Steering system simulation method and device, electronic equipment and storage medium

Abstract

The invention provides a steering system simulation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a first whole vehicle model which comprises simulation rigidity and simulation electric power characteristics in a steering system; and performing joint simulation on the friction model in the steering system and the first whole vehicle model to obtain whole vehicle simulation data. According to the embodiment of the invention, when joint simulation is carried out, simulation rigidity, simulation electric power assisting characteristics and friction in a steering system are fully considered, a high-precision whole vehicle model obtained through joint simulation is used for testing the real vehicle handling stability through simulation, and an effective tool is provided for evaluation of the vehicle handling stability through whole vehicle simulation data. In addition, the friction model is independently regarded as a whole for modeling, the testing time of a steering system rack can be saved, and the development cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to a steering system simulation method, device, electronic device and storage medium. Background Art

[0002] In the field of automotive engineering, Automatic Dynamic Analysis of Mechanical Systems (Adams) is a widely used vehicle dynamics analysis and simulation software. It studies vehicle handling dynamics based on virtual prototype technology, allowing automotive R&D personnel to quickly predict vehicle performance characteristics and achieve short-cycle, low-cost development.

[0003] In the related art, when using Adams to model a whole vehicle, the steering system template provided by the Adams software is usually used to simulate the steering system in the whole vehicle system, so as to obtain whole vehicle simulation data.

[0004] However, the steering system template provided by Adams software ignores many factors that affect the stability of the steering system, which can easily lead to insufficient evaluation of the vehicle's handling stability under extreme conditions. In other words, the current model fails to fully consider the impact of the steering system on the dynamic behavior of the vehicle, affecting the R&D personnel's evaluation of the vehicle under extreme conditions.

[0005] It should be pointed out that the information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0006] In view of this, the present application provides a steering system simulation method, device, electronic device and storage medium to solve the problem in the prior art. However, the steering system template provided by Adams software ignores many factors that affect the stability of the steering system, which can easily lead to insufficient evaluation of the vehicle's handling stability under extreme conditions. In other words, the current model fails to fully consider the impact of the steering system on the dynamic behavior of the entire vehicle, affecting the evaluation of the vehicle under extreme conditions by R&D personnel.

[0007] In a first aspect, an embodiment of the present application provides a steering system simulation method, comprising: Acquire a first vehicle model, wherein the first vehicle model includes simulated stiffness and simulated electric power steering characteristics in a steering system; The friction model in the steering system is jointly simulated with the first whole vehicle model to obtain whole vehicle simulation data.

[0008] In an embodiment of the present application, a first vehicle model including simulated stiffness and simulated electric power-assistance characteristics in the steering system is obtained, and the friction model in the steering system is co-simulated with the first vehicle model to obtain vehicle simulation data. It can be understood that the simulated stiffness, simulated electric power-assistance characteristics and friction in the steering system are fully considered during the co-simulation in the embodiment of the present application. The high-precision vehicle model obtained by the co-simulation is tested by simulating the handling stability of the actual vehicle, and the whole vehicle simulation data provides an effective tool for evaluating the vehicle handling stability. In addition, modeling the friction model as a whole can save the bench test time of the steering system and reduce development costs.

[0009] In a possible implementation, obtaining the first vehicle model includes: Obtain the stiffness characteristic curve and electric power-assistance characteristic curve of the steering system; Generate a kit property file according to the stiffness characteristic curve; generating a 3D spline curve according to the electric power assist characteristic curve; A first vehicle model is generated according to the kit attribute file, the 3D spline curve and the steering system model.

[0010] In an embodiment of the present application, a kit property file is generated according to the stiffness characteristic curve, a 3D spline curve is generated according to the electric power-assistance characteristic curve, and a first vehicle model is generated according to the obtained kit property file, the 3D spline direction and the steering system model. Because the stiffness and electric power-assistance characteristics of the steering system tested on the bench may not be complete and cannot include certain extreme cases, it is necessary to fit and extend the stiffness of the steering system and write it into the bushing property file. The electric power-assistance characteristic data tested on the bench also needs to be integrated into a 3D spline curve. It can be understood that integrating the stiffness characteristics and electric power-assistance characteristic data obtained from the bench test into a curve is more convenient for integration with the steering system model, thereby quickly obtaining the first vehicle model.

