Chassis dynamometer and control method thereof

Abstract

The purpose of the present invention is to obtain a chassis dynamometer capable of performing a travel test of a vehicle with high accuracy in accordance with the travel state of the vehicle. A steering model controller (22) in a chassis dynamometer (1) of the present invention executes a turning determination process for determining whether the traveling state of a vehicle (60) is a turning state or a straight traveling state on the basis of the result of comparison between a comparison turning radius calculated using left steering angle information (S1L) and right steering angle information (S1R) and a determination turning radius. The steering model controller (22) executes a turning control process as a roller control process to be executed when a turning state is determined. The swing control process is a process for outputting, to the roller drive mechanism (DM1), a process of four roller drive commands for rotationally driving four rollers in accordance with the turning state of the vehicle (60).

Description

Technical Field

[0001] The invention relates to a chassis dynamometer used for various driving tests of vehicles and a control method thereof. Background Art

[0002] A conventional chassis dynamometer is used when performing a running test of a vehicle (automobile), and includes a roller device as a main component.

[0003] As a conventional chassis dynamometer, there is one disclosed in Patent Document 1, for example.

[0004] The conventional chassis dynamometer disclosed in Patent Document 1 simulates a state in which a four-wheel drive vehicle serving as a test vehicle turns on a road at a preset steering angle and test speed.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 63-148140 Summary of the invention

[0008] Problems to be solved by the invention

[0009] However, conventional chassis dynamometers such as Patent Document 1 do not include a roller turning mechanism for turning the rollers, and therefore, when the vehicle is turning, the chassis dynamometer does not consider the behavior of the roller turning mechanism when performing a vehicle running test.

[0010] Therefore, conventional chassis dynamometers have a problem in that they cannot perform a running test of a vehicle including a turning state with high accuracy.

[0011] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a chassis dynamometer capable of performing a vehicle driving test with high accuracy in accordance with the driving state of the vehicle including a turning state.

[0012] Means for solving problems

[0013] The chassis dynamometer of the present invention comprises four rollers for carrying four tires of a vehicle, wherein the four tires include a front wheel side tire pair and a rear wheel side tire pair, one of the front wheel side tire pair and the rear wheel side tire pair is defined as a first type tire pair, and the other is defined as a second type tire pair, wherein the first type tire pair includes a first type left tire and a first type right tire arranged on the left and right, and the second type tire pair includes a second type left tire and a second type right tire arranged on the left and right, and the four rollers include: a first type left roller for carrying the first type left tire, a first type right roller for carrying the first type right tire, and a first type left roller for carrying the first type left tire. A second left roller for carrying the second left tire and a second right roller for carrying the second right tire, the chassis dynamometer comprises: a steering angle detection mechanism for detecting left steering angle information and right steering angle information, the left steering angle information indicating the angle of the first left tire relative to a reference direction, i.e., the left tire deflection angle, and the right steering angle information indicating the angle of the first right tire relative to the reference direction, i.e., the right tire deflection angle; and a roller drive control mechanism for executing roller drive control processing for rotationally driving the four rollers respectively to adapt to the driving state of the vehicle.

[0014] Effects of the Invention

[0015] The roller drive control mechanism in the chassis dynamometer of the present invention performs roller drive control processing based on the left steering angle information and the right steering angle information, so that the vehicle driving test can be performed with high accuracy even when the vehicle is in a turning state.

[0016] The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a perspective view schematically showing the structure of the chassis dynamometer according to the present embodiment after being mounted on a vehicle.

[0018] Figure 2 It is an explanatory diagram schematically showing a displacement sensor and its surroundings in the chassis dynamometer according to the present embodiment.

[0019] Figure 3 It is schematically indicated Figure 2 An illustration of the AA section.

[0020] Figure 4 It is an explanatory diagram schematically showing the structure of the roller rotating mechanism.

[0021] Figure 5 It is an explanatory diagram schematically showing the contents of the distance measurement area provided in the tire.

[0022] Figure 6This is a flowchart showing a method for obtaining angle measurement information by the displacement sensor according to the present embodiment.

[0023] Figure 7 It is an explanatory diagram schematically showing the configuration of a roller drive control mechanism in the chassis dynamometer according to the present embodiment.

[0024] Figure 8 It is an explanatory diagram schematically showing a drive system of a roller turning mechanism in the chassis dynamometer according to the present embodiment.

[0025] Fig. 9 Yes means Figure 7 Flowchart (part 1) of the control actions of the steering model controller shown.

[0026] Fig.10 Yes means Figure 7 Flowchart (part 2) of the control actions of the steering model controller shown.

[0027] Fig.11 It is an explanatory diagram showing the processing contents of the rotation determination processing.

[0028] Fig.12 It is an explanatory diagram schematically showing the running state of a vehicle.

[0029] Fig.13 This is a flowchart showing the processing procedure of the rotation control method of the roller rotation mechanism according to the present embodiment. DETAILED DESCRIPTION

[0030] <Implementation Method>

[0031] (Overall composition)

[0032] Figure 1 1 is a perspective view schematically showing the structure of the chassis dynamometer 1 of the present embodiment after the vehicle 60 is mounted. Figure 1 The XYZ orthogonal coordinate system is shown in FIG.

[0033] like Figure 1 As shown, four tires 6 of a vehicle 60 are placed on the roller pairs 20 of the four roller devices 2. Each roller device 2 has a roller pair 20 for placing the tires 6 of the vehicle 60. When the vehicle 60 is tested, the vehicle 60 is fixed in a state of being placed on the roller pairs 20 of the four roller devices 2 by a vehicle fixing unit (not shown).

[0034] On the ground 50, a rectangular image simulator 62 having a long side in the X direction and a short side in the Z direction is provided in front of the vehicle 60 (+Y direction). The image simulator 62 as a simulation auxiliary component has a display function for displaying a panoramic object that can be visually recognized from the vehicle 60.

[0035] The vehicle 60 may also include an external sensor (not shown). As the external sensor, radar and laser radar (LiDAR) used as an angle sensor, a side camera (side electronic mirror), etc. may be considered.

[0036] The chassis dynamometer 1 uses the steering angle information of the tires 6 of the vehicle 60, the image simulator 62, etc. as needed, receives the information from the above-mentioned external sensors of the vehicle 60 as needed, and performs a driving test on the vehicle 60. The driving test includes a test accompanied by a tire rotation action for rotating the tires 6 of the vehicle 60 and a roller rotation action for rotating the roller pair 20 together with the tire rotation action.

[0037] (Regarding the terminology of vehicle 60)

[0038] In this specification, the tires 6 of the vehicle 60 are classified into a first tire pair and a second tire pair. In the embodiment described below, regarding the four tires 6 of the vehicle 6, the front wheel side tire pair and the rear wheel side tire pair are defined as the first tire pair, and the rear wheel side tire pair is defined as the second tire pair.

[0039] Therefore, the first type tire pair includes a first type left tire and a first type right tire arranged on the left and right, the tire 6L on the front wheel side becomes the first type left tire, and the tire 6R on the front wheel side becomes the first type right tire.

[0040] Similarly, the second type tire pair includes a second type left tire and a second type right tire arranged on the left and right sides, the tire 6L on the rear wheel side becomes the second type left tire, and the tire 6R on the rear wheel side becomes the second type right tire.

