Steering system torque fluctuation analysis method, device and equipment and readable storage medium

Abstract

The invention discloses a four-section type steering system torque fluctuation simulation analysis method, device and equipment and a readable storage medium. Initial angles, phase angles I and phase angles II of a cross universal joint I, a cross universal joint II and a cross universal joint III in the four-section type steering system are subjected to parameterization treatment, so that the parameters can be flexibly adjusted subsequently to adapt to different analysis requirements; and adjusting and redefining various parameter combinations of the initial angle, the phase angle I and the phase angle II, performing simulation analysis on the steering torque fluctuation for each parameter combination, and performing iterative optimization on the parameters according to a simulation result until an optimal parameter combination is found, so that the torque fluctuation of the four-section steering system meets design requirements. Through combination of parameterization processing and iterative optimization parameters, the improved technical means more truly simulates the actual motion process of the four-section type steering system, including torque fluctuation caused by non-constant-speed motion of a universal joint.

Description

Technical Field

[0001] The present application relates to the field of automotive analysis and modeling, and particularly to a method, device, equipment and readable storage medium for analyzing the torque fluctuation of a steering system. Background Art

[0002] The steering force is an important indicator in the evaluation of vehicle handling stability, and its torque fluctuation directly affects the driving feeling. Therefore, the torque fluctuation of the steering system is very important for the design of the steering system. Multiple cross-shaft universal joints are used in the steering system to transmit the steering wheel torque. Due to the non-uniform transmission of the cross-shaft universal joint itself, the torque fluctuation is exacerbated, which is currently inevitable in the torque fluctuation of the steering system.

[0003] In related technologies, the traditional torque fluctuation analysis method uses a hook pair with a phase angle (a virtual component for connection and transmission) to simulate the universal joint, and cannot truly reflect the torque fluctuation caused by the non-uniform motion of the universal joint. Summary of the Invention

[0004] The present application provides a method, device, equipment and readable storage medium for analyzing the torque fluctuation of a steering system, which can solve the technical problem that in related technologies, the traditional torque fluctuation analysis method uses a hook pair with a phase angle (a virtual component for connection and transmission) to simulate the universal joint and cannot truly reflect the torque fluctuation caused by the non-uniform motion of the universal joint.

[0005] In a first aspect, an embodiment of the present application provides a four-section steering system torque fluctuation simulation analysis method, and the four-section steering system torque fluctuation simulation analysis method includes:

[0006] In the simulation analysis software, sequentially build the upper shaft of the steering column, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint and the lower shaft of the steering, and perform parameterization processing on the initial angle of the first cross universal joint, the first phase angle of the second cross universal joint and the second phase angle of the third cross universal joint to complete the construction of the parameterized steering subsystem multi-body dynamics model;

[0007] Combine and assemble the established suspension subsystem multi-body dynamics model and the parameterized steering subsystem multi-body dynamics model to form a complete four-section steering system simulation model;

[0008] Adjust and redefine various parameter combinations of the initial angle, the first phase angle and the second phase angle, perform simulation analysis of the steering torque fluctuation for each parameter combination, and perform iterative optimization on the parameters according to the simulation results until the optimal parameter combination is found to make the torque fluctuation of the four-section steering system meet the design requirements.

[0009] In combination with the first aspect, in one embodiment, in the simulation analysis software, the upper shaft of the steering column, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint, and the lower shaft of the steering are successively built, including:

[0010] In the simulation analysis software, according to the actual design requirements of the steering system, three-dimensional modeling is carried out on the upper shaft of the steering column, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint, and the lower shaft of the steering, and the relative positions, connection methods, and motion constraints between the parts are set to ensure that each part meets its physical characteristics and functional requirements in the actual steering system.

[0011] In combination with the first aspect, in one embodiment, the initial angle of the first cross universal joint, the first phase angle of the second cross universal joint, and the second phase angle of the third cross universal joint are parametrically processed to complete the construction of the parametric multi-body dynamics model of the steering subsystem, including:

[0012] Define the initial values of the initial angle of the first cross universal joint, the first phase angle of the second cross universal joint, and the second phase angle of the third cross universal joint, and define the value ranges of the initial angle, the first phase angle, and the second phase angle.

[0013] In combination with the first aspect, in one embodiment, the construction of the parametric multi-body dynamics model of the steering subsystem is completed, including:

[0014] Define the post-processing index of the steering torque fluctuation to complete the construction of the parametric multi-body dynamics model of the steering subsystem.