[0011] In a possible implementation, generating a first vehicle model according to the kit attribute file, the 3D spline curve and the steering system model includes: Inputting the kit attribute file and the 3D spline curve into a steering system model to generate a steering system model with simulated stiffness and simulated electric power-assistance characteristics; The steering system model with simulated stiffness and simulated electric power-assistance characteristics is assembled into a first whole vehicle model.

[0012] In the embodiment of the present application, a ready-made steering system model is used, and the kit attribute file and the 3D spline curve are input into the ready-made steering system model to obtain a steering system model with simulated stiffness and simulated electric power steering characteristics, and the steering system model is assembled into a first vehicle model. In addition, in the embodiment of the present application, "the kit attribute file and the 3D spline curve are input into the ready-made steering system model" is not a simple insertion, but after modifying the topological structure of the steering system model, the bushing in the steering system model is replaced with the bushing attribute file, and the 3D spline curve is inserted into the steering system model in an interpolation manner. It can be understood that the first vehicle model can be quickly obtained by making modifications based on the ready-made steering system model.

[0013] In a possible implementation, the steering system includes a steering column and a steering gear, and the bushing property file includes: A steering column bushing property file and a steering gear bushing property file, wherein the steering column bushing property file is a file obtained according to a stiffness characteristic curve corresponding to the bushing on the steering column, and the steering gear bushing property file is a file obtained according to a stiffness characteristic curve corresponding to the bushing on the steering gear.

[0014] In the embodiment of the present application, the steering system includes a steering column and a steering gear, so the steering system bushing attribute file includes a steering column bushing attribute file and a steering gear bushing attribute file. That is to say, in the embodiment of the present application, a bushing is respectively provided at the steering column and the steering gear, so as to respectively simulate the stiffness at the steering column and the steering gear, so as to obtain a more accurate stiffness of the steering system. Of course, it is also possible to only provide a bushing at the steering column to simulate the stiffness of the entire steering system.

[0015] In a possible implementation, before jointly simulating the friction model in the steering system with the first whole vehicle model to obtain whole vehicle simulation data, the method further includes: Identifying friction model parameters according to friction data, wherein the friction data is data obtained by bench testing of the steering system; A friction model is generated according to the friction model parameters and the friction model formula.

[0016] In the embodiment of the present application, the friction data obtained by the bench test of the steering system is obtained, the friction model parameters are identified, and the friction model is generated according to the friction model parameters and the friction model formula. It can be understood that when generating the friction model, the friction data obtained by the bench test cannot be directly used, so the friction data needs to be converted into the friction model parameters to generate the friction model. Converting the friction data into the friction model parameters in advance can improve work efficiency.

[0017] In a possible implementation, generating the friction model according to the friction model parameters and the friction model formula includes: Simulating the first vehicle model to obtain a corresponding relationship between a steering wheel angle and time; The friction model in the steering system is obtained according to the friction model parameters, the friction model formula and the corresponding relationship between the steering wheel angle and time.

[0018] In the embodiment of the present application, the first vehicle model is simulated to obtain the corresponding relationship between the steering wheel angle and time, so as to generate a friction model according to the corresponding relationship between the steering wheel angle and time. It can be understood that by generating a corresponding friction model according to the corresponding relationship between the steering wheel angle and time corresponding to the first vehicle model, a more accurate friction model that better matches the first vehicle model can be obtained.

[0019] In a possible implementation, the friction model formula is a Lugre friction model formula.

[0020] In the embodiment of the present application, when obtaining the friction model, the Lugre friction model formula is used, which is more consistent with the friction characteristics between the steering wheel and the steering column, thereby obtaining a more accurate friction model.

[0021] In a second aspect, an embodiment of the present application provides a steering system simulation device, comprising: A first vehicle model acquisition module is used to acquire a first vehicle model, wherein the first vehicle model includes simulated stiffness and simulated electric power-assistance characteristics in a steering system; The simulation data acquisition module performs a joint simulation on the friction model in the steering system and the first whole vehicle model to obtain whole vehicle simulation data.

