Vehicle steering system testing method and device

Abstract

The invention provides a vehicle steering system testing method and device, and relates to the technical field of vehicle steering system performance testing, and the method comprises the steps: setting a testing program in a multi-axis servo control system according to to-be-tested parameters of a to-be-tested assembly in a vehicle steering system, and controlling the motion parameters of a plurality of servo motors, a vehicle steering motor is controlled through EtherCAT and CANFD, and each servo motor is connected with the to-be-tested assembly; when each servo motor moves according to the corresponding motion parameter, receiving first data sent by a rotary encoder on each servo motor; acquiring second data sent by a steering motor of the installed vehicle; and combining the first data and the second data, judging a system operation state, calculating and correcting an operation error, and generating a performance test report of the to-be-tested component. The method has the technical effects that the mechanical performance and the electrical performance of the steering system are evaluated at the same time, and the overall performance of the vehicle steering system is accurately evaluated.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle steering system performance testing, and in particular to a vehicle steering system testing method and device. Background Art

[0002] With the rapid development of modern automobile technology, especially the innovation in the field of new energy vehicles, the vehicle steering system, as a key component of automobile safety and controllability, has received unprecedented attention. In particular, the application of new energy steer-by-wire technology has received more and more attention. In order to ensure the reliability and accuracy of the vehicle steering system, it is particularly important to conduct comprehensive performance testing on it.

[0003] Single parameter testing and step-by-step testing methods are usually used to evaluate the performance of a vehicle steering system. For example, a position sensor is used to measure the accuracy of the steering angle, a speed sensor is used to measure the steering response speed, and a temperature sensor is used to monitor the temperature changes of the steering system under different working conditions. These test methods measure each parameter separately and analyze them separately to determine the performance of the vehicle steering system. However, the tests of each parameter in this method are carried out separately, and the overall performance of the vehicle steering system cannot be evaluated. Summary of the invention

[0004] The present application provides a vehicle steering system testing method and device for accurately evaluating the overall performance of the vehicle steering system.

[0005] In the first aspect, the present application provides a vehicle steering system testing method, the method comprising: obtaining test parameters of a component to be tested in the vehicle steering system, setting motion parameters of multiple servo motors in a multi-axis servo control system according to the test parameters, and controlling the vehicle steering motor through EtherCAT and CANFD, wherein each of the servo motors is connected to the component to be tested; when each of the servo motors moves according to the corresponding motion parameters, receiving first data sent by a rotary encoder on each of the servo motors; obtaining second data sent by the vehicle steering motor; and generating a performance test report of the component to be tested by combining the first data and the second data.

[0006] By adopting the above technical solutions, the performance of the steering system under different working conditions is fully reflected through multi-dimensional data fusion, and simultaneous testing of mechanical and electrical systems is achieved. The precise setting of the servo motor motion parameters ensures the consistency and repeatability of the test, and improves the accuracy and reliability of the results. At the same time, real-time analysis of multiple sensor data can comprehensively evaluate the dynamic performance of the steering system. The generated performance test report provides detailed data analysis and system performance, and comprehensively reflects the performance of the steering system under different working conditions through multi-dimensional data fusion, overcoming the limitations of traditional single parameter testing methods, and can accurately evaluate the overall performance of the vehicle steering system.

[0007] Optionally, the multiple servo motors include: a first motor, a second motor, a third motor and a fourth motor, and the motion parameters of the multiple servo motors in the multi-axis servo control system are set according to the parameters to be tested, including: inputting the parameters to be tested into a controller so that the controller calculates the second motion parameters of the second motor and the fourth motion parameters of the fourth motor that simulate wheel resistance, and the first motion parameters of the first motor and the third motion parameters of the third motor that simulate wheel bouncing position; setting the motion parameters of the first motor to the first motion parameters, the motion parameters of the second motor to the second motion parameters, the motion parameters of the third motor to the third motion parameters, and the motion parameters of the fourth motor to the fourth motion parameters.

[0008] By adopting the above technical solution and accurately setting the motion parameters of each servo motor, various working conditions in the real driving environment can be simulated to improve the authenticity and effectiveness of the test. The controller automatically calculates and sets the parameters, ensuring the accuracy and coordination of the parameters, avoiding errors in manual settings, and improving the test efficiency and reliability of the results. At the same time, the multi-dimensional data fusion method comprehensively reflects the performance of the vehicle steering system under different working conditions by simultaneously monitoring and analyzing the motion states of multiple servo motors, overcoming the limitations of the traditional single parameter test method.

[0009] Optionally, the method also includes: receiving steering wheel torque data sent by a steering wheel torque sensor, steering rod force data sent by a steering rod force sensor and corresponding data sent by other user-customized sensors, wherein the steering wheel torque sensor is located between the fifth motor and the original vehicle steering column, the fifth motor is an optionally installed motor, and the fifth motor is connected to the original vehicle steering column for simulating steering wheel input.

[0010] By adopting the above technical solutions, and introducing steering wheel torque sensors, steering rod force sensors and other user-customized sensors, the system can fully capture the key data of the steering system during operation, thereby providing a more detailed and accurate performance evaluation. The steering wheel torque sensor is located between the fifth motor and the original vehicle steering column. This design allows the system to accurately measure the actual torque when simulating steering wheel input, which helps to evaluate the steering system's control feel and feedback characteristics. At the same time, the data from the steering rod force sensor can directly reflect the output force of the steering mechanism, providing key information for analyzing the efficiency and performance of the steering system.

[0011] Optionally, the combination of the first data and the second data to generate a performance test report of the component to be tested includes: obtaining the actual speed, actual torque and actual position data of each of the servo motors in the first data, and the actual speed, actual torque and actual position data of the vehicle steering motor in the second data; calculating the actual motion parameters of the component to be tested according to the actual speed, actual torque and actual position data of each servo motor, and calculating the actual motion parameters of the vehicle steering system according to the actual speed, actual torque and actual position data of the vehicle steering motor; comparing the actual motion parameters of the component to be tested with preset first theoretical motion parameters to obtain performance deviation data of the component to be tested, and comparing the actual motion parameters of the vehicle steering system with preset second system theoretical motion parameters to obtain performance deviation data of the vehicle steering system; generating a performance test report of the component to be tested according to the performance deviation data of the component to be tested and the performance deviation data of the vehicle steering system.