[0015] In combination with the first aspect, in one embodiment, the established multi-body dynamics model of the suspension subsystem and the parametric multi-body dynamics model of the steering subsystem are combined and assembled to form a complete four-section steering system simulation model, including:

[0016] Build the multi-body dynamics model of the suspension subsystem. According to the actual design requirements of the steering system, three-dimensional modeling is carried out on the parts of the multi-body dynamics model of the suspension subsystem, and the relative positions, connection methods, and motion constraints between the parts are set to ensure that each part meets its physical characteristics and functional requirements in the actual steering system;

[0017] Combine and assemble the multi-body dynamics model of the suspension subsystem and the parametric multi-body dynamics model of the steering subsystem to form a complete four-section steering system simulation model.

[0018] Combined with the first aspect, in one embodiment, various parameter combinations for adjusting and redefining the initial angle, phase angle one, and phase angle two are carried out. For each parameter combination, a simulation analysis of the steering torque fluctuation is performed, and the parameters are iteratively optimized according to the simulation results until the optimal parameter combination is found to make the torque fluctuation of the four-section steering system meet the design requirements, including:

[0019] For each parameter combination, run the simulation model to simulate the actual motion process of the steering system and record the data of the steering torque changing with time;

[0020] Process and analyze the simulation results, extract the peak value, average value, and fluctuation range of the steering torque fluctuation, visually display the characteristics of the steering torque fluctuation using charts and curves, and evaluate whether the performance of the steering torque fluctuation under the current parameter combination meets the expectations;

[0021] According to the simulation results and performance evaluation, adjust the parameter values of the initial angle, phase angle one, and phase angle two, repeat the simulation analysis and result post-processing steps, observe the influence of parameter adjustment on the steering torque fluctuation, and perform multiple iterations to gradually optimize the parameter combination until the optimal parameter combination that meets the design requirements is found.

[0022] In the second aspect, an embodiment of the present application provides a device for simulating and analyzing the torque fluctuation of a four-section steering system. The device for simulating and analyzing the torque fluctuation of a four-section steering system includes:

[0023] A parametric steering subsystem multi-body dynamics model building module, which is used to sequentially build the upper shaft of the steering column, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint, and the lower shaft of the steering in the simulation analysis software, and perform parametric processing on the initial angle of the first cross universal joint, the phase angle one of the second cross universal joint, and the phase angle two of the third cross universal joint to complete the construction of the parametric steering subsystem multi-body dynamics model;

[0024] A four-section steering system simulation model building module, which is used to combine and assemble the established multi-body dynamics model of the suspension subsystem and the parametric steering subsystem multi-body dynamics model to form a complete four-section steering system simulation model;

[0025] An iterative optimization module, which adjusts and redefines various parameter combinations of the initial angle, phase angle one, and phase angle two, performs a simulation analysis of the steering torque fluctuation for each parameter combination, and iteratively optimizes the parameters according to the simulation results until the optimal parameter combination is found to make the torque fluctuation of the four-section steering system meet the design requirements

[0026] In combination with the second aspect, in one embodiment, the parametric steering subsystem multi-body dynamics model building module is further configured to perform three-dimensional modeling on the upper shaft of the steering column, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint, and the lower steering shaft in a simulation analysis software according to the actual design requirements of the steering system, and set the relative positions, connection modes, and motion constraints between the parts to ensure that each part meets its physical characteristics and functional requirements in the actual steering system.

[0027] In a third aspect, an embodiment of the present application provides a four-section steering system torque fluctuation simulation analysis device, which includes a processor, a memory, and a four-section steering system torque fluctuation simulation analysis program stored on the memory and executable by the processor. When the four-section steering system torque fluctuation simulation analysis program is executed by the processor, the steps of the four-section steering system torque fluctuation simulation analysis method described in some of the above embodiments are implemented.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a four-section steering system torque fluctuation simulation analysis program is stored. When the four-section steering system torque fluctuation simulation analysis program is executed by a processor, the steps of the four-section steering system torque fluctuation simulation analysis method described in some of the above embodiments are implemented.

