test condition setting process begins. Furthermore, when the end button E13 is pressed, a process for safely transitioning to a power-off state is performed, ending the management program 824a.

[0183] Figure 11 This is the setting screen Sc2 displayed during the test condition setting process. In order to efficiently set complex test processes, the test condition setting process of this embodiment is configured to set modular and hierarchical test processes (hereinafter referred to as "test sequence"). Specifically, the test condition setting process of this embodiment is configured to set test processes by sequentially (or in parallel) combining process modules. The process module is a functionally integrated part that constitutes the setting of the test process.

[0184] Furthermore, in this embodiment, the process module is given a three-level nested structure consisting of waveform patterns (first layer), test blocks (second layer), and test groups (third layer). Additionally, the depth (number of layers) of the nested structure is not limited to three layers; it can also be two or four or more layers.

[0185] like Figure 11 As shown, the settings screen Sc2 includes window E20 and tabs E21-E24. Window E20 is the display area for the settings screens of each setting item. By touching tabs E21-E24, the setting item corresponding to the touched tab is selected, and the settings screen displayed for each setting item in window E20 switches to the screen corresponding to the selected setting item. Additionally, Figure 11 The screen Sc3, which will be used to set the test conditions (described later), is displayed in window E20.

[0186] Label E21 corresponds to the overall test condition settings. When label E21 is touched, the test condition setting process is transferred to the test condition setting subroutine used to set the overall test conditions, and the display of window E20 is switched to the test condition setting screen Sc3.

[0187] Label E22 corresponds to the test group settings. When label E22 is touched, the test condition setting process is transferred to the test group setting subroutine, and the display of window E20 switches to the test group setting screen Sc4. Figure 14 ).

[0188] Label E23 corresponds to the test block settings. When label E23 is touched, the test condition setting process is transferred to the test block setting subroutine used to set the test block, and the display of window E20 switches to the test block setting screen Sc5. Figure 15 ).

[0189] Label E24 corresponds to the waveform pattern setting. When label E24 is touched, the test condition setting process is transferred to the waveform pattern setting subroutine, and the display of window E20 switches to the waveform pattern setting screen Sc6. Figure 16 ).

[0190] Figure 12 This is a diagram illustrating the nested construction of process modules. Figure 12 (a) shows examples of 6 waveform patterns (waveform pattern AF); Figure 12 (b) shows examples of two types of test blocks (test blocks G and H); Figure 12 (c) shows examples of two test groups (test groups I and J). Additionally, the waveform pattern AF, test blocks G and H, and test groups I and J are set in... Figure 11 The sequence table E37, described later, is shown below. Test blocks and test groups each consist of multiple lower-level process modules (waveform patterns or waveform blocks). Additionally, Figure 12 and Figure 13 In the text, the annotation "×n0" (where n0 is a natural number and refers to the "number of repetitions") indicates that the process module is executed n0 times consecutively.

[0191] like Figure 12 As shown in (a), the waveform pattern is the lowest level (i.e., the most basic structure without other process modules) process module. For example, a subprocess with a quantity of one cycle is set as the waveform pattern in a periodic program. In addition, the waveform pattern in this embodiment does not only specify the operation of a single controlled object (e.g., the servo motor 21 of the input-side drive unit 20), but also specifies the operation of the entire or part of the test device 1 (subprocess).

[0192] like Figure 12As shown in (b), a test block consists of multiple lower-level process modules (i.e., waveform patterns). For example, test block G consists of four waveform patterns (two waveform patterns A and two waveform patterns B), and test block H consists of three waveform patterns (one waveform pattern C and two waveform patterns D). Furthermore, test blocks G and H can each consist of multiple types of waveform patterns, but they can also consist of a single type of waveform pattern (however, the number of repetitions n0 is 2 or more).

[0193] like Figure 12 As shown in (c), a test group consists of multiple lower-level process modules (i.e., waveform patterns or test blocks) that each contain at least one test block. For example, test group I consists of one test block G and two waveform patterns E, and test group J consists of one waveform pattern A and two test blocks H.

[0194] like Figure 11 As shown, the test condition setting screen Sc3 includes: a test mode setting unit E31, a test cycle number setting unit E32, an elastic load setting unit E33, a learning function setting unit E34, a touch control setting unit E35, a slowdown processing setting unit E36, a sequence list E37, and a test condition file operation unit E38.

[0195] The test mode setting unit E31 is used to set the test modes described below. In this embodiment, the test mode setting unit E31 is installed in a drop-down menu that allows selection of the applicable test mode from 19 test modes described later.

[0196] The test device 1 utilizes the above-described hardware structure to be configured to perform the following five inputs (1)-(5) on the test subject W.

[0197] (1) Rotation of steering shaft W1 (input shaft rotation)

[0198] (2) Apply load L (left load) to the left tie rod W4.

[0199] (3) Apply load L (right load) to the tie rod W4 on the right side.

[0200] (4) Excitation of the left tie rod W4 (left excitation)

[0201] (5) Excitation of the right tie rod W4 (right excitation)

[0202] The above (1) is performed by the input side drive unit 20, the above (2) and (3) are performed by the servo motors 62 of the left and right output side drive units 60L and 60R, and the above (4) and (5) are performed by the servo motors 67 of the left and right output side drive units 60L and 60R.

[0203] Furthermore, the testing device 1 is configured to perform the following 19 test modes (a)-(s) through the combination of the above inputs (1)-(5).

[0204] (a) Input shaft rotation

[0205] (b) Left load

[0206] (c) Right Load

[0207] (d) Left load + right load

[0208] (e) Left excitation

[0209] (f) Right excitation

[0210] (g) Left excitation + right excitation

[0211] (h) Input shaft rotation + left load

[0212] (i) Input shaft rotation + right load

[0213] (j) Input shaft rotation + left load + right load

[0214] (k) Input shaft rotation + left excitation

[0215] (l) Input shaft rotation + right excitation

[0216] (m) Input shaft rotation + left excitation + right excitation

[0217] (n) Input shaft rotation + left load + left excitation

[0218] (o) Input shaft rotation + right load + right excitation

[0219] (p) Input shaft rotation + left load + right load + left excitation + right excitation

[0220] (q) Left load + left excitation

[0221] (r) Right load + right excitation

[0222] (s) Left load + Right load + Left excitation + Right excitation

[0223] The test loop number setting unit E32 is used to set the number of times the test order (test loop) set in the execution order table E37 is repeated (hereinafter referred to as "test loop number"). In this embodiment, the test loop number setting unit E32 is configured to be installed as a text box that can input numerical values, and the numerical value input by the user is set as the test loop number.

[0224] The flexible load setting unit E33 is used to set the load conditions used in the flexible load control described later (specifically, the angular position θ of the steering shaft W1).20 With the target value R of load L L The part representing the angular position θ. 20 The load condition file, which contains data (e.g., functions or numerical tables) relating to the load L, is pre-stored in the storage device 824 of the control unit 82 or a server SV accessible by the control unit 82 (hereinafter referred to as "storage device 824, etc."). The flexible load setting unit E33 of this embodiment is configured to be installed with a drop-down menu offering the option to set one or more load condition files, and sets the load conditions contained in the load condition file selected by the user.

[0225] The learning function setting unit E34 is used to set whether the learning function implemented by the load control Sa20 (described later) is effective. In this embodiment, the learning function setting unit E34 is configured to be installed with a drop-down menu that allows selection of "effective" or "ineffective," and the user sets whether the learning function is effective or ineffective according to their selection.

[0226] The touch control setting unit E35 is used to set the touch control S9, which will be described later. The touch control setting unit E35 includes: an effectiveness / ineffectiveness setting unit E351 that sets whether the touch control S9 is effective; and a positive touch judgment angle setting unit E352 and a negative touch judgment angle setting unit E353 that respectively set the boundary values ​​of the positive and negative touch judgment angle ranges. Specifically, the positive touch judgment angle setting unit E352 sets the angular position θ of the boundary of the touch judgment angle range when the steering shaft W1 rotates clockwise. 20 The value is determined by the negative contact angle setting unit E353, which sets the angular position θ of the boundary of the contact angle range when the steering shaft W1 rotates counterclockwise. 20 The value of .

[0227] In this embodiment, the effective / ineffective setting unit E351 is configured to be installed as a drop-down menu that allows selection of "effective" or "ineffective", so that the touch control is set to be effective or ineffective according to the user's selection.

[0228] Furthermore, in this embodiment, the positive touch angle setting unit E352 and the negative touch angle setting unit E353 are configured to be installed as text boxes that can input numerical values, and the values ​​input by the user are set as the angular positions θ of the boundaries of the positive and negative touch angle ranges, respectively. 20 The value of .

[0229] The slowdown setting unit E36 is used to set the slowdown process S22 (slowdown step) described later. The slowdown setting unit E36 includes: an enable / disable setting unit E361 that sets whether the slowdown process S22 is effective; and an initial load rate r that sets the load rate at the start of the drive. s0 The initial load rate setting unit E362; and the number of slowdowns N. s The slowdown setting unit E363. Furthermore, the slowdown process S22 is a process that gradually increases the load during the initial stage of load control S20, referred to as the initial load rate r. s0 The load rate r applied to the first control cycle s (Reduction factor of load L). Additionally, the load factor r s A positive decimal less than 1, defined as the target value R of the load L when applying the slowdown process S22. L The target value R of load L when the slowdown process S22 is not applied L The ratio (i.e., the reduction factor of load L).

[0230] The effective / ineffective setting unit E361 in this embodiment is configured to be installed in a drop-down menu that allows selection of "effective" or "ineffective", and the user selects whether to enable or disable the slowdown processing.

[0231] Furthermore, the initial load rate setting unit E362 and the slowdown number setting unit E363 in this embodiment are configured to be installed as text boxes that can input values, and can set the values ​​input by the user as the initial load rate r respectively. s0 and slow down the number N s .

[0232] In each row of sequence table E37, a single process module (test group, test block, or waveform pattern) is set, and the process modules set in each row are executed in the order of row numbers (L1-L4) of sequence table E37.

[0233] Sequence table E37 includes: column E371, which sets the row numbers (L1-L4) representing the execution order of process modules; column E372, which sets the test group; column E373, which sets the test block; column E374, which sets the waveform pattern; column E375, which sets the number of repetitions (the number of times the process module is executed); column E376, which sets the temperature setting signal; and column E377, which sets the trigger. Additionally, each row of sequence table E37 sets any one of the test group (column E372), test block (column E373), or waveform pattern (column E374).

[0234] Figure 13 This is an unfolding order table indicating the unfolding order, which is based on the waveform pattern unit. Figure 11 The test order is determined by the order set in the sequence table E37 shown. Figure 13 The numbers L1 to L4 in the sequence table E37 are row numbers set in column E371, indicating the execution order of the process modules. Furthermore, the structures of test groups I and J and test block H included in this test sequence are as follows: Figure 12 As shown. The waveform patterns that constitute the test sequence are executed in the order of the execution numbers in the expansion sequence table.

[0235] The testing apparatus 1 is configured to be able to interact with external devices. For example, it can connect to a temperature control unit ED1, such as a thermostat bath for adjusting the temperature of the test object W. Figure 9 It is connected to test device 1, and a temperature regulation function is added to test device 1. When using temperature regulation unit ED1, the temperature setting signal used to control temperature regulation unit ED1 is set in column E376.

[0236] The trigger (column E377) is also a setting item for linkage with external devices. The process module of the row where the trigger is set will execute when a trigger signal from an external device (or generated by the internal processing of the test device 1) is detected. For example, when temperature adjustment is performed using the temperature adjustment unit ED1, the temperature adjustment unit ED1 can be set to generate a trigger signal when the set temperature is reached, and the trigger can be set in the sequence table E37 so that the control unit 82 executes the process module when the trigger signal is detected. As a result, reliable testing can be performed under the correct temperature conditions.