[0012] By adopting the above technical solutions, the quality and value of vehicle steering system testing have been significantly improved through a systematic and precise performance evaluation process. It achieves in-depth analysis of the performance of the components to be tested and the entire steering system by comprehensively collecting the actual operating data of the servo motor and the vehicle steering motor, calculating the actual motion parameters, and comparing them with the preset theoretical parameters. It not only improves the accuracy and reliability of performance evaluation, but also enhances the problem diagnosis capability, which helps to locate the root cause of performance problems more accurately. By considering the performance at both the component and system levels, the solution provides a comprehensive perspective for overall performance optimization and promotes more balanced and effective improvement decisions. In addition, this systematic approach improves test efficiency and reduces the need for repeated testing, thereby accelerating the product development cycle. The generated detailed performance test report provides a solid data foundation for product development and quality control, supporting data-driven decision making.

[0013] Optionally, the method also includes: obtaining target temperature data sent by a target temperature sensor in the environmental chamber and humidity data sent by a humidity sensor, wherein the component to be tested is arranged in the environmental chamber, and the target temperature sensor and the humidity sensor are arranged in the environmental chamber; judging whether the temperature and humidity in the environmental chamber meet the preset requirements according to the target temperature data and the humidity data; if the temperature and / or humidity data in the environmental chamber do not meet the preset requirements, outputting a control signal to the temperature control device and the humidity control device in the environmental chamber to adjust the temperature and humidity in the environmental chamber until the temperature and humidity in the environmental chamber meet the preset requirements.

[0014] By adopting the above technical solution, this environmental control ensures that the components under test are always in stable and controllable environmental conditions during the test process, thereby improving the reliability and consistency of the test results. Accurate control of temperature and humidity avoids the interference of environmental factors on the test results, making the test data more real and accurate.

[0015] Optionally, the method also includes: acquiring motion data of each of the servo motors under different motion parameters, and generating a motion characteristic curve of each of the servo motors according to the motion data of each of the servo motors under different motion parameters; comparing the motion characteristic curve of each of the servo motors with a corresponding preset standard motion characteristic curve to determine whether the motion characteristic of each of the servo motors meets the preset standard; if there is a first servo motor whose motion characteristic does not meet the preset standard, adjusting the first servo motor so that the motion characteristic of the first servo motor meets the preset standard.

[0016] By adopting the above technical solution, the solution establishes a comprehensive performance evaluation foundation by obtaining the motion data of each servo motor under different motion parameters and generating motion characteristic curves. These motion characteristic curves can intuitively reflect the performance of the motor under various working conditions, including key performance indicators such as speed-torque relationship and efficiency curve. Comparing these actually generated motion characteristic curves with the preset standard motion characteristic curves can not only accurately evaluate whether the performance of each servo motor meets the standard, but also identify the specific aspects and degree of performance deviation. When it is found that the motion characteristics of a servo motor do not meet the preset standards, the solution provides a mechanism for timely adjustment. This adaptive adjustment can ensure that each servo motor can operate in the best state, thereby ensuring the accuracy and consistency of the entire test system. In this way, the solution not only improves the performance of a single servo motor, but also ensures the reliability and accuracy of the entire test system. This dynamic adjustment and optimization process helps to reduce system errors, improve the credibility of test results, and also extend the service life of the equipment.

[0017] Optionally, after generating the performance test report of the component to be tested, it also includes: judging whether the component to be tested meets the preset performance standards based on the performance test report; if the component to be tested does not meet the preset performance standards, generating improvement suggestions, and outputting the improvement suggestions to the user interface so that the user can make adjustments based on the improvement suggestions.

[0018] By adopting the above technical solution, by adding the steps of judgment and improvement suggestions after generating the performance test report, the solution converts the static test results into a dynamic optimization process. First, judge whether the component to be tested meets the preset performance standards based on the performance test report. This step ensures the direct correlation between the test results and actual needs and improves the practicality of the test. When it is found that the component to be tested does not meet the preset performance standards, the system will automatically generate improvement suggestions. This intelligent analysis process not only saves human resources, but also provides more objective and comprehensive improvement directions based on a large amount of data and experience. The design of outputting improvement suggestions to the user interface further improves the efficiency and operability of information transmission.

[0019] In the second aspect, the present application provides a vehicle steering system testing method device, the device comprising: a first acquisition module, a receiving module, a second acquisition module and a combining module; wherein the first acquisition module is used to acquire the test parameters of the component to be tested in the vehicle steering system, and according to the test parameters, set the motion parameters of multiple servo motors in the multi-axis servo control system, and control the vehicle steering motor through EtherCAT and CANFD, wherein each of the servo motors is connected to the component to be tested; the receiving module is used to receive the first data sent by the rotary encoder on each of the servo motors when each of the servo motors moves according to the corresponding motion parameters; the second acquisition module is used to acquire the second data sent by the vehicle steering motor; the combining module is used to combine the first data and the second data to generate a performance test report of the component to be tested.

[0020] In a third aspect, the present application provides an electronic device that adopts the following technical solution: it includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned vehicle steering system testing methods.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above-mentioned vehicle steering system testing methods.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through multi-dimensional data fusion, the performance of the steering system under different working conditions is fully reflected, and the simultaneous testing of mechanical and electrical systems is realized. The precise setting of the servo motor motion parameters ensures the consistency and repeatability of the test, and improves the accuracy and reliability of the results. At the same time, real-time analysis of multiple sensor data can comprehensively evaluate the dynamic performance of the steering system. The generated performance test report provides detailed data analysis and system performance. Through multi-dimensional data fusion, the performance of the steering system under different working conditions is fully reflected, which overcomes the limitations of the traditional single parameter test method and can accurately evaluate the overall performance of the vehicle steering system. 2. It overcomes the communication interaction between the test equipment and the vehicle ECU (control unit), and realizes the simultaneous testing of the electrical system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of a vehicle steering system testing method provided in an embodiment of the present application; Figure 2 It is a schematic diagram of a loading component structure provided in an embodiment of the present application; Figure 3 It is a schematic diagram of a motion component structure provided by an embodiment of the present application; Figure 4 It is a control principle diagram provided by an embodiment of the present application; Figure 5 It is a simulation schematic diagram provided in an embodiment of the present application; Figure 6 This is a schematic diagram of a software parameter configuration interface provided in an embodiment of the present application; Figure 7 This is a schematic diagram of a software experiment program editing interface provided in an embodiment of the present application; Figure 8 It is a user-defined monitoring display interface provided by an embodiment of the present application; Fig. 9 It is a structural schematic diagram of a vehicle steering system testing device provided in an embodiment of the present application; Fig.10 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0024] Explanation of the reference numerals: 1. ball screw shaft; 2. guide rod; 3. movable plate; 4. screw nut; 5. rotation limit seat; 6. spline nut; 7. spline shaft; 8. upper support plate; 9. slewing bearing; 10. rotating seat; 11. lower support plate; 12. large servo motor; 13. small servo motor; 14. frame; 15. main steering loading mechanism; 16. main steering loading motor M5; 17. steering torque sensor; 18. spare steering loading mechanism; 19. left large private service motor M1; 20. left small private service motor M2; 21. left load mechanism; 22. mounting platform; 23. original vehicle steering assembly; 24. original vehicle steering tie rod or processed steering tie rod; 25. original vehicle steering motor M0; 26. steering control module; 27. right load mechanism; 28. right large private service motor M3; 29. ​​right small private service motor M4; 30. Moog NGC controller; 31. Moog MSD servo motor driver; 32. original vehicle steering link; 1000. electronic device; 1001. processor; 1002. communication bus; 1003. user interface; 1004. network interface; 1005. memory. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0026] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0027] In the present application, the vehicle steering system provides various standard test modules that can be freely matched. Specifically, the first module group is a conventional test module group, which can control and monitor test parameters such as force, torque, displacement, angle, speed, etc.; among them, direct control quantities can be converted to each other at any time, such as force control is converted to displacement control, torque control is converted to angle control, etc.