[0041] The four rollers are classified into a first type left roller for carrying a front wheel side left tire as a first type left tire, a first type right roller for carrying a front wheel side right tire as a first type right tire, a second type left roller for carrying a rear wheel side left tire as a second type left tire, and a second type right roller for carrying a rear wheel side right tire as a second type right tire. Figure 1 In FIG. 1 , four roller pairs 20 are shown as four rollers.

[0042] (Configuration of Displacement Sensor 7)

[0043] Figure 2 1 is an explanatory diagram schematically showing the displacement sensor 7 and its surroundings in the chassis dynamometer 1 of the present embodiment. The XYZ orthogonal coordinate system is shown in the figure. As described later, the displacement sensor 7 is a main component of the first embodiment of the steering angle detection mechanism.

[0044] The roller rotating mechanism 3L (left-side rotating mechanism) having the turntable 32L uses the roller pair 20 (front roller 20F + rear roller 20B) of the first type left roller as the left-side rotating object, and performs the left-side roller rotating action of rotating the left-side rotating object along the roller rotating direction R2. In addition, the turntable 32L rotates along the roller rotating direction R2 during the left-side roller rotating action.

[0045] Similarly, the roller rotating mechanism 3R (right rotating mechanism) having the turntable 32R uses the roller pair 20 (front roller 20F + rear roller 20B) of the first right roller as the right rotating object, and performs the right roller rotating action of rotating the right rotating object along the roller rotating direction R2. In addition, the turntable 32R rotates along the roller rotating direction R2 during the right roller rotating action.

[0046] exist Figure 2 3 shows a state where a tire 6L as a first-type left tire is placed on a first-type left roller, and a tire 6R as a first-type right tire is placed on a first-type right roller.

[0047] The left side displacement sensor 7L detects the angle (steering angle) of the tire 6L relative to the fixed reference direction (front-rear direction; Y direction), that is, the left tire deflection angle, by taking the distance measurement area 90 described later in the tire 6L as the detection object, and obtains the left steering angle information S7L. That is, the left steering angle information S7L represents the left tire deflection angle detected by the left side displacement sensor 7L as the angular displacement amount. In addition, the tire angle detection range 37L represents the detection range of the left side displacement sensor 7L.

[0048] Similarly, the right displacement sensor 7R uses the distance measurement area 90 in the tire 6R as a detection object, detects the angle of the tire 6R relative to the fixed reference direction, that is, the right tire deflection angle, and obtains the right steering angle information S7R. The right steering angle information S7R represents the right tire deflection angle detected by the right displacement sensor 7R as an angular displacement amount. The tire angle detection range 37R represents the detection range of the right displacement sensor 7R.

[0049] In addition, the fixed reference direction of the tire 6 used in the present embodiment does not change due to the roller rotation operation. Thus, in the present embodiment, the fixed reference direction is adopted as the reference direction for the tire deflection angle.

[0050] The left displacement sensor 7L is fixedly arranged at the outer area of ​​the turntable 32L, and the right displacement sensor 7R is fixedly arranged at the outer area of ​​the turntable 32R. That is, the left displacement sensor 7L is fixedly arranged at a position where it does not move when the left rotation mechanism performs the left roller rotation operation, and is therefore not included in the left rotation object. Similarly, the right displacement sensor 7R is fixedly arranged at a position where it does not move when the right rotation mechanism performs the right roller rotation operation, and is therefore not included in the right rotation object.

[0051] Figure 3 It is schematically indicated Figure 2 An illustration of the AA section. Figure 3 As shown in the figure, the tire 6 (tire 6L) has a distance measurement area 90 as a measurement target area at the bottom, and a distance measurement area 90 is measured along a straight line direction (in Figure 3 A plurality of measurement points 9 are provided in the Y direction (in the Y direction). The plurality of measurement points 9 have features that can be recognized by the left displacement sensor 7L. As features that can be recognized by the left displacement sensor 7L, various shapes such as convex portions are conceivable.

[0052] The left displacement sensor 7L has a distance detection function to detect the distances from the left displacement sensor 7L (the detection point) to the plurality of measurement points 9 (between the sensor and the tire) to obtain distance information. In addition, the right displacement sensor 7R is also the same as the left displacement sensor 7L, and of course has Figure 3 The cross-sectional structure and distance detection function are shown.

[0053] Figure 4 1 is an explanatory diagram schematically showing the structure of the roller rotating mechanism 3. The roller rotating mechanism 3 shown in the figure is a common structure for the left rotating mechanism (roller rotating mechanism 3L) and the right rotating mechanism (roller rotating mechanism 3R). Roller rotating mechanism 3L Roller rotating mechanism 3L and roller rotating mechanism 3R are sometimes simply collectively referred to as "roller rotating mechanism 3".

[0054] The roller rotating mechanism 3 includes a rotating structure 31 (roller device 2), a rotating bearing 34, a base 36, and a rotating motor 42 (42L, 42R) as main components. The rotating structure 31 includes a rotating table (32L, 32R) and a rotating base 35, and is integrated with the roller device 2 having the roller pair 20. The roller rotating mechanism 3 includes Figure 3 A motor driving device 19 and an encoder 55 which will be described later and are not shown in the figure are components.

[0055] The rotation motor 42 is a geared motor capable of speed control. A gear is mounted at the front end of the rotation motor 42, and meshes with a gear (not shown) mounted on the outer periphery of the base 36. Therefore, the rotary bed 35 can be rotated by the rotation of the rotation motor 42.

[0056] The slewing bearing 34 rotatably supports the slewing base 35, and the slewing base 35 is slewed by the power of the slewing motor 42 with the center of the slewing bearing 34 as the slewing center. As the slewing base 35 rotates, the slewing structure 31 rotates.

[0057] Thus, the roller rotating mechanism 3L has the rotating structure 31 which is rotated by the rotating motor 42. Therefore, the roller rotating mechanism 3L rotates the rotating structure 31 by the power of the rotating motor 42L, thereby Figure 2 As shown, the turntable 32L rotates along the roller rotation direction R2. Similarly, the roller rotation mechanism 3R rotates the rotation structure 31 using the power of the rotation motor 42L, thereby Figure 2 As shown, the turntable 32R turns along the roller turning direction R2.

[0058] Hereinafter, when the left displacement sensor 7L and the right displacement sensor 7R are collectively referred to, they are sometimes simply referred to as “displacement sensor 7”, and when the left steering angle information S7L and the right steering angle information S7R are collectively referred to, they are sometimes simply referred to as “steering angle information S7”.

[0059] Figure 5 1 is an explanatory diagram schematically showing the contents of a distance measurement area 90 (measurement target area) provided in a tire 6. As shown in the figure, eight measurement points 91 to 98 are provided in the distance measurement area 90 as a plurality of measurement points 9. The eight measurement points 91 to 98 are an example of a plurality of measurement points, and the number of measurement points is of course not limited to eight.

[0060] Figure 6 2 is a flowchart showing a method for obtaining the steering angle information S7 of the displacement sensor 7. Figure 5 as well as Figure 6 The acquisition content of the steering angle information S7 will be described.

[0061] First, in step ST1, a measurement point coordinate calculation process is executed. The measurement point coordinate calculation process includes the following partial steps ST1-1 and ST1-2.

