Steering sensor signal simulation device and steering wheel steering mechanism simulation system and method

Abstract

The invention belongs to the field of steering mechanism testing, and particularly relates to a steering sensor signal simulation device and a steering wheel steering mechanism simulation system and method.The device comprises an HIL rack controller and two sets of simulation units connected with the HIL rack controller, and the two sets of simulation units are used for simulating two gears of a steering angle sensor; each group of simulation units consists of a plurality of inductance coils, and each inductance coil is independently controlled by a relay; the inductance value of each inductance coil is set, so that the inductance value range of the rotation angle sensor is covered by the combination of different coil inductance values in each group of simulation units; and the HIL rack controller controls the two groups of simulation units to output corresponding inductance values respectively by controlling the on-off of different relays or relay combinations. The inductance value change range of the rotation angle sensor is covered through the on-off combination of different relays. When steering angle sensors of different types and different specifications are simulated, the inductance value can be accurately adjusted according to actual requirements, and the simulation flexibility is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of steering mechanism testing, and particularly relates to a steering sensor signal simulation device, a steering wheel steering mechanism simulation system and method. Background Art

[0002] In the vehicle HIL test, it is required to collect and control the sensor signals used by the vehicle controller to achieve the effect of forming a closed-loop control. Among them, the steering wheel steering angle sensor is a sensor used to detect the steering wheel angle. By collecting the steering wheel angle and sending the signal to the chassis controller, the functions of the controller related to the direction change during vehicle driving can be verified.

[0003] Currently, most of the steering wheel steering angle sensors in use are a combination of three gears and Hall sensors. The large gear stuck on the steering wheel shaft drives two small gears with magnets and different numbers of teeth by 1 to rotate. The Hall sensor below generates two signals with different frequencies due to the different rotation periods of the two gears.

[0004] The existing solutions mostly use the real steering wheel with the steering angle sensor, or use the HIL bench to directly simulate the steering angle sensor signal. However, the manufacturer will use its encrypted communication method to transmit the received electrical signal. Based on this, the bench mostly uses analog signals or forcibly calibrates the controller to make the controller recognize this signal, which is cumbersome and lacks accuracy. Summary of the Invention

[0005] Aiming at the problems of cumbersome method and insufficient accuracy existing in the existing methods for simulating the steering angle sensor signal, the present invention provides a steering sensor signal simulation device, a steering wheel steering mechanism simulation system and method.

[0006] In the first aspect, the technical solution of the present invention provides a steering sensor signal simulation device, including a HIL bench controller and two groups of simulation units connected to the HIL bench controller. The two groups of simulation units are used to simulate the two gears of the steering angle sensor. Each group of simulation units consists of a plurality of inductance coils, and each inductance coil is independently controlled by a relay; the inductance value of each inductance coil is set so that the combination of the inductance values of different inductance coils in each group of simulation units covers the inductance value change range of the angle sensor; The HIL bench controller controls the on and off of different relays or relay combinations to respectively control the two groups of simulation units to output corresponding inductance values.

[0007] Set the inductance value of each inductance coil to ensure that the combination of inductance values of different inductance coils in each group of simulation units can cover the inductance value change range of the steering angle sensor. For example, by actually measuring the inductance value range of the steering angle sensor at different steering angles, and then reasonably distributing the inductance values of each inductance coil, any inductance value within this range can be simulated through different combinations of inductance coils. The HIL bench controller calculates the corresponding inductance value according to the required simulated steering angle, and then controls the on / off of different relays or relay combinations, so that the two groups of simulation units output the corresponding inductance values. Through the combination of two groups of simulation units and relays, the device can flexibly simulate the change of the inductance value of the steering angle sensor, providing a basis for subsequent steering angle simulation and improving the accuracy and flexibility of the simulation.

[0008] Preferably, as a technical solution of the present invention, the inductance coils in each group of simulation units are connected in series and then connected to the steering angle signal input pin of the HIL bench controller. Each inductance coil is connected in parallel with the normally closed switch of the corresponding relay, and the normally closed switches of the relays connected to each group of simulation units are connected in series.

[0009] Connect the inductance coils in each group of simulation units in series, and then connect them to the steering angle signal input pin of the HIL bench controller. Each inductance coil is connected in parallel with the normally closed switch of the corresponding relay, and the normally closed switches of the relays connected to each group of simulation units are connected in series. When the relay is not powered on, the normally closed switch is closed, and the corresponding inductance coil is short-circuited; when the relay is powered on, the normally closed switch is opened, and the corresponding inductance coil is connected to the circuit, thereby changing the inductance value of the entire inductance coil. This circuit connection method enables the inductance value of the inductance coil to be conveniently changed by controlling the on / off of the relay, and the series-connected normally closed switch design ensures that the circuit can still maintain a certain connectivity in the event of relay failures and other situations, improving the reliability of the device.

[0010] Preferably, as a technical solution of the present invention, the HIL bench controller is provided with a plurality of power output terminals, and each power output terminal includes a positive pin and a negative pin; the positive pin of each power output terminal is connected to one end of the relay coil, and the other end of the relay coil is connected to the corresponding negative pin.

