Systems and methods for testing a steering control unit including a test stand

• US 9,188,507 B2
• Filed: 01/30/2012
• Issued: 11/17/2015
• Est. Priority Date: 07/26/2011
• Status: Active Grant

• Current Assignee: Dspace GmbH
• Original Assignee: Dspace Digital Signal Processing And Control Engineering Gmbh
• Inventors: Schulte, Thomas, Lehmann, Andre
• Primary Examiner(s): Le, Toan
• Application Number:
  US13/360,873
• Publication Number:
  US 20130030720A1
• Time in Patent Office: 1,387 Days
• Field of Search: 702/41, 701/41, 701/36, 703/2, 703/8, 318/649, 731/180.1
• US Class Current: 1/1
• CPC Class Codes: G01M 17/06 Steering behaviour; Rolling behaviour

Abstract

A steering test stand has a first steering device with a measurement unit measuring the steering device torque value and applies forces to the steering device and control unit and has a control unit connected to a computer for controlling actuators. The computer simulates static and/or dynamic properties of a motor vehicle and transmits simulated target values to the control unit. A test driver unit comprises a second steering device as a force feedback steering wheel and a connection between the test driver unit and the computer, transmits a second steering angle set on the force feedback steering wheel. A second connection between the test driver unit and computer transmits steering torque measured on the first steering device to the test unit, such that the second steering device sets a second steering torque value on the force feedback steering wheel as a function of the first value.

Claims

1. A steering test stand for testing a steering control unit comprising:

a first steering device comprising;

a steering gear;

a steering assistance unit having an interface to receive control from the steering control unit to be tested;

a measurement device configured to measure a first value of a steering torque on the first steering device and an actual steering angle on the first steering device;

a first drive motor coupled to the steering gear for applying a force or a torque to the steering gear; and

a second drive motor coupled to the first steering device, configured for setting a first steering angle on the first steering device according to a target steering angle;

a control unit coupled to the first drive motor and the second drive motor;

a first computer unit coupled to the control unit including a program for simulating static and/or dynamic properties of a motor vehicle, wherein the first computer unit is configured to receive the actual steering angle measured by the measurement device and to transmit simulated target values for the first drive motor and/or the second drive motor to the control unit; and

wherein a test driver unit includes a second steering device in the form of a force feedback steering wheel; and

wherein a first coupling is provided between the test driver unit and the control unit, and is configured to transmit a second steering angle, which is set on the force feedback steering wheel as the target steering angle and/or a steering angular velocity occurring on the force feedback steering wheel to the control unit; and

wherein a second coupling is provided between the test driver unit and the measurement device, which is configured to transmit the first value of the steering torque measured on the first steering device to the test driver unit; and

wherein the second steering device in the test driver unit is configured to set a second value of the steering torque as a function of the first value of the steering torque.

2. The steering test stand according to claim 1, wherein the second value of steering torque is substantially the same as the first value when the amount of the first value does not exceed a predetermined threshold and the amount of the second value is lower than the amount of the first value when the amount of the first value exceeds the predetermined threshold.

3. The steering test stand according to claim 1, wherein the test driver unit comprises a driver'"'"'s seat and has a gas pedal and/or a brake wherein the gas pedal and/or the brake is connected to the first computer unit so that settings in the gas pedal and/or the brake are transmitted to the first computer unit.

4. The steering test stand according to claim 1, wherein the test driver unit has a second computer unit and a display screen coupled to the second computer unit, wherein the second computer unit is coupled to the first computer unit and is configured to display simulation results simulated on the first computer unit and/or to illustrate an instrument panel on the display screen.

5. The steering test stand according to claim 1, wherein the test driver unit and the first steering device are designed as mechanically isolated units.

6. The steering test stand according to claim 1, wherein the program has a subprogram which is designed to modify physical variables of the first steering device in a simulation and/or to simulate mechanical defects in the first steering device.

7. The steering test stand according to claim 1, wherein the first steering device has a steering column and the second drive motor is coupled to the steering column wherein the second drive motor serves as a steering machine.

8. The steering test stand according to claim 1, wherein the first drive motor is a linear motor or a rotary motor or a spindle lift cylinder motor.

9. The steering test stand according to claim 1, wherein the steering gear is a gear rack steering with a gear rack or a spindle steering with a threaded spindle so that a force is applied to the steering gear by the first drive motor via the toothed drive or a torque is applied to the steering gear by the first drive motor via the threaded spindle.

10. The steering test stand according to claim 1, wherein the steering control unit is an EPS (electronic power steering) or EHPS (electronic hydraulic power steering) or HPS (hydraulic power steering) control unit and the first steering device comprises an EPS or an EHPS or an HPS motor.