[0062] Step ST1-1 is a partial step of "obtaining the distance from the displacement sensor 7 to each of the measurement points 91 to 98 as the measurement distances L91 to L98". The displacement sensor 7 detects the distance from the displacement sensor 7 to the measurement points 91 to 98 and obtains the measurement distances L91 to L98. In this way, the displacement sensor 7 has a distance detection function of obtaining a plurality of measurement distances (measurement distances L91 to L98) from the displacement sensor 7 to each of the plurality of measurement points (measurement points 91 to 98).

[0063] Step ST1-2 is a partial step of "obtaining the coordinate positions of the measurement points 91-98 on the horizontal plane (XY plane) as the measurement coordinates C91-C98 based on the measurement distances L91-L98".

[0064] In this way, by executing the measurement point coordinate calculation process (ST1) including part of steps ST1-1 and ST1-2, the measurement coordinates C91 to C98 at the measurement points 91 to 98 as a plurality of measurement points can be obtained as a plurality of measurement coordinates.

[0065] Next, in step ST2 , a tire approximate straight line is obtained as a regression line based on the measurement coordinates C91 to C98 respectively indicating the coordinate positions acquired in step ST1 . The tire approximate straight line is a straight line indicating the direction of the tire 6 .

[0066] Then, in step ST3, the tire deflection angle is obtained based on the angle formed between the pre-prepared reference direction and the tire approximate straight line. In addition, in the present embodiment, as the reference direction, a fixed reference direction indicating the front-rear direction of the vehicle 60, that is, the straight-ahead direction (Y direction) is adopted. Therefore, the tire deflection angle obtained by the roller rotating mechanism 3L becomes the left tire deflection angle, and the tire deflection angle obtained by the roller rotating mechanism 3R becomes the right tire deflection angle.

[0067] Then, in step ST4, the displacement sensor 7 outputs steering angle information S7 indicating the tire deflection angle calculated in step ST3. That is, the steering angle information S7 indicates the tire deflection angle as an angular displacement amount.

[0068] As described above, the chassis dynamometer 1 of the present embodiment can use the displacement sensor 7 having a distance detection function to detect the distance measurement region 90 (measurement target region) provided on the tire 6 and obtain the tire deflection angle as an angular displacement amount.

[0069] Therefore, the left displacement sensor 7L detects left steering angle information S7L indicating the angle of the first left tire relative to the reference direction, i.e., the left tire deflection angle, and the right displacement sensor 7R detects right steering angle information S7R indicating the angle of the first right tire relative to the reference direction, i.e., the right tire deflection angle.

[0070] (Roller drive control mechanism of chassis dynamometer 1)

[0071] Figure 7 1 is an explanatory diagram schematically showing the configuration of the roller drive control mechanism in the chassis dynamometer 1 of the present embodiment. As shown in the figure, the roller drive control mechanism includes a control system and a roller drive mechanism DM1 as main components, and the control system includes a dynamometer control device 75, a left displacement sensor 7L, a right displacement sensor 7R, and a steering wheel angle sensor 5.

[0072] The roller driving mechanism DM1 includes motor driving devices 26L, 26R, 27L and 27R, a front wheel left roller driving motor 58L, a front wheel right roller driving motor 58R, a rear wheel left roller driving motor 68L, a rear wheel right roller driving motor 68R, encoders 59L, 59R, 69L and 69R as main components.

[0073] like Figure 7 As shown, the combination of the above-mentioned control system and the roller drive mechanism DM1 constitutes a roller drive control mechanism in the chassis dynamometer 1 .

[0074] The roller drive control means executes roller drive control processing for rotationally driving each of the four rollers based on the left steering angle information S1L and the right steering angle information S1R so as to adapt to the running state of the vehicle 60 .

[0075] In addition, as described later, the roller drive control process includes a steering angle recognition process, a rotation determination process, a roller drive process, and a roller control process.

[0076] The dynamometer control device 75 includes the steering model controller 22, contacts P1 to P4, and a steering angle conversion table T1 as main components.

[0077] The steering model controller 22 executes a turning determination process and a roller control process described below. The roller control process includes a turning control process and a straight travel control process described below.

[0078] Contacts P1 to P4 receive a switching signal SX. When the switching signal SX is "H", contacts P1 and P3 are enabled and contacts P2 and P4 are disabled. On the other hand, when the switching signal SX is "L", contacts P1 and P3 are disabled and contacts P2 and P4 are enabled.

[0079] A first embodiment of the steering angle detection mechanism includes a left displacement sensor 7L and a right displacement sensor 7R.

[0080] The left displacement sensor 7L detects the left tire steering angle of the first type left tire by taking the distance measurement area 90 (measurement target area) in the first type left tire as a detection target, and obtains left steering angle information S7L.

[0081] The right displacement sensor 7R detects the right tire deflection angle in the first-type right tire by taking the distance measurement region 90 (measurement target region) in the first-type right tire as a detection target, and obtains right steering angle information S7R by detecting the right tire deflection angle in the first-type right tire.

[0082] When the first mode of using the steering angle detection mechanism is used, the switching signal SX is "L", and the contacts P2 and P4 are effective. Therefore, the left steering angle information S7L is directly taken into the steering model controller 22 as the left steering angle information S1L via the contact P2, and the right steering angle information S7R is directly taken into the steering model controller 22 as the right turning information S1R via the contact P4.

[0083] The second embodiment of the steering angle detection means includes a steering model controller 22, a steering angle conversion table T1, and a steering wheel angle sensor 5. When the steering model controller 22 is used as the second embodiment of the steering angle detection means, it executes a steering angle recognition process described later.

[0084] The steering wheel angle sensor 5 detects the steering wheel angle during the steering operation of the vehicle 60 and obtains steering wheel angle information S5 indicating the detected steering wheel angle.

[0085] The steering angle conversion table T1 has a plurality of angle pair information, and the plurality of angle pair information is information representing a plurality of left tire turning angles and a plurality of right tire turning angles in a form corresponding to a plurality of steering wheel angles, wherein the plurality of left tire turning angles correspond to the left tire deflection angle, and the plurality of right tire turning angles correspond to the right tire deflection angle. In addition, the steering angle conversion table T1 is, for example, similar to Japanese Patent Application Laid-Open No. 2022-175289 ( Figure 7 , Fig.13 ) corresponds to the steering angle conversion table T1 disclosed.

[0086] The steering model controller 22 receives the steering wheel angle information S5 and executes a steering angle recognition process to obtain left steering angle information S1L and right steering angle information S1R from the steering angle conversion table T1 based on the steering wheel angle information S5. The steering angle recognition process is included in the roller drive control process and is executed only when the second method is used as the steering angle detection means.

[0087] In the case of the second embodiment using the steering angle detection mechanism, the switching signal SX is "H", and the contacts P1 and P3 are enabled. Therefore, the steering model controller 22 can access the steering angle conversion table T1 via the contacts P1 and P3.

[0088] The steering angle recognition process is as follows: referring to the steering angle conversion table T1, selecting the left tire turning angle and the right tire turning angle corresponding to the steering wheel angle shown in the steering wheel angle information S5 from among a plurality of left tire turning angles and a plurality of right tire turning angles, and obtaining information representing the selected left tire turning angle and right tire turning angle as the left steering angle information S1L and the right turning information S1R.