[0022] In a third aspect, an embodiment of the present application provides an electronic device, including: processor; Memory; And a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, and when the instructions are executed by the processor, the electronic device executes any one of the methods described in the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described in the first aspect.

[0024] It is understandable that the steering system simulation device provided in the second aspect, the electronic device provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are used to execute the method provided in the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application; Figure 2 A schematic diagram of a flow chart of a steering system simulation method provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of a steering system provided in an embodiment of the present application; Figure 4 A schematic diagram of a test table for a stiffness test provided in an embodiment of the present application; Figure 5 A schematic diagram of a stiffness curve provided in an embodiment of the present application; Figure 6 A test table for a steering assist test provided in an embodiment of the present application; Figure 7 A schematic diagram of a 3D spline curve provided in an embodiment of the present application; Figure 8 A test table for a steering friction and damping test provided in an embodiment of the present application; Fig. 9 A schematic diagram of the connection method of various components of a steering system provided in an embodiment of the present application; Fig.10 A structural schematic diagram of a Lugre friction model in a joint simulation model provided in an embodiment of the present application; Fig.11 A schematic diagram of simulation data provided in an embodiment of the present application; Fig.12 A schematic diagram of another simulation data provided in an embodiment of the present application; Fig.13 A schematic diagram of another simulation data provided in an embodiment of the present application; Fig.14 A flowchart of another system simulation method provided in an embodiment of the present application; Fig.15 A schematic diagram of the structure of a steering system simulation device provided in an embodiment of the present application; Fig.16 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0028] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0029] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0030] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0031] In the field of automotive engineering, Automatic Dynamic Analysis of Mechanical Systems (Adams) is a widely used vehicle dynamics analysis and simulation software. It studies vehicle handling dynamics based on virtual prototype technology, allowing automotive R&D personnel to quickly predict vehicle performance characteristics and achieve short-cycle, low-cost development.

[0032] To facilitate understanding, a specific application scenario is first exemplified below.

[0033] See also Figure 1 , is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 As shown, in this application scenario, a virtual model of a steering system (including a steering column 101 and a steering gear 102) and a steering wheel 103 is shown. The steering wheel 103 is mechanically connected to one end of the steering column 101, and the other end of the steering column 101 is connected to the steering gear 102. It can be understood that the virtual model is obtained by simulation based on the actual steering system and steering wheel of the vehicle. Of course, Figure 1 The virtual model shown in the figure is only an exemplary description and should not be used as a limitation on the protection scope of the present application. In practical applications, the steering system may have other connection modes or be connected to other devices.

[0034] In the related art, when using Adams to model a whole vehicle, the steering system template provided by the Adams software is usually used to simulate the steering system in the whole vehicle system, so as to obtain whole vehicle simulation data.

[0035] However, the steering system template provided by Adams software ignores many factors that affect the stability of the steering system, which can easily lead to insufficient evaluation of the vehicle's handling stability under extreme conditions. In other words, the current model fails to fully consider the impact of the steering system on the dynamic behavior of the vehicle, affecting the R&D personnel's evaluation of the vehicle under extreme conditions.

[0036] In response to the above problems, an embodiment of the present application provides a steering system simulation method. In the embodiment of the present application, a first vehicle model including simulated stiffness and simulated electric power-assist characteristics in the steering system is obtained, and the friction model in the steering system is jointly simulated with the first vehicle model to obtain vehicle simulation data. It can be understood that the embodiment of the present application fully considers the simulated stiffness, simulated electric power-assist characteristics and friction in the steering system when performing joint simulation. The high-precision vehicle model obtained by the joint simulation is tested by simulating the handling stability of the actual vehicle, and the whole vehicle simulation data provides an effective tool for evaluating the vehicle handling stability. In addition, the friction model is modeled as a whole, which can save the bench test time of the steering system and reduce the development cost. It is described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] See also Figure 2 , is a flow chart of a steering system simulation method provided in an embodiment of the present application. The method can be applied to Figure 1 The application scenarios shown are as follows: Figure 2 As shown, the method mainly includes the following steps.