[0237] The test condition file operation unit E38 includes: a file information display unit E381, a "Save As" button E382, an "Overwrite" button E383, and a "Cancel" button E384. The file information display unit E381 displays information about the test condition file being used (e.g., the path to the test condition file). The test condition file stores the test conditions set on the test condition setting screen Sc3. When the "Save As" button E382 is pressed, a new test condition file containing the currently set test conditions is generated and stored in the storage device 824, etc. When the "Overwrite" button E383 is pressed, the contents of the test condition file being used are updated (overwritten and stored). Furthermore, when the "Cancel" button E384 is pressed, the set test conditions are not saved, and the test condition setting process ends.

[0238] In this embodiment, the test mode setting unit E31, the flexible load setting unit E33, and the learning function setting unit E34 are installed using drop-down menus. However, they can also be installed using other types of widgets (i.e., GUI components that constitute the graphical user interface) that allow selection of target items from multiple items. Furthermore, since the learning function setting unit E34, the valid / invalid setting unit E351 of the touch control setting unit E35, and the valid / invalid setting unit E361 of the slowdown processing setting unit E36 receive either valid or invalid input, they can also be installed using other types of input that can receive binary input, such as checkboxes or toggle switches.

[0239] Furthermore, in this embodiment, the test cycle number setting unit E32, the positive side contact angle setting unit E352, the negative side contact angle setting unit E353, the initial load rate setting unit E362, and the slowdown number setting unit E363 are each installed in the form of text boxes. However, they can also be installed in other ways that allow numerical input (such as sliders or spin buttons).

[0240] Figure 14 It is displayed during the execution of the test group setting subroutine, and the summary diagram of the test group setting screen Sc2 is displayed in window E20, which shows the test group setting screen Sc4.

[0241] The test group setup screen Sc4 includes: a test group list (List) E41 and a test group table (Table) E42. The test group list (List) E41 displays a list of all registered test groups. The selected test group is highlighted in reverse (background is black). Furthermore, the test group table (Table) E42 displays the contents of the test group selected in the test group list (List) E41. Test groups can be edited (configured) on the test group table (Table) E42.

[0242] The Test Group Overview E41 includes a pair of up and down arrow buttons (E411), an Update button (E412), an Add button (E413), and a Delete button (E414). Touching the arrow button E411 toggles the selection of test groups on the Test Group Overview E41 in the direction of the arrow. Touching the Update button E412 updates the test group's settings to those being edited in the Test Group Table E42. Touching the Add button E413 adds the settings being edited in the Test Group Table E42 as a new test group registration. Touching the Delete button E414 deletes the registration of the selected test group.

[0243] In each row of the test group table E42, set a single process module (test block or waveform pattern). Execute the process modules set in each row in the order of their row numbers (M1, M2) in the test group table E42.

[0244] Test group table E42 includes: column E421, which sets the row numbers (M1, M2) of the display process modules; column E422, which sets the test blocks; column E423, which sets the waveform pattern; column E424, which sets the number of repetitions; column E425, which sets the temperature setting signal; and column E426, which sets the trigger. Additionally, in each row of test group table E42, either the test block (column E422) or the waveform pattern (column E423) is set.

[0245] Figure 15 It is displayed during the execution of the test group setting subroutine, and the summary diagram of the test block setting screen Sc2 is displayed in window E20, which shows the setting screen Sc5 of the test block setting screen.

[0246] The test block setting screen Sc5 includes: a test block overview E51 and a test block table E52. The test block overview E51 displays all registered test blocks at a glance. The selected test block is highlighted in contrasting colors in the test block overview E51. Furthermore, the test block table E52 displays the settings for the test blocks selected in the test block overview E51. Test blocks can be edited (set) on the test block table E52.

[0247] The Test Block Overview E51 includes a pair of up and down arrow buttons E511, an Update button E512, an Add button E513, and a Delete button E514. Touching the arrow button E511 toggles the selection of test blocks on the Test Block Overview E51 in the direction of the arrow. Touching the Update button E512 updates the settings of the test block to the settings being edited in the Test Block Table E52. Touching the Add button E513 adds the settings being edited in the Test Block Table E52 as a new test block. Touching the Delete button E514 deletes the registration of the selected test block.

[0248] Set one waveform pattern in each row of the test block table E52, and execute the waveform patterns set in each row in the order of row numbers (N1, N2) of the test block table E52.

[0249] The test block table E52 includes: column E521 which sets the row numbers (N1, N2) representing the execution order of the waveform pattern; column E522 which sets the waveform pattern; and column E523 which sets the number of repetitions.

[0250] Figure 16It is a summary diagram of the waveform pattern setting screen Sc2, which is displayed in window E20 during the execution of the waveform pattern setting subroutine and is the setting screen Sc2 of the waveform pattern setting screen Sc6.

[0251] The waveform pattern setting screen Sc6 includes: a waveform pattern overview E61, a waveform pattern table E62, and a waveform pattern viewer E63. The waveform pattern overview E61 displays all registered waveform patterns in a single view. The selected waveform pattern is displayed in reverse color in the waveform pattern overview E61. Furthermore, the waveform pattern table E62 displays the settings for the selected waveform pattern in the waveform pattern overview E61. The waveform pattern viewer E63 displays the selected waveform pattern in the waveform pattern overview E61 as a graph.

[0252] The waveform pattern defines at least one test waveform used for testing from among the input shaft test waveform (hereinafter referred to as "input shaft waveform"), left load test waveform (hereinafter referred to as "left load waveform"), right load test waveform (hereinafter referred to as "right load waveform"), left excitation test waveform (hereinafter referred to as "left excitation waveform"), and right excitation test waveform (hereinafter referred to as "right excitation waveform"). The input shaft waveform represents the angular position θ of the output shaft (i.e., chuck 24) of the input-side drive unit 20. 20 Waveform data that changes over time.

[0253] The left load waveform (right load waveform) represents the time-varying load L applied to the left (right) tie rod W4 of the test object W by the output-side drive unit 60L (60R). Furthermore, the left excitation waveform (right excitation waveform) represents the time-varying displacement D of the vertical displacement D applied to the left (right) tie rod end W41 of the test object W by the output-side drive unit 60L (60R). At least one test waveform set in the waveform pattern is displayed in the waveform pattern viewer E63. Additionally, Figure 16 The waveforms shown are the input shaft waveform, left load waveform, and right load waveform. These three test waveforms are displayed in the waveform pattern viewer E63.

[0254] In addition, each test waveform is obtained by associating a "control point" corresponding to the time parameter with an "amplitude" corresponding to each control quantity parameter, and is set in the form of a numerical table, function, or waveform identification number (hereinafter referred to as "waveform ID"). The waveform ID is a unique identification number assigned to each pre-registered basic waveform (or a user-registered waveform registered by the user).

[0255] The waveform pattern overview E61 includes a pair of arrow buttons (E611, E612), an edit button (E613), an add button (E614), and a delete button (E614). Touching the arrow button E611 toggles the selection of waveform patterns on the waveform pattern overview E61 in the direction of the arrow. Touching the edit button E612 displays the waveform pattern editing screen Sc7. Figure 17 The device allows you to edit the selected waveform pattern. Touching the Add button E613 adds a new waveform pattern to the registry, and touching the Delete button E614 deletes the registry entry for the selected waveform pattern.

[0256] Figure 17 This is a schematic diagram of the waveform pattern editing screen Sc7. The waveform pattern editing screen Sc7 includes: an input shaft waveform setting unit E71 for setting the input shaft waveform; a left load waveform setting unit E72 for setting the left load waveform; a right load waveform setting unit E73 for setting the right load waveform; a left excitation waveform setting unit E74 for setting the left excitation waveform; a right excitation waveform setting unit E75 for setting the right excitation waveform; and a limit setting button E76. Furthermore, each setting unit E71-E75 includes a waveform viewer G71-G75 that displays the set test waveform as a graph.

[0257] Figure 18 It is the touch limit setting button E76 ( Figure 17 A schematic diagram of the boundary setting screen Sc8 displayed during waveform pattern editing. The boundary setting screen Sc8 includes: an input shaft boundary setting unit E81 for setting the boundary with respect to input shaft rotation; a left load boundary setting unit E82 for setting the boundary with respect to left load; and a right load boundary setting unit E83 for setting the boundary with respect to right load. Additionally, in the waveform pattern editing screen Sc7... Figure 17 When a left excitation waveform or a right excitation waveform is set in the setting screen, the left excitation setting section or the right excitation setting section that sets the boundary between the left excitation and the right excitation is further set in the boundary setting screen Sc8.

[0258] This embodiment is configured to set limits for each input in two stages. The first stage limit (hereinafter referred to as the "first limit level") is a global limit that applies throughout the entire test time (i.e., always applies during the test), and the second stage limit (hereinafter referred to as the "second limit level") is a local limit that defines a specified time range. Therefore, by setting limits in two stages, detailed limit definitions corresponding to test conditions (waveform patterns) that vary with time (control points) can be implemented, thus more reliably preventing the accuracy of test results from being compromised by applying excessive stress beyond what was intended to the test object W.

[0259] The right load limit setting unit E83 includes: a general limit setting unit E83G for setting the overall limit and a local limit setting unit E83L for setting the local limit.

[0260] The overall limit setting unit E83G includes: setting the angular position θ of the movable stage 66 of the output-side drive unit 60R. 60 The overall limit setting unit E83GP sets the overall limit of the angle position of the overall limit; and the overall limit setting unit E83GL sets the overall limit of the load L applied to the test object by the output side drive unit 60R.

[0261] The overall limit setting unit for angle position E83GP includes: setting the angle position θ 60 The upper limit setting unit is the E83GPU; the setting angle position θ is also specified. 60 The lower limit setting section E83GPL; and the checkbox (enabling setting section) E83GPC for setting the validity or invalidation of each setting item (upper limit, lower limit).

[0262] The overall load limit setting unit E83GL, like the overall angle position limit setting unit E83GP, includes: an upper limit setting unit E83GLU for setting the upper limit of load L; a lower limit setting unit E83GLL for setting the lower limit of load L; and checkboxes E83GLC for setting the validity or invalidation of each setting item.

[0263] The local limit setting unit E83L includes a load local limit setting unit E83LL for setting the local limit of the load L. The load local limit setting unit E83LL includes: a checkbox E83LLC for setting the validity or invalidation of each setting item; a start point setting unit E83LLS for setting the start point of the test interval (time) for which the local limit is set; an end point setting unit E83LLE for setting the end point of the test interval; an upper limit setting unit E83LLU for setting the upper limit of the load L; a lower limit setting unit E83LLL for setting the lower limit of the load L; and a reference test count setting unit E83LLD for setting the reference test count. Furthermore, the local limit setting unit E83L is configured to be able to set the local limit of one or more test intervals (in... Figure 18 The boundary setting screen Sc8 sets local boundaries for three intervals. Additionally, in the start-point setting unit E83LLS and the end-point setting unit E83LLE, the start and end points of the test interval, input in seconds, are set based on the waveform pattern setting screen Sc6. Figure 16 The sampling time set in the waveform pattern table E62 is converted into the corresponding control points.

[0264] The limit values ​​(upper and lower limits) of the local limits are set between the upper and lower limits of the overall limits. The test is immediately stopped once the upper or lower limit of the overall limits is exceeded. In contrast, the local limits only stop the test when the number of reference tests continuously exceeds the upper or lower limit. Furthermore, test procedure 824c is configured to immediately stop the operation of test device 1 when the measured value exceeds the upper or lower limit of the overall limits, even if it is in the middle of the test cycle; however, if the measured value continuously exceeds the upper or lower limit of the local limits with the number of reference tests, the operation of test device 1 is stopped only after the test cycle is completed.