[0011] When the HIL bench controller outputs voltage through the power output terminal, the relay coil is powered on, thereby controlling the action of the normally closed switch of the relay. Through this power connection method, the HIL bench controller can conveniently control each relay independently, ensuring that different combinations of inductance values can be accurately realized, and improving the controllability of the device.

[0012] Preferably, as a technical solution of the present invention, the inductance values of the n inductance coils in each group of simulation units are successively 2 0 , 2¹ up to 2n-1 By adopting the inductance value setting method with binary coding, a larger number of inductance values can be combined with fewer inductance coils, reducing the number of inductance coils used, lowering the cost of the device, and simplifying the control logic of the HIL bench controller for the relay at the same time.

[0013] As an optimization of the technical solution of the present invention, each group of simulation units consists of six inductance coils, and the inductance values of the inductance coils are 2 0 , 2¹, 2 2 , 2 3 , 2 4 , 2 5 .

[0014] In a second aspect, the technical solution of the present invention provides a simulation system for a steering wheel steering mechanism, including a HIL bench host computer and the simulation device as described in the first aspect. The HIL bench host computer is connected to the HIL bench controller; a steering angle - voltage correspondence table is pre - stored in the HIL bench host computer; The HIL bench host computer receives the steering angle to be simulated, calculates the corresponding inductance value of the required steering angle through the pre - stored steering angle - voltage correspondence table, and inputs it to the HIL bench controller. The HIL bench controller controls the on - off of the corresponding relay based on the received inductance value, and inputs the corresponding inductance value to the feedback circuit. The system combines the HIL bench host computer and the simulation device, and uses the pre - stored correspondence table to achieve fast conversion and simulation from the steering angle to the inductance value, improving the efficiency and accuracy of the simulation, and being able to better simulate the actual steering wheel steering mechanism.

[0015] As an optimization of the technical solution of the present invention, the HIL bench controller is provided with a steering angle signal input pin and a control output pin; Based on the calculated inductance value, the HIL bench controller controls the on - off of different relays or relay combinations, controls the corresponding inductance coils to connect the inductance value to the steering angle signal input pin respectively to form a feedback circuit, and sends out the voltage signal corresponding to the inductance value through the control output pin. By setting dedicated input and output pins, the connection of the inductance value and the output of the voltage signal are made more standardized and orderly, improving the stability and reliability of the system, and facilitating connection and interaction with other devices.

[0016] As an optimization of the technical solution of the present invention, the system further includes a HIL bench simulation controller connected to the HIL bench controller; The HIL bench controller sends out the voltage signal to the bench simulation controller through the control output pin; the HIL bench simulation controller simulates the corresponding steering angle according to the received voltage signal.

[0017] Add a HIL bench simulation controller connected to the HIL bench controller in the system. The HIL bench controller sends a voltage signal to the HIL bench simulation controller through a control output pin. After receiving the voltage signal, the HIL bench simulation controller simulates the corresponding steering angle according to a pre-established model or algorithm. The introduction of the HIL bench simulation controller realizes the simulation from the voltage signal to the steering angle, further improves the simulation system of the steering wheel steering mechanism, makes the simulation results closer to the actual situation, and facilitates the testing and verification of the steering system.

[0018] As an optimization of the technical solution of the present invention, by measuring the output voltages of the Hall sensors on two gears of an actual vehicle equipped with a steering angle sensor and the actually measured steering angle, a correspondence table of the steering angle and voltage is established and stored in the HIL bench host computer. Establishing the correspondence table through actual measurement enables the simulation system to more accurately reflect the steering characteristics of the actual vehicle, improves the authenticity and reliability of the simulation, and provides a more accurate basis for subsequent steering angle simulation.

[0019] In a third aspect, the technical solution of the present invention also provides a simulation method for a steering wheel steering mechanism. The method is applied to the system described in the second aspect, and the method includes: The HIL bench host computer receives a steering angle simulation request, and the request includes the steering angle to be simulated; through the pre-stored correspondence table of the steering angle and voltage, calculate the inductance value corresponding to the required steering angle and input it to the HIL bench controller; The HIL bench controller controls the on / off of the corresponding relay based on the received inductance value, inputs the corresponding inductance value to the feedback circuit, and enables the HIL bench controller to send out the voltage signal corresponding to the inductance value through the control output pin. The entire process of simulating the steering wheel steering mechanism is clarified, from receiving the request to calculating the inductance value, controlling the on / off of the relay, and outputting the voltage signal, realizing automated steering angle simulation, improving the efficiency and accuracy of the simulation, and facilitating the rapid and effective testing and verification of the steering system.

[0020] Two groups of simulation units are used to replace the steering wheel steering angle sensor. There is no need for a real load, it occupies a small area, is easy to implement, and saves funds. When the change range of the inductance is about 0 - 50H, each group of simulation units consists of inductance values of 2 0 , 2¹, 2 2 , 2 3 , 2 4 , 2 5It is composed of six inductance coils, which can cover the inductance value change range of the corner sensor. By controlling the on / off of the relay through the voltage of 12 output pins, the calculated inductance value accurately controls the on / off of each relay, enabling continuous change of the inductance within a range, directly identifying the inductance signal for corresponding control without forced calibration.