[0038] Step S201: Obtain a first vehicle model.

[0039] Specifically, the first vehicle model includes simulated stiffness and simulated electric power-assistance characteristics in the steering system, wherein the stiffness of the steering system is used to describe the relationship between the steering torque and the steering angle.

[0040] It can be understood that by simulating the stiffness in the steering system, the similarity between the first vehicle model and the actual vehicle can be improved, and the simulation accuracy can be improved. And most of the current vehicles are equipped with power steering to facilitate the driver to turn the steering wheel effortlessly. Of course, power steering includes many types. The electric power steering characteristics are simulated in the embodiment of the present application, because the power steering on most of the current vehicles is electric power steering, and electric power steering is easier to simulate. Therefore, the simulation of the electric power steering characteristics of the present application can be tried at a lower cost for the simulation of more vehicles.

[0041] In one possible implementation, the first vehicle model is obtained by obtaining a stiffness characteristic curve and an electric power-assistance characteristic curve of the steering system, generating a kit attribute file based on the stiffness characteristic curve, generating a 3D spline curve based on the electric power-assistance characteristic curve, and then generating the first vehicle model based on the kit attribute file, the 3D spline curve and the steering system model.

[0042] In an embodiment of the present application, the steering system is bench tested to obtain detailed information on the stiffness and electric power-assist characteristics, the steering system stiffness obtained from the test is fitted and extended, and written into the bushing property file, the Z-direction torque stiffness of the bushing is replaced by the stiffness curve, and the torques in other directions are set to 0.

[0043] In the embodiment of the present application, the stiffness test results of the steering system, the steering gear and the steering column are obtained by respectively setting the torsion rates of different parts in the steering system.

[0044] In order to facilitate the description of various parts of the steering system in the following text, an embodiment of the present application provides a structural schematic diagram of the steering system.

[0045] See also Figure 3 , is a schematic diagram of the structure of a steering system provided in an embodiment of the present application. Figure 3 As shown, the steering system may include a steering column 101, a tie rod 302, and a steering gear ( Figure 3 ), wherein the steering column 101 includes a column upper end 1011 and a column lower end 1012, and the tie rod 302 includes a tie rod first outer end 3021 and a tie rod second outer end 3022. Figure 3 Although the steering gear is not shown, the upper end 301 of the steering gear pinion input shaft is shown. Of course, the steering system in the embodiment of the present application is only an exemplary description. In actual applications, the steering system may also include other components, or the steering system may have other structures, and the embodiment of the present application does not specifically limit this.

[0046] For ease of understanding, an embodiment of the present application provides a test table for a stiffness test.

[0047] See also Figure 4 , is a schematic diagram of a test table for a stiffness test provided in an embodiment of the present application. Figure 4 As shown, the test type is a steering stiffness test. The test conditions of the steering system include: fixing the outer end of the tie rod, taking the upper end of the steering column as the input end, the torsion rates are 1Nm / s, 5 Nm / s and 10 Nm / s respectively, the torque protection value is ±50 Nm, and the test is carried out for 2 cycles. The steering gear is installed with a bushing connection. The test conditions of the steering gear include: fixing the outer end of the tie rod, taking the upper end of the steering gear pinion input end as the input end, the torsion rates are 1Nm / s, 5 Nm / s and 10 Nm / s respectively, the torque protection value is ±50 Nm, and the test is carried out for 2 cycles. The test conditions of the steering column include: fixing the lower end of the steering column, taking the upper end of the steering column as the input end, the torsion rates are 1Nm / s, 5 Nm / s and 10 Nm / s respectively, the torque protection value is ±50 Nm, and the test is carried out for 2 cycles. Among them, the outer end of the tie rod includes Figure 3 The first outer end of the tie rod and the second outer end of the tie rod in the embodiment shown, the upper end of the steering gear pinion input shaft, the upper end of the steering column and the lower end of the steering column are as shown in FIG. Figure 3 As shown. The output of the steering stiffness test includes: sampling time, input angle, output torque, rack force, rack displacement, left tie rod force, right tie rod force, voltage and current. Whether it is the steering system, steering gear or steering column, the power assist needs to be turned off during the steering stiffness test. Of course, the test conditions in the steering stiffness test can be adaptively adjusted according to actual conditions, and the embodiments of the present application do not impose specific restrictions on this.