[0089] By executing the above-mentioned steering angle recognition processing, the information representing the left tire turning angle selected in the steering angle conversion table T1 is taken into the steering model controller 22 via the contact P1 as the left steering angle information S1L, and the information representing the right tire turning angle selected in the steering angle conversion table T1 is taken into the steering model controller 22 via the contact P3 as the right steering angle information S1R.

[0090] In this way, the steering angle detection mechanism of this embodiment can detect the left steering angle information S1L representing the left tire turning angle corresponding to the left tire deflection angle, which is the angle of the first left tire relative to the reference direction (Y direction), and the right steering information S1R representing the right tire turning angle corresponding to the right tire deflection angle, which is the angle of the first right tire relative to the reference direction, by adopting the first method or the second method.

[0091] also, Figure 7 The dynamometer control device 75 shown is a structure that selectively uses the first mode and the second mode of the steering angle detection mechanism, but as long as it is a structure that can use at least one of the first mode and the second mode of the steering angle detection mechanism, it can perform roller drive control processing under the control of the steering model controller 22.

[0092] Figure 8 It is an explanatory diagram schematically showing a drive system of the roller turning mechanism 3 in the chassis dynamometer 1 according to the present embodiment.

[0093] As shown in the figure, the chassis dynamometer 1 includes a swing controller 15 and a roller swing mechanism 3. The roller swing mechanism 3 includes a motor drive device 19 (19L, 19R), a swing motor 42 (42L, 42R) and an encoder 55 as main components. In addition, the swing controller 15 is a component of the dynamometer control device 75. However, in Figure 8 In, omitted Figure 7 The diagrams show the first and second aspects of the steering angle detection mechanism, the steering model controller 22, etc.

[0094] like Figure 8 As shown, the steering controller 15 receives the steering angle information S1 (left steering angle information S1L+right steering angle information S1R) from the steering angle detection means, and obtains a steering angle corresponding to the tire deflection angle indicated by the steering angle information S1.

[0095] Then, the slewing controller 15 outputs the steering angle indication information SG indicating the obtained steering angle to the motor driving device 19. The motor driving device 19 outputs the driving control signal S19 indicating the roller slewing action at the slewing angle consistent with the steering angle indicated by the steering angle indication information SG to the slewing motor 42. In addition, the motor driving device 19 receives the encoder information S55 as a feedback signal from the encoder 55. The encoder information S55 includes the measured value of the slewing angle of the slewing structure 31 relative to the reference direction.

[0096] Therefore, by driving the rotation motor 42L by the motor driving device 19L, the roller rotation mechanism 3L (left side rotation mechanism) performs the left side roller rotation operation of rotating the first type left roller along the roller rotation direction R2. Similarly, by driving the rotation motor 42R by the motor driving device 19R, the roller rotation mechanism 3R (left side rotation mechanism) performs the right side roller rotation operation of rotating the first type right roller along the roller rotation direction R2.

[0097] Fig. 9 and Fig.10 Yes means Figure 7 The flowchart of the control operation of the steering model controller 22 is shown below. Fig. 9 as well as Fig.10 The control operation of the steering model controller 22 will be described.

[0098] First, in step ST10 , the steering operation of the chassis dynamometer 1 is started, triggered by reception of a steering operation command signal S70 indicating the start of the operation from the external device 70 .

[0099] In step ST11 , the controller including the steering model controller 22 and the swing controller 15 is set to a standby state.

[0100] Thereafter, in step ST12, the steering operation of the vehicle 60 is started. That is, the vehicle 60 on the chassis dynamometer 1 enters a running state.

[0101] Next, in step ST13, it is confirmed whether the displacement sensor 7 (left displacement sensor 7L+right displacement sensor 7R) is used. If the displacement sensor 7 is used (Yes), the process proceeds to step ST14, and if the displacement sensor 7 is not used (No), the process proceeds to step ST15.

[0102] In step ST14 executed when the answer of step ST13 is yes, the first mode of the steering angle detection mechanism (left displacement sensor 7L + right displacement sensor 7R) is adopted. Therefore, by the switching signal SX of "L", the contacts P2 and P4 of the contacts P1 to P4 are enabled, and the contacts P1 and P3 are disabled.

[0103] As a result, the left steering angle information S7L detected by the left displacement sensor 7L is directly taken into the steering model controller 22 as the left steering angle information S1L, and the right steering angle information S7R detected by the right displacement sensor 7R is directly taken into the steering model controller 22 as the right steering angle information S1R.

[0104] In this way, if the first embodiment of the steering angle detection means is adopted, the turning controller 15 can obtain the left steering angle information S7L and the right steering angle information S7R as the left steering angle information S1L and the right steering angle information S1R.

[0105] In step ST15 executed when the answer of step ST13 is "No", the second mode of the steering angle detection mechanism (steering model controller 22 + steering angle conversion table T1 + steering wheel angle sensor 5) is adopted. Therefore, by the switching signal SX of "H", the contacts P1 and P3 among the contacts P1 to P4 are enabled, and the contacts P2 and P4 are disabled.

[0106] As a result, based on the steering wheel angle information S5, information indicating the left tire turning angle selected in the steering angle conversion table T1 is taken into the steering model controller 22 as left steering angle information S1L, and information indicating the right tire turning angle selected in the steering angle conversion table T1 is taken into the steering model controller 22 as right steering angle information S1R.

[0107] As described above, if the second embodiment of the steering angle detection means is adopted, the turning controller 15 can obtain the left steering angle information S1L and the right steering angle information S1R by executing the steering angle recognition process.

[0108] In step ST16 which is executed after execution of step ST14 or step ST15 , the controller including the steering model controller 22 and the swing controller 15 is set to the driving state.

[0109] The steering model controller 22 executes the processes of steps ST17 to ST23 and steps ST24 to ST26 included in the steering model main routine SM.

[0110] In step ST17 , the steering model controller 22 executes a turn determination process for determining whether the traveling state of the vehicle 60 is a straight-ahead state or a turn state.

[0111] The following describes the rotation determination process in detail. Fig.11 It is an explanatory diagram showing the processing contents of the rotation determination processing. Fig.11 The XYZ orthogonal coordinate system is described in FIG. The steering model controller 22 identifies the left steering angle θl based on the left steering angle information S1L and identifies the right steering angle θr based on the right steering angle information S1R. Fig.11FIG. 6 shows a vehicle 60 in which the front wheel side tire pair is rotated as a first type of tire pair.

[0112] The wheelbase WL, front wheel track Tf, and rear wheel track Tb of the vehicle 60 are recognized in advance. The maximum turning radius Rmax is set in advance as the determination turning radius (m). The maximum turning radius Rmax is set in the range of 200 to 500 (m), for example.

[0113] Therefore, the comparative rear wheel left radius Rbl0 can be obtained from the left steering angle θl by using the following equation (1), and the comparative rear wheel right radius Rbr0 can be obtained from the right steering angle θr by using the following equation (2).

[0114]

Formula 1

[0115]

[0116]

Formula 2

[0117]

[0118] The above-mentioned comparison rear wheel left radius Rbl0 and comparison rear wheel right radius Rbr0 are respectively referred to as comparison turning radii (m).

[0119] Then, the steering model controller 22 determines that the vehicle is in a straight-ahead state when {|Rbl0|>Rmax} or {|Rbr0|>Rmax}, and determines that the vehicle is in a turning state when {|Rbl0|≦Rmax} and {|Rbr0|≦Rmax}.