[0265] The overall limit is a limit value set primarily for detecting anomalies such as installation errors of the test object W or malfunctions of the test device 1, while the local limit is a limit value set primarily for detecting failures of the test object W due to fatigue. Failures of the test object W due to fatigue are usually gradual; before complete failure, the operation of the test object W becomes unstable, and the measured values ​​often temporarily show abnormal values. Furthermore, when the test object W completely fails, the measured values ​​will continuously show abnormal values ​​for a certain period of time. This embodiment utilizes this knowledge to determine that the test object W has failed when the measured value continuously exceeds the upper or lower limit of the local limit with a reference number of tests, and automatically terminates the test. By adopting this structure, because the test automatically terminates when the test object W fails during testing, it is possible to prevent the test object W from continuing invalid testing after a failure. Furthermore, it prevents the test from being interrupted before the test object W fails.

[0266] Furthermore, testing revealed that when the test object W deteriorates, abnormalities occur when large stresses are applied (timing), while it generally functions normally when the stress is small. When the test object W fails, abnormalities often occur even when the stress is small. Therefore, by setting a local limit for the time when the stress applied to the test object W is small (i.e., when abnormal measurements are less likely to occur before failure), the occurrence of failures can be detected more accurately.

[0267] In this embodiment, the local limits (upper and lower limits) of the load L in the upper limit setting unit E83LLU and the lower limit setting unit E83LLL are not absolute values, but can be set as relative values ​​(in %) to the overall limits (upper and lower limits) of the load L set in the upper limit setting unit E83GLU and the lower limit setting unit E83GLL of the overall load limit setting unit E83GL. By adopting this structure, when changing the setting of the overall limit of the load L, since the local limits of the load L are automatically changed to an appropriate size, it is not necessary to change the setting of the local limits of the load L one by one, which simplifies the complicated limit setting.

[0268] The structure of the left load limit setting unit E82 is the same as that of the right load limit setting unit E83 described above, so the description is omitted.

[0269] The input shaft limit setting unit E81 includes: a general limit setting unit E81G for setting the overall limit and a local limit setting unit E81L for setting the local limit.

[0270] The overall limit setting unit E81G includes: setting the angular position θ of the output shaft of the input-side drive unit 20. 20 (That is, the angular position θ of the steering axis W1 of the tested object W) 20 The overall limit setting unit for the angle position is E81GP, which sets the overall limit of the torque T applied to the output shaft of the input-side drive unit 20; and the overall limit setting unit for the torque is E81GT, which sets the overall limit of the torque T applied to the output shaft of the input-side drive unit 20. Since the structures of the overall limit setting unit for the angle position is E81GP and the overall limit setting unit for the torque is E81GT are the same as those of the overall limit setting unit for the angle position is E83GP and the overall limit setting unit for the load is E83 as described above, their descriptions are omitted.

[0271] The local limit setting unit E81L includes: setting the angular position θ with respect to the input-side drive unit 20. 20 The angular position local limit setting unit E81LP sets the local limit of the input-side drive unit 20; and the torque local limit setting unit E81LT sets the local limit of the torque T with respect to the input-side drive unit 20. Since the structures of the angular position local limit setting unit E81LP and the torque local limit setting unit E81LT are the same as the structure of the load local limit setting unit E83LL of the right load limit setting unit E83 described above, the description is omitted.

[0272] Next, the process performed by test device 1 during the durability test of the control device will be explained.

[0273] Figure 19 This is a flowchart illustrating the durability test steps of the control device using test apparatus 1. Furthermore, the process described below, from initialization S1 to speed transfer ratio detection process S6, is the preparation phase before the main test; processes S7 and onwards are the main test processes.

[0274] When the menu screen Sc1 is displayed on the touch screen Figure 10 When the start test button E11 is touched, the durability test begins, and the initialization S1 of the test device 1 is performed first. During initialization S1, various setting values ​​used for control and measurement of the test device 1 are read. In addition, the test device 1 performs the return to the origin and movement to the initial position of each movable part. After initialization S1 is completed, the test object W is installed in the test device 1.

[0275] (Polarity check processing)

[0276] After the test object W is installed in the test device 1, a polarity check process S2 is performed.

[0277] The relationship between the rotation direction of the steering shaft W1 and the movement direction of the linkage W4 varies depending on the type of test object W. For example, in a so-called "forward-pulling" control device where the linkage W4 is connected to the control joint at a position further forward than the axle, the linkage W4 is configured such that when the steering wheel is rotated clockwise (CW), the linkage W4 moves to the right (negative Y-axis direction), and when the steering wheel is rotated counterclockwise (CCW), the linkage W4 moves to the left (positive Y-axis direction). Furthermore, in a so-called "rear-pulling" control device where the linkage W4 is connected to the control joint at a position further rear than the axle, the linkage W4 is configured such that when the steering wheel is rotated clockwise, the linkage W4 moves to the left, and when the steering wheel is rotated counterclockwise, the linkage W4 moves to the right. This specification refers to this relationship between the rotation direction of the steering shaft W1 and the movement direction of the linkage W4 as the polarity of the control device (test object W). Furthermore, the polarity of the control device used for "pulling forward" is called positive polarity, while the polarity of the control device used for "pulling back" is called negative polarity.

[0278] Furthermore, as described above, on the movable stage 66 of the output-side drive unit 60, a pair of arms 661 (front arm 661f, rear arm 661r) are provided at the front and rear of the rotation axis of the movable stage 66 for mounting the tie rod end W41 of the test object W. The relationship between the moving direction of the tie rod W4 and the rotation direction of the movable stage 66 is determined by whether the tie rod W4 is connected to either arm 661 (the tie rod connection part). That is, the relationship between the rotation direction of the steering shaft W1 of the test object W and the rotation direction of the movable stage 66 of the output-side drive unit 60 (or the moving direction of the tie rod W4) (i.e., the polarity of the entire test system, hereinafter referred to as "system polarity") varies depending on the type of test object W and which arm 661 (front arm 661f, rear arm 661r) the tie rod W4 is connected to.

[0279] The system polarity is preset as the test condition; however, if the setting is incorrect, it may apply an excessive load L to the test object W, causing damage to W. Therefore, before conducting the test, a polarity check process S2 must be performed to confirm that the system polarity setting is correct.

[0280] Figure 20 This is a flowchart showing the steps of the polarity check process S2. In the polarity check process S2, the upper limit of the load L is first reduced to a small value (e.g., 5kN) that will not affect the test object W (S201). The output-side drive unit 60 operates within the set upper limit of the load L. Therefore, by performing process S201, damage or deterioration of the test object W can be prevented even if the system polarity setting is incorrect.

[0281] Next, the load L detected by the force sensor 662 on the movable stage 66 of the output-side drive unit 60 is read (S202). Then, the servo motor 21 of the input-side drive unit 20 is driven to rotate the steering axis W1 of the test object W by a predetermined angle (e.g., approximately 20-30 degrees) in the clockwise direction (S203). After the rotation drive, the load L detected by the force sensor 662 is read again (S204). After load measurement S204, the input-side drive unit 20 is used to rotate the steering axis W1 of the test object W by the same angle as the CW drive S203 in the counter-clockwise direction (CCW), returning to the initial angular position (S205). Then, the upper limit of the load L is restored to the setting value before the change in processing S201 (S206). Next, it is determined whether the change (increase or decrease) of the load L before and after CW drive S203 matches the preset system polarity (S207). If they do not match (S207: NO), an alarm indicating an error in the system polarity setting (i.e., the polarity of the test object W or the mounting position of the tie rod W4 of the test object W) is output (S208), and the durability test is terminated. Furthermore, if the change in the measured value of the load L matches the polarity setting of the test object W (S207: YES), the polarity check process S2 ends, and the process proceeds to the next process S3. Figure 19 ).

[0282] (Relax and handle)

[0283] Next, confirm whether the setting for centering processing S4 of the test object W has been completed (S3). Centering processing S4 automatically locates and sets the rotatable angular position θ of the steering axis W1 of the test object W. 20 The range (movable range) and its center position θ C If the movable range of the test object W is not set, centering process S4 is enabled (ON). If the movable range of the test object W is known, the movable range is pre-inputted, and centering process S4 is disabled (OFF). When centering process S4 is enabled (ON) (S3: Yes), centering process S4 is executed. When centering process S4 is disabled (OFF) (S3: No), centering process S4 is skipped and the process proceeds to the next step S5.

[0284] Figure 21 This is a flowchart showing the steps of the centering process S4. The centering process S4 first performs drive control S401. In drive control S401, the torque T of the steering shaft W1 detected by the torque sensor 23 of the input-side drive unit 20 is monitored, and before the magnitude of the torque T increases (specifically, the torque T exceeds the reference value τ), the steering shaft W1 of the test object W of the input-side drive unit 20 is slowly rotated and driven at a certain speed in a set drive direction (e.g., CW) (S4011 to S4014) [one direction drive step].

[0285] From the detection of torque T exceeding the reference value τ until the drive stops, the angular velocity ω of the steering shaft W1 in the drive control S401 will be adjusted. 20 The torque T is set to a value that will not exceed the allowable torque of the tested object W. For example, the angular velocity ω of the steering shaft W1. 20 The torque T is set to increase (the increase in the measured value before and after exceeding the reference value τ) when the test object W reaches the end of its movable range (the contact position described later) and is below the reference value τ.

[0286] Furthermore, the reference value τ of the torque T is small enough that the test object W will not break even if this value is repeatedly applied. In this embodiment, the reference value τ is set to a value larger than the maximum value of the torque T detected when the steering shaft W1 is rotated before the test object W reaches the contact position (more specifically, for example, a value larger than the average value of the torque T detected when the steering shaft W1 is rotated before reaching the contact position, which is more than three times the standard deviation).

[0287] When the magnitude of torque T is above the reference value τ (S4013: Yes), the drive of steering shaft W1 is stopped (S4014), and drive control S401 ends. Then, the angular position θ of steering shaft W1 when the magnitude of torque T reaches the reference value τ is detected and stored in the initial drive control S401. 20 The value θ A (S402) [First contact position detection step]. Additionally, the angular position of the steering shaft W1 (i.e., the angular position θ of the input-side drive unit 20) is also considered. 20 The detection value of the rotary encoder RE built into the servo motor 21 in the input-side drive unit 20 (i.e., the angular position Θ of the shaft of the servo motor 21) is based on the value detected by the rotary encoder RE. 21 The reduction ratio r of the reducer 22 and the reducer 22 22 Perform the calculation.

[0288] Next, the drive direction of the steering shaft W1 is switched to the opposite direction (e.g., CCW) (S403), and drive control S401 [reverse drive step] is performed again. In the reverse drive control S401, when the magnitude of the torque T is above the reference value τ (S4013: Yes), drive is stopped (S4014), and the angular position θ of the steering shaft W1 at this time is detected and stored. 20 The value θ B (S404) [Second contact position detection step].

[0289] Next, the center position θ of the steering shaft W1, which is the center of the movable range, is calculated using the following formula (1). C(S405) [Center position calculation step], store the calculation result (S406). Then, move the angular position of the steering axis W1 to the center position θ. C (S407) [Center position movement step], centering process S4 ends.

[0290]

[0291] Additionally, when the angle position θ of the steering axis W1 of the tested object W... 20 When the test object W reaches the end of its movable range, the rack end (more specifically, the stop located at the rack end) of the test object W abuts against the steering gearbox W3 (hereinafter referred to as the "contact state"). In this specification, the angular position of the steering shaft W1 that will be in the contact state is referred to as the contact position. At a certain angular velocity ω... 20 When the rotating steering shaft W1 reaches the contact position, the torque T rises sharply and exceeds the reference value τ because the rotation of the steering shaft W1 is stopped. That is, the centering process S4 detects the contact positions θ on both sides of the test object W. A and θ B Set the center position θ in its center C .

[0292] (Vehicle transfer ratio detection and processing)

[0293] Next, confirm whether the speed transfer ratio detection process S6 is set to ON (S5).