[0021] The beneficial effects of the technical solution of the present invention are as follows: Through the combination of two groups of analog units and relays, the inductance value change of the steering angle sensor can be flexibly simulated. Each group of analog units is composed of multiple inductance coils controlled by independent relays, and the inductance value change range of the corner sensor can be covered through different combinations of relay on / off. This enables precise adjustment of the inductance value according to actual needs when simulating different types and specifications of steering angle sensors, greatly improving the flexibility and applicability of the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is the connection diagram of the device provided by the embodiment of the present invention.

[0024] Figure 2 It is the connection block diagram of the system provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in the specific embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0026] The embodiment of the present invention provides a steering sensor signal simulation device, including a HIL bench controller and two groups of analog units connected to the HIL bench controller. The two groups of analog units are used to simulate two gears of the steering angle sensor. Each group of analog units is composed of multiple inductance coils, and each inductance coil is independently controlled by a relay; the inductance value of each inductance coil is set so that the combination of the inductance values of different inductance coils in each group of analog units covers the inductance value change range of the corner sensor; The HIL bench controller controls the on / off states of different relays or relay combinations to separately control the two groups of analog units to output corresponding inductance values.

[0027] Set the inductance value of each inductance coil to ensure that the combination of inductance values of different inductance coils in each group of analog units can cover the inductance value change range of the steering angle sensor. For example, by actually measuring the inductance value range of the steering angle sensor at different steering angles, and then reasonably allocating the inductance value of each inductance coil, any inductance value within this range can be simulated through different combinations of inductance coils. The HIL bench controller calculates the corresponding inductance value according to the required simulated steering angle, and then controls the on / off states of different relays or relay combinations, so that the two groups of analog units output the corresponding inductance values. Through the combination of the two groups of analog units and relays, the device can flexibly simulate the inductance value change of the steering angle sensor, providing a basis for subsequent steering angle simulation and improving the accuracy and flexibility of the simulation.

[0028] For example, when testing the steering systems of different vehicle models, only by adjusting the on / off state of the relay according to the inductance value range of the steering angle sensor of the vehicle model, the corresponding inductance signal can be accurately simulated, without having to redesign the simulation device for each vehicle model.

[0029] In some embodiments, the inductance coils in each group of analog units are connected in series and then connected to the steering angle signal input pin of the HIL bench controller. Each inductance coil is connected in parallel with the normally closed switch of the corresponding relay, and the normally closed switches of the relays connected to each group of analog units are connected in series.

[0030] Connect the inductance coils in each group of analog units in series and then connect them to the steering angle signal input pin of the HIL bench controller. Each inductance coil is connected in parallel with the normally closed switch of the corresponding relay, and the normally closed switches of the relays connected to each group of analog units are connected in series. When the relay is not powered on, the normally closed switch is closed, and the corresponding inductance coil is short-circuited; when the relay is powered on, the normally closed switch is opened, and the corresponding inductance coil is connected to the circuit, thereby changing the inductance value of the entire inductance coil. This circuit connection method enables the inductance value of the inductance coil to be easily changed by controlling the on / off of the relay, and the series design of the normally closed switches ensures that the circuit can still maintain a certain connectivity in the event of relay failures, etc., improving the reliability of the device.

[0031] For example, when a certain relay fails and cannot be normally opened or closed, due to the series design of the normally closed switches, other inductance coils can still work normally, avoiding the situation where the entire simulation device fails due to a single relay failure.

[0032] In some embodiments, the HIL bench controller is provided with a plurality of power output terminals, and each power output terminal includes a positive pin and a negative pin; the positive pin of each power output terminal is connected to one end of the relay coil, and the other end of the relay coil is connected to the corresponding negative pin.

[0033] When the HIL bench controller outputs voltage through the power output terminal, the relay coil is energized, thereby controlling the action of the normally closed switch of the relay. Through this power connection method, the HIL bench controller can conveniently control each relay independently, ensuring that different combinations of inductance values can be accurately achieved, and improving the controllability of the device.

[0034] It should be noted that for inductance , where L is the inductance value, N is the number of turns of the coil, Φ is the magnetic flux, Φ = B ⋅ A (A is the effective area of the coil), and I is the current passing through the coil.

[0035] Therefore, the magnetic flux ; According to Faraday's law of electromagnetic induction, the induced voltage Substitute the expression of the magnetic flux Φ: , assuming that the inductance L is a constant, then: ; The relationship between the magnetic field strength B and the current I can be described by Ampere's law. For a coil, the magnetic field strength B can be approximately expressed as: , is a proportionality coefficient that combines the effects of the number of turns of the coil, the length of the magnetic circuit, and the magnetic permeability of the material. From the derivation, the current .

[0036] Substitute the expression of the current I into the induced voltage formula:

[0037] Similarly,

[0038] In a steering wheel angle sensor, a combination of a large gear and two small gears with different numbers of teeth is usually adopted. Gear system structure: The large gear is directly connected to the steering wheel shaft and rotates with the steering wheel. The two small gears are respectively meshed with the large gear, and the numbers of teeth are N1 and N2 (N1 ≠ N2). A Hall sensor is installed on each small gear to detect the rotation angle of the gear.