[0028] The first module group includes common curve control modules such as ramp control, sine control, square wave control, triangle wave control, etc., and has the functions of calculating errors and self-compensation. There are also modules such as data monitoring, data acquisition, and control conversion. Customized test curves can be formed through permutations and combinations. Generate the test parameters of the components to be tested.

[0029] The second module group is the load spectrum simulation module group. The data analysis module can analyze and process the target load spectrum data. The system identification module can calculate the transfer characteristics of the system. The iteration module can calculate and simulate user data to generate the test parameters of the test component.

[0030] Through this modular and highly configurable design, the present invention can adapt to changing test requirements and provide a flexible and efficient test solution, thereby improving the overall test efficiency and the reliability of the results.

[0031] Figure 1 is a flow chart of a vehicle steering system testing method provided in an embodiment of the present application, such as Figure 1 As shown, the method includes S101-S104.

[0032] S101, obtaining test parameters of the components to be tested in the vehicle steering system, setting motion parameters of multiple servo motors in the multi-axis servo control system according to the test parameters, and controlling the vehicle steering motor through EtherCAT and CANFD, wherein each servo motor is connected to the components to be tested.

[0033] In one example, it is first necessary to obtain the parameters of the component under test, which may include steering angle range, steering torque, steering speed, etc. The purpose of obtaining these parameters is to simulate the actual vehicle steering condition to ensure the accuracy and effectiveness of the test. The acquisition method can be through a pre-set test procedure or extracted from the vehicle design parameters.

[0034] After obtaining the parameters, the motion parameters of multiple servo motors in the multi-axis servo control system are set according to these parameters to be tested. In a specific embodiment of the present invention, a large servo motor and a small servo motor are used to drive the spline shaft and the ball screw shaft respectively. The large servo motor drives the spline shaft through a reducer to simulate changes in the steering angle; the small servo motor drives the ball screw shaft to simulate changes in the load in the vertical direction. Through the controller, the parameters to be tested are converted into corresponding motor motion parameters, such as speed, torque and position information. This setting method can accurately simulate various complex steering conditions, including angle changes and load changes during the steering process.

[0035] At the same time, the present invention uses EtherCAT and CANFD communication protocols to control the vehicle steering motor. EtherCAT has the characteristics of high speed and strong real-time performance, and is suitable for precise control; while CANFD has strong anti-interference ability and flexibility, and is suitable for data transmission in the vehicle environment. Through the combination of these two protocols, precise control and real-time data collection of the vehicle steering motor can be achieved, ensuring that the response of the steering system during the test is consistent with the actual working state.

[0036] In terms of hardware connection, each servo motor is connected to the component under test through a specific mechanical structure. Specifically, the component under test is installed in the waist-shaped grooves on both sides of the rotating seat. The rotating seat is connected to the movable plate through a slewing bearing, and the movable plate is connected to the ball screw shaft through a screw nut. This connection method enables the component under test to perform compound motion under the drive of the servo motor, that is, a combination of up and down motion and rotational motion, thereby fully simulating various working conditions that the vehicle steering system may encounter in actual use.

[0037] Based on the above embodiment, as an optional implementation, in S101, the multiple servo motors include: a first motor, a second motor, a third motor and a fourth motor. According to the parameters to be tested, setting the motion parameters of the multiple servo motors in the multi-axis servo control system specifically includes S10-S11: S10, input the parameters to be tested into the controller so that the controller calculates the second motion parameter of the second motor simulating wheel resistance and the fourth motion parameter of the fourth motor, the first motion parameter of the first motor simulating the wheel jumping position and the third motion parameter of the third motor.

[0038] In one example, the parameters to be tested need to be determined first. These parameters usually include but are not limited to vehicle speed, steering angle, road resistance, wheel bounce frequency and amplitude, etc. These parameters can be determined through experimental design or set according to actual vehicle operating conditions.

[0039] After determining the parameters to be tested, these parameters need to be input into the controller. The controller can be a high-performance embedded system with powerful data processing and computing capabilities. The input method can be controlled by the host computer and configured and controlled by the MITS software.

[0040] After receiving the parameters to be tested, the controller will calculate the specific motion parameters of each servo motor based on these parameters. Specifically: the second motion parameter of the second motor and the fourth motion parameter of the fourth motor: these two motors are used to simulate wheel resistance. The controller will calculate the torque or force that the motor needs to apply based on the input road resistance parameters and vehicle speed to simulate the actual wheel resistance.

[0041] The first motion parameter of the first motor and the third motion parameter of the third motor: These two motors are used to simulate the wheel jumping position. The controller will calculate the displacement and speed of the motor according to the input wheel jumping frequency and amplitude to simulate the real wheel jumping situation.

[0042] After calculating the motion parameters of each motor, the controller will send these parameters to the corresponding servo motor driver, and the driver will control the motor to perform the corresponding motion according to the received parameters. For example, the second and fourth motors will apply corresponding resistance, and the first and third motors will make corresponding displacement changes.

[0043] S11, setting the motion parameters of the first motor to the first motion parameters, the motion parameters of the second motor to the second motion parameters, the motion parameters of the third motor to the third motion parameters, and the motion parameters of the fourth motor to the fourth motion parameters.

[0044] S102, when each servo motor moves according to the corresponding motion parameter, receiving first data sent by the rotary encoder on each servo motor.

[0045] In one example, first, each servo motor is equipped with a rotary encoder, which can measure information such as the rotation speed, angle, and position of the servo motor in real time, and send the data to the control system in the form of first data.