[0029] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0030] In the simulation analysis software, parameterize the initial angles, phase angle one, and phase angle two of the first cross universal joint, the second cross universal joint, and the third cross universal joint in the four-section steering system, so that these parameters can be flexibly adjusted subsequently to meet different analysis requirements; adjust and redefine various parameter combinations of the initial angle, phase angle one, and phase angle two, perform simulation analysis of the steering torque fluctuation for each parameter combination, and according to the simulation results, iteratively optimize the parameters until the optimal parameter combination is found, so that the torque fluctuation of the four-section steering system meets the design requirements. Through parameterization and iterative optimization of the parameter combination, the improved technical means can more realistically simulate the actual movement process of the four-section steering system, including the torque fluctuation caused by the non-uniform motion of the universal joint, which greatly improves the accuracy of the simulation analysis. The improved technical means can quickly evaluate the torque fluctuation performance under different parameter combinations through simulation analysis, thereby greatly shortening the R & D cycle and improving the R & D efficiency. Description of the Drawings

[0031] Figure 1 It is a schematic flowchart of an embodiment of the four-section steering system torque fluctuation simulation analysis method of the present application;

[0032] Figure 2 It is a schematic structural diagram of the multi-body dynamics model of the suspension subsystem in the embodiment of the present application;

[0033] Figure 3 It is a schematic structural diagram of the multi-body dynamics model of the parametric steering subsystem in the embodiment of the present application;

[0034] Figure 4 It is a schematic structural diagram of the combined assembly of the multi-body dynamics model of the suspension subsystem and the multi-body dynamics model of the parametric steering subsystem in the embodiment of the present application;

[0035] Figure 5 It is a schematic hardware structure diagram of the four-section steering system torque fluctuation simulation analysis device involved in the embodiment solution of the present application.

[0036] In the figure: 1. Multi-body dynamics model of the suspension subsystem; 2. Multi-body dynamics model of the parametric steering subsystem; 21. Upper shaft of the steering column; 22. First cross universal joint; 23. First intermediate shaft; 24. Second cross universal joint; 25. Second intermediate shaft; 26. Third cross universal joint; 27. Lower shaft of the steering. Specific embodiments

[0037] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0038] The embodiment of the present application provides a steering system torque fluctuation analysis method, device, equipment and readable storage medium, which can solve the technical problem that in the related art, the traditional torque fluctuation analysis method uses a hook pair with a phase angle (a virtual component for connection and transmission) to simulate the universal joint, and cannot accurately reflect the torque fluctuation caused by the non-uniform motion of the universal joint.

[0039] In the first aspect, the embodiment of the present application provides a four-section steering system torque fluctuation simulation analysis method.

[0040] In one embodiment, refer to Figure 1 , Figure 1 It is a schematic flowchart of the first embodiment of the four-section steering system torque fluctuation simulation analysis method of the present application. As Figure 1 shown, the four-section steering system torque fluctuation simulation analysis method includes:

[0041] S100: In the simulation analysis software, sequentially build the upper steering column 21, the first cross universal joint 22, the first intermediate shaft 23, the second cross universal joint 24, the second intermediate shaft 25, the third cross universal joint 26, and the lower steering column 27, and perform parametric processing on the initial angle of the first cross universal joint 22, the first phase angle of the second cross universal joint 24, and the second phase angle of the third cross universal joint 26 to complete the construction of the parametric multi-body dynamics model 2 of the steering subsystem;

[0042] S200: Combine and assemble the established multi-body dynamics model 1 of the suspension subsystem and the parametric multi-body dynamics model 2 of the steering subsystem to form a complete four-section steering system simulation model;

[0043] S300: Adjust and redefine various parameter combinations of the initial angle of the first cross universal joint 22, the first phase angle of the second cross universal joint 24, and the second phase angle of the third cross universal joint 26. For each parameter combination, perform a simulation analysis of the steering torque fluctuation, and iteratively optimize the parameters according to the simulation results until the optimal parameter combination is found to make the torque fluctuation of the four-section steering system meet the design requirements.