[0039] Gear transmission relationship: The rotation angle θ of the large gear and the rotation angles θ 1 and θ 2 of the small gears are related as: , where is the number of teeth of the large gear.

[0040] A magnet is installed on each pinion gear. When the gear rotates, the magnetic field strength B changes with the angle:

[0041] where B0 is the maximum strength of the magnetic field.

[0042] Take the time derivatives of B1 and B2:

[0043] Substitute into the induced voltage formula and convert the induced voltage into a signal proportional to the magnetic field strength through integration:

[0044] The output voltages of the two groups of analog units are:

[0045] , .

[0046] The actual vehicle measures Vout1 and Vout2 and the absolute rotation angle θ to establish a correspondence table between the steering angle and the voltage, calculates the inductance values L1 and L2 through the above formula, and then controls the on / off of the corresponding relays to output the corresponding inductance values.

[0047] In some embodiments, the inductance values of the n coils in each group of analog units are 2 0 , 2¹ up to 2 n-1 . When the inductance range is about 0 - 50H, as Figure 1 shown, each group of coils consists of six coils, and the inductance values of the coils are 2 0 , 2¹, 2 2 , 2 3 , 2 4 , 2 5 . The inductance coils of the first group include L1 - L6, L1 = 2 0 , L2 = 2¹, L3 = 2 2 , L4 = 2 3 , L5 = 2 4 , L6 = 2 5 , and the corresponding relays include KM1 - KM6; the coils of the second group include L7 - L12, L7 = 2 0 , L8 = 2¹, L9 = 2 2 , L10 = 2 3 , L11 = 2 4 , L12 = 2 5, the corresponding relays include KM7-KM12; the HIL bench controller U1 is provided with a first relay coil power supply terminal Vm1, a second relay coil power supply terminal Vm2, a third relay coil power supply terminal Vm3, a fourth relay coil power supply terminal Vm4, a fifth relay coil power supply terminal Vm5, a sixth relay coil power supply terminal Vm6, a seventh relay coil power supply terminal Vm7, an eighth relay coil power supply terminal Vm8, a ninth relay coil power supply terminal Vm9, a tenth relay coil power supply terminal Vm10, an eleventh relay coil power supply terminal Vm11, a twelfth relay coil power supply terminal Vm12, a first group of inductance coil power supply terminals Vdd1 and a second group of inductance coil power supply terminals Vdd2; The specific circuit connections are as follows: The normally closed contact connection terminal of relay KM1 is connected to the power supply terminal Vdd1 of the first group of inductance coils. One end of the coil of relay KM1 is connected to the first relay coil power supply terminal Vm1 of the HIL bench controller U1, and the other end of the coil of relay KM1 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM1 is connected to the normally closed contact connection terminal of relay KM2. The two ends of inductance coil L1 are respectively connected between the common contact connection terminal of relay KM1 and the normally closed contact connection terminal of relay KM1. One end of the coil of relay KM2 is connected to the first relay coil power supply terminal Vm2 of the HIL bench controller U1, and the other end of the coil of relay KM2 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM2 is connected to the normally closed contact connection terminal of relay KM3. The two ends of inductance coil L2 are respectively connected between the common contact connection terminal of relay KM2 and the normally closed contact connection terminal of relay KM2. One end of the coil of relay KM3 is connected to the first relay coil power supply terminal Vm3 of the HIL bench controller U1, and the other end of the coil of relay KM3 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM3 is connected to the normally closed contact connection terminal of relay KM4. The two ends of inductance coil L3 are respectively connected between the common contact connection terminal of relay KM3 and the normally closed contact connection terminal of relay KM3. One end of the coil of relay KM4 is connected to the first relay coil power supply terminal Vm4 of the HIL bench controller U1, and the other end of the coil of relay KM4 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM4 is connected to the normally closed contact connection terminal of relay KM5. The two ends of inductance coil L4 are respectively connected between the common contact connection terminal of relay KM4 and the normally closed contact connection terminal of relay KM4. One end of the coil of relay KM5 is connected to the first relay coil power supply terminal Vm5 of the HIL bench controller U1, and the other end of the coil of relay KM5 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM5 is connected to the normally closed contact connection terminal of relay KM6. The two ends of inductance coil L5 are respectively connected between the common contact connection terminal of relay KM5 and the normally closed contact connection terminal of relay KM5. The two ends of inductance coil L6 are respectively connected between the common contact connection terminal of relay KM6 and the normally closed contact connection terminal of relay KM6. One end of the coil of relay KM6 is connected to the first relay coil power supply terminal Vm6 of the HIL bench controller U1, and the other end of the coil of relay KM6 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM6 is connected to the steering angle signal input pin Sin1 of the HIL bench controller U1.