[0294] The speed transmission ratio detection process S6 automatically detects and sets the rotation angle of the movable stage 66 corresponding to the control joint (i.e., the change in the angular position Δθ of the movable stage 66 of the output-side drive unit 60). 60 The rotation angle relative to the steering axis W1 of the test object W (i.e., the change in the angular position Δθ of the input-side drive unit 20) 20 The ratio of the speed transmission ratio (hereinafter referred to as "speed transmission ratio Tr") is processed. The speed transmission ratio Tr is a parameter equivalent to the steering gear ratio. The speed transmission ratio Tr is required when determining the control amount of the output-side drive unit 60. The speed transmission ratio Tr is determined by the drive amount (angular velocity ω) of the input-side drive unit 20 driving the steering shaft W1. 20 Or rotation angle Δθ 20The variable gear ratio S6 is multiplied by the speed transmission ratio Tr, and the movable stage 66 of the output-side drive unit 60 is rotated to drive the test body W in a rotating manner without changing the load L applied to the test body W. When the speed transmission ratio Tr of the test body W is not set, the speed transmission ratio detection process S6 is set to ON; when the speed transmission ratio Tr of the test body W is set, the speed transmission ratio detection process S6 is set to OFF. In addition, the speed transmission ratio detection process S6 in this embodiment corresponds to a variable gear ratio control device (VGR), whose steering gear ratio depends on the angular position θ of the steering shaft W1. 20 However, when the type of the tested object W is set to VGR, the speed transfer ratio detection processing S6 is automatically set to effective.

[0295] S5( Figure 19 In the process, when the speed transmission ratio detection process S6 is set to ON (S5: Yes), the speed transmission ratio detection process S6 is executed; when the speed transmission ratio detection process S6 is set to OFF (S5: No), the speed transmission ratio detection process S6 is skipped and the process proceeds to the next process S7.

[0296] Figure 22 This is a flowchart showing the steps of the speed transfer ratio detection process S6. In the speed transfer ratio detection process S6, the target value R of the load L is first set... L The load is set to zero (no load) (S601), and load control of the output-side drive unit 60 begins (S602). This allows the output-side drive unit 60 to automatically follow the movement of the linkage W4 of the test object W in a no-load state. Load control continues until the speed transmission ratio detection process S6 ends.

[0297] Next, the input-side drive unit 20 rotates the steering shaft W1 until one of the contact points reaches position θ. A (S603) Obtain the position θ at the contact point A The angular position θ of the movable stage 66 of the output-side drive unit 60 60 (S604). Additionally, the angular position θ of the output-side drive unit 60... 60 The detection value (angular position Θ of the shaft of the servo motor 62) can be obtained from the rotary encoder RE of the servo motor 62 built into the output-side drive unit 60. 62 The reduction ratio r of the reducer 63 and the reducer 63 63 To calculate.

[0298] Next, the steering shaft W1 is rotated 360° by the input-side drive unit 20 (S605) to obtain the angular position θ of the output-side drive unit 60. 60 (S607).

[0299] Next, using equation (2), based on the change in angular position Δθ of the input-side drive unit 20 before and after the previously adjacent rotary drive S605, 20 The change in the angular position Δθ of the (360°) and the output-side drive unit 60° 60 Calculate the speed transfer ratio Tr(S608).

[0300]

[0301] Next, referring to the setting information about the test subject W, determine whether the test subject W is VGR (S609).

[0302] VGR is configured as the steering gear ratio based on the angular position θ of the steering shaft W1. 20 And it changes gradually. Therefore, in order to test VGR, the angular position θ needs to be represented over the entire movable range of the steering axis W1. 20 Information on the relationship with the steering gear ratio.

[0303] If the type of the test object W is set to VGR (S609: Yes), the current angular position θ of the steering axis W1 is set. 20 The speed transfer ratio Tr is associated with the storage (S610). Then, the process returns to S605, and the processes S605-S610 are repeated until the contact position θ is reached. B Therefore, for each rotation of the steering shaft W1 driving the test object W (i.e., one revolution of the pinion gear of the test object W), the angle position θ is obtained. 20 The velocity transfer ratio Tr at the location is related to the angular position θ. 20 Store them together.

[0304] Reaching contact position θ B If (S606: Yes), then the fitting process S612 (fitting step) is performed, and the speed transmission ratio detection process S6 ends. In the fitting process S612, the angular position θ of the steering shaft W1 obtained in the above processes S603-S610 is used. 20 Multiple pairs of velocity transfer ratio Tr determine the position from the angular position θ. 20 Find and store the formula for the speed transfer ratio Tr. The formula for the speed transfer ratio Tr is, for example, based on the obtained angular position θ. 20 The polynomial for the speed transfer ratio Tr is derived through regression analysis using the least squares method and other methods, based on multiple pairs of parameters. Alternatively, the formula for calculating the speed transfer ratio Tr can be determined using methods other than regression analysis, such as interpolation.

[0305] In this embodiment, the ratio of the rotation angle (or angular velocity) of the movable stage 66 to the rotation angle (or angular velocity) of the steering axis W1 is defined as the speed transmission ratio Tr, but the definition of the speed transmission ratio Tr is not limited to this. For example, the ratio of the shaft of the servo motor 62 of the output-side drive unit 60 or the rotation angle of the movable stage 66 to the shaft of the servo motor 21 of the input-side drive unit 20 or the rotation angle of the steering axis W1 can be used as the speed transmission ratio Tr. For example, when the ratio of the rotation angle of the shaft of the servo motor 21 to the shaft of the servo motor 62 is used as the speed transmission ratio Tr, the target value of the control of the servo motor 62 (however, the control that does not change the load L) can be easily obtained by multiplying the target value of the drive control of the servo motor 21 by the speed transmission ratio Tr, thus simplifying the calculation of the target value of the drive control of the servo motor 62.

[0306] When the test object W has a fixed gear ratio and is not VGR (S609: No), store the speed transmission ratio Tr (S611), and the speed transmission ratio detection process S6 ends.

[0307] Next, the process is transferred to the main durability test (S7-S9). (Refer to...) Figure 19 The main test first confirms whether the contact control S9 (described later) is set to ON (S7). Contact control S9 mitigates the impact generated when reaching the contact position, preventing the application of torque T exceeding the allowable value to the steering shaft W1. When testing using existing methods that mechanically limit torque T using torque limiters or similar devices, the contact control is set to OFF. Furthermore, existing methods that mechanically limit torque T cannot provide proper torque control, and under prolonged durability testing, mechanical components such as torque limiters may fail or deteriorate, causing characteristic changes. Therefore, the contact control is usually set to ON. When the contact control is set to ON (S7: Yes), contact control S9 is executed; when the contact control is set to OFF (S7: No), basic drive control S8 is executed.

[0308] (Basic drive control)

[0309] Figure 23 This is a flowchart illustrating the steps of the basic drive control S8. The basic drive control S8 executes three controls in parallel (input shaft control S10, load control S20, and vibration control S30). Input shaft control S10 is a drive control for the rotational motion of the input end (steering shaft W1) of the test object W using the input-side drive unit 20. Load control S20 and vibration control S30 are drive controls for the linear motion of the output end (connecting rod W4) of the test object W using the output-side drive units 60 (60L, 60R).

[0310] In this embodiment, the load control S20 and vibration control S30 are arbitrarily additional controls. The load control S20 is the control that applies an axial force (load L) to the tie rod W4, and the vibration control S30 is the control that applies a vertical vibration (perpendicular to the axis of the tie rod W4, which is arranged approximately horizontally) to the tie rod end W41. The vibration control S30 simulates the vertical movement of the axle caused by the movement of the suspension system during actual vehicle operation. The load control S20 and vibration control S30 are performed on the left and right output-side drive units 60L and 60R, respectively. In addition, when the load control S20 and vibration control S30 are set to OFF, the test is performed with the output-side drive unit 60 removed from the test body W. Furthermore, by setting the load control S20 to no load (load L = 0), the tie rod W4 can be tested without applying a load L while the output-side drive unit 60 is connected to the test body W.

[0311] (Input axis control [position control])

[0312] Figure 24 This is a flowchart illustrating the steps of input shaft control S10. As described above, input shaft control S10 controls the input shaft, i.e., the steering shaft W1, of the test object W by rotating it using the input-side drive unit 20. In input shaft control S10, the angular position θ of the steering shaft W1 of the test object W connected to the input-side drive unit 20 is... 20 Position control is performed as a control variable. The input axis control S10 first obtains the current angular position θ of the steering axis W1. 20 (S1001) Measure the torque T of the steering shaft W1 using torque sensor 23 (S1002) and store the obtained torque T and angular position θ. 20 (S1003).

[0313] Next, based on the test conditions, the angular position θ of the steering shaft W1 is calculated. 20 Target value R θ and deviation E θ (S1004, S1005). Then, based on this deviation E... θ The reduction ratio r of reducer 22 22 The command value (i.e., the operation quantity) for the servo motor 21 is calculated (S1006). Additionally, in the input axis control S10, the servo motor 21 controls the angular position Θ of its axis. 21 Position control is used as the control variable to control the drive. In process S1006, the command value (angular position Θ) of servo motor 21 is calculated. 21 ), to eliminate the angular position θ of steering axis W1. 20 deviation E θMore specifically, for example, regarding the angular position θ of the input-side drive unit 20. 20 Target value R θ To reduce deviation E θ The correction will correspond to the corrected angular position θ of the steering axis W1. 20 Target value R θ The angular position Θ of the axis of the servo motor 21 21 This serves as the command value for servo motor 21. Then, based on this command value, servo motor 21 is driven (S1007), and one input axis control (S1001-S1007) ends. The input axis control (S1001-S1007) is repeatedly executed until the test ends (S1009).

[0314] Alternatively, the input axis control S10 can also be executed in the touch control S9 described later. However, in the touch control S9 (S1008: Yes), the processes S1001-S1007 are not repeatedly executed. Instead, the input axis control S10 ends after driving the servo motor 21 (S1007).

[0315] In the aforementioned input axis control S10, the servo motor 21 controls the angular position Θ of the axis. 21 Position control is used as the control variable to control the drive, but it can also be configured to control the drive by controlling the angular velocity Ω. 21 Speed ​​control is used as a control variable to control the drive.

[0316] (Load control)

[0317] Figure 25 This is a flowchart illustrating the steps of load control S20. In load control S20, the current angular position Θ of the servo motor 62 of the output-side drive unit 60 is first obtained. 62 and angular velocity Ω 62 Angular velocity ω of the input-side drive unit 20 20 (S2001) Measure the load L of the tie rod W4 using the force sensor 662. (S2002) Store the obtained load L and angular position Θ. 62 Angular velocity Ω 62 and ω 20 The value (S2003).

[0318] Next, obtain the target value (initial setting value) R of the load L of the tie rod W4. L (S2004), Slow down the process (S22).

[0319] Figure 26This is a flowchart illustrating the steps of the slowdown process S22. The slowdown process S22 does not assign the test subject W 100% of the initial setpoint value of the load L immediately after the load control S20 begins. Instead, it gradually increases the load L towards the initial setpoint value during the initial phase of load control S20. Specifically, in the slowdown process S22, during a pre-set number of control loops in the initial phase of load control S20, the target value R of the load L is adjusted. L Multiply by the coefficient corresponding to the execution number n of the control loop (load rate r) S ) processing.

[0320] Figure 27 This represents the load factor r. S A graph illustrating the effect of slowing down processing S22. This graph represents the change in the initial load rate r. S0 Setting it to 0.2 (20%) will slow down the number of times N. S The case is set to 4 times.

[0321] In the slowdown process S22, it is first determined whether the control of the set load L is in pattern mode (S2201) and whether the slowdown process S22 is set to be valid (S2202). In this embodiment, since the slowdown process S22 is limited to pattern mode, when the control of the load L is other than pattern mode (S2201: No), no substantial processing is performed (processes S2204-S2205 described later), and the slowdown process S22 ends. Furthermore, when the slowdown process S22 is set to be invalid (S2202: No), no substantial processing is performed, and the slowdown process S22 ends.