[0044] In this embodiment, as Figure 2 、 3As shown in FIGS. 3 and 4, in the simulation analysis software, each component of the steering system is successively built, and the initial angles and phase angles of the first cardan joint 22, the second cardan joint 24, and the third cardan joint 26 are parameterized to complete the construction of the multi-body dynamics model of the parameterized steering subsystem, enabling subsequent flexible adjustment and optimization of these parameters; the established multi-body dynamics model 1 of the suspension subsystem and the multi-body dynamics model 2 of the parameterized steering subsystem are combined and assembled to form a complete four-section steering system simulation model. This step ensures that the simulation analysis can comprehensively consider the interaction between the steering system and the suspension system, improving the accuracy and practicality of the simulation; by adjusting and redefining various parameter combinations of the initial angle of the first cardan joint 22, the first phase angle of the second cardan joint 24, and the second phase angle of the third cardan joint 26, the simulation analysis of the steering torque fluctuation is carried out for each parameter combination. According to the simulation results, the parameters are iteratively optimized until the optimal parameter combination is found to make the torque fluctuation of the four-section steering system meet the design requirements. This step quickly evaluates the torque fluctuation performance under different parameter combinations through simulation analysis, greatly shortening the R & D cycle and reducing the R & D cost. The improved technical means can more realistically simulate the actual movement process of the four-section steering system, especially the torque fluctuation caused by the non-uniform motion of the cardan joint, through parameterization and iterative optimization of the parameter combination. This greatly improves the accuracy of the simulation analysis and provides a reliable basis for subsequent design and optimization. Traditional torque fluctuation analysis methods often rely on a large number of tests to verify and optimize the design, while the improved technical means can quickly evaluate the torque fluctuation performance under different parameter combinations through simulation analysis, thus greatly shortening the R & D cycle and reducing the R & D cost. This helps enterprises to launch high-quality products that meet market demands faster. In summary, the improved technical means realizes the accurate simulation analysis of the torque fluctuation of the four-section steering system through parameterization, combined assembly of the simulation model, and iterative optimization of the parameter combination, and brings technical effects such as improving the simulation accuracy, shortening the R & D cycle, and reducing the cost.

[0045] Further, in one embodiment, in S100, the following steps are included:

[0046] S101: In the simulation analysis software, according to the actual design requirements of the steering system, three-dimensional modeling is carried out on the upper shaft 21 of the steering column, the first cardan joint 22, the first intermediate shaft 23, the second cardan joint 24, the second intermediate shaft 25, the third cardan joint 26, and the lower shaft 27 of the steering, and the relative positions, connection methods, and motion constraints between each part are set to ensure that each part conforms to its physical characteristics and functional requirements in the actual steering system.

[0047] In this embodiment, in the simulation analysis software, according to the actual design requirements of the steering system, 3D models are built for key components such as the upper shaft 21 of the steering column, the first cross universal joint 22, the first intermediate shaft 23, the second cross universal joint 24, the second intermediate shaft 25, the third cross universal joint 26, and the lower shaft 27 of the steering. These models need to accurately reflect key features such as the geometric shapes, dimensions, and material properties of each component. During the modeling process, the relative positions and connection methods between the parts need to be accurately set, which includes determining the installation positions, angles between the components, and how to fix and connect them through connectors (such as bolts, bearings, etc.). These settings need to ensure that the model can truly reflect the actual motion state of the steering system during the simulation. To ensure the accuracy of the simulation model, appropriate motion constraints also need to be set for each component. These constraints can limit the movement of the component in certain directions or specify the relative motion relationship between components. For example, the rotational constraints of the universal joint can be set to ensure that it can correctly simulate the non-uniform speed motion during the actual steering process. Through accurate 3D modeling and setting the relative positions, connection methods, and motion constraints, a simulation model highly conforming to the physical characteristics and functional requirements of the actual steering system can be constructed. This helps improve the accuracy of the simulation analysis, enabling the simulation results to more truly reflect the actual performance of the steering system. An accurate simulation model can provide a solid foundation for subsequent analysis and optimization. By performing simulation analysis on the model, the torque fluctuation performance under different parameter combinations can be evaluated, and then the parameters can be iteratively optimized to find the optimal parameter combination. This process can greatly shorten the R & D cycle and reduce the R & D cost, helping the enterprise to quickly launch high-quality products that meet market demands. In summary, the technical means in S101 construct a simulation model highly conforming to the requirements of the actual steering system through accurate 3D modeling and setting the relative positions, connection methods, and motion constraints, providing a solid foundation for subsequent analysis and optimization.

[0048] Further, in one embodiment, in S100, the following steps are included:

[0049] S102: Define the initial values of the initial angle of the first cross universal joint 22, the first phase angle of the second cross universal joint 24, and the second phase angle of the third cross universal joint 26, and define the value ranges of the initial angle, the first phase angle, and the second phase angle.