[0120] In this way, in step ST17, the steering model controller 22 calculates the comparison turning radius (Rbl0, Rbr0) based on the left steering angle information S1L and the right steering angle information S1R, and based on the comparison result of the comparison turning radius and the judgment turning radius (Rmax), performs a turning determination process to determine whether the driving state of the vehicle 60 is a turning state or a straight state.

[0121] Then, in step ST18, if it is determined that the vehicle is in a turning state (Yes), the process proceeds to step ST19, and if it is determined that the vehicle is in a straight-moving state (No), the process proceeds to step ST24.

[0122] If the answer is YES in step ST18, the swing control process including steps ST19 to ST26 (excluding ST24) is executed, and if the answer is NO in step ST18, the straight travel control process including steps ST24 to ST26 is executed.

[0123] Fig.12 It is an explanatory diagram schematically showing the traveling state of the vehicle 60 . Fig.12The XYZ orthogonal coordinate system is described in Fig.12 The swing control process will be described.

[0124] First, in step ST19, the turning center C0 is determined. The turning center C0 exists on the rear wheel reference line BL at a distance of {(Rbl0+Rbr0) / 2} from the rear wheel center point PB. The rear wheel reference line BL is a line connecting the centers of the rear tires 6, 6 and extending along the X direction, and the rear wheel center point PB is a point on the rear wheel reference line BL that is the center of the rear wheels 6, 6.

[0125] Then, in step ST20, the turning radius (m) of each of the four tires 6 from the turning center C0 is obtained. The four turning radii include a rear wheel left radius Rbl, a rear wheel right radius Rbr, a front wheel left radius Rfl, and a front wheel right radius Rfr.

[0126] First, the rear wheel left radius Rbl is calculated by applying the following formula (3) based on the comparative turning radius (Rbl0, Rbr0).

[0127]

Formula 3

[0128]

[0129] Next, based on the rear wheel left radius Rbl obtained by equation (3), the rear wheel right radius Rbr is obtained by applying the following equation (4).

[0130]

Formula 4

[0131] Rbr=Rbl+Tb…(4)

[0132] Thereafter, the front wheel left radius Rfl is calculated based on the rear wheel left radius Rbl calculated by the following formula (5).

[0133]

Formula 5

[0134]

[0135] Next, the front wheel right radius Rfr is calculated based on the rear wheel right radius Rbr calculated by the following formula (6).

[0136]

Formula 6

[0137]

[0138] In this way, in step ST20 , by applying equations (3) to (6), the turning radius of each of the four tires 6 from the turning center C0 can be obtained.

[0139] Then, in step ST21, the rotation speed of each of the four rollers is measured. The rotation speeds (km / h) of the four rollers include the front wheel left measurement speed Mfl, the front wheel right measurement speed Mfr, the rear wheel left measurement speed Mbl, and the rear wheel right measurement speed Mbr.

[0140] like Figure 7 As shown, encoder information S59L of the front wheel left roller driving motor 58L is fed back to the motor driving device 26L from the encoder 59L, and the motor driving device 26L feeds back front wheel left motor speed information PV1L indicating the front wheel left measured speed Mfl of the first type left roller to the steering model controller 22 based on the encoder information S59L. Therefore, the steering model controller 22 can recognize the rotation speed (Mfl) of the first type left roller by referring to the front wheel left motor speed information PV1L.

[0141] The encoder information S59R of the front wheel right roller driving motor 58R is fed back to the motor driving device 26R from the encoder 59R, and the motor driving device 26R feeds back the front wheel right motor speed information PV1R indicating the front wheel right measured speed Mfr to the steering model controller 22 based on the encoder information S59R. Therefore, the steering model controller 22 can recognize the rotation speed (Mfr) of the first type right roller by referring to the front wheel right motor speed information PV1R.

[0142] The encoder information S69L of the left roller driving motor 68L is fed back to the motor driving device 27L from the encoder 69L, and the motor driving device 27L feeds back the rear wheel left motor speed information PV2L indicating the rear wheel left measured speed Mbl of the second type left roller based on the encoder information S69L to the steering model controller 22. Therefore, the steering model controller 22 can recognize the rotation speed (Mbl) of the second type left roller by referring to the rear wheel left motor speed information PV2L.

[0143] The encoder information S69R of the rear wheel right roller driving motor 68R is fed back to the motor driving device 27R from the encoder 69R, and the motor driving device 27R feeds back the rear wheel right motor speed information PV2R indicating the rear wheel right measured speed Mbr of the second type right roller based on the encoder information S69R to the steering model controller 22. Therefore, the steering model controller 22 can recognize the rotation speed (Mbr) of the second type right roller by referring to the rear wheel right motor speed information PV2R.

[0144] Then, in step ST22, a reference speed Vd (km / h) and a reference turning radius Rd (m) are calculated. The reference speed Vd is obtained by the following equation (7), and the reference turning radius Rd is obtained by the following equation (8).

[0145]

Formula 7

[0146]

[0147]

Formula 8

[0148]

[0149] Next, in step ST23, based on the reference speed Vd and reference turning radius Rd obtained in step ST22, the control target speeds (km / h) of the four rollers are calculated. The four control target speeds include the front wheel left target speed Vfl, the front wheel right target speed Vfr, the rear wheel left target speed Vbl, and the rear wheel right target speed Vbr.

[0150] The front wheel left target speed Vfl is calculated by applying the front wheel left radius Rfl to the following equation (9), and the front wheel right target speed Vfr is calculated by applying the front wheel right radius Rfr to the following equation (10).

[0151]

Formula 9

[0152]

[0153]

Formula 10

[0154]

[0155] Similarly, the rear wheel left target speed Vbl is calculated by applying the rear wheel left radius Rbl to the following equation (11), and the rear wheel right target speed Vbr is calculated by applying the rear wheel right radius Rbr to the following equation (12).

[0156]

Formula 11

[0157]

[0158]

Formula 12

[0159]

[0160] In step ST25 executed after step ST23 , the steering model controller 22 distributes the motor torque so as to rotationally drive the four rollers at four control target speeds (km / h) that are different from each other.

[0161] Thereafter, in step ST26 , the steering model controller 2201 outputs four roller drive instructions in accordance with the distribution content of the motor torque in step ST25 .

[0162] The four roller drive commands include a front wheel left motor torque command SL1L, a front wheel right motor torque command SL1R, a rear wheel left motor torque command SL2L, and a rear wheel right motor torque command SL2R.

[0163] The steering model controller 22 outputs the front wheel left motor torque command SL1L to the motor drive device 26L. The motor drive device 26L drives the front wheel left roller driving motor 58L according to the front wheel left motor torque command SL1L to achieve the front wheel left target speed Vfl. As a result, the first type left roller is rotationally driven at the front wheel left target speed Vfl by the front wheel left roller driving motor 58L. When the front wheel left roller driving motor 58L is driven by the motor drive device 26L, encoder information S59L from the encoder 59L is fed back to the motor drive device 26L.

[0164] The steering model controller 22 outputs the front wheel right motor torque command SL1R to the motor drive device 26R. The motor drive device 26R drives the front wheel right roller drive motor 58R according to the front wheel right motor torque command SL1R to achieve the front wheel right target speed Vfr. As a result, the first right roller is rotationally driven at the front wheel right target speed Vfr by the front wheel right roller drive motor 58R. When the motor drive device 26R performs the driving process of the front wheel right roller drive motor 58R, the encoder information S59R from the encoder 59R is fed back to the motor drive device 26R.