[0048] Through the steering stiffness test, the stiffness data of the steering system can be obtained, and the stiffness data is fitted and extended and written into the bushing property file. It should be pointed out that the extension in the embodiment of the present application refers to the extension curve.

[0049] For example, see Figure 5 , is a schematic diagram of a stiffness curve provided in an embodiment of the present application. Figure 5 As shown, the stiffness test only tests -7° to 7°, but the actual torsion angle may exceed 7° or -7°. However, we assume that the curve beyond 7° and -7° is linear, thus extending it to a larger angle to obtain a more complete curve.

[0050] In addition, the embodiment of the present application also provides a test form for a steering assist test.

[0051] See also Figure 6 , is a test table for a steering assist test provided in an embodiment of the present application. Figure 6As shown, the test type is a steering power test, the test object is a steering system, and the test conditions are: the outer end of the steering tie rod is fixed, the steering wheel angle rate is 20deg / s, and the steering wheel amplitude is 500deg. This value can be determined by the system design. In other words, the steering wheel amplitude is not specifically limited in the embodiment of the present application. The steering wheel loading form is a triangular wave, and it pauses for 2 seconds after loading to the peak value. The test is 4 cycles. Of course, the number of cycles can be adaptively adjusted according to actual conditions, and the embodiment of the present application does not impose specific restrictions on this. The vehicle speeds are 0, 10, 20, 30, 40, 50, 60, 70, 90, 110, 120 and 140km / h, respectively, and the load loading method includes a triangular wave. Exemplarily, one cycle of the load loading method can be 0→500→-500→0→-500→500→0. Similarly, the test conditions in the steering power test can be adaptively adjusted according to actual conditions, and the embodiment of the present application does not impose specific restrictions on this.

[0052] In the embodiment of the present application, the data obtained from the steering power test is processed and fitted to obtain an electric power-assistance characteristic curve, and the power-assistance characteristic curve is converted into a 3D spline curve. For ease of understanding, the embodiment of the present application also provides a schematic diagram of a 3D spline curve.

[0053] See also Figure 7 , is a schematic diagram of a 3D spline curve provided in an embodiment of the present application. Figure 7 As shown, the X-axis is the steering wheel feedback torque, the Y-axis is the vehicle speed, and the Z-axis is the steering assist torque. As shown in the figure, the closer the color is to red, the greater the steering assist torque. When the steering wheel torque remains unchanged, the greater the vehicle speed, the greater the steering assist torque; when the vehicle speed remains unchanged, the greater the steering wheel torque, the greater the steering assist torque; and the influence of the steering wheel torque on the steering assist torque is greater than the influence of the vehicle speed on the steering assist torque.

[0054] In an embodiment of the present application, after obtaining the kit property file and the 3D spline curve, the kit property file and the 3D spline curve are input into the steering system model to generate a steering system model with simulated stiffness and simulated electric power steering characteristics, and the steering system model with simulated stiffness and simulated electric power steering characteristics is assembled into a first vehicle model.

[0055] In one possible implementation, the steering system includes but is not limited to a steering column and a steering gear, and the bushing attribute file includes a steering system bushing attribute file and a steering gear bushing attribute file, wherein the steering column bushing attribute file is a file obtained according to a stiffness characteristic curve corresponding to the bushing on the steering column, and the steering gear bushing attribute file is a file obtained according to a stiffness characteristic curve corresponding to the bushing on the steering gear.

[0056] Specifically, the kinematic connection mode of the steering system can be modified, and the steering column and steering gear can be divided into two parts, upper and lower, connected with a revolute pair and a bushing, and the bushing uses the bushing property file obtained by identifying the results of the steering system stiffness test. Of course, the stiffness of the steering system can be established in the steering column and the steering gear respectively, or the stiffness of the entire system can be represented by a bushing and established at the steering column.