[0048] The normally closed contact connection terminal of relay KM7 is connected to the power supply terminal Vdd7 of the first group of inductance coils. One end of the coil of relay KM7 is connected to the first relay coil power supply terminal Vm7 of the HIL bench controller U1, and the other end of the coil of relay KM7 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM7 is connected to the normally closed contact connection terminal of relay KM8. The two ends of inductance coil L7 are respectively connected to the common contact connection terminal of relay KM7 and the normally closed contact connection terminal of relay KM7. One end of the coil of relay KM8 is connected to the first relay coil power supply terminal Vm8 of the HIL bench controller U1, and the other end of the coil of relay KM8 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM8 is connected to the normally closed contact connection terminal of relay KM9. The two ends of inductance coil L8 are respectively connected to the common contact connection terminal of relay KM8 and the normally closed contact connection terminal of relay KM8. One end of the coil of relay KM9 is connected to the first relay coil power supply terminal Vm9 of the HIL bench controller U1, and the other end of the coil of relay KM9 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM9 is connected to the normally closed contact connection terminal of relay KM10. The two ends of inductance coil L9 are respectively connected to the common contact connection terminal of relay KM9 and the normally closed contact connection terminal of relay KM9. One end of the coil of relay KM10 is connected to the first relay coil power supply terminal Vm10 of the HIL bench controller U1, and the other end of the coil of relay KM10 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM10 is connected to the normally closed contact connection terminal of relay KM11. The two ends of inductance coil L10 are respectively connected to the common contact connection terminal of relay KM10 and the normally closed contact connection terminal of relay KM10. One end of the coil of relay KM11 is connected to the first relay coil power supply terminal Vm11 of the HIL bench controller U1, and the other end of the coil of relay KM11 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM11 is connected to the normally closed contact connection terminal of relay KM12. The two ends of inductance coil L11 are respectively connected to the common contact connection terminal of relay KM11 and the normally closed contact connection terminal of relay KM11. The two ends of inductance coil L12 are respectively connected to the common contact connection terminal of relay KM12 and the normally closed contact connection terminal of relay KM6. One end of the coil of relay KM12 is connected to the first relay coil power supply terminal Vm12 of the HIL bench controller U1, and the other end of the coil of relay KM12 is connected to the ground pin GND of the HIL bench controller U1. The common contact connection terminal of relay KM12 is connected to the steering angle signal input pin Sin2 of the HIL bench controller U1.

[0049] According to the calculation, the inductance values required for two groups of simulation units are obtained. When the first group of inductance coils needs to output 1H, the power supply terminal Vm1 of the first relay coil outputs a low level, the normally closed contact of the relay KM1 is disconnected, and the normally closed contacts of the relays KM2 - KM6 all remain closed. At this time, the power supply output by the power supply terminal Vdd1 of the first group of inductance coils passes through the inductor L1 and the normally closed contact lines of the relays KM2 - KM6 and is connected to Sin1. At this time, only the inductor L1 is connected. Therefore, the inductance value exhibited by the first group of inductance coils as a whole at this time is 1H, successfully simulating this specific inductance signal.

[0050] The HIL bench controller calculates according to the simulation requirements that the first group of inductance coils need to output an inductance value of 3H, and then issues an instruction to the relevant relay control terminals. The power supply terminal Vm1 of the first relay coil outputs a low level, energizing the coil of the relay KM1, and its normally closed contact is disconnected; the power supply terminal Vm2 of the second relay coil outputs a low level, energizing the coil of the relay KM2, and its normally closed contact is also disconnected. The relays KM3 - KM6 all keep their normally closed contacts closed because the corresponding power supply terminals do not output a low level and the coils are not energized. The power supply output by the power supply terminal Vdd1 of the first group of inductance coils, and the current passes through the inductor L1, the path left after the normally closed contact of the relay KM2 is disconnected (at this time L2 is connected), then passes through the lines where the normally closed contacts of the relays KM3 - KM6 are located, and finally is connected to Sin1. At this time, the inductors L1 and L2 are connected in series to the circuit. Given that L1 is 1H and L2 is 2H, according to the characteristic that the total inductance value of inductors in series is the sum of the inductance values of each inductor, the output of an inductance value of 3H is achieved.

[0051] When the first group of inductance coils needs to output 5H, the power supply terminal Vm1 of the first relay coil outputs a low level, the normally closed contact of the relay KM1 is disconnected, the power supply terminal Vm3 of the third relay coil outputs a low level, the normally closed contact of the relay KM3 is disconnected, and the relays KM2, KM4 - KM6 all keep their normally closed contacts closed. At this time, the power supply output by the power supply terminal Vdd1 of the first group of inductance coils passes through the inductance coil L1, the normally closed contact line of the relay KM2, the inductance coil L3, and the normally closed contact lines of the relays KM4 - KM6 and is connected to Sin1. At this time, the inductance coils L1 and L3 are connected in series and then connected to the circuit. According to the characteristic of inductors in series, the total inductance value is the sum of the inductance values of the two, that is, the simulation output of an inductance value of 5H is achieved.