[0050] In this embodiment, in S102, first, it is necessary to determine the initial angle of the first cross universal joint 22, the first phase angle of the second cross universal joint 24, and the initial values of the second phase angle of the third cross universal joint 26 according to the actual design requirements and motion characteristics of the steering system. The selection of these initial values should ensure that the steering system can operate smoothly in the initial state and meet the design requirements. At the same time, for the flexibility and accuracy of subsequent simulation analysis, it is necessary to define the value ranges of the initial angle, the first phase angle, and the second phase angle. These value ranges should be determined based on the actual motion requirements and limitations of the steering system to ensure that various possible motion states can be comprehensively considered during the simulation process. For example, for the initial angle of the first cross universal joint 22, its initial value is set to 0 degrees, and the value range is defined as -10 degrees to +10 degrees. The selection of this range is based on the actual motion requirements and limitations of the steering system to ensure that various possible motion states can be comprehensively considered during the simulation process, and at the same time, to avoid unnecessary complexity and errors caused by excessive angle changes. For the first phase angle of the second cross universal joint 24, its initial value is set to 45 degrees, and the value range is defined as 30 degrees to 60 degrees. The selection of this initial value and value range also takes into account the actual motion characteristics and design requirements of the steering system to ensure the accuracy and practicality of the simulation analysis. For the second phase angle of the third cross universal joint 26, its initial value is set to 90 degrees, and the value range is defined as 75 degrees to 105 degrees. This setting aims to ensure that the steering system can operate smoothly in the initial state and can flexibly adjust parameters during the simulation process to evaluate the torque fluctuation performance under different combinations.

[0051] Further, in one embodiment, in S100, the following steps are included:

[0052] S103: Define the post-processing indicators of the steering torque fluctuation and complete the construction of the parametric multi-body dynamics model 2 of the steering subsystem.

[0053] In this embodiment, the post-processing indicators of the steering torque fluctuation are key parameters for evaluating the performance of the steering system. These indicators include, but are not limited to, the peak value, average value, fluctuation range, frequency characteristics, etc. of the steering torque. The definition of these indicators helps to accurately evaluate the torque fluctuation of the steering system in subsequent simulation analysis, thereby guiding the optimization and improvement of the system. Completing the construction of the parametric multi-body dynamics model 2 of the steering subsystem is another important content of step S103. This model should be able to accurately reflect the actual motion characteristics and mechanical characteristics of the steering system, including the connection relationships, motion constraints, material properties, etc. between components. Through parametric processing, key parameters of the steering system, such as the initial angle and phase angle of the cross universal joint, can be flexibly adjusted to evaluate the torque fluctuation performance under different parameter combinations. The construction of this model provides a solid foundation for subsequent simulation analysis.

[0054] Further, in one embodiment, in S200, the following steps are included:

[0055] S201: Build a multi-body dynamics model 1 of the suspension subsystem. According to the actual design requirements of the steering system, perform 3D modeling on each part of the multi-body dynamics model 1 of the suspension subsystem, and set the relative positions, connection methods, and motion constraints between each part to ensure that each part meets its physical characteristics and functional requirements in the actual steering system;

[0056] S202: Combine and assemble the multi-body dynamics model 1 of the suspension subsystem and the parametric multi-body dynamics model 2 of the steering subsystem to form a complete four-section steering system simulation model.

[0057] In this embodiment, in S201, a multi-body dynamics model 1 of the suspension subsystem is built. In this step, according to the actual design requirements of the steering system, precise 3D modeling needs to be performed on each part of the multi-body dynamics model 1 of the suspension subsystem. These parts include, but are not limited to, key components such as springs, shock absorbers, and suspension arms. During the modeling process, it is necessary to ensure that parameters such as the size, shape, and material properties of each part meet its physical characteristics and functional requirements in the actual steering system; at the same time, it is also necessary to set the relative positions, connection methods, and motion constraints between each part to simulate the working state of the suspension system in a real environment. For example, the spring is responsible for supporting the body weight, the shock absorber is responsible for reducing the vibration of the suspension system, and the suspension arm realizes the movement of the suspension system by connecting the body and the wheels. These settings will ensure that the multi-body dynamics model 1 of the suspension subsystem can accurately reflect the actual motion characteristics and mechanical characteristics of the suspension system in the steering system. In S202, the multi-body dynamics model 1 of the suspension subsystem and the parametric multi-body dynamics model 2 of the steering subsystem are combined and assembled. After completing the construction of the multi-body dynamics model 1 of the suspension subsystem, it needs to be combined and assembled with the parametric multi-body dynamics model 2 of the steering subsystem. This step is the key to forming a complete four-section steering system simulation model. During the combination and assembly process, it is necessary to ensure that the interfaces between the two models match, and the relative positions and connection methods between each component are correct; at the same time, it is also necessary to perform necessary adjustments and optimizations on the combined model to ensure that it can accurately simulate the actual working state of the steering system. Through this step, a complete four-section steering system simulation model including the suspension system and the steering system will be obtained, providing strong support for subsequent performance simulation and optimization design.