[0057] Step S202: jointly simulate the friction model in the steering system and the first whole vehicle model to obtain whole vehicle simulation data.

[0058] Specifically, the steering system simulation device performs a joint simulation on the friction model in the steering system and the first vehicle model to obtain vehicle simulation data. In a possible implementation, after building the friction model in the joint simulation model, the model parameters are input and the joint simulation is performed to obtain a res file, which can be opened with Adams to obtain high-precision model simulation data.

[0059] In a possible implementation, before the joint simulation, the steering system simulation device also includes identifying friction model parameters based on friction data, where the friction data is data obtained by bench testing of the steering system, and generating a friction model based on the friction model parameters and friction model formulas.

[0060] In the embodiment of the present application, friction data is obtained through bench testing, and the friction data obtained from the test is brought into the friction model using the least square method to identify the friction model parameters. For ease of understanding, the embodiment of the present application also provides a test table for steering friction and damping tests.

[0061] See also Figure 8 , is a test table for a steering friction and damping test provided in an embodiment of the present application. Figure 8 As shown, the test type is steering friction and damping test, the test object is the steering system, and the test conditions are: angle amplitude ±500deg; 2 cycles in total; steering tie rod disconnected; input end is the upper end of the steering column; vehicle speed is 0-140km / h and the test is conducted every 40m / h (specifically, 0, 40, 80, 120, 140km / h respectively); the angle rates are 30, 100, and 300deg / s respectively. The test output includes: sampling time, input angle, output torque, rack force, rack displacement, left tie rod force, right tie rod force, voltage and current. The power assist state is on. Similarly, the test conditions in the steering friction and damping test can be adaptively adjusted according to actual conditions, and the embodiments of the present application do not impose specific restrictions on this.

[0062] In addition, in a possible implementation method, the method of generating a friction model includes: simulating a first vehicle model to obtain the corresponding relationship between the steering wheel angle and time, and obtaining the friction model in the steering system according to the friction model parameters, the friction model formula and the corresponding relationship between the steering wheel angle and time.

[0063] In the embodiment of the present application, the system variables and the relative input parameters of the friction damping are created, and the three-component torque is established between the steering wheel and the steering column mounting member. The torque around the Z axis is used as the variable of the input friction damping, and the torque in other directions is set to 0. In addition, because the friction model needs to be simulated in Simulink, it is necessary to configure the interface of the joint simulation of Adams and Simulink in the first vehicle model when simulating the friction model with the first vehicle model. Set the working condition on Adams for simulation, and obtain the joint simulation file under the working condition and the data on the relationship between the turning angle and time.

[0064] In order to facilitate the introduction of the friction model, the steering system topology is modified, a friction damping input interface is created, and the connection mode of each component of the steering system is modified. For ease of understanding, the embodiment of the present application also provides a schematic diagram of the connection mode of each component of the steering system.

[0065] See also Fig. 9 , is a schematic diagram of the connection method of various components of a steering system provided in an embodiment of the present application. Fig. 9 As shown in a, it is a schematic diagram of the connection method of each component of the steering system. Part I adopts the first component, and part J adopts the second component. Among them, Fig. 9 The position of the components in a in the steering system is as follows Fig. 9 As shown in b. Fig. 9 b shows the steering wheel 103, the steering column 101, the column mounting member 901, the column auxiliary body 902, the column dummy 903, the intermediate shaft 904, the input shaft 905, the gear 906, the rack 907 and the rack frame 908. Of course, Fig. 9 The connection method is only an exemplary description and should not be used as a limitation on the scope of protection.

[0066] In a possible implementation, the friction model formula is the Lugre friction model formula. A Lugre friction model is established in the joint simulation interface of Adams and Simulink. The input of the friction model is the relationship between time and angle under the working condition, and the output is the friction torque of the steering system. The friction torque is input into the joint simulation model. After the joint simulation, Adams is used to read the res file generated by the joint simulation to obtain data.