[0046] After the experiment starts, the servo motor starts to move according to the preset motion parameters. The control system monitors the actual motion state of each servo motor in real time by receiving the first data from the rotary encoder. Specifically, the control system compares the first data received in real time with the set motion parameters to detect whether the servo motor is running according to the predetermined motion trajectory. For example, if the actual speed or position of a servo motor deviates from the preset parameters, the control system can immediately issue an adjustment instruction to correct the deviation and ensure the accuracy of the experiment.

[0047] S103, obtaining second data sent by the vehicle steering motor.

[0048] In one example, the previously established EtherCAT and CANFD communication systems are used to obtain this data. EtherCAT is known for its high speed and real-time performance, and can transmit large amounts of data with extremely low latency; while CANFD provides strong anti-interference capabilities and flexibility, which is very suitable for data transmission in vehicle environments. Through the combination of these two protocols, various operating parameters of the vehicle steering motor can be collected in real time and accurately. These second data may include but are not limited to key parameters such as the actual speed, torque, position information, current consumption, and temperature of the steering motor.

[0049] In actual operation, it is necessary to install corresponding sensors and data acquisition modules on the vehicle steering motor, which are connected to the EtherCAT and CANFD communication interfaces. Then, through the pre-written data acquisition program, these second data are continuously acquired during the test. The frequency of data acquisition can be adjusted according to the test requirements to ensure that the instantaneous changes and long-term performance of the steering system are captured. The effect of this data acquisition method is multifaceted. First, it can provide real-time feedback on the steering system during the test, and can promptly detect and analyze any abnormal performance of the steering system. Secondly, by comparing these second data with the previously set motion parameters, the response speed, accuracy and stability of the steering system can be evaluated. In addition, long-term data collection can also help us analyze the performance change trend of the steering system under different working conditions, providing an important basis for system optimization and improvement.

[0050] Based on the above embodiments, as an optional implementation method, the method also includes: receiving steering wheel torque data sent by a steering wheel torque sensor, steering rod force data sent by a steering rod force sensor, and corresponding data sent by other user-customized sensors, wherein the steering wheel torque sensor is located between the fifth motor and the steering column of the original vehicle, the fifth motor is an optionally installed motor, and the fifth motor is connected to the steering column of the original vehicle for simulating steering wheel input.

[0051] In one example, first, an optional fifth motor is introduced into the test system, which is connected to the original vehicle steering column to simulate the steering wheel input. The purpose of this design is to accurately simulate the driver's steering operation during the test, so that the test conditions are closer to the actual driving situation. A steering wheel torque sensor is installed between the fifth motor and the original vehicle steering column. This sensor can accurately measure the torque applied to the steering system when simulating the steering wheel input, which is crucial for evaluating the key characteristics of the steering system, such as the weight and return performance.

[0052] At the same time, a steering rod force sensor is installed at the key part of the steering mechanism. This sensor can measure the force applied to the steering rod during the steering process, reflecting the load of the steering system under different working conditions. These data are of great significance for evaluating the mechanical properties, durability and performance of the steering system under different road conditions.

[0053] In addition, the present invention also provides users with the option of installing customized sensors. These customized sensors can be selected and installed according to specific test requirements, such as steering angle sensors, steering speed sensors, tire side slip angle sensors, etc. This flexible design allows testers to customize test plans according to specific research goals or product characteristics, greatly increasing the applicability and scalability of the test system.

[0054] In actual operation, these additional sensors are connected to the main controller through a dedicated data acquisition system. High-speed data acquisition cards and dedicated signal conditioning circuits are used to ensure the accuracy and real-time nature of the data. The frequency of data acquisition can be adjusted according to test requirements and is usually set to a high enough sampling rate to capture instantaneous changes in the steering system.

[0055] S104, combining the first data and the second data to generate a performance test report of the component to be tested.

[0056] In one example, generating a performance test report for the component under test is the ultimate goal and key output of the entire testing process. This step makes comprehensive use of the first data (mainly from the actual operation data of the servo motor) and the second data (mainly from the feedback data of the vehicle steering motor) obtained in the previous step, as well as additional sensor data in the optional implementation, such as steering wheel torque data, steering rod force data, etc. By integrating and analyzing these multi-source data, we can comprehensively evaluate the performance of the component under test and provide important basis for product development, quality control and performance optimization.

[0057] In the specific implementation, all the collected data must first be preprocessed and synchronized. This includes steps such as data cleaning, denoising, and time alignment to ensure that data from different sources can be compared and analyzed on the same time basis. Subsequently, a specially developed data analysis software is used to process these preprocessed data. This software integrates a variety of data analysis algorithms, including but not limited to time domain analysis, frequency domain analysis, correlation analysis, statistical analysis, etc.

[0058] During the data analysis process, the response characteristics of the steering system, such as response time, accuracy, stability, etc., are evaluated by comparing the first data (input parameters) and the second data (actual response). Secondly, the mechanical properties of the steering system, including steering torque, steering resistance, steering return, etc., are analyzed using the steering wheel torque data and steering rod force data. Thirdly, the durability and reliability of the system are evaluated through trend analysis of long-term test data. Finally, the performance changes of the steering system under different environmental conditions are analyzed in combination with environmental parameters (such as temperature, humidity, etc.).

[0059] Based on these analysis results, a comprehensive performance test report is generated. This report usually includes the following main parts: Test Overview: including basic information such as test purpose, test conditions, test equipment and test parameters. Performance Index Analysis: List the test results of various performance indicators in detail, such as steering accuracy, response time, maximum steering angle, steering torque, etc., and compare them with the design specifications. Dynamic Performance Analysis: Includes the dynamic response characteristics of the steering system under different working conditions, such as step response, frequency response, etc. Durability and Reliability Evaluation: Based on long-term test data, evaluate the performance stability and potential failure risks of the system. Environmental Adaptability Analysis: Evaluate the performance changes of the steering system under different environmental conditions such as temperature and humidity. Abnormal Situation Analysis: If any abnormal or unexpected performance is found during the test, it will be analyzed and discussed in detail in this section. Conclusion and Recommendations: Summarize the test results, point out the advantages and potential improvement space of the system, and put forward specific optimization suggestions.

[0060] Based on the above embodiment, as an optional implementation, in S104, combining the first data and the second data to generate a performance test report of the component to be tested specifically includes S401-S404: S401, acquiring the actual speed, actual torque and actual position data of each servo motor in the first data, and the actual speed, actual torque and actual position data of the vehicle steering motor in the second data.

[0061] S402, calculating the actual motion parameters of the component to be tested according to the actual speed, actual torque and actual position data of each servo motor, and calculating the actual motion parameters of the vehicle steering system according to the actual speed, actual torque and actual position data of the vehicle steering motor.