[0058] Further, in one embodiment, in S300, the following steps are included:

[0059] S301: For each parameter combination, run the simulation model, simulate the actual motion process of the steering system, and record the data of the steering torque changing with time;

[0060] S302: Process and analyze the simulation results, extract the peak value, average value, and fluctuation range of the steering torque fluctuation, visually display the characteristics of the steering torque fluctuation using charts and curves, and evaluate whether the performance of the steering torque fluctuation under the current parameter combination meets the expectations;

[0061] S303: According to the simulation results and performance evaluation, adjust the parameter values of the initial angle, phase angle 1, and phase angle 2, repeat the simulation analysis and result post - processing steps, observe the impact of parameter adjustment on the steering torque fluctuation, and perform multiple iterations to gradually optimize the parameter combination until the optimal parameter combination that meets the design requirements is found.

[0062] In this embodiment, in S301, for each preset parameter combination (including key parameters such as the initial angle, phase angle 1, etc.), start the constructed four - stage steering system simulation model for simulation operation. During the simulation process, accurately record the data of the steering torque changing with time, which is the basis for subsequent analysis; in S302, perform detailed processing on the collected steering torque data, extract key indicators such as the peak value, average value, and fluctuation range of the steering torque, and use visualization tools such as charts and curves to visually display the fluctuation characteristics of the steering torque, which is convenient for analysis and understanding. According to these analysis results, evaluate whether the performance of the steering torque fluctuation under the current parameter combination meets the design requirements or expected standards; in S303, based on the performance evaluation results of step S302, make targeted adjustments to parameters such as the initial angle and phase angle 1, repeat the simulation analysis and result post - processing steps, carefully observe the impact of parameter adjustment on the steering torque fluctuation during each iteration, and through multiple iterations and gradual optimization, continuously approach the optimal parameter combination that meets the design requirements. During the iteration process, it may be necessary to comprehensively consider multiple performance indicators such as the smoothness and response speed of the steering torque to ensure the optimization of the overall performance. Finally, through this series of simulation analysis and optimization steps, we can find a set of optimal parameter combinations, making the performance of the steering system reach the best state while meeting the design requirements. This process not only improves the performance of the steering system but also provides strong support for subsequent product design and optimization.

[0063] In the second aspect, the embodiment of the present application also provides a four - stage steering system torque fluctuation simulation analysis device.

[0064] In one embodiment, referring to Figure 5 , Figure 5 is a schematic diagram of the functional modules of an embodiment of the four - stage steering system torque fluctuation simulation analysis device of the present application. As Figure 5As shown in the figure, the torque fluctuation simulation analysis device for the four-section steering system includes: a parametric steering subsystem multi-body dynamics model building module, which is used to successively build the upper steering column 21, the first universal joint 22, the first intermediate shaft 23, the second universal joint 24, the second intermediate shaft 25, the third universal joint 26 and the lower steering column 27 in the simulation analysis software, and perform parametric processing on the initial angle of the first universal joint 22, the first phase angle of the second universal joint 24, and the second phase angle of the third universal joint 26 to complete the building of the parametric steering subsystem multi-body dynamics model 2; a four-section steering system simulation model building module, which is used to combine and assemble the established suspension subsystem multi-body dynamics model 1 and the parametric steering subsystem multi-body dynamics model 2 to form a complete four-section steering system simulation model; an iterative optimization module, which adjusts and redefines various parameter combinations of the initial angle, the first phase angle, and the second phase angle, performs simulation analysis of the steering torque fluctuation for each parameter combination, and iteratively optimizes the parameters according to the simulation results until the optimal parameter combination is found to make the torque fluctuation of the four-section steering system meet the design requirements.

[0065] Further, in an embodiment, the parametric steering subsystem multi-body dynamics model building module is further used to perform three-dimensional modeling on the upper steering column 21, the first universal joint 22, the first intermediate shaft 23, the second universal joint 24, the second intermediate shaft 25, the third universal joint 26 and the lower steering column 27 in the simulation analysis software according to the actual design requirements of the steering system, and set the relative positions, connection methods and motion constraints between the parts to ensure that each part meets its physical characteristics and functional requirements in the actual steering system.