[0165] The steering model controller 22 outputs the rear wheel left motor torque command SL2L to the motor drive device 27L. The motor drive device 27L drives the rear wheel left roller driving motor 68L according to the rear wheel left motor torque command SL2L to achieve the rear wheel left target speed Vbl. As a result, the second type left roller is rotationally driven at the rear wheel left target speed Vbl by the rear wheel left roller driving motor 68L. When the rear wheel left roller driving motor 68L is driven by the motor drive device 27L, encoder information S69L from the encoder 69L is fed back to the motor drive device 27L.

[0166] The steering model controller 22 outputs the rear wheel right motor torque command SL2R to the motor drive device 27R. The motor drive device 27R drives the rear wheel right roller drive motor 68R according to the rear wheel right motor torque command SL2R to achieve the rear wheel right target speed Vbr. As a result, the second right roller is rotationally driven at the rear wheel right target speed Vbr by the rear wheel right roller drive motor 68R. When the rear wheel right roller drive motor 68R is driven by the motor drive device 27R, encoder information S69R from the encoder 69R is fed back to the motor drive device 27R.

[0167] In this way, the steering model controller 22 executes the swing control process as the roller control process that finally outputs four roller drive commands (SL1L, SL1R, SL2L, and SL2R).

[0168] As a modification of step ST22 , it is also conceivable to appropriately change the contents of equations (7) and (8) for calculating the reference speed Vd and the reference turning radius Rd according to the specifications of the vehicle 60 .

[0169] Next, the straight travel control process including steps ST24 to ST26 executed when the answer is NO in step ST18 will be described.

[0170] In step ST24, the control target speeds (km / h) of the four rollers are set to the same common speeds, that is, the front wheel left target speed Vfl, the front wheel right target speed Vfr, the rear wheel left target speed Vbl, and the rear wheel right target speed Vbr are set to the same common speeds.

[0171] In step ST25 executed after step ST24 , the steering model controller 22 distributes the motor torque so as to rotationally drive the four rollers at four control target speeds.

[0172] Thereafter, in step ST26 , the steering model controller 2201 outputs four roller drive instructions in accordance with the distribution content of the motor torque in step ST25 .

[0173] In this way, the steering model controller 22 executes the straight travel control process as the roller control process that finally outputs four roller drive commands (SL1L, SL1R, SL2L, and SL2R).

[0174] As described above, the steering model controller 22 executes the swing control process including steps ST19 to ST26 (excluding step ST24 ) as the roll control process at the time of the swing determination when it is determined that the traveling state of the vehicle 60 is the turning state.

[0175] On the other hand, as a roll control measure when the vehicle 60 is judged to be in a straight-moving state, the steering model controller 22 executes a straight-moving control process including steps ST24 to ST26. In this way, the roll control process executed under the control of the steering model controller 22 includes a turning control process and a straight-moving control process.

[0176] Then, in response to the roller control process, the roller driving mechanism DM1 executes a roller driving process for rotationally driving the corresponding four rollers based on four roller driving instructions ( SL1L, SL1R, SL2L, and SL2R) corresponding to the four rollers.

[0177] Fig.13 This is a flowchart showing the processing procedure of a rotation control method of the roller rotation mechanism 3 performed under the control of the rotation controller 15 .

[0178] Referring to the figure, in step ST31, the steering angle detection means of the first or second method is used to receive steering angle information S1. The steering angle information S1 includes left steering angle information S1L and right steering angle information S1R.

[0179] Thereafter, in step ST32 , the turning controller 15 outputs steering angle instruction information SG indicating the steering angle (left steering angle, right steering angle) obtained in step ST31 to the motor driving device 19 .

[0180] Then, in step ST33 , the motor driving device 19 outputs the drive control signal S19 to the turning motor 42 through motor control, thereby causing the roller turning mechanism 3 to perform the roller turning operation.

[0181] At this time, the roller turning operation by the roller turning mechanism 3 is executed so that the turning structure 31 turns at a turning angle corresponding to the steering angle indicated by the steering angle instruction information SG.

[0182] Thus, the rotation controller 15 as the roller rotation control unit executes the control by outputting the steering angle instruction information SG. Fig.13 The roller turning process shown in the figure is a process for causing the roller turning mechanism 3 to perform a roller turning operation so that the roller pair 20 and the tire 6 are in a predetermined positional relationship.

[0183] The roller rotating mechanism 3 includes a roller rotating mechanism 3L and a roller rotating mechanism 3R, and the motor driving device 19 includes a motor driving device 19L for the roller rotating mechanism 3L and a motor driving device 19R for the roller rotating mechanism 3R. The rotating motor 42 includes a rotating motor 42L for the roller rotating mechanism 3L and a rotating motor 42R for the roller rotating mechanism 3R.

[0184] Therefore, by the roller rotating process performed by the roller rotating mechanism 3L, the first-type left roller can be driven to rotate so that the left side positional relationship of the first-type left roller and the first-type left tire becomes a predetermined positional relationship.

[0185] Similarly, by the roller rotating process performed by the roller rotating mechanism 3R, the first-type right roller can be driven to rotate so that the right side positional relationship between the first-type right roller and the first-type right tire becomes a predetermined positional relationship.

[0186] In addition, including Fig.13 The processing performed under the control of the swing controller 15 in steps ST31 to ST33 shown in FIG. Fig. 9 as well as Fig.10 The processes in steps ST10 to ST26 shown are executed in parallel under the control of the steering model controller 22 .

[0187] (Effect)

[0188] The chassis dynamometer 1 of the first embodiment includes Figure 7 The dynamometer control device 75 shown, the left displacement sensor 7L, the right displacement sensor 7R, the steering wheel angle sensor 5, and the roller drive control mechanism of the roller drive mechanism DM1.

[0189] The roller drive control mechanism in the chassis dynamometer 1 of the present embodiment performs roller drive control processing for rotationally driving each of the four rollers based on the steering angle information S1L and the right steering angle information S1R so as to adapt to the driving state (turning state, straight driving state) of the vehicle 60. In addition, as described above, the roller drive control processing includes steering angle recognition processing, turning determination processing, roller drive processing, and roller control processing (turning control processing, straight driving control processing).

[0190] Therefore, even when the vehicle 60 is traveling in a turning state, the chassis dynamometer 1 of the present embodiment can perform a traveling test of the vehicle 60 with high accuracy.

[0191] The steering model controller 22 in the chassis dynamometer 1 of the present embodiment executes the following steps: Fig.10 The turn determination process in steps ST17 and ST18 shown can determine with high accuracy whether the traveling state of the vehicle 60 is a turning state or a straight traveling state.

[0192] As a result, the chassis dynamometer 1 of the present embodiment can perform a running test of the vehicle 60 with high accuracy by executing the roll control process by changing the processing content between the turning state and the straight driving state of the vehicle 60 .

[0193] The chassis dynamometer 1 of the present embodiment includes a steering model controller 22 that executes a roller control process for outputting four roller drive commands, and a roller drive mechanism DM1 that executes a roller drive process for rotationally driving four rollers based on the four roller drive commands.