[0322] Next, determine whether the execution number n of the object's control loop (the nth control loop) is the number of slowdowns N. S +1 or less (N2203). Among them, the number of times N slows down. S It is set by the slowdown number setting unit E363 ( Figure 11 The set value. Slowing down the processing S22 is limited to the period from the first control cycle to the Nth cycle. S+1 The control loop is so that the execution number n of the control loop is greater than N. S When +1 is large (N2203: No), no substantial processing is performed (S2204 to S2205 described later), and the slowdown process S22 ends.

[0323] Next, the load factor r is calculated using the following formula (3). S (S2204).

[0324]

[0325] in,

[0326] r S Load rate

[0327] r S0 Initial load rate

[0328] n: Execution number of the control loop

[0329] N S Slow down the frequency

[0330] In addition, r S and r S0 It is a positive decimal less than 1, n and N S is a positive integer.

[0331] The target value R of load L L Multiply by the load factor r S (S2205), the slowdown process S22 ends.

[0332] By performing the aforementioned slowdown process S22, the load L applied to the test object W can be gradually increased in the initial stage of load control S20. Therefore, if, for example, the test object W is not properly installed on the test device 1, the test device 1 can be stopped before an incorrectly large load is applied to the test object W, thus preventing damage to the test object W.

[0333] Furthermore, in this embodiment, the slowdown process S22 is limited to pattern mode, but it can also be applied to other control modes. For example, besides the initial load rate r... S0 With the number of times N is slowed down S In addition, the slowdown period T for the slowdown process S22 is preset. SU (seconds), replacing the execution number n of the control loop, the load rate r is calculated by the elapsed time t from the start of load control S20. S This allows for slowdown processing to be applied in other control modes. For example, the slowdown period T can be calculated using the following formula (4). SU Load rate r S .

[0334]

[0335] in,

[0336] T SU Slowdown period (seconds)

[0337] t: Elapsed time (seconds) since the start of load control S20

[0338] Next, based on the target value R of load L. L With the measured value Y L Calculate the deviation E of load L L (=R L -YL (S2005). The storage device 824, etc., stores data obtained in advance through experiments or simulations, representing the relationship between the drive amount of the servo motor 62 and the change in load L (for example, a value representing the change in load L per unit angular velocity caused by one (one control point) drive control of the servo motor 62 per unit rotation angle). Based on this data and the deviation E from the load L... L Calculate the instruction value of servo motor 62 (S2006).

[0339] Furthermore, in this embodiment, in load control S20, the servo motor 62 is driven by angular velocity Ω 62 Speed ​​control is used as a control variable. In load control S20, for example, to eliminate the deviation E of the load L through one (one control point) or a specified number of drives. L The command value U of the servo motor 62 is calculated according to the following formula (5). Ω (angular velocity Ω) 62 ).

[0340] U Ω =R Ω +E Ω ′

[0341] =Tr·ω 20 / r 63 +K L-Ω ·E L

[0342] =Tr·ω 20 / r 63 +K L-Ω ·(R L -Y L )……(5)

[0343] in,

[0344] U Ω Servo motor 62 command value U Ω (angular velocity Ω) 62 )

[0345] R Ω Angular velocity Ω 62 target value

[0346] E Ω ': Angular velocity Ω 62 The correction value (equivalent to angular velocity Ω) 62 deviation E Ω )

[0347] Tr: Speed ​​transfer ratio

[0348] ω 20Angular velocity of input-side drive unit 20

[0349] r 63 The reduction ratio of speed reducer 63

[0350] K L-Ω Gain (conversion factor between load L and angular velocity Ω)

[0351] E L : Deviation of load L

[0352] R L Target value of load L

[0353] Y L : Measurement value of load L

[0354] In addition, the first term of the above formula (5) is the angular velocity Ω of the servo motor 62. 62 Target value R Ω Using the angular velocity ω of the input-side drive unit 20 20 The angular velocity Ω of the servo motor 62 of the corresponding output-side drive unit 60 62 The conversion value (Tr·ω) 20 / r 63 ) as the target value R Ω Furthermore, the second term is the angular velocity Ω. 62 Correction value E Ω Correction value E Ω ' is equivalent to angular velocity Ω 62 deviation E Ω The value is determined by the deviation E of the load L. L Multiply by gain K L-Ω To calculate.

[0355] Additionally, gain K L-Ω (Load L - Angular Velocity Ω Conversion Factor) is the coefficient that converts the load L into the angular velocity Ω of the servo motor 62. 62 The coefficient. More specifically, the gain K L-Ω Defined as the angular velocity Ω that causes the load L to change by one unit (e.g., 1 N) through one drive control (one control point). 62 Gain K L-Ω Obtained in advance through experiments or simulations.

[0356] Then, based on the instruction value U calculated by the above formula (5) Ω Drive servo motor 62 (S2007), and complete one load control cycle (S2001-S2007). Repeat the load control (S2001-S2007) until the test ends (S2008).

[0357] Furthermore, in the aforementioned load control S20, the servo motor 62 controls the angular velocity Ω of its axis. 62 Speed ​​control is used as a control variable to control the drive, but it can also be achieved by controlling the angular position Θ. 62 The drive can be controlled by position control as the control variable. Alternatively, the drive of the servo motor 62 can be controlled by torque control, using the shaft torque corresponding to the load L as the control variable. Furthermore, instead of the servo motor 62, a gearless motor, such as a direct-drive motor or a linear motor, can be used. Eliminating the gear mechanism allows for faster and more stable control.

[0358] Next, load control Sa20, a variation of the load control S20 described above, will be explained. The load control Sa20 described below improves control accuracy by determining a target value based on the effective value (hereinafter referred to as "learning data LD") of the control quantity of the servo motor 62 at the same phase (control point) as the basic waveform (or waveform pattern) in a frequency or pattern mode where the same waveform of the load L is repeatedly applied. Here, the effective value of the control quantity is the average (e.g., summative average, weighted average, geometric average, harmonic average, etc.) or a value based on the average of the measured values ​​of the control quantity at the phase (or phase region) corresponding to the control point (object control point) of the controlled object. In this specification, for example in load control, the control quantity of the servo motor 62 (e.g., angular position Θ) calculated based on the target value of the load L will be used instead. 62 or angular velocity Ω 62 The control method that uses the actual value of the control quantity of the servo motor to achieve the target value is called learning control (learning function). In addition, in frequency mode and pattern mode, a control loop consisting of multiple control points is used to perform drive control based on a basic waveform or waveform pattern, and this control loop is repeatedly executed.

[0359] Figure 28 , Figure 29 This is a flowchart illustrating the steps of load control Sa20. Load control Sa20 first checks whether the learning control is set to be active (Sa2001). If the learning control is set to be inactive (Sa2001: No), the above-described load control S20 is executed. If the learning control is set to be active (Sa2001: Yes), it then determines whether the set operation mode is suitable for the learning control (specifically, whether the operation mode is a frequency mode or a pattern mode) (Sa2002). If the operation mode is not suitable for the learning control (Sa2002: No), the above-described load control S20 is executed. If the operation mode is suitable for the learning control (Sa2002: Yes), the angular position Θ of the servo motor 62 of the output-side drive unit 60 is obtained. 62 Angular velocity Ω 62The measured value of load L is stored (Sa2003~2006). Next, the target value (initial setting value) R of load L is obtained. L (Sa2007).

[0360] Next, the aforementioned slowdown process S22 is performed. Figure 26 When the action mode is suitable for slowing down the process S22, and the slowing down process S22 is set to effective, the target value R of the load L is reduced by the control loop of the initial specified number of cycles. L Then, based on the target value R of the load L. L With the measured value Y L Calculate the deviation E of load L L (=R L -Y L (Sa2008).

[0361] Next, the deviation E of the load L is calculated using the following formula (6). L Calculate the control quantity of servo motor 62 (e.g., angular velocity Ω). 62 The correction value E) Ω '(Sa2009). Additionally, the correction value E Ω 'This is equivalent to the control quantity of a servo motor 62, namely the angular velocity Ω. 62 deviation E Ω The value of E represents the deviation of the load L. L Multiply by gain K L-Ω To calculate.

[0362] E Ω ′=K L-Ω ·E L =K L-Ω ·(R L -Y L )……(6)

[0363] in,

[0364] EΩ': Angular velocity Ω 62 The correction value (equivalent to angular velocity Ω) 62 deviation E Ω )

[0365] K L-Ω Gain (conversion factor between load L and angular velocity Ω)

[0366] E L : Deviation of load L

[0367] R L Target value of load L

[0368] Y L : Measurement value of load L

[0369] Next, during the initial control cycle (Sa2010: Yes), the angular velocity ω of the input-side drive unit 20 is obtained. 20 (Sa2011), similar to the load control S20 described above, uses the angular velocity ω based on the input-side drive unit 20. 20 Calculated angular velocity Ω of servo motor 62 62 The conversion value (Tr·ω) 20 / r 63 The target value R is used as the control quantity for the servo motor 62. Ω (Sa2012).

[0370] For subsequent control cycles (Sa2010: No), the learning data LD (Sa2013) is calculated first. In this embodiment, the learning data LD is based on the control results of the servo motor 62 from the past (e.g., the most recent one to several cycles) (the angular velocity Ω is the control quantity). 62 The control quantity Y is calculated from the measured value. Ω The actual value, replacing the target value R based on the load L. L Calculated angular velocity Ω 62 Target value R Ω By using the actual value of the control variable as the target value, the control accuracy is improved because the deviation becomes smaller.

[0371] The data LD(n,m) corresponding to the m-th control point of the n-th control cycle (i.e., the object control point that is the control point of the control object at this moment) is calculated by the following formula (7).

[0372]

[0373] in,

[0374] LD(n,m): Training data (nth control loop, mth control point)

[0375] n, m: positive integers

[0376] Y Ω (i,j): angular velocity Ω 62 The control quantity (i-th control cycle, j-th control point)

[0377] p: A positive integer smaller than n (representing a constant controlling the average range of the loop).

[0378] q: A positive integer smaller than m (a constant representing the average range of control points)

[0379] That is, for the most recent multiple control loops (p control loops from the npth control loop to the (n-1)th control loop), the control quantity Y of the control points near the mth control point (2q+1 control points within the range from the mqth point to the m+qth point, referred to as "nearby control points") is... Ω The average value obtained by averaging (i,j) becomes the training data LD(n,m). Additionally, the constant p is a parameter that specifies the range of control loops for averaging, and the constant q is a parameter that specifies the range of control points for averaging.

[0380] In load control Sa20, for example, the control quantity Y of multiple control cycles is used. Ω The learning data LD(n,m) obtained by averaging (i,j) can achieve control with minimal impact from external disturbances. Furthermore, by using the control variables Y from multiple control points... Ω The learning data LD(n,m) obtained by averaging (i,j) can also be used to control the data with minimal impact from external disturbances.

[0381] Then, the learning data LD is set to the angular velocity Ω of the servo motor 62. 62 Target value R Ω (Sa2014).

[0382] Next, the command value U of the servo motor 62 is calculated using the following formula (8). Ω (Sa2015). In addition, during the initial control loop, equation (8) is the same as equation (5) above.

[0383] U Ω =R Ω +E Ω '……(8)

[0384] Then, based on the instruction value U Ω Drive servo motor 62 (Sa2016), and complete one load control cycle (Sa2003-Sa2016) (one control point). Repeat the load control cycle (Sa2003-Sa2016) until the test ends (Sa2017).

[0385] In load control Sa20, the average control quantity Y will be calculated for control loop i and control point j. Ω The value obtained from (i,j) can be used as the learning data LD(n,m), but it can also be constructed by calculating the learning data LD(n,m) without averaging for at least one of the control loop i and control point j. For example, without averaging for either control loop i or control point j, the control quantity Y of the same (or corresponding) control point in the previous control loop can be used. Ω The value of (n-1,m) is directly used as the learning data LD(n,m).