[0066] Among them, the function implementation of each module in the above torque fluctuation simulation analysis device for the four-section steering system corresponds to each step in the above method embodiment of the torque fluctuation simulation analysis method for the four-section steering system, and its function and implementation process will not be elaborated here one by one.

[0067] In a third aspect, an embodiment of the present application provides a torque fluctuation simulation analysis device for a four-section steering system. The torque fluctuation simulation analysis device for the four-section steering system can be a device with data processing functions such as a personal computer (PC), a notebook computer, a server, etc.

[0068] Refer to Figure 5 , Figure 5 is a schematic diagram of the hardware structure of the torque fluctuation simulation analysis device for the four-section steering system involved in the solution of the embodiment of the present application. In the embodiment of the present application, the torque fluctuation simulation analysis device for the four-section steering system may include a processor, a memory, a communication interface, and a communication bus.

[0069] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0070] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to implement the interconnection of components inside the four-segment steering system torque ripple simulation analysis device, as well as the interfaces for implementing the interconnection between the four-segment steering system torque ripple simulation analysis device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0071] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0072] The processor can be a general-purpose processor, and the general-purpose processor can call the four-segment steering system torque ripple simulation analysis program stored in the memory and execute the four-segment steering system torque ripple simulation analysis method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the four-segment steering system torque ripple simulation analysis program is called can refer to the various embodiments of the four-segment steering system torque ripple simulation analysis method of the present application, which will not be elaborated here.

[0073] Those skilled in the art can understand that Figure 5 the hardware structure shown in

[0074] does not constitute a limitation to the present application, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0075] The readable storage medium of the present application stores a four-segment steering system torque ripple simulation analysis program, and when the four-segment steering system torque ripple simulation analysis program is executed by a processor, the steps of the four-segment steering system torque ripple simulation analysis method as described above are implemented.

[0076] Among them, the method implemented when the four-section steering system torque fluctuation simulation analysis program is executed can refer to each embodiment of the four-section steering system torque fluctuation simulation analysis method of this application, which will not be elaborated here.

[0077] It should be noted that the serial numbers of the embodiments of this application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0078] The terms "including" and "having" and any variations thereof in the description of the specification, claims and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions with terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are of different types.

[0079] In the description of the embodiments of this application, "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0080] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0081] In some processes described in the embodiments of this application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0082] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0083] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A four-stage steering system torque fluctuation simulation analysis method, characterized in that: The four-stage steering system torque fluctuation simulation analysis method comprises: In the simulation analysis software, the upper shaft of the steering column, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint and the lower steering shaft are built in sequence, and the initial angle of the first cross universal joint, the phase angle of the second cross universal joint and the phase angle of the third cross universal joint are parameterized to complete the construction of the parameterized steering subsystem multi-body dynamics model; The established multi-body dynamics model of the suspension subsystem and the parameterized multi-body dynamics model of the steering subsystem are combined and assembled to form a complete four-stage steering system simulation model; Various parameter combinations of the initial angle, phase angle one and phase angle two are adjusted and redefined, a steering torque fluctuation simulation analysis is performed for each parameter combination, and the parameters are iteratively optimized according to the simulation results until the optimal parameter combination is found so that the torque fluctuation of the four-stage steering system meets the design requirements.

2. The four-stage steering system torque fluctuation simulation analysis method according to claim 1, characterized in that: In the simulation analysis software, the steering column upper shaft, the first cross universal joint, the first intermediate shaft, the second cross universal joint, the second intermediate shaft, the third cross universal joint and the steering lower shaft are sequentially constructed, including: In the simulation analysis software, according to the actual design requirements of the steering system, the steering column upper shaft, cross universal joint one, intermediate shaft one, cross universal joint two, intermediate shaft two, cross universal joint three and steering lower shaft are three-dimensionally modeled, and the relative position, connection method and motion constraints between each part are set to ensure that each part meets its physical characteristics and functional requirements in the actual steering system.

3. The four-stage steering system torque fluctuation simulation analysis method according to claim 1, characterized in that: The initial angle of the cross universal joint 1, the phase angle 1 of the cross universal joint 2 and the phase angle 2 of the cross universal joint 3 are parameterized to complete the construction of the parameterized steering subsystem multi-body dynamics model, including: The initial values ​​of the initial angle of the cross universal joint one, the phase angle one of the cross universal joint two and the phase angle two of the cross universal joint three are clarified, and the value ranges of the initial angle, the phase angle one and the phase angle two are defined.