[0062] In one example, the data of each servo motor is processed first. In the present invention, large servo motors and small servo motors are used to simulate different steering conditions. The large servo motor drives the spline shaft through a reducer to simulate the change of the steering angle; the small servo motor drives the ball screw shaft to simulate the load change in the vertical direction. The actual speed, actual torque and actual position data of these servo motors are converted into the actual motion parameters of the component to be tested. This conversion process takes into account the characteristics of the mechanical transmission system, such as the reduction ratio, transmission efficiency, etc.

[0063] For example, for a large servo motor, the actual rotation angle of the spline shaft can be calculated based on the actual position data of the motor and the reduction ratio of the reducer, and then the transmission ratio between the spline shaft and the component to be tested is considered to convert the rotation angle of the spline shaft into the actual steering angle of the component to be tested. Similarly, for a small servo motor, the actual force acting on the ball screw can be calculated based on the actual torque of the motor and the transmission efficiency of the ball screw, and then the transmission mechanism between the ball screw and the component to be tested is considered to convert this force into the actual vertical load acting on the component to be tested. Next, the data of the vehicle steering motor is processed, which directly reflects the actual performance of the vehicle steering system. Using a similar algorithm, the actual speed, actual torque and actual position data of the vehicle steering motor are converted into the actual motion parameters of the vehicle steering system. This process needs to consider the specific structure and transmission characteristics of the vehicle steering system. For example, the actual steering angle of the wheel is calculated based on the actual position data of the steering motor and the transmission ratio of the steering mechanism, and the actual steering force acting on the wheel is calculated based on the actual torque data of the steering motor and the mechanical characteristics of the steering mechanism.

[0064] S403, comparing the actual motion parameters of the component to be tested with the preset first theoretical motion parameters to obtain performance deviation data of the component to be tested, and comparing the actual motion parameters of the vehicle steering system with the preset second system theoretical motion parameters to obtain performance deviation data of the vehicle steering system.

[0065] In one example, it is first necessary to determine a complete set of theoretical motion parameters, including first theoretical motion parameters (for the component to be tested) and second system theoretical motion parameters (for the vehicle steering system). These theoretical parameters are usually formulated based on the system's design specifications, engineering calculations, and expected performance under ideal working conditions. For the component to be tested, its actual motion parameters (such as actual steering angle, actual steering torque, etc.) are compared with the preset first theoretical motion parameters. This comparison process can be achieved by calculating the difference or ratio between the actual value and the theoretical value, and the result is the performance deviation data of the component to be tested.

[0066] For example, the absolute error and relative error between the actual steering angle and the theoretical steering angle can be calculated to evaluate the steering accuracy; the difference between the actual response time and the theoretical response time can be calculated to evaluate the dynamic performance of the system. Similarly, for the vehicle steering system, its actual motion parameters are compared with the preset second system theoretical motion parameters to obtain the performance deviation data of the vehicle steering system. This process takes into account the comprehensive performance of the entire steering system, including steering torque, steering angle, steering response time and other aspects. In the comparison process, not only static performance indicators are concerned, but also dynamic response characteristics need to be analyzed. For example, the degree of fit between the actual steering torque-steering angle curve and the theoretical curve can be compared to evaluate the performance consistency of the system under different working conditions; the difference between the overshoot and stabilization time of the actual steering response and the theoretical value can be analyzed to evaluate the dynamic performance of the system.

[0067] S404, generating a performance test report of the component to be tested according to the performance deviation data of the component to be tested and the performance deviation data of the vehicle steering system.

[0068] In one example, the performance deviation data of the components to be tested and the performance deviation data of the vehicle steering system are first collected and sorted. These data include the differences between the actual values ​​and theoretical values ​​of various key performance indicators, such as steering angle error, steering torque deviation, response time deviation, etc. When generating a report, these data need to be deeply analyzed and interpreted. The report content should include test condition description, performance indicator analysis, deviation data statistics, performance curve comparison and other aspects.

[0069] The steering angle error distribution of the component under test under different working conditions is displayed in the form of a graph, and its deviation trend from the theoretical value is analyzed. The difference between the actual steering torque-steering angle relationship and the theoretical relationship is presented through a comparison curve, and the linearity and consistency of the system are evaluated. The dynamic response characteristics of the system are analyzed through a timing diagram, such as the difference between overshoot, stabilization time and other parameters and theoretical expectations.

[0070] In the report, it is also necessary to combine the performance deviation data of the vehicle steering system to analyze the performance of the tested component in the entire system. In addition, the report should also include a preliminary analysis of the causes of performance deviation and improvement suggestions. For example, if it is found that the performance deviation under certain specific working conditions is large, the possible reasons can be pointed out in the report, such as mechanical structure design problems, insufficient optimization of control algorithms, etc., and corresponding improvement directions can be proposed.

[0071] The method also includes: obtaining target temperature data sent by a target temperature sensor and humidity data sent by a humidity sensor in an environmental chamber, wherein the component to be tested is arranged in the environmental chamber, and a target temperature sensor and a humidity sensor are arranged in the environmental chamber; judging whether the temperature and humidity in the environmental chamber meet the preset requirements according to the target temperature data and the humidity data; if the temperature and / or humidity data in the environmental chamber do not meet the preset requirements, outputting a control signal to the temperature control device and the humidity control device in the environmental chamber to adjust the temperature and humidity in the environmental chamber until the temperature and humidity in the environmental chamber meet the preset requirements.

[0072] In one example, first, the system obtains the target temperature data in the environmental chamber through the target temperature sensor, and obtains the humidity data through the humidity sensor. These data are used to determine whether the temperature and humidity in the environmental chamber meet the preset requirements, ensuring that the components to be tested are tested under standardized environmental conditions. If it is detected that the temperature and / or humidity data in the environmental chamber do not meet the preset requirements, the system will output a control signal to the temperature control device and humidity control device in the environmental chamber. The temperature control device is responsible for adjusting the temperature in the environmental chamber, while the humidity control device is responsible for adjusting the humidity. The system will continue to monitor and adjust until the temperature and humidity in the environmental chamber meet the preset requirements.

[0073] During the specific implementation process, when the system receives the target temperature data and humidity data, it will perform data analysis. If it is found that the temperature or humidity exceeds the preset range, the system will immediately send a control signal to the temperature control device and the humidity control device for adjustment. For example, if the temperature is too high, the temperature control device will start the cooling function to reduce the temperature to within the preset range; if the humidity is too low, the humidity control device will increase the humidity until it reaches the preset standard. During the adjustment process, the system will continuously obtain the latest temperature and humidity data, conduct real-time monitoring and adjustments, and ensure that the conditions in the environmental chamber always meet the preset requirements.