[0386] Furthermore, the above formula (7) applies to the entire region of the control points used for averaging (the entire range from the mq-th point to the m+q-th point), using the control quantity Y from the np-th control cycle to the (n-1)-th control cycle. Ω (i,j), but it can also be configured as the control quantity Y for the nth control cycle. Ω From the mqth control point to the (m-1th control point) of (n,j), use the control quantity Y from the (n-p+1th)th control loop to the nth control loop. Ω (i,j) is used to calculate the learning data LD(n,m).

[0387] The above formula (7) uses the control quantity Y within the range of control points centered on the m-th control point. Ω Given the measured value at (i,j), calculate the learning data LD(n,m) for the controlled object at this moment, i.e., the object control point (the m-th control point). That is, the learning data LD(n,m) is based on the control quantity Y, which is in the same phase as the object control point. Ω The measured value of (i,j) is calculated. However, in the case of a phase delay in the response, as shown in the following equation (9), a phase difference (phase adjustment amount r) is given in order to offset the phase delay in the range of phase points used in calculating the learning data LD(n,m), so that the control can be performed more stably. In addition, at this time, the mr-th control point whose phase is offset from the target control point (m-th control point) by the phase adjustment amount r becomes the corresponding control point corresponding to the target control point.

[0388]

[0389] Where r is a positive integer representing the phase adjustment amount.

[0390] In addition, in the aforementioned load control Sa20, the servo motor 62 controls the angular velocity Ω of its axis. 62 Speed ​​control is used as a control variable to control the drive, but it can also be achieved by controlling the angular position Θ. 62 The servo motor 62 can be driven by position control as the control variable. Alternatively, the servo motor 62 can be driven by torque control, where the shaft torque is used as the command value (control variable). Because the shaft torque of the servo motor 62 is proportional to the load L, in torque control, the load L essentially becomes the control variable for the servo motor 62. Furthermore, the servo motor 62 can be replaced by, for example, a direct-drive motor or a linear motor without gears. Eliminating the gear mechanism allows for faster and more stable control.

[0391] Furthermore, in this embodiment, as described above, the control quantity (e.g., angular position Θ) based on the servo motor 62 62 or angular velocity Ω 62The present invention is not limited to this structure, but can be configured to determine the target value of the control quantity (e.g., the angular position or angular velocity of the motor) based on the actual value of the operating quantity (e.g., the drive current supplied to the motor).

[0392] (Flexible load control)

[0393] As described above, load controls S20 and Sa20 correspond to various control modes, such as constant load mode, frequency mode, pattern mode, steering angle response mode, and external signal mode. These control modes are determined by processing S2004 ( Figure 25 ) or process Sa2007 ( Figure 28 The target value R of load L obtained in ) L Decide.

[0394] Next, the elastic load control will be explained, which is to apply an angular position θ to the steering shaft W1. 20 One method is to determine the steering angle response mode corresponding to the load L. Elastic load control assigns a load based on the angular position θ of the steering shaft W1. 20 The load L is controlled by elastic variation (monotonically increasing or decreasing). Through elastic load control, a load L close to the load applied to the control device when actually assembled in the vehicle can be applied to the test subject W, thus more accurately reproducing the state when actually assembled in the vehicle. Furthermore, elastic load control is a method of processing S2004 in load control S20 or processing Sa2007 in load control Sa20.

[0395] <Example 1>

[0396] Figure 30 The angular position θ of the steering shaft W1 used in Embodiment 1 of the elastic load control is indicated. 20 With the target value R of load L L A graph showing the relationship between the two. Figure 30 In the diagram, the solid line (R) represents the load L applied to the right-hand tie rod W4, and the dashed line (L) represents the load L applied to the left-hand tie rod W4. For example... Figure 30 As shown, in the elastic load control of Embodiment 1, the angular position θ relative to the steering shaft W1 is... 20 A linearly (elastic) varying load L is applied to the tie rod W4 of the test object W. This reflects the dynamics of the load L in a real vehicle, which shows that the larger the steering angle, the greater the resistance (load L) applied to the tie rod W4 (load L increases monotonically with the steering angle).

[0397] express Figure 30 The angle position θ shown20 With the target value R of load L L Information about the relationship is stored in storage device 824, for example, in the form of a numerical table or function. In processing S2004 or Sa2007, the angular position θ stored in control unit 82 is read. 20 With the target value R of load L L The information of the relationship, and based on that relationship, the angular position θ corresponding to this moment is obtained. 20 The target value R of load L L Using the target value R L For example, the instruction value U calculated using formula (5) Ω The servo motor 62 is driven to achieve the flexible load control of Embodiment 1.

[0398] In flexible load control, the load L is controlled based on the input (rotation of the steering shaft W1) rather than the output (movement of the linkage W4) of the test object W. Therefore, control is performed without relying on the gear mechanism of the test object W, thus preventing response delays caused by backlash in the gear mechanism of the test object W and enabling higher precision control. Furthermore, because control is performed without relying on the control mechanism of the test object W, interference with the control performed by the ECU of the test object W is avoided, resulting in more stable control.

[0399] In the elastic load control of Embodiment 1 above, because the angular position θ of the steering shaft W1 20 The target value R of the load L on the left and right L Each is in a one-to-one correspondence, so regardless of the direction of rotation of the steering shaft W1, the angular position θ of the steering shaft W1 is determined. 20 The same load L is applied for control. However, in actual vehicles, the load L applied to the tie rod W4 has a hysteresis characteristic that varies depending on the direction of rotation of the steering shaft W1. That is, because the load L is applied as a resistance to the rotation of the steering shaft W1, the direction of the load L will also be different depending on the direction of rotation of the steering shaft W1.

[0400] <Example 2>

[0401] Next, the second embodiment of the flexible load control (flexible load control S21) describes how, by applying a load L with hysteresis, similar to that of an actual vehicle, to the test subject W, the load it bears when assembled in an actual vehicle can be reproduced more accurately.

[0402] Figure 31 This indicates the angular position θ of the steering shaft W1 in Embodiment 2. 20 With the target value R of load L L A graph showing the relationship between the two. Figure 31The graph is composed of four curves (R / CW, L / CW, R / CCW, L / CCW). Therefore, it is not possible to determine the exact curve based solely on the angular position θ. 20 The target value R that uniquely determines the load L L It is necessary to determine which of the four curves should be applied.

[0403] (1) When the steering shaft W1 is rotated clockwise, the load L (R / CW) applied to the right tie rod W4 is...

[0404] (2) When the steering shaft W1 is rotated clockwise, the load L (L / CW) applied to the left tie rod W4 is...

[0405] (3) When the steering shaft W1 is rotated counterclockwise, the load L(R / CCW) applied to the right tie rod W4 is...

[0406] (4) When the steering shaft W1 is rotated counterclockwise, the load L (L / CCW) applied to the left tie rod W4

[0407] Figure 32 This refers to the flexible load control in Example 2 (obtaining the target value R of load L). L The flowchart of the steps in S21 (processing). The flexible load control S21 is applicable to the process S2004 in load control S20 or the process Sa2007 in load control Sa20.

[0408] In the elastic load control S21, the torque T and angular velocity ω of the steering shaft W1 of the tested object W are first obtained. 20 (S2101). Next, the torque T and angular velocity ω are compared. 20 The directions are compared (S2102).

[0409] Torque T and angular velocity ω 20 When the directions are inconsistent (S2102: No), it is determined that the hand has left the handle, and the load L applied to the test object W by the left and right output side drive units 60L and 60R is set to no load (the target value R of load L). L =0)(S2103).

[0410] Torque T and angular velocity ω 20 When the directions are consistent (S2102: Yes), the rotation direction of the steering shaft W1 is then determined (S2104). When the steering shaft W1 rotates in the CW direction (S2104: Yes), the target value R of the load L on the right-side output drive unit 60R is determined using the function (or numerical table) R / CW. L The target value R of the load L on the output-side drive unit 60L on the left is determined using the function (or numerical table) L / CW. LFurthermore, when the steering shaft W1 rotates in the CCW direction (S2104: No), the target value R of the load L on the right-side output drive unit 60R is determined using the function (or numerical table) R / CCW. L The target value R of the load L on the output-side drive unit 60L on the left is determined using the function (or numerical table) L / CCW. L .

[0411] like Figure 31 As shown in the graph, in the elastic load control S21 of Embodiment 2, the load L acts in the opposite direction to the movement of the tie rod W4 as the steering shaft W1 rotates. Furthermore, regarding the sign of the load L, outward (i.e., the tie rod W4 on the right is in the right direction, and the tie rod W4 on the left is in the left direction) is defined as positive.

[0412] Furthermore, during outward steering maneuvers (R / CW, L / CCW), the load L relative to the angular position θ 20 The variation is large, especially when steering inwards (L / CW, R / CCW), the load L relative to the angular position θ 20 The changes are small.

[0413] In this way, in the elastic load control S21 of Embodiment 2, because the directionality (hysteresis characteristic) of the load applied to the tie rod W4 when the actual vehicle is in motion is reflected, the load borne when assembled in the actual vehicle can be reproduced more accurately.

[0414] In addition, in the flexible load control S21, the torque T (and / or angular velocity ω) 20 When the torque T (and / or angular velocity ω) is low, the judgment results of S2102 and S2104 will change frequently, which may cause control instability. Therefore, for example, it can also be configured such that when the torque T (and / or angular velocity ω) changes frequently, the judgment results of S2102 and S2104 will change frequently, which may cause control instability. 20 If the value is smaller than the specified value, set the left and right output side drive units 60L and 60R to no load.

[0415] Furthermore, when testing the test subject W in autonomous driving mode, the input-side drive unit 20 is not used. Instead, the ECU of the test subject W is connected to the control unit 82 via the interface unit 823, and the control unit 82 controls the steering operation of the ECU of the test subject W. At this time, an input-side measurement unit including a rotary encoder and a torque sensor replaces the input-side drive unit 20 and is connected to the steering shaft W1 of the test subject W. Then, based on the torque T and angular velocity ω of the steering shaft W1 measured by the input-side measurement unit... 20 Perform flexible load control S21.

[0416] Furthermore, when torque T cannot be detected, it can also be configured based solely on the angular velocity ω of the steering shaft W1. 20Perform flexible load control S21. At this time, processes S2102-S2103 are omitted.

[0417] In addition, the angular position θ of the steering shaft W1 is retrieved from the ECU of the test object W. 20 In the case of angle signals and torque signals representing torque T, elastic load control S21 can also be performed based on these signals.

[0418] (Vibration control)

[0419] Figure 33 This is a flowchart illustrating the steps of vibration control S30. Vibration control S30 first calculates the angular position Θ of the servo motor 67 shaft of the output-side drive unit 60 based on the target value of the height Ht of the movable stage 66 obtained from the set test conditions and the spacing of the feed screws of the feed screw mechanism 364b. 67 The instruction value (S3001). Then, based on the angular position Θ. 67 The instruction value drives the servo motor 67 (S3002).

[0420] Next, the angular position Θ of the shaft is obtained by the rotary encoder RE built into the servo motor 67. 67 The measured value (S3003), based on the angular position Θ 67 The measured value and the distance between the feed screw of the feed screw mechanism 364b are used to calculate the height Ht of the movable stage 66 (S3004), and the value is stored (S3005). One vibration control cycle (S3001-S3005) ends. The vibration control cycle (S3001-S3005) is repeated until the test ends (S3006).

[0421] (Touch control)

[0422] In durability testing of control devices, the steering shaft W1 of the test object W is repeatedly driven back and forth a predetermined number of times (or for a predetermined test time) throughout its entire range of motion (from one contact position to the other). In existing testing devices, the steering shaft W1 is rotated at a certain speed before reaching the end of the range of motion. After detecting the torque jump that occurs when reaching the end of the range of motion (the contact position), the driving direction of the steering shaft W1 is reversed. Therefore, in a rack and pinion type control device, for example, when reaching the contact position at a certain speed, the rack end will collide with the gearbox, thus subjecting the test object W to a destructive impact. Other types of control devices also have stoppers that limit the range of motion, similar to rack and pinion types, and therefore the same destructive impact occurs when reaching the contact position.