[0194] Therefore, the chassis dynamometer 1 of the present embodiment can rotationally drive the four rollers with high accuracy in accordance with the running state of the vehicle 60 under the control of the steering model controller 22 and the drive of the roller driving mechanism DM1 .

[0195] The steering model controller 22 in the chassis dynamometer 1 of the present embodiment can output four roller drive instructions for rotationally driving the four rollers with high accuracy in accordance with the turning state of the vehicle 60 by executing the turning control process including steps ST19 to ST26 (excluding ST24 ).

[0196] The steering model controller 22 in the chassis dynamometer 1 of the present embodiment can relatively easily output four roller drive instructions for rotationally driving the four rollers with high accuracy in accordance with the straight-ahead state of the vehicle 60 by executing the straight-ahead control process including steps ST24 to ST26 .

[0197] The chassis dynamometer 1 of the present embodiment uses the left displacement sensor 7L and the right displacement sensor 7R as a first form of steering angle detection means.

[0198] The left displacement sensor 7L detects the measurement target area (distance measurement area 90) set in the first type left tire, and can therefore detect the left tire deflection angle with high accuracy. Similarly, the right displacement sensor 7R detects the measurement target area set in the first type right tire, and can therefore detect the right tire deflection angle with high accuracy.

[0199] As a result, the chassis dynamometer 1 of the present embodiment can perform a running test of the vehicle 60 with higher accuracy even when the vehicle 60 is in a turning state by using the first aspect of the steering angle detection mechanism.

[0200] The chassis dynamometer 1 of the present embodiment uses the steering angle recognition process performed by the steering wheel angle sensor 5 , the steering angle conversion table T1 , and the steering model controller 22 as the second form of the steering angle detection means.

[0201] Therefore, the steering model controller 22 in the chassis dynamometer 1 can perform the steering angle recognition process by referring to the steering angle conversion table T1 based on the steering wheel angle information S5. Therefore, even if disturbance noise such as bulging of the tire 6 is generated, the chassis dynamometer 1 of the present embodiment can recognize information indicating accurate left tire turning angle and right tire turning angle corresponding to the left tire yaw angle and the right tire yaw angle as the left steering angle information S1L and the right steering angle information S1R.

[0202] The roller turning mechanism 3 in the chassis dynamometer 1 of the present embodiment can execute roller turning processing in high-precision synchronization with the left steering angle information S1L and the right steering angle information S1R so that the above-mentioned left and right positional relationships become predetermined positional relationships.

[0203] It should be noted that the left side positional relationship is a positional relationship associated with the first left roller and the first left tire mentioned above, and the right side positional relationship is a positional relationship associated with the first right roller and the first right tire mentioned above.

[0204] (Control Method of Chassis Dynamometer 1)

[0205] In this embodiment, as a control method of the chassis dynamometer 1, executing Fig. 9 and Fig.10The processing steps are shown.

[0206] That is, the control method of the chassis dynamometer 1 according to the present embodiment includes the following steps (X) and (Y).

[0207] Step (X) ... Calculate the comparison turning radius (m) based on the left steering angle information S1L and the right steering angle information S1R, and based on the comparison result of the comparison turning radius and the determination turning radius (m), perform the turning determination processing to determine whether the driving state of the vehicle 60 is a turning state or a straight state.

[0208] In addition, as the comparative turning radius, for example, the comparative rear wheel left radius Rbl0 obtained by equation (1) and the comparative rear wheel right radius Rbr0 obtained by equation (2) are considered. In addition, as the judgment turning radius, the above-mentioned maximum turning radius Rmax is considered. Step (X) is equivalent to Fig.10 Processing of steps ST17 and ST18.

[0209] Step (Y): When the turning determination is made in step (X) that the running state of the vehicle 60 is a turning state, a turning control process is executed.

[0210] Step (Y) corresponds to Fig.10 The processing of steps ST17 to ST26 except step ST24 is shown.

[0211] The swing control process of the above-mentioned step (Y) includes the following steps (a) to (d).

[0212] Step (a) ... Calculate the turning radius of each of the four tires 60, that is, four turning radii (m).

[0213] In addition, the four turning radii include the rear wheel left radius Rbl calculated by applying the above formula (3), the rear wheel right radius Rbr calculated by applying the above formula (4), the front wheel left radius Rfl calculated by applying the above formula (5), and the front wheel right radius Rfr calculated by applying the above formula (6).

[0214] Step (b) ... The rotation speed of each of the four rollers, that is, the four roller rotation speeds (km / h) are measured.

[0215] Furthermore, the four roller rotational speeds include a front wheel left measured speed Mfl, a front wheel right measured speed Mfr, a rear wheel left measured speed Mbl, and a rear wheel right measured speed Mbr.

[0216] Step (c) ... Based on the four turning radii and the four roller rotation speeds, four control target speeds (km / h) which are the control target speeds of each of the four rollers are calculated.

[0217] Furthermore, the four control target speeds include a front wheel left target speed Vfl, a front wheel right target speed Vfr, a rear wheel left target speed Vbl, and a rear wheel right target speed Vbr.

[0218] Step (d) ... outputs four roller drive instructions to the roller drive mechanism DM1 based on the four tire target speeds.

[0219] Furthermore, the four roller drive commands include a front wheel left motor torque command SL1L, a front wheel right motor torque command SL1R, a rear wheel left motor torque command SL2L, and a rear wheel right motor torque command SL2R.

[0220] Step (a) is Fig.10 Step (b) corresponds to the processing of step ST20. Fig.10 In addition, step (c) is the same as step ST21. Fig.10 Step (d) corresponds to the processing of steps ST22 and ST23. Fig.10 The processing corresponding to steps ST25 and ST26.

[0221] The control method of the chassis dynamometer 1 of the present embodiment executes the rotation control processing of step (Y) including the above-mentioned steps (a) to (d) and outputs four roller drive instructions to the roller drive mechanism DM1, thereby being able to output four roller drive instructions for rotationally driving the four rollers with high precision in accordance with the turning state of the vehicle 60.

[0222] <Others>

[0223] In addition, in the present embodiment, the first type of tire pair is set as the front wheel side tire pair, and the second type of tire pair is set as the rear wheel side tire pair, but it can also be a modified structure as follows: the first type of tire pair is set as the rear wheel side tire pair, the second type of tire pair is set as the front wheel side tire pair, the detection object of the left steering angle θl and the right steering angle θr is set as the rear wheel side tire pair, and the roller rotation mechanism 3 and the displacement sensor 7 are arranged on the rear wheel side.

[0224] In the above-described embodiment, the roller pair 20 of a double roller structure is shown as the “roller” for mounting the tire 6 of the vehicle 60 , but a single roller of a single roller structure may be used instead of the roller pair 20 .

[0225] While the present invention has been described in detail, the above description is in all aspects illustrative and the present invention is not limited thereto, and it should be understood that numerous modifications not shown and exemplified are conceivable without departing from the scope of the present invention.