[0074] The method also includes: obtaining motion data of each servo motor under different motion parameters, and generating a motion characteristic curve of each servo motor according to the motion data of each servo motor under different motion parameters; comparing the motion characteristic curve of each servo motor with the corresponding preset standard motion characteristic curve to determine whether the motion characteristic of each servo motor meets the preset standard; if the motion characteristic of a first servo motor does not meet the preset standard, adjusting the first servo motor so that the motion characteristic of the first servo motor meets the preset standard.

[0075] In one example, in a vehicle steering system test method, the performance evaluation and adjustment of the servo motor is a key step to ensure the reliability and accuracy of the entire test system. This process includes obtaining the motion data of each servo motor under different motion parameters, generating a motion characteristic curve, comparing it with the preset standard, and making adjustments when necessary. The importance of this series of steps lies in that they can ensure the accuracy and consistency of the simulated steering input, thereby improving the reliability of the entire test process.

[0076] In the specific implementation, it is first necessary to obtain the motion data of each servo motor under different motion parameters. This includes data of large servo motors (used to simulate steering angle changes) and small servo motors (used to simulate vertical load changes). By changing the input parameters of the motor, such as speed, torque, etc., record the actual output data of the motor, such as actual speed, actual torque, position accuracy, etc. These data should cover the entire working range of the motor to ensure a comprehensive evaluation of the motor performance. Next, based on the acquired data, generate the motion characteristic curves of each servo motor. These curves may include speed-torque curves, position-time curves, torque-current curves, etc., which intuitively reflect the performance of the motor under different working conditions.

[0077] Then, the generated motion characteristic curve is compared with the preset standard motion characteristic curve. These preset standards are usually formulated based on the design specifications and expected performance of the motor. The comparison process may include comparison of curve shapes, comparison of key point values, etc. Through this comparison, it is determined whether the motion characteristics of each servo motor meet the preset standards. If it is found that the motion characteristics of a servo motor (such as the first servo motor) do not meet the preset standards, it needs to be adjusted. The adjustment process may include multiple aspects: hardware adjustment, such as adjusting the mechanical structure of the motor, replacing worn parts, etc.; software adjustment, such as optimizing the control algorithm, adjusting PID parameters, etc.; electrical adjustment, such as adjusting the drive parameters, optimizing current control, etc. The goal of the adjustment is to make the motion characteristics of the first servo motor meet the preset standards again. This process may require multiple iterations, and after each adjustment, data must be re-acquired, curves must be generated and compared until the preset standards are met.

[0078] After generating the performance test report of the component to be tested, it also includes: judging whether the component to be tested meets the preset performance standard according to the performance test report; if the component to be tested does not meet the preset performance standard, generating improvement suggestions, and outputting the improvement suggestions to the user interface so that the user can make adjustments according to the improvement suggestions.

[0079] In one example, the generated performance test report is evaluated against the preset performance standard. This preset performance standard usually includes multiple aspects, such as steering accuracy, response time, torque output stability, etc. The actual performance data of the component to be tested is compared with these standards item by item to determine whether each performance indicator meets the standard.

[0080] If it is found that some performance indicators of the component to be tested do not meet the preset standards, the next step is to generate improvement suggestions. This process requires in-depth analysis of the reasons for performance deviations, which may involve multiple aspects such as mechanical structure, material properties, and control algorithms. For example, if it is found that the steering accuracy is not up to standard, it may be necessary to analyze whether it is a problem with the accuracy of the mechanical transmission system or the response of the control algorithm is not accurate enough. Based on this analysis, targeted improvement suggestions are generated, such as optimizing the gear transmission structure, adjusting control parameters, and replacing high-precision sensors. These improvement suggestions should be specific and actionable, and the feasibility and cost-effectiveness of implementation should be taken into account. After generating improvement suggestions, the system will output these suggestions to the user interface. The design of the user interface should be intuitive and clear, allowing users to quickly understand the problem and the direction of improvement. For example, a chart can be used to intuitively display performance deviations, and the corresponding improvement suggestions can be listed next to the chart. The interface can also provide interactive functions, allowing users to view more detailed data analysis results or simulate the expected effects of different improvement plans.

[0081] like Figure 2 As shown, Figure 2 This is a schematic diagram of the loading assembly structure provided in an embodiment of the present application, which includes: a ball screw shaft 1; a guide rod 2; a movable plate 3; a screw nut 4; a rotation limit seat 5; a spline nut 6; a spline shaft 7; an upper support plate 8; a rotary shaft 9; and a rotating seat 10. Figure 2 It can be regarded as a loading component.

[0082] like Figure 3 As shown, Figure 3 is a schematic diagram of a motion component structure provided in an embodiment of the present application, Figure 3 It is a motion assembly, which includes a loading assembly and a frame 14, a large servo motor 12 and a small servo motor 13. These components work together to achieve multi-degree-of-freedom motion and can simulate various motion states in the vehicle steering system.

[0083] Among them, the small servo motor 13 drives the ball screw shaft 1 to achieve up and down movement, and the large servo motor 12 drives the spline shaft 7 through the reducer to achieve rotational movement. The ball screw shaft 1 and the spline shaft 7 are both installed vertically, and rolling bearings are provided at both ends of the shaft, which are fixed to the upper support plate 8 and the lower support plate 11. One end of the guide rod 3 is connected to the upper support plate 8, and the other end is connected to the lower support plate 11. The screw nut 4 is fixed to the movable plate 3; the outer ring of the slewing bearing 9 is fixed to the movable plate 3, and a rotation limit seat 5 is provided under the movable plate 3. The inner ring of the slewing bearing 9 is fixed to the rotating seat 10 assembly; the waist grooves on both sides of the rotating seat 10 are used to connect the vehicle steering system components to be tested.

[0084] Specifically, when the small servo motor 13 drives the screw shaft to rotate, and the spline shaft 7 does not rotate, the screw nut 4 drives the movable plate 3 to move up and down in the axial direction. This movement can simulate the load change of the vehicle steering system in the vertical direction. When the large servo motor 12 drives the spline shaft 7 to rotate, and the screw shaft does not rotate, the spline nut 6 drives the rotating seat 10 assembly to rotate within a set angle range. This movement can simulate the steering angle change of the vehicle steering system. By controlling two servo motors at the same time, a combination of up and down movement and rotational movement can be achieved, thereby simulating more complex vehicle steering conditions.

[0085] According to the parameters to be tested, the controller calculates the motion parameters of the simulated wheel resistance and wheel bounce position, and sets them to the large and small servo motors respectively. A rotary encoder is installed on the servo motor to collect the first data (actual speed, torque and position data). The second data of the vehicle steering motor is collected through the EtherCAT and CANFD interfaces.