[0052] The HIL bench controller calculates and determines that the first group of inductance coils needs to output an inductance value of 7H, and issues a control command. The power supply terminal Vm1 of the first relay coil outputs a low level, and the normally closed contact of the relay KM1 is disconnected; the power supply terminal Vm2 of the second relay coil outputs a low level, and the normally closed contact of the relay KM2 is disconnected; the power supply terminal Vm3 of the third relay coil outputs a low level, and the normally closed contact of the relay KM3 is disconnected. The normally closed contacts of the relays KM4 - KM6 remain closed because there is no low-level output at their corresponding power supply terminals and the coils are not energized. The power supply terminal Vdd1 of the first group of inductance coils outputs power, and the current flows through the inductance coils L1, L2, and L3 in sequence, and then is connected to Sin1 through the circuit where the normally closed contacts of the relays KM4 - KM6 are located. At this time, L1, L2, and L3 are connected in series, and the total inductance value is 7H, completing the analog output of this inductance value.

[0053] When the first group of inductance coils needs to output 50H, the power supply terminals Vm1 of the first relay coil, Vm2 of the second relay coil, Vm3 of the third relay coil, Vm4 of the fourth relay coil, Vm5 of the fifth relay coil, and Vm6 of the sixth relay coil all output low levels, and the normally closed contacts of the relays LM1 - KM6 are all disconnected. At this time, the power supply output from the power supply terminal Vdd1 of the first group of inductance coils passes through the inductance coils L1, L2, L3, L4, L5, and L6 and is connected to Sin1. At this time, the inductance coils L1 - L6 are connected in series in sequence. According to the principle of inductance in series, the total inductance value is the sum of these inductance values, thus realizing the analog output of the 50H inductance value.

[0054] The second group of inductance coils has the same working principle. For example, the HIL bench controller calculates that the second group of inductance coils needs to output an inductance value of 11H according to the requirements of the analog steering sensor signal, and sends a command to the relevant control terminals. The power supply terminal Vm7 of the seventh relay coil outputs a low level, and the normally closed contact of the relay KM7 is disconnected; the power supply terminal Vm8 of the eighth relay coil outputs a low level, and the normally closed contact of the relay KM8 is disconnected; the power supply terminal Vm10 of the tenth relay coil outputs a low level, and the normally closed contact of the relay KM10 is disconnected. The normally closed contacts of the relays KM9, KM11, and KM12 remain closed because their corresponding power supply terminals do not output low levels. The power supply terminal Vdd2 of the second group of inductance coils outputs power, and the current passes through the inductance coils L7, L8, the circuit where the normally closed contact of the relay KM9 is located, the inductance coil L10 in sequence, and then is connected to Sin2 through the circuits where the normally closed contacts of the relays KM11 and KM12 are located. At this time, L7, L8, and L10 are connected in series, and the total inductance value is 11H, simulating the required inductance signal.

[0055] The inductor value setting method of the present application can combine fewer coils to obtain more inductor values, reduce the number of coils used, lower the cost of the device, and simplify the control logic of the HIL bench controller for the relay. This makes the control more efficient and accurate. For example, by simple binary operations, it can be determined which relays need to be turned on to achieve a specific inductor value, improving the response speed and accuracy of the control.

[0056] Adjust the number of inductor coils in the first group and the second group of inductor coils according to the actual required inductor range, ensuring that the number of inductor coils in both groups is the same.

[0057] As Figure 2 shown, an embodiment of the present invention provides a simulation system for a steering wheel steering mechanism, including a HIL bench host computer and the simulation device as described in the above embodiment. The HIL bench host computer is connected to the HIL bench controller; a steering angle - voltage correspondence table is pre - stored in the HIL bench host computer. The HIL bench host computer receives the steering angle to be simulated, calculates the inductor value corresponding to the required steering angle through the pre - stored steering angle - voltage correspondence table, and inputs it to the HIL bench controller. The HIL bench controller controls the on - off of the corresponding relay based on the received inductor value, and inputs the corresponding inductor value to the feedback circuit. The system combines the HIL bench host computer and the simulation device, and uses the pre - stored correspondence table to achieve fast conversion and simulation from the steering angle to the inductor value, improving the efficiency and accuracy of the simulation, and being able to better simulate the actual steering wheel steering mechanism.

[0058] For example, when performing real - time testing of a vehicle steering system, the system can simulate accurate steering angle signals according to different test scenarios in a short time, providing reliable data support for the testing.

[0059] In some embodiments, the HIL bench controller is provided with a steering angle signal input pin and a control output pin; Based on the calculated inductor value, the HIL bench controller controls the on - off of different relays or relay combinations, controls the corresponding coils to connect the inductor value to the steering angle signal input pin respectively to form a feedback circuit, and emits the voltage signal corresponding to the inductor value through the control output pin. By setting dedicated input and output pins, the connection of the inductor value and the output of the voltage signal are made more standardized and orderly, improving the stability and reliability of the system, and facilitating connection and interaction with other devices.

[0060] The HIL bench controller is equipped with dedicated input pins for the steering angle signal and control output pins, making the access of inductance values and the output of voltage signals more standardized and orderly. This improves the stability and reliability of the system and facilitates connection and interaction with other devices.