[0226] Description of Reference Numerals

[0227] 1: Chassis dynamometer

[0228] 3.3L, 3R: Roller rotation mechanism

[0229] 5: Steering wheel angle sensor

[0230] 6, 6L, 6R: Tires

[0231] 7: Displacement sensor

[0232] 7L: Left displacement sensor

[0233] 7R: Right displacement sensor

[0234] 9, 91~98: Measurement points

[0235] 15: Rotation controller

[0236] 19, 19L, 19R, 26L, 26R, 27L, 27R: Motor drive

[0237] 20: Roller pair

[0238] 20B: Rear roller

[0239] 20F: Front roller

[0240] 22: Steering Model Controller

[0241] 32, 32L, 32R: Rotary table

[0242] 42, 42L, 42R: Rotation motor

[0243] 55, 59L, 59R, 69L, 69R: Encoder

[0244] 58L: Front wheel left roller drive motor

[0245] 58R: Front wheel right roller drive motor

[0246] 60: Vehicles

[0247] 68L: Rear wheel left roller drive motor

[0248] 68R: Rear wheel right roller drive motor

[0249] 75: Dynamometer control device

[0250] DM1: Roller drive mechanism

[0251] T1: Steering angle conversion table

Claims

1. A chassis dynamometer having four rollers for carrying four tires of a vehicle, wherein: The four tires include a front wheel side tire pair and a rear wheel side tire pair, one of the front wheel side tire pair and the rear wheel side tire pair is specified as a first type tire pair, and the other is specified as a second type tire pair, The first tire pair includes a first left tire and a first right tire arranged in left and right positions. The second tire pair includes a second left tire and a second right tire arranged in left and right positions. The four rollers include a first left roller for carrying the first left tire, a first right roller for carrying the first right tire, a second left roller for carrying the second left tire, and a second right roller for carrying the second right tire. The chassis dynamometer has: A steering angle detection mechanism, detecting left steering angle information and right steering angle information, wherein the left steering angle information indicates the angle of the first left tire relative to a reference direction, i.e., the left tire deflection angle, and the right steering angle information indicates the angle of the first right tire relative to the reference direction, i.e., the right tire deflection angle; as well as The roller drive control means executes a roller drive control process for rotationally driving each of the four rollers based on the left steering angle information and the right steering angle information so as to adapt to the running state of the vehicle.

2. The chassis dynamometer according to claim 1, wherein: The roller drive control mechanism includes a steering model controller that performs a rotation determination process. The roller drive control process includes the rotation determination process, The turning determination process is a process of calculating a comparative turning radius based on the left steering angle information and the right steering angle information, and determining whether the vehicle is in a turning state or a straight state based on a comparison result between the comparative turning radius and the determination turning radius.

3. The chassis dynamometer according to claim 2, wherein: The roller drive control mechanism includes a roller drive mechanism that executes a roller drive process for rotationally driving the four rollers based on four roller drive instructions corresponding to the four rollers. The steering model controller executes a roller control process for outputting the four roller drive instructions, The roller drive control process includes the roller drive process and the roller control process.

4. The chassis dynamometer according to claim 3, wherein: When the turning determination process determines that the running state of the vehicle is a turning state, the steering model controller executes a turning control process. The roller control process includes the rotation control process, The slewing control process includes: (a) calculating the turning radius of each of the four tires, i.e., four turning radii; (b) a step of measuring the rotation speed of each of the four rollers, i.e., the rotation speed of the four rollers; (c) a step of calculating four control target speeds corresponding to the four rollers based on the four turning radii and the four roller rotation speeds; and (d) A step of outputting the four roller drive instructions based on the four control target speeds.

5. The chassis dynamometer according to claim 3, wherein: When the turning determination process determines that the vehicle is in a straight-moving state, the steering model controller executes a straight-moving control process. The roller control process includes the straight travel control process, The straight travel control process includes: (a) setting four control target speeds corresponding to the four rollers to the same common speed; and (b) A step of outputting the four roller drive instructions based on the four control target speeds.

6. The chassis dynamometer according to any one of claims 1 to 5, wherein: The steering angle detection mechanism comprises: a left displacement sensor, which takes the measurement target area in the first type of left tire as a detection target, detects the left tire deflection angle in the first type of left tire to obtain the left steering angle information; and The right displacement sensor takes the measurement target area in the first-type right tire as a detection target, detects the right tire deflection angle in the first-type right tire, and obtains the right steering angle information.

7. The chassis dynamometer according to any one of claims 2 to 5, wherein: The steering angle detection mechanism comprises: the steering model controller; a steering wheel angle sensor for detecting a steering wheel angle during a steering operation of the vehicle and obtaining steering wheel angle information indicating the detected steering wheel angle; and Steering angle conversion table, with various angle pair information, The plurality of angle pair information is information representing a plurality of left tire turning angles and a plurality of right tire turning angles in a form corresponding to a plurality of steering wheel angles, the plurality of left tire turning angles respectively corresponding to the left tire deflection angle, the plurality of right tire turning angles respectively corresponding to the right tire deflection angle, The steering model controller performs a steering angle recognition process for recognizing the left steering angle information and the right steering angle information, The steering angle recognition processing is as follows: referring to the steering angle conversion table, selecting the left tire turning angle and the right tire turning angle corresponding to the steering wheel angle indicated by the steering wheel angle information from among the multiple left tire turning angles and the multiple right tire turning angles, and recognizing the information representing the selected left tire turning angle and the right tire turning angle as the left steering angle information and the right steering angle information.

8. The chassis dynamometer according to any one of claims 1 to 7, wherein: The chassis dynamometer further includes a roller rotation mechanism, which executes a roller rotation process for rotationally driving the first type left roller and the first type right roller, respectively, based on the left steering angle information and the right steering angle information. The roller rotation processing is as follows: the first left roller and the first right roller are respectively driven to rotate in such a manner that the left side position relationship between the first left roller and the first left tire, and the right side position relationship between the first right roller and the first right tire become respectively specified position relationships.

9. A control method for a chassis dynamometer, The chassis dynamometer has four rollers on which four tires of the vehicle are placed. The four tires include a front wheel side tire pair and a rear wheel side tire pair, one of the front wheel side tire pair and the rear wheel side tire pair is specified as a first type tire pair, and the other is specified as a second type tire pair, The first tire pair includes a first left tire and a first right tire arranged in left and right positions. The second tire pair includes a second left tire and a second right tire arranged in left and right positions. The four rollers include a first left roller for carrying the first left tire, a first right roller for carrying the first right tire, a second left roller for carrying the second left tire, and a second right roller for carrying the second right tire. The four rollers are rotationally driven based on four roller drive instructions. The chassis dynamometer is provided with a steering angle detection mechanism, wherein the steering angle detection mechanism detects left steering angle information and right steering angle information, wherein the left steering angle information indicates an angle of the first left tire relative to a reference direction, i.e., a left tire deflection angle, and the right steering angle information indicates an angle of the first right tire relative to the reference direction, i.e., a right tire deflection angle. The control method of the chassis dynamometer comprises: (X) calculating a comparative turning radius based on the left steering angle information and the right steering angle information, and executing a turning determination process for determining whether the driving state of the vehicle is a turning state or a straight driving state based on a comparison result of the comparative turning radius and the determination turning radius; and (Y) a step of executing a turning control process when it is determined in step (X) that the driving state of the vehicle is a turning state. The swing control process performed in the step (Y) includes: (a) calculating the turning radius of each of the four tires, i.e., four turning radii; (b) a step of measuring the rotation speed of each of the four rollers, i.e., the rotation speed of the four rollers; (c) a step of calculating four control target speeds, that is, respective control target speeds of the four rollers based on the four turning radii and the four roller rotation speeds; and (d) A step of outputting the four roller drive instructions based on the four control target speeds.

Images