[0086] During the test, the test piece is placed in the environmental chamber, and the environmental parameters are monitored by temperature sensors and humidity sensors to simulate the actual temperature control environment of the vehicle. The mechanism is equipped with multiple safety protection measures, including mechanical and electrical safety limit protection devices, to ensure the safety of the test process.

[0087] During implementation, the vehicle steering system component to be tested is installed in the waist-shaped groove of the rotating seat, and then the motion parameters of the large and small servo motors are set according to the parameters to be tested, the test is started, the servo motor drives the mechanism to move, and the vehicle steering motor is controlled through EtherCAT and CANFD, and the motion data and environmental data are collected through the rotary encoder and other sensors. Combined with the collected data, a performance test report of the component to be tested is generated.

[0088] In this way, the testing method of the present invention can fully simulate various working conditions that a vehicle steering system may encounter in actual use, and achieve accurate testing and evaluation of steering system components.

[0089] like Figure 4 As shown, Figure 4 This is a control schematic diagram provided by an embodiment of the present application, wherein the main control part includes a PC host computer with MITS software installed, which is connected to the Moog MSD private server motor controller via an Ethernet cable to realize the initialization configuration of its parameter settings. The PC host computer is connected to the Moog NGC controller via an Ethernet cable, and the initialization configuration of the entire system, test program compilation, test operation control and other functions are realized through MITS software.

[0090] The motion part includes all the servo motors that control the operation of the test system: M1 is a small servo motor that moves up and down on the left side. EN1 is the rotary encoder of this motor, which can calculate the rotation angle of the motor shaft. Through the virtual channel function of Moog MITS software, it can be converted into the position of the movable table mechanism. TH1 is the temperature sensor of this motor, which can monitor the operating temperature of the motor. M2 is a large servo motor that rotates on the left side. EN2 is the rotary encoder of this motor, which can calculate the rotation angle of the motor shaft. Through the virtual channel function of Moog MITS software, it can be converted into the angular position of the movable table mechanism; TH2 is the temperature sensor of this motor, which can monitor the operating temperature of the motor.

[0091] M3 is a small servo motor for up and down direct motion on the right side, with the same function as M1; M4 is a large servo motor for rotary drive on the right side, with the same function as M2; M5 is an optional steering angle control motor, which can apply a rotation angle that meets the test conditions to the steering system by connecting the steering shaft. EN5 is the rotary encoder of this motor, which can calculate the rotation angle of the motor shaft and simulate the steering wheel angle of the vehicle; TH5 is the temperature sensor of this motor, which can monitor the operating temperature of the motor.

[0092] The servo motors in the motion part are configured, controlled and monitored by the Moog MSD servo motor controller. The Moog MSD servo motor controller can be configured by connecting to the main control PC via Ethernet cable or by other PCs.

[0093] The environmental simulation part is optional. If this configuration is selected, an environmental chamber is arranged outside the test sample. The temperature sensor TA and humidity sensor MA of the environmental chamber can be monitored through the data acquisition function of the Moog NGC controller. The temperature and humidity of the environmental chamber can be controlled by outputting control electrical signals through the NGC controller.

[0094] The user sensor part allows users to configure according to test needs through the extended functions of the Moog NGC controller, such as steering wheel torque sensor T01, steering rod force sensor F01 and F02, or other user-customized sensors such as strain B01 / B02 / B03...

[0095] The vehicle steering system control module allows the user to connect other vehicle bus controllers through the Moog NGC controller to apply commands to the vehicle ECU or vehicle steering motor M0 to simulate various steering conditions. In this case, there is no need to use the device steering angle control motor M5.

[0096] Figure 5 is a simulation schematic diagram provided in an embodiment of the present application, wherein: Main functions: The left load mechanism 21 and the right load mechanism 27 simulate the reverse force of the wheel on the steering assembly 23 when the vehicle steering system is working; the left large private service motor M1 (19) and the right large private service motor M3 (28) simulate the wheel rotation resistance, the left small private service motor M2 (20) and the right small private service motor M4 (29) simulate the position of the wheel jumping up and down, and the main steering loading motor M5 (16) can also be set as required.

[0097] The steering loading mechanism simulates the angle and torque input of the vehicle steering wheel, and the steering torque sensor 17 can obtain the corresponding data. The steering torque sensor 17 is connected to the original vehicle steering motor M025 through the original vehicle steering link 32. The spare steering loading mechanism 18 can provide a support platform for other expansion needs.

[0098] The mounting platform 22 provides for the installation and position adjustment of the left-side load mechanism 21 and the right-side load mechanism 27 , and provides a universal T-slot iron platform for the installation of test specimens.

[0099] The Moog NGC controller 30 is the control center of the test bench, responsible for receiving information from other modules and issuing instructions.

[0100] The servo motor driver 31 receives the command from the Moog NGC controller 30, amplifies and outputs it to the servo motor for execution, and collects the encoder signal of the servo motor and feeds it back to the Moog NGC controller to form a closed-loop control.

[0101] The original vehicle steering assembly becomes the test sample to be tested. According to different vehicle models or testing rear wheel steering, the steering control module 26 (original vehicle ECU) can be installed to simulate the steering input, or the main steering loading mechanism 15 can be installed to simulate the steering input. Either one of the two can be selected.

[0102] The original vehicle steering rod or the processed steering rod 24 can be processed and installed with force sensors and displacement sensors according to test requirements. The sensors are connected to the Moog NGC controller 30 to realize data acquisition and closed-loop control.

[0103] Electronic control part description: The main controller uses the self-developed Moog NGC controller 30, which is a fully independent vehicle test controller. The controller adopts a modular design and can flexibly match the number of servo control channels according to needs. It can be configured with general analog and digital input and output modules, bridge acquisition modules, for additional functions such as data acquisition, over-limit protection, and event triggering. The Moog MSD modular multi-channel servo motor drive system can be connected and controlled via EtherCAT communication.

[0104] The motor servo control amplifier uses the self-developed Moog MSD modular multi-channel servo motor drive system, which can achieve ultra-high precision control of the servo motor. The current loop control response time is 62.5us (16kHz), and the speed loop and position loop response time is 125us (8kHz).

[0105] The test software is the self-developed MITS (Moog Integrated Test Suite) basic test software, which is a PC-based application software specially developed for automotive testing. It is mainly used for setting up multi-test station management, channel configuration, sensor calibration, system parameter adjustment, safety protection, operation monitoring test, data recording and other tasks.