[0067] Among them, the Lugre friction model formula is: in, is the relative sliding velocity of the contact surface, in m / s; is the Coulomb friction force, in units of ; is the maximum static friction, which is generally greater than Coulomb friction, and its unit is N; is the Stribeck speed, in units of ; is the Stribeck index, which usually varies between 0.5 and 2; is the stiffness of the bristle, in units of ; is the bristle damping coefficient, in units of ; is the viscous damping coefficient, in units of .

[0068] For ease of understanding, an embodiment of the present application also provides a method for building a Lugre friction model in a joint simulation model.

[0069] See also Fig.10 , is a schematic diagram of the structure of a Lugre friction model in a joint simulation model provided in an embodiment of the present application. Fig.10 As shown in the figure, in Simulink, x is a multiplier, 1 / s is a standard symbol for an integral operation, and |u| means taking the absolute value of the input signal. Of course, Fig.10 The structure in the figure is only an exemplary description and should not be regarded as limiting the scope of protection.

[0070] The data of electric power-assist characteristics obtained from the power-steering experiment are processed and fitted to obtain the electric power-assist characteristic curve, and the power-assist characteristic curve is added into Adams through a 3D spline curve. The power-assist torque is obtained by difference and applied to the cylindrical pair of the column and the column mounting part to obtain the power-steering characteristic model.

[0071] In a possible implementation, the whole vehicle simulation data obtained by performing a joint simulation on the steering system includes a variety of data, for example, a corresponding relationship between the vehicle lateral acceleration and time, a corresponding relationship between the vehicle yaw rate and time, a corresponding relationship between the vehicle roll angle and time, and a corresponding relationship between the vehicle slide and roll angle and time.

[0072] See also Fig.11 , is a schematic diagram of simulation data provided in an embodiment of the present application. Fig.11As shown, the data obtained through simulation of the high-precision model in the embodiment of the present application has a higher degree of overlap with the measured data, so the method provided in the embodiment of the present application can obtain vehicle simulation data with higher accuracy.

[0073] See also Fig.12 , is a schematic diagram of another simulation data provided in the embodiment of the present application. Fig.12 As shown, the data obtained through simulation of the high-precision model in the embodiment of the present application has a higher degree of overlap with the measured data, so the method provided in the embodiment of the present application can obtain vehicle simulation data with higher accuracy.

[0074] See also Fig.13 , is a schematic diagram of another simulation data provided in the embodiment of the present application. Fig.13 As shown, the data obtained through simulation of the high-precision model in the embodiment of the present application has a higher degree of overlap with the measured data, so the method provided in the embodiment of the present application can obtain vehicle simulation data with higher accuracy.

[0075] Corresponding to the above embodiment, the embodiment of the present application also provides a flowchart of another system simulation method.

[0076] See also Fig.14 , is a flow chart of another method for simulating a system provided in an embodiment of the present application. Fig.14 As shown, stiffness data, power-assistance characteristic data and friction damping data are obtained through bench testing of the steering system, and the stiffness data is fitted and extended to obtain the stiffness characteristic curve, and the bushing attribute file is generated according to the stiffness characteristic curve. The power-assistance characteristic data is processed and fitted into the power-assistance characteristic curve, and a 3D spline curve is generated according to the power-assistance characteristic curve, and the friction damping data is identified as the Lugre friction model parameters. The bushing attribute file is replaced with the bushing, and the 3D spline curve is inserted as an interpolation to modify the topological structure and create a steering system model with a friction input interface, and a steering system with stiffness and electric power-assistance characteristics is obtained. The steering system is assembled into a vehicle model with stiffness and electric power-assistance characteristics, and the relationship between steering wheel time and turning angle is obtained through simulation. The Lugre friction model parameters are input into the Lugre friction model, and the Lugre friction model is jointly simulated with the vehicle model with stiffness and electric power-assistance characteristics to obtain a joint simulation model, and the joint simulation model is simulated to obtain a res file, and the simulation data is read through Adams.

[0077] Corresponding to the above-mentioned embodiment, the embodiment of the present application further provides a steering system simulation device.