[0423] The contact control S9 of this embodiment controls the torque to prevent damage to the test object W caused by an impact that occurs during contact by not applying a torque above a predetermined upper limit to the steering shaft W1 of the test object W at the contact point.

[0424] Figure 34 , Figure 35 This is a flowchart illustrating the steps of touch control S9. Touch control S9 first performs position control, specifically input axis control S10 of the input-side drive unit 20. Figure 24 ), with a pre-set angular velocity ω 20 The steering shaft W1 is rotated and driven. Furthermore, in this embodiment, the input shaft control S10 controls the angular position θ of the steering shaft W1. 20 Position control, as the control variable, utilizes the angular velocity ω of the steering axis W1. 20 The angle position θ calculated from the set value 20 The target value is controlled. In addition, in the touch control S9, the input axis control (S1001-S1007) is not repeatedly performed (i.e., the judgment S1009 is skipped) and is only executed once.

[0425] Next, the angular position θ of the steering axis W1 obtained in the input axis control S10 is determined. 20 Whether it is within the contact point judgment angle range (contact point judgment S901). The contact point judgment angle range is set in the area of ​​the contact point position and its vicinity. At the angular position θ of the steering axis W1 20 Before reaching the contact angle range, input axis control S10 continues. The angular position θ of steering axis W1... 20 When the contact angle is within the range (S901: Yes), the torque T of the steering shaft W1 at this time is stored as the initial torque T0 before the contact (S902).

[0426] Then, the input axis control S10 is repeated until the contact state is reached (S903: Yes). In addition, in this embodiment, whether it is a contact state can be determined by whether the following formula (10) is satisfied (contact determination).

[0427] │T│≥r T / 100·(T1-│T0│)+│T0│……(10)

[0428] in,

[0429] T: Torque measurement value

[0430] r T Contact point judgment criteria (%)

[0431] T1: Maximum torque

[0432] T0: Initial torque

[0433] Furthermore, the initial torque T0 varies depending on the installation method of the tested object W, which is one of the factors causing errors in the torque measurement. As shown in equation (10), the accuracy of contact judgment can be improved by subtracting the initial torque T0. However, it is also possible to perform contact judgment without subtracting the initial torque T0, using the following equation (10'). In this case, the upper limit of torque T1 (called the "first target torque") is multiplied by the judgment reference r. T The obtained value becomes the reference value (set value) for the torque used to determine whether it is in the contact state.

[0434] │T│≥r T / 100·T1……(10′)

[0435] Furthermore, the determination of equation (10) or (10') is performed by the control unit 82. In this determination, the control unit 82 performs the function of the torque setpoint calculation unit, utilizing the right-hand side of each equation, based on the torque upper limit T1 and the contact determination reference r. T The setpoint value of the torque, which differs from the upper torque limit T1, is calculated. Specifically, the control unit 82 (torque setpoint calculation unit) calculates, for example, the torque upper limit multiplied by the judgment reference r. T The obtained value is used as the torque setting value.

[0436] The torque upper limit T1 is a preset upper limit for the torque, for example, set to a value below the upper limit of the allowable torque value of the tested object W. Contact judgment benchmark r T It is the reference value for determining the magnitude of the torque at the contact point (referred to as "contact point judgment torque T"). d The index of ") is defined as the contact torque T. d The percentage relative to the upper limit of torque T1, which is zero-point corrected based on the initial torque T0. More specifically, the contact judgment criterion r T It is defined by the following formula (11).

[0437] r T =(T d -│T0│) / (T1-│T0│)×100……(11)

[0438] The reference value r is determined by using a percentage of the contact points. T Setting a reference value for torque allows for intuitive understanding of the judgment criteria. Furthermore, regardless of the type of the test object W (i.e., the difference in allowable torque values), the same judgment criterion r can be used. T Alternatively, it can replace the contact point judgment reference r. T Instead, the torque T is determined directly by setting the contact point. d .

[0439] Additionally, the torque upper limit T1 is set using the limit setting screen Sc8 ( Figure 18 The torque local limit setting section E81LT is set. Furthermore, the contact determines the torque T. d For example, the waveform pattern editing screen Sc7 can be used for setting. That is, the torque local limit setting unit E81LT and the waveform pattern editing screen Sc7 have the function of receiving torque setting value receiving unit for receiving user input of torque control conditions (the setting value of torque T).

[0440] When the contact state is reached (S903: Yes), the torque upper limit T1 is set to the target value T of the input shaft control (torque control) S11 described later. S (S904) Set the angular velocity ω of the steering shaft W1 in torque control S11. 20 (i.e., the angular velocity ω of the input-side drive unit 20) 20 The upper limit of ω is set (S905). Then, the drive control of the input-side drive unit 20 switches from position control S10 to torque control S11. In S905, the angular velocity ω is set... 20 The upper limit is sufficient to control the rotation of the steering shaft W1 so that it does not exceed the set angular velocity ω. 20 The upper limit is thus able to prevent impacts caused by the rapid drive of the steering shaft W1.

[0441] Figure 36 This is a flowchart illustrating the steps of torque control S11. Torque control S11 is the drive control of the drive unit 20, which uses the torque T of the steering shaft W1 as the input control quantity. In torque control S11, the angular position θ of the steering shaft W1 is first calculated using the following formula (12). 20 deviation E θ (S1101). Additionally, the conversion factor K... T-θ It is defined as the change in angular position Δθ that causes a change in torque T by one unit (e.g., 1 N·m). 20 The constant is obtained in advance through experiments or simulations.

[0442] E θ =K T-θ ·E T =K T-θ (R T -Y T )……(12)

[0443] in,

[0444] E θ θ, the angular position of steering shaft W1 20 deviation

[0445] K T-θ Torque T - Angular position θ 20 Conversion factor

[0446] E T Deviation of torque T

[0447] R T Target value of torque T of steering shaft W1

[0448] Y T Measured value of torque T of steering shaft W1

[0449] Next, determine the deviation E. θ Is the magnitude equivalent to the angular velocity ω of the steering axis W1? 20 The maximum number of operations δθ at the upper limit max The following (S1102). Deviation E θ The size is the maximum operation δθ max In the following case (S1102: Yes), in order to eliminate deviation E θ The deviation E θ The value is set as the operand δθ 20 (S1103). Furthermore, the deviation E... θ The size is greater than the maximum operating amount δθ of the input-side drive unit 20 max When the input is large (S1102: No), the operating amount δθ of the input-side drive unit 20 is... 20 To be related to the maximum operating amount δθ max Same size, set to the same deviation E θ The value of the same sign (S1104). Then, with the equivalent operand δθ 20 Angle δΘ 21 (=δθ 20 / r 22 Drive servo motor 21 (S1105).

[0450] Next, obtain the angular position θ of the steering axis W1. 20 (S1106), measure the torque T (S1107), and store the angular position θ. 20 The torque T (S1108) completes one cycle of torque control S11. Torque control S11 is repeated until the magnitude of the torque T on the steering shaft W1 reaches the target value T. S (That is, the torque upper limit T1) is greater than (S906: Yes).

[0451] Next, a torque easing speed r is set. RT (Unit: N·m / s) (S907: Yes), the angular velocity ω of the steering shaft W1 20 The upper limit is changed to be equivalent to the torque easing speed r RT The value K T-θ ·r RT(S908). Therefore, because the torque decreases at a torque-releasing speed r... RT The torque changes gradually, thus improving the stability of torque control. Furthermore, no torque easing speed r is set. RT In the case of (S907: No), release the angular velocity ω of the steering shaft W1. 20 The upper limit is set (S909). Additionally, the torque easing speed r is not set. RT At that time, it can also be configured as not releasing the angular velocity ω 20 The upper limit is set, while maintaining the angular velocity ω set in the S905 processing. 20 The upper limit.

[0452] Then, the pre-set holding torque T2 (referred to as the "second target torque") is set to the target value T of torque control S11. S (S910), torque control S11 is performed. The torque T actually reaches the target value T. S When holding torque T2 (S911: Yes), a timer is started (S912), and torque control S11 continues until a set time (called "duration") has elapsed, maintaining the holding torque T2 of the steering shaft W1 during the set time. The above-mentioned contact control S9 is repeatedly executed until the test ends (S914: Yes). Furthermore, when the test continues (S914: No), the drive control mode of the input-side drive unit 20 is switched from position control S10 to torque control S11.

[0453] (Inverted Control)

[0454] The aforementioned contact control S9 applies a predetermined impulse to the steering shaft W1 at the contact position (specifically, maintaining a predetermined holding torque T2 for a set time). However, sometimes, at the contact position, no impulse is applied to the steering shaft W1, and control is required to directly reverse the rotation direction. When performing this type of reverse drive using normal position control, unintentional abrupt torque changes (impacts) occur during reversal, potentially compromising the accuracy of test results. The reverse control S50 described below reverses the drive of the steering shaft W1 in a manner that prevents abrupt torque changes upon reaching the contact position.

[0455] Figure 37 This is a flowchart illustrating the steps of the reverse control S50. Furthermore, Figure 38 This is a graph (input shaft waveform) used to illustrate the action of the reverse control S50. Specifically, Figure 38 The angular position θ of the steering axis W1, which serves as the control variable. 20 The waveform, with the horizontal axis representing the control point k corresponding to the time axis and the vertical axis representing the angular position θ. 20In addition, the reverse control S50 includes the jump process S5100 (described later) and the determination S5004 of whether to execute the jump process S5100, which is the same as the input axis control of the normal position control.

[0456] In the reverse control S50, the counter k representing the control point k is first reset to the initial value "1" (S5001). Next, the angular position θ of the steering axis W1 is obtained. 20 The measured value of torque T (S5002) is stored in association with the count k (S5003).

[0457] Next, it is determined whether the magnitude of the torque T on the steering shaft W1 exceeds the reference value τ (i.e., reaches the contact position) (S5004). If it is determined that the magnitude of the torque T exceeds the reference value τ and reaches the contact position (S5004: Yes), then skip processing S5100 is performed. Skip processing S5100 skips the region where the control point k is expected to significantly exceed the reference value τ due to the contact point ( Figure 38 The part indicated by the dashed line) advances the count to a control point k where the expected torque T is at the same level as the value at that moment (i.e., the reference value τ). Figure 38 k in A ',k B The handling of jumps is described in detail later.

[0458] When the magnitude of the torque T does not exceed the reference value τ (S5004: No), obtain the angular position θ corresponding to the control point k. 20 Target value R θ (S5005). Target value R θ Based on the preset input axis waveform ( Figure 38 The figure shows the relationship between control point k and angular position θ. 20 The numerical table or function representing the relationship is used for calculation. Next, the angular position θ is calculated. 20 deviation E θ (S5006), based on deviation E θ Calculate the command value Ω of servo motor 62 62 (S5007), according to the instruction value Ω 62 Drive servo motor 62 (S5008). When the test continues (S5009: Yes), increment the count k (S5010) and return to process S5002. Repeat processes S5002 to S5010 until the test ends.

[0459] Next, the jump processing S5100 will be explained. Figure 38The input shaft waveform shown contains a waveform of a quantity set for one cycle (control cycle), and the rotation drive control of the steering shaft W1 based on this input shaft waveform is continuously and repeatedly performed over a specified period (e.g., 2000 hours).