[0106] like Figure 6 As shown, Figure 6 This is a schematic diagram of a software parameter configuration interface provided by an embodiment of the present application, and the user can directly configure the parameters according to the actual situation. Figure 7 As shown, Figure 7 This is a schematic diagram of a software experiment program editing interface provided in the embodiment of the present application. It is a Moog MITS software experiment program editing interface. Users can edit according to actual conditions. After editing, monitoring can be performed. The monitoring process can be seen in Figure 8 ,like Figure 8 As shown, Figure 8 It is a user-defined monitoring display interface provided in an embodiment of the present application, which is used to monitor monitoring data in real time.

[0107] Based on the above method, the present application also discloses a vehicle steering system testing device, such as Fig. 9 As shown, Fig. 9 It is a structural schematic diagram of a vehicle steering system testing device provided in an embodiment of the present application.

[0108] A vehicle steering system test device comprises: a first acquisition module, a receiving module, a second acquisition module and a combining module; wherein the first acquisition module is used to acquire the test parameters of the component to be tested in the vehicle steering system, set the motion parameters of multiple servo motors in the multi-axis servo control system according to the test parameters, and control the vehicle steering motor through EtherCAT and CANFD, wherein each servo motor is connected to the component to be tested; the receiving module is used to receive the first data sent by the rotary encoder on each servo motor when each servo motor moves according to the corresponding motion parameter; the second acquisition module is used to acquire the second data sent by the vehicle steering motor; the combining module is used to combine the first data and the second data to generate a performance test report of the component to be tested.

[0109] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0110] See also Fig.10 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.10 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0111] The communication bus 1002 is used to realize the connection and communication between these components.

[0112] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0113] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0114] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0115] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Fig.10 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program of a vehicle steering system testing method.

[0116] exist Fig.10In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program storing a vehicle steering system testing method in the memory 1005. When executed by one or more processors, the electronic device executes one or more methods described in the above embodiments.

[0117] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0118] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0119] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0124] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A vehicle steering system testing method, characterized in that: The method comprises: Acquire the test parameters of the component to be tested in the vehicle steering system, set the motion parameters of multiple servo motors in the multi-axis servo control system according to the test parameters, and control the vehicle steering motor through EtherCAT and CANFD, wherein each of the servo motors is connected to the component to be tested; When each of the servo motors moves according to the corresponding motion parameters, receiving first data sent by the rotary encoder on each of the servo motors; Acquire second data sent by the vehicle steering motor; A performance test report of the component to be tested is generated by combining the first data and the second data.

2. The vehicle steering system testing method according to claim 1, characterized in that: The plurality of servo motors include: a first motor, a second motor, a third motor and a fourth motor. The motion parameters of the plurality of servo motors in the multi-axis servo control system are set according to the parameters to be tested, including: Inputting the parameters to be tested into a controller so that the controller calculates a second motion parameter of the second motor and a fourth motion parameter of the fourth motor simulating wheel resistance, and a first motion parameter of the first motor and a third motion parameter of the third motor simulating wheel jumping position; The motion parameters of the first motor are set to the first motion parameters, the motion parameters of the second motor are set to the second motion parameters, the motion parameters of the third motor are set to the third motion parameters, and the motion parameters of the fourth motor are set to the fourth motion parameters.

3. The vehicle steering system testing method according to claim 1, characterized in that: The method further comprises: Receive steering wheel torque data sent by a steering wheel torque sensor, steering rod force data sent by a steering rod force sensor and corresponding data sent by other user-customized sensors, wherein the steering wheel torque sensor is located between the fifth motor and the original vehicle steering column, the fifth motor is an optionally installed motor, and the fifth motor is connected to the original vehicle steering column to simulate steering wheel input.

4. The vehicle steering system testing method according to claim 1, characterized in that: The combining the first data and the second data to generate a performance test report of the component under test includes: Acquire the actual speed, actual torque and actual position data of each of the servo motors in the first data, and the actual speed, actual torque and actual position data of the vehicle steering motor in the second data; Calculating the actual motion parameters of the component to be tested according to the actual speed, actual torque and actual position data of each servo motor, and calculating the actual motion parameters of the vehicle steering system according to the actual speed, actual torque and actual position data of the vehicle steering motor; Comparing the actual motion parameters of the component to be tested with the preset first theoretical motion parameters to obtain performance deviation data of the component to be tested, and comparing the actual motion parameters of the vehicle steering system with the preset second system theoretical motion parameters to obtain performance deviation data of the vehicle steering system; A performance test report of the component to be tested is generated according to the performance deviation data of the component to be tested and the performance deviation data of the vehicle steering system.

5. The vehicle steering system testing method according to claim 1, characterized in that: The method further comprises: Acquire target temperature data sent by a target temperature sensor and humidity data sent by a humidity sensor in an environmental chamber, wherein the component to be tested is arranged in the environmental chamber, and the target temperature sensor and the humidity sensor are arranged in the environmental chamber; According to the target temperature data and the humidity data, determining whether the temperature and humidity in the environmental chamber meet the preset requirements; If the temperature and / or humidity data in the environmental chamber do not meet the preset requirements, a control signal is output to the temperature control device and the humidity control device in the environmental chamber to adjust the temperature and humidity in the environmental chamber until the temperature and humidity in the environmental chamber meet the preset requirements.

6. The vehicle steering system testing method according to claim 1, characterized in that: The method further comprises: Acquiring motion data of each of the servo motors under different motion parameters, and generating a motion characteristic curve of each of the servo motors according to the motion data of each of the servo motors under different motion parameters; Comparing the motion characteristic curve of each servo motor with the corresponding preset standard motion characteristic curve to determine whether the motion characteristic of each servo motor meets the preset standard; If the motion characteristic of the first servo motor does not meet the preset standard, the first servo motor is adjusted to make the motion characteristic of the first servo motor meet the preset standard.

7. The vehicle steering system testing method according to claim 1, characterized in that: After generating the performance test report of the component to be tested, the method further includes: According to the performance test report, determining whether the component to be tested meets the preset performance standard; If the component to be tested does not meet the preset performance standard, an improvement suggestion is generated and the improvement suggestion is output to a user interface so that the user can make adjustments according to the improvement suggestion.

8. A vehicle steering system testing device, characterized in that: The device comprises: a first acquisition module, a receiving module, a second acquisition module and a combining module; wherein, The first acquisition module is used to acquire the test parameters of the component to be tested in the vehicle steering system, set the motion parameters of multiple servo motors in the multi-axis servo control system according to the test parameters, and control the vehicle steering motor through EtherCAT and CANFD, wherein each of the servo motors is connected to the component to be tested; The receiving module is used to receive the first data sent by the rotary encoder on each of the servo motors when each of the servo motors moves according to the corresponding motion parameters; The second acquisition module is used to acquire second data sent by the vehicle steering motor; The combining module is used to combine the first data and the second data to generate a performance test report of the component to be tested.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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