[0078] See also Fig.15 , is a schematic diagram of the structure of a steering system simulation device provided in an embodiment of the present application. Fig.15As shown, the steering system simulation device may include a first vehicle model acquisition module 1501 and a simulation data acquisition module 1502. These components communicate via one or more buses. Those skilled in the art will appreciate that the structure of the electronic device shown in the figure does not limit the embodiments of the present application. It may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0079] The first vehicle model acquisition module 1501 acquires a first vehicle model, wherein the first vehicle model includes simulated stiffness and simulated electric power-assistance characteristics in the steering system; The simulation data acquisition module 1502 performs a joint simulation on the friction model in the steering system and the first whole vehicle model to obtain whole vehicle simulation data.

[0080] Corresponding to the above embodiments, the present application also provides an electronic device.

[0081] See also Fig.16 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.16 As shown, the electronic device 1600 may include: a processor 1601, a memory 1602 and a communication unit 1603. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present application. It can be a bus structure or a star structure, and can also include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0082] The communication unit 1603 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0083] The processor 1601 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs, instructions, and / or modules stored in the memory 1602, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 1601 can include only a central processing unit (CPU). In the embodiment of the present application, the CPU can be a single computing core or multiple computing cores.

[0084] The memory 1602 is used to store the execution instructions of the processor 1601. The memory 1602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0085] When the execution instructions in the memory 1602 are executed by the processor 1601, the electronic device 1600 can execute Figure 2 Some or all of the steps in the illustrated embodiments.

[0086] In a specific implementation, the embodiment of the present application further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the simulation scene generation method provided in the embodiment of the present application. The storage medium may be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0087] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0088] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In several embodiments provided in the present application, if any function 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 storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0091] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A steering system simulation method, characterized in that: include: Acquire a first vehicle model, wherein the first vehicle model includes simulated stiffness and simulated electric power steering characteristics in a steering system; The friction model in the steering system is jointly simulated with the first whole vehicle model to obtain whole vehicle simulation data.

2. The method according to claim 1, characterized in that The obtaining of the first vehicle model comprises: Obtain the stiffness characteristic curve and electric power-assistance characteristic curve of the steering system; Generate a kit property file according to the stiffness characteristic curve; generating a 3D spline curve according to the electric power assist characteristic curve; A first vehicle model is generated according to the kit attribute file, the 3D spline curve and the steering system model.

3. The method according to claim 2, characterized in that The step of generating a first vehicle model according to the kit attribute file, the 3D spline curve and the steering system model comprises: Inputting the kit attribute file and the 3D spline curve into a steering system model to generate a steering system model with simulated stiffness and simulated electric power-assistance characteristics; The steering system model with simulated stiffness and simulated electric power-assistance characteristics is assembled into a first whole vehicle model.

4. The method according to claim 3, characterized in that The steering system includes a steering column and a steering gear, and the bushing property file includes: A steering column bushing property file and a steering gear bushing property file, wherein the steering column bushing property file is a file obtained according to a stiffness characteristic curve corresponding to the bushing on the steering column, and the steering gear bushing property file is a file obtained according to a stiffness characteristic curve corresponding to the bushing on the steering gear.

5. The method according to claim 3, characterized in that: Before jointly simulating the friction model in the steering system with the first whole vehicle model to obtain whole vehicle simulation data, the method further includes: Identifying friction model parameters according to friction data, wherein the friction data is data obtained by bench testing of the steering system; A friction model is generated according to the friction model parameters and the friction model formula.

6. The method according to claim 5, characterized in that The generating of the friction model according to the friction model parameters and the friction model formula comprises: Simulating the first vehicle model to obtain a corresponding relationship between a steering wheel angle and time; The friction model in the steering system is obtained according to the friction model parameters, the friction model formula and the corresponding relationship between the steering wheel angle and time.

7. The method according to claim 5 or 6, characterized in that: The friction model formula is the Lugre friction model formula.

8. A steering system simulation device, characterized in that: include: A first vehicle model acquisition module is used to acquire a first vehicle model, wherein the first vehicle model includes simulated stiffness and simulated electric power-assistance characteristics in a steering system; The simulation data acquisition module performs a joint simulation on the friction model in the steering system and the first whole vehicle model to obtain whole vehicle simulation data.

9. An electronic device, characterized in that: include: processor; Memory; And a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, and when the instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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