[0460] Figure 38 The input shaft shown is controlled at both ends of the assumed movable range of the steering shaft W1 (assuming the contact position θ). E1 θ E2 () between a certain angular velocity ω 20 Reciprocating rotary drive. The contact position of the steering shaft W1 gradually changes during long-term durability testing. Therefore, in order to reliably reach the contact position, a contact position θ is assumed. E1 θ E2 The initial contact position θ is set to the actual initial position obtained before the durability test through centering treatment S4, etc. A θ B On the outer side (i.e., away from the center position θ) C (Position). Therefore, at the angular position θ of the steering axis W1. 20 Reaching the assumed contact position θ E1 θ E2 The actual contact position θ is reached before A θ B The torque T exceeds the reference value τ.

[0461] Figure 39 This is a flowchart illustrating the steps of the jump process S5100. As described above, the jump process S5100 is to reach... Figure 38 Point E on the input shaft waveform shown A E B (i.e., contact position θ) A θ B When the magnitude of the torque T exceeds the reference value τ, skip points E1 and E2 on the input shaft waveform where the predicted torque T will significantly exceed the reference value τ (i.e., assuming the contact position θ). E1 θ E2 The dashed section near point E A E B Move to the same angular position θ A θ B Point E A '、E B 'The handling of '.

[0462] Therefore, first explore point E A E B Same angular position θ A θ B Point E on the input axis waveform A '、E B '(S5110). Figure 38 In the example of the input axis waveform shown, point E A With point E A Point E is located symmetrical about the perpendicular line P1 passing through point E1. B With point E B 'It is located symmetrically about the perpendicular line P2 passing through point E2. Furthermore, the number K of control points constituting the input shaft waveform is a pre-set, known value. Since points E1 and E2 are located at 1 / 4 and 3 / 4 of the input shaft waveform respectively, the control point k1 of point E1 and the control point k2 of point E2 are K / 4 and K3 / 4 respectively. Therefore, point E...' A 'Control point K' A 'with point E B 'Control point K' B It is calculated using the following formulas (13) and (14) respectively.

[0463]

[0464]

[0465] Then, during the rotational drive of steering shaft W1 in the CW direction, when the magnitude of torque T exceeds the reference value τ (i.e., when point E is reached)... A When), jump to the control point k calculated by equation (13). A '(point E) A (S5120), the jump process S5100 ends. Afterwards, before the magnitude of the torque T exceeds the reference value τ again, the steering shaft W1 is rotated according to the input shaft waveform via normal position control.

[0466] Additionally, according to point E A Jump to point E A Before and after the jump, the inclination of the input shaft waveform changes in the opposite direction. This indicates that before and after the jump (i.e., the contact position θ)... A The direction of rotational drive of steering shaft W1 is reversed. Furthermore, because the angular position θ of steering shaft W1 changes before and after this reversal... A Since the torque T remains unchanged, it can be reversed smoothly without significant changes before and after reversal, ensuring a smooth and impact-free drive reversal. Therefore, it is possible to perform tests that will not cause accidental damage to the test object W or the test device 1 due to impacts during reversal.

[0467] <Variation Example>

[0468] In processing S5110, the control point K of the jump destination is calculated using the above formulas (13) and (14). A '、K BThis assumes that the input axis waveform is symmetrical about perpendicular lines P1 and P2 near points E1 and E2, respectively. However, since the input axis waveform can be arbitrarily set, it is not limited to having the aforementioned symmetry. For example, as... Figure 40 As shown, when the shape near point E1 of the input axis waveform is asymmetrical about the vertical line P1, point E is obtained through equation (13). A '(control point k) A ') angular position θ A 'Comparison of contact position θ A Further outward (i.e., away from the center position θ) C Therefore, at point E A To make the angle position θ 20 Return to center position θ C The large torque T on the side will act on the steering shaft W1. Therefore, from control point k... A (point E) A Jump to control point k A '(point E) A When the torque T increases sharply (i.e., impact), it will apply unplanned stress to the test object W, which may impair the accuracy of the test results.

[0469] The following modified example of the processing S5110 can effectively prevent collisions during reversal, even when tested with input shaft waveforms that are asymmetrical about the vertical lines P1 and P2.

[0470] Figure 41 This is a flowchart illustrating the steps of a modified example of the jump destination exploration process S5110. In this modified example, the first step is to determine... Figure 40 The candidate point EA*(S5111) for the jump destination is shown. As described above, for Figure 40 When the input axis waveform shown is asymmetrical about the vertical line P1, it jumps to the control point k obtained by equation (13). A Point E A 'A collision is possible at any time. Therefore, this variation will be more significant than point E.' A 'The earlier (larger value of control point k) point E A * As candidate points. Specifically, candidate point E is calculated using the following formula (15). A * Control point k A *.

[0471]

[0472] Where α is a positive number

[0473] Next, based on the candidate point E obtained from equation (15) A * Control point k A* Calculate candidate point E based on the input axis waveform. A * Angular position θ A * Determine candidate point E A * Angular position θ A * Whether it is sufficient (i.e., when jumping to candidate point E) A * The degree of impact that will not affect the test results) Approaching the contact position θ A (S5112). Specifically, depending on whether the following equation (16) is satisfied (i.e., the angular position θ) is... A * and contact position θ A The deviation is the reference value δθ A The following will be used to determine candidate point E. A * Angular position θ A * Whether it is sufficiently close to the contact position θ A .

[0474] |θ A * -θ A |≤δθ A ……(16)

[0475] Where, δθ A It is a positive constant (the benchmark value for judging S5112).

[0476] Candidate point E A * Angular position θ A * Approaching the contact point θ A When (S5112: Yes), the process of exploring the jump destination S5110 ends. If the angle position θ A * Insufficient proximity to the contact point θ A (S5112: No), then reduce one control point k. A *, so that candidate point E A * Move to point E1 (S5114). Then, return to process S5112 and determine the candidate point E after the move. A * Angular position θ A * Whether it is sufficiently close to the contact position θ A Repeat steps S5112-S5114 until a candidate point E is identified. A * Angular position θ A * Approaching the contact point θ A .in addition, Figure 40 In the input shaft wave shown, when candidate point E A *Arrival Point E A When the point is (or its vicinity), it is considered a candidate point E. A * Angular position θ A * Approaching the contact point θ A .

[0477] In the above variation, because the point E where the jump destination is confirmed... A "Angle position θ" A "Approaching the contact position θ" A After (current position), the control point jumps, so it can more reliably prevent the impact that occurs when the rotation drive of the steering shaft W1 reverses.

[0478] In the above variation, the initial candidate point E A * Set to contact position θ A inner side (center position θ) C (side), from the inside to the outside ( Figure 40 In the curve diagram, as shown by arrow M (upward), the jump destination is explored, but the present invention is not limited to this structure. Alternatively, contrary to the above variation, the jump can proceed from the contact point position θ. A Points on the outer edge (e.g., point E1 or point E) A Explore the jump destination from the inside.

[0479] Additionally, while it's easy to set a starting point when exploring from point E1, the path to the destination point is still long. A The distance (number of control points) of point E is greater than that of point E. A * Point E A The distance is greater, so the amount of computation required to explore the jump destination increases. Therefore, setting a point earlier than point E1 (i.e., with a larger number of control points) as the starting point can efficiently explore the jump destination.

[0480] Furthermore, the direction of exploration for the jump destination (i.e., in processing S5114, making candidate point E...) A *The direction of movement (of course) needs to be close to the exploration's arrival point E. A The direction is "". In the above variation, the candidate point E that determines the initial jump destination is... A The constant α of * is set to a large value, so that the candidate point E A * Set to always reach point E before exploration A "Forward ( Figure 40 (Middle is on the right). Therefore, in processing S5114, the number of control points is reduced, and candidate point E is unconditionally made to... A *exist Figure 40 The process of moving from the center to the left. However, if the constant α is set to a relatively small value, or if the initial jump destination candidate point E is changed... A *For example, set at point E A '(Distance to perpendicular line P1 and point E)' A When the same point is present, Figure 40 In the middle, because candidate point E A*Located at the exploration arrival point E A Therefore, in processing S5114, it is necessary to make candidate point E to the left of "". A * Move to the right. Therefore, in this case, for example, if it needs to be configured such that candidate point E is also determined. A * Reaching the exploration point E A The processing of the positional relationship (the size relationship of control points k) determines whether candidate point E is selected based on the judgment result. A * Direction of movement.

[0481] The above is a description of one embodiment of the present invention. The embodiments of the present invention are not limited to the content described above and can have various modifications. For example, those skilled in the art, based on the illustrative embodiments and / or the descriptions in this specification, can clearly understand that structures obtained by appropriately combining self-evident embodiments and other structures are also included in the embodiments of the present invention.

[0482] In the above embodiment, in load control Sa20, the angular velocity ω based on the input-side drive unit 20 is used only during the initial control cycle (Sa2010: Yes). 20 Calculated angular velocity Ω 62 The conversion value (Tr·ω) 20 / r 63 ) as the target value R Ω (Sa2012), but it can also be configured to apply Sa2012 to multiple control cycles in the initial stage.

[0483] In the above embodiment, in the contact control S9, the torque T is temporarily increased to the upper limit of torque T1 and then slowly changed to the holding torque T2. However, this process can also be omitted, and the holding torque T2 is initially set to the target value, and torque control S11 is performed.

[0484] In the above embodiment, in the contact control S9, the value of the holding torque T2 is set to be lower than the torque upper limit T1, but the holding torque T2 can also be set to be higher than the torque upper limit T1.

[0485] In the above embodiments, the operation of the entire test device 1 is defined by a single waveform pattern, but it is also possible to form a sequence table by multiple waveform patterns that define the operation of different parts of the test device 1 (for example, three waveform patterns that define the operation of the input side drive unit 20, the output side drive unit 60R, and the output side drive unit 60L respectively, representing the input side, the right output side, and the left output side).

Claims

1. A testing device, characterized in that, include: The output-side drive unit applies a load to the left and right connecting rods, which are the control devices of the test object, by means of axial force. A position detection unit detects the angular position of the steering axis of the test object; and The control unit that controls the output-side drive unit. The control unit can control the output-side drive unit so that the load increases or decreases monotonically relative to the angular position. The control unit can control the output-side drive unit in such a way that, when the rotation direction of the steering shaft is to the right, the rate of change of the load on the right-side linkage is greater than the rate of change of the load on the left-side linkage. The control unit can control the output-side drive unit in such a way that, when the rotation direction of the steering shaft is to the left, the rate of change of the load on the left-side linkage is greater than the rate of change of the load on the right-side linkage. The rate of change of the load is the rate of change of the load relative to the angular position.

2. The testing apparatus as described in claim 1, characterized in that: The control unit can control the output-side drive unit so that the rate of change of the load relative to the angular position is a constant value.

3. The testing apparatus as described in claim 1, characterized in that: The control unit can control the output-side drive unit to apply the load in a direction opposite to the movement direction of the linkage.

4. A testing device, characterized in that, include: The output-side drive unit applies a load to the left and right connecting rods, which are the control devices of the test object, by means of axial force. A position detection unit detects the angular position of the steering shaft of the test object; and The control unit that controls the output-side drive unit. The control unit can control the output-side drive unit in a manner that applies the load according to the angular position. Furthermore, the output-side drive unit can be controlled in a manner that switches the relationship between the angular position and the load according to the rotation direction of the steering shaft. The control unit can control the output-side drive unit in such a way that, when the rotation direction of the steering shaft is to the right, the rate of change of the load on the right-side linkage is greater than the rate of change of the load on the left-side linkage. The control unit can control the output-side drive unit in such a way that, when the rotation direction of the steering shaft is to the left, the rate of change of the load on the left-side linkage is greater than the rate of change of the load on the right-side linkage. The rate of change of the load is the rate of change of the load relative to the angular position.

5. The testing apparatus as described in claim 1 or 4, characterized in that: include: A torque detection unit for detecting the torque of the steering shaft; and A rotation direction detection unit for detecting the rotation direction of the steering shaft. The control unit controls the output-side drive unit in such a way that it does not apply a load to the tie rod when the direction of the torque on the steering shaft is inconsistent with the direction of rotation.

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