4. The four-stage steering system torque fluctuation simulation analysis method according to claim 1, characterized in that: The construction of the parameterized steering subsystem multi-body dynamics model comprises: Define the post-processing indicators of steering torque fluctuation and complete the construction of the parameterized multi-body dynamics model of the steering subsystem.

5. The four-stage steering system torque fluctuation simulation analysis method according to claim 1, characterized in that: The established suspension subsystem multi-body dynamics model and the parameterized steering subsystem multi-body dynamics model are combined and assembled to form a complete four-stage steering system simulation model, including: Build a multi-body dynamics model of the suspension subsystem. According to the actual design requirements of the steering system, perform 3D modeling on each part of the multi-body dynamics model of the suspension subsystem, and set the relative position, connection method and motion constraints between the parts to ensure that each part meets its physical characteristics and functional requirements in the actual steering system. The multi-body dynamics model of the suspension subsystem and the multi-body dynamics model of the parameterized steering subsystem are assembled to form a complete four-stage steering system simulation model.

6. The four-stage steering system torque fluctuation simulation analysis method according to claim 1, characterized in that: The adjustment and redefinition of multiple parameter combinations of the initial angle, phase angle 1 and phase angle 2, simulation analysis of steering torque fluctuation is performed for each parameter combination, and the parameters are iteratively optimized according to the simulation results until the optimal parameter combination is found so that the torque fluctuation of the four-stage steering system meets the design requirements, including: For each parameter combination, run the simulation model to simulate the actual movement process of the steering system and record the change data of the steering torque over time; Process and analyze the simulation results, extract the peak value, average value and fluctuation range of the steering torque fluctuation, use charts and curves to intuitively display the characteristics of the steering torque fluctuation, and evaluate whether the performance of the steering torque fluctuation under the current parameter combination meets expectations; According to the simulation results and performance evaluation, the parameter values ​​of the initial angle, phase angle one and phase angle two are adjusted, the simulation analysis and result post-processing steps are repeated, the influence of parameter adjustment on the steering torque fluctuation is observed, and multiple iterations are performed to gradually optimize the parameter combination until the optimal parameter combination that meets the design requirements is found.

7. A four-stage steering system torque fluctuation simulation and analysis device, characterized in that: The four-stage steering system torque fluctuation simulation and analysis device comprises: A parameterized steering subsystem multi-body dynamics model building module is used to sequentially build the steering column upper shaft, cross universal joint 1, intermediate shaft 1, cross universal joint 2, intermediate shaft 2, cross universal joint 3 and steering lower shaft in the simulation analysis software, and perform parameterization on the initial angle of cross universal joint 1, the phase angle 1 of cross universal joint 2 and the phase angle 2 of cross universal joint 3 to complete the building of the parameterized steering subsystem multi-body dynamics model; A four-stage steering system simulation model building module, which is used to combine and assemble the established suspension subsystem multi-body dynamics model and the parameterized steering subsystem multi-body dynamics model to form a complete four-stage steering system simulation model; The iterative optimization module adjusts and redefines various parameter combinations of the initial angle, phase angle one and phase angle two, performs a simulation analysis of the steering torque fluctuation for each parameter combination, and iteratively optimizes the parameters based on the simulation results until the optimal parameter combination is found so that the torque fluctuation of the four-stage steering system meets the design requirements.

8. The four-stage steering system torque fluctuation simulation and analysis device according to claim 7, characterized in that: The parameterized steering subsystem multi-body dynamics model building module is also used in the simulation analysis software to perform three-dimensional modeling of the steering column upper shaft, cross universal joint one, intermediate shaft one, cross universal joint two, intermediate shaft two, cross universal joint three and steering lower shaft according to the actual design requirements of the steering system, and set the relative position, connection method and motion constraints between each part to ensure that each part meets its physical characteristics and functional requirements in the actual steering system.

9. A four-stage steering system torque fluctuation simulation and analysis device, characterized in that: The four-stage steering system torque fluctuation simulation and analysis device includes a processor, a memory, and a four-stage steering system torque fluctuation simulation and analysis program stored in the memory and executable by the processor, wherein when the four-stage steering system torque fluctuation simulation and analysis program is executed by the processor, the steps of the four-stage steering system torque fluctuation simulation and analysis method as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a four-stage steering system torque fluctuation simulation analysis program, wherein when the four-stage steering system torque fluctuation simulation analysis program is executed by the processor, the steps of the four-stage steering system torque fluctuation simulation analysis method as described in any one of claims 1 to 6 are implemented.

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