[0061] For example, when connecting to the vehicle's electronic control unit (ECU), the standardized pin design makes signal transmission more stable, reducing the possibility of signal interference and transmission errors, and ensuring good compatibility between the simulation system and the actual vehicle system.

[0062] The system also includes a HIL bench simulation controller connected to the HIL bench controller; The HIL bench controller sends out a voltage signal to the HIL bench simulation controller through the control output pins; the HIL bench simulation controller simulates the corresponding steering angle based on the received voltage signal.

[0063] Add a HIL bench simulation controller connected to the HIL bench controller to the system. The HIL bench controller sends a voltage signal to the HIL bench simulation controller through the control output pins. After receiving the voltage signal, the HIL bench simulation controller simulates the corresponding steering angle according to a pre-established model or algorithm. Introducing the HIL bench simulation controller realizes the simulation from the voltage signal to the steering angle, further improving the simulation system of the steering wheel steering mechanism, making the simulation results closer to the actual situation, and facilitating the testing and verification of the steering system.

[0064] By measuring the output voltages of the Hall sensors on two gears of an actual vehicle equipped with a steering angle sensor and the actually measured steering angle, a correspondence table of the steering angle and voltage is established and stored in the HIL bench host computer. Establishing the correspondence table through actual measurement enables the simulation system to more accurately reflect the steering characteristics of the actual vehicle, improving the authenticity and reliability of the simulation, and providing a more accurate basis for subsequent steering angle simulation.

[0065] The HIL bench host computer receives the steering angle information to be simulated, and this information may come from different scenario requirements of vehicle steering system testing. A correspondence table of the steering angle and voltage is pre-stored in the host computer, and it will calculate based on this table to convert the received steering angle into the corresponding inductance value. For example, when the test scenario requires simulating a steering angle of 30°, the host computer looks up the correspondence table and performs corresponding calculations to obtain the inductance value required to simulate this steering angle. After the calculation is completed, the host computer inputs the obtained inductance value to the HIL bench controller.

[0066] After the HIL bench controller receives the inductance value from the host computer, it controls the relays in the analog device based on this inductance value. The analog device includes two groups of analog units, and each group of analog units consists of multiple coils with independent relay control. The controller controls the on / off of different relays or relay combinations according to the calculated inductance value. For example, if an inductance value of 5H needs to be output, the controller will open the normally closed contacts of the corresponding relays (such as KM1 and KM3 in the first group of inductance coils), and connect the corresponding inductance coils L1 and L3 in series to the circuit, so as to output an inductance value of 5H. Then, these inductance values are connected to the steering angle signal input pins of the HIL bench controller to form a feedback circuit.

[0067] The HIL bench controller is provided with control output pins. After the inductance value is connected to the feedback circuit, the controller sends out a voltage signal corresponding to the inductance value through these control output pins. Since there is a corresponding relationship between the inductance value and the steering angle, this voltage signal also indirectly reflects the steering angle information to be simulated.

[0068] The sent voltage signal is transmitted to the HIL bench simulation controller connected to the HIL bench controller. A specific model or algorithm is pre-established inside the HIL bench simulation controller. It calculates and processes according to the received voltage signal through this model or algorithm to simulate the corresponding steering angle. Finally, the simulated steering angle information can be used for the test and verification of the vehicle steering system, providing data support for evaluating the performance of the steering system, such as judging whether the response of the steering system is accurate and sensitive, etc.

[0069] The control of the inductance value output in the analog device mainly relies on the on / off control of the relays by the HIL bench controller, combined with two groups of analog units (each group has multiple inductance coils) to achieve. The specific control logic is as follows: After the HIL bench host computer receives the steering angle to be simulated, it calculates the target inductance value corresponding to this steering angle according to the pre-stored steering angle-voltage correspondence table, and transmits it to the HIL bench controller.

[0070] Each inductance coil in each group of analog units in the analog device is controlled by a separate relay for on / off. The normally closed contact of the relay is in parallel with the corresponding coil. When the relay is not powered on, the normally closed contact is closed, and the coil is short-circuited and not connected to the circuit; when the relay is powered on, the normally closed contact is opened, and the coil is connected to the circuit.

[0071] The inductance values of the coils in each group of analog units are set according to binary coding. For example, each group usually consists of six coils, and the inductance values are 2 0 , 2¹, 2 2 , 2 3 , 2 4 , 25 (i.e., 1, 2, 4, 8, 16, 32). The HIL bench controller converts the target inductance value into binary form and determines the coil combination to be connected to the circuit. For example, if the target inductance value is 13H, the binary conversion is 1101 (23 + 22 + 20), which means that the coils corresponding to 2 0 , 2 2 , 2 3 need to be connected to the circuit. At this time, the controller will control the corresponding relays to be energized, causing the normally closed contacts corresponding to these coils to open and connecting them to the circuit, while the normally closed contacts corresponding to the relays of other coils remain closed and are not connected to the circuit.

[0072] For some larger inductance values or special simulation requirements, it may be necessary for two sets of simulation units to work together. The HIL bench controller controls the relays in the two sets of simulation units respectively. According to the above logic, it determines the coils to be connected to the circuit in each set based on the calculation results, and outputs the required inductance value through different combination methods of the two sets of simulation units, so as to realize the simulation of the inductance signal of the steering angle sensor.

[0073] An embodiment of the present invention also provides a simulation method for a steering wheel steering mechanism. The method is applied to the system described in the above embodiment, and the method includes: S1: The HIL bench host computer receives a steering angle simulation request, and the request includes the steering angle to be simulated; through a pre-stored steering angle-voltage correspondence table, it calculates the inductance value corresponding to the required steering angle and inputs it to the HIL bench controller; S2: The HIL bench controller controls the corresponding relays to be turned on and off based on the received inductance value, inputs the corresponding inductance value to the feedback circuit, and enables the HIL bench controller to send out the voltage signal corresponding to the inductance value through the control output pin.

[0074] The process of simulating the entire steering wheel steering mechanism is clarified, from receiving the request to calculating the inductance value, controlling the relays to be turned on and off, and outputting the voltage signal, realizing automated steering angle simulation, improving the efficiency and accuracy of the simulation, and facilitating rapid and effective testing and verification of the steering system.

[0075] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steering sensor signal simulation device, characterized in that: The invention comprises a HIL bench controller and two sets of simulation units connected to the HIL bench controller, wherein two gears of a steering angle sensor are simulated by the two sets of simulation units, each set of simulation units is composed of a plurality of inductance coils, and each inductance coil is individually controlled by a relay; the inductance value of each inductance coil is set so that a combination of inductance values ​​of different inductance coils in each set of simulation units covers a variation range of the inductance value of the steering angle sensor; The HIL bench controller controls the inductance values ​​corresponding to the outputs of the two groups of simulation units by controlling the on and off of different relays or relay combinations.

2. The steering sensor signal simulation device according to claim 1, characterized in that: The inductance coils in each group of simulation units are connected in series and then connected to the steering angle signal input pin of the HIL bench controller. Each inductance coil is connected in parallel with the normally closed switch of the corresponding relay, and the normally closed switches of each relay connected to each group of simulation units are connected in series.

3. The steering sensor signal simulation device according to claim 2, characterized in that: The HIL bench controller is provided with a plurality of power output terminals, each of which includes a positive pin and a negative pin; the positive pin of each power output terminal is connected to one end of a relay coil, and the other end of the relay coil is connected to the corresponding negative pin.

4. The steering sensor signal simulation device according to claim 3, characterized in that: The inductance values ​​of the n inductor coils in each group of simulation units are 2 0 , 2¹ to 2 n-1 .

5. The steering sensor signal simulation device according to claim 3, characterized in that: Each group of simulation units includes six inductors, and the inductance values ​​of the inductors are 2 0 , 2¹, 2 2 , 2 3 , 2 4 , 2 5 .

6. A simulation system for a steering wheel steering mechanism, characterized in that: The method comprises a HIL bench host computer and a simulation device as claimed in any one of claims 1 to 5, wherein the HIL bench host computer is connected to a HIL bench controller; a corresponding relationship table between a steering angle and a voltage is pre-stored in the HIL bench host computer; The HIL bench host computer receives the steering angle to be simulated, calculates the inductance value corresponding to the required steering angle through the pre-stored steering angle and voltage correspondence table, and inputs it into the HIL bench controller. The HIL bench controller controls the on and off of the corresponding relay based on the received inductance value, and inputs the corresponding inductance value into the feedback circuit.

7. The simulation system of the steering wheel steering mechanism according to claim 6, characterized in that: The HIL bench controller is provided with a steering angle signal input pin and a control output pin; Based on the calculated inductance value, the HIL bench controller controls the on and off of different relays or relay combinations to control the corresponding inductance coil to connect the inductance value to the steering angle signal input pin to form a feedback circuit, and sends out the voltage signal corresponding to the inductance value by controlling the output pin.

8. The simulation system of the steering wheel steering mechanism according to claim 7, characterized in that: The system also includes a HIL bench simulation controller connected to the HIL bench controller; The HIL bench controller sends a voltage signal to the bench simulation controller by controlling the output pin; the HIL bench simulation controller simulates the corresponding steering angle according to the received voltage signal.

9. The simulation system of the steering wheel steering mechanism according to claim 8, characterized in that: By measuring the output voltage of the Hall sensors on the two gears of the actual vehicle equipped with the steering angle sensor and the actual measured steering angle, a corresponding relationship table between the steering angle and the voltage is established and stored in the HIL bench host computer.

10. A method for simulating a steering wheel steering mechanism, characterized in that: The method is applied to the system according to any one of claims 6 to 9, and the method comprises: The HIL bench host computer receives a steering angle simulation request, wherein the request includes a steering angle to be simulated; calculates an inductance value corresponding to the required steering angle through a pre-stored steering angle and voltage correspondence table, and inputs the calculated inductance value into the HIL bench controller; The HIL bench controller controls the on and off of the corresponding relay based on the received inductance value, inputs the corresponding inductance value into the feedback circuit, and enables the HIL bench controller to send out a voltage signal corresponding to the inductance value through the control output pin.

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