11. A method for testing a steering control unit by a steering test stand wherein the steering test stand includes a first steering device comprising, a steering assistance unit wherein the steering control unit to be tested is equipped to control the steering assistance unit;

a measurement device;

a drive motor connected to the steering assistance unit;

a control unit coupled to the drive motor; and

a first computer unit comprising a program for simulating static and/or dynamic properties of a motor vehicle and coupled to the control unit; and

the method for testing comprising;

measuring by use of the measurement device, a first value of a steering torque on the first steering device, and measuring an actual steering angle on the first steering device;

receiving by the first computer unit the actual steering angle measured by the measurement device and simulating by use of the program for simulation target values for the drive motor and

transmitting the target values to the control unit and

applying via the drive motor a force or a torque calculated by the first computer unit to the steering assistance unit; and

setting via the drive motor, a first steering′

angle according to a target steering angle on the steering assistance unit and

providing a test driver unit including a second steering device in the form of a force feedback steering wheel and

transmitting via a first connection provided between the test driver unit and the control unit a second steering angle set on the force feedback steering wheel as the target steering angle and/or a steering angular velocity occurring on the force feedback steering wheel to the control unit, and

providing a second connection between the test driver unit and the measurement device by means of which the first value of the steering torque measured on the first steering device is transmitted to the test driver unit such that a second value of a steering torque is set on the second steering device in the test driver unit as a function of the first value.

13. The method according to claim 11, wherein, the second value is equated with the first value if the amount of the first value does not exceed a predetermined threshold and the amount of the second value is set lower than the amount of the first value if the amount of the first value exceeds the predetermined threshold.

14. The method according to claim 11, wherein, the program has a subprogram so that physical variables of the first steering device are modified in the simulation and/or mechanical defects of the first steering device are simulated.

12. A method for testing a first steering control unit by a steering test stand, wherein the steering test stand comprises a first steering device comprising a steering gear;

a steering assistance unit wherein, the steering control unit to be tested is equipped to control the steering assistance unit;

a measurement device;

a first drive motor connected to the steering gear;

a second drive motor connected to the first steering device;

a control unit connected to the first drive motor and the second drive motor;

a first computer unit connected to the control unit and equipped with a program for simulation of static and/or dynamic properties of a motor vehicle; and

the method for testing comprising;

measuring on the first steering device a first value of a steering torque and an actual steering angle, and

receiving by the first computer unit the actual steering angle measured by the measuring device and

transmitting to the control unit target values for the first drive motor and/or the second drive motor simulated by using the program for simulation of static and/or dynamic properties of a motor vehicle and

applying a force or torque to the steering gear via the first drive motor; and

setting a first steering angle according to a target steering angle on the first steering device via the second drive motor;

providing a test driver unit comprising a second steering device in the form of a force feedback steering wheel and providing a first connection between the test driver unit and the control unit and

transmitting a second steering angle set on the force feedback steering wheel as the target steering angle and/or a steering angular velocity occurring on the force feedback steering wheel to the control unit, and

providing a second connection between the test driver unit and the measurement device by means of which the first value of the steering torque measured on the first steering device is transmitted to the test driver unit such that a second value of a steering torque is set on the second steering device in the test driver unit as a function of the first value.

15. A steering test stand used for testing a steering control unit of a motor vehicle steering system having a steering column and a steering assistance unit, the steering test stand comprising:

(a) a measurement device having

(i) a measurement input that is configured to be coupled to the motor vehicle steering system being tested, and

(ii) a measurement output that is configured to output

(1) a measured steering torque value applied to the motor vehicle steering system being tested, and

(2) a measured actual steering angle of the motor vehicle steering system being tested;

(b) a computer unit coupled to the measurement output and configured to generate properties of a simulated motor vehicle unit based on the measured steering torque value and the measured actual steering angle received from the measurement output and to output simulated target values;

(c) a drive motor configured to be

(i) couplable to the steering assistance unit of the motor vehicle steering system being tested, and

(ii) capable of setting a steering angle on the steering assistance unit and capable of applying a force or torque to the steering assistance unit;

(d) a control unit coupled to the computer unit and the drive motor and configured to receive the simulated target values from the computer unit and control the drive motor in accordance with the simulated target values; and

(e) a test driver steering unit including a force feedback steering wheel,

wherein the test driver steering unit is coupled to the measurement output and the control unit and configured to transmit inputs to the control unit and receive the measured steering torque value from the measurement device, and

wherein the test driver steering unit is further configured to use the measured steering torque value to set an applied steering torque value on the force feedback steering wheel, such that the applied steering torque value is a function of the measured steering torque value.

16. The steering test stand according to claim 15, wherein the applied steering torque value is substantially the same as the measured steering torque value when the amount of the measured steering torque value does not exceed a predetermined threshold and the amount of the applied steering torque value is lower than the amount of the measured steering torque value when the amount of the measured steering torque value exceeds the predetermined threshold.

17. The steering test stand according to claim 15, wherein the test driver steering unit comprises a driver'"'"'s seat and has a gas pedal and/or a brake wherein the gas pedal and/or the brake is connected to the computer unit so that settings in the gas pedal and/or the brake are transmitted to the computer unit.

18. The steering test stand according to claim 15, wherein the test driver unit has a second computer unit and a display screen coupled to the second computer unit, wherein the second computer unit is coupled to the computer unit and is configured to display simulation results simulated on the computer unit and/or to illustrate an instrument panel on the display screen.

19. The steering test stand according to claim 15, wherein the test driver steering unit is mechanically isolated from the steering assistance unit, the steering column and the steering control unit.

20. The steering test stand according to claim 15, wherein the program has a subprogram which is designed to modify physical variables of the steering device under test in a simulation and/or to simulate mechanical defects in the steering device under test.

21. The steering test stand according to claim 15, wherein the steering control unit is an EPS (electronic power steering) or EHPS (electronic hydraulic power steering) or HPS (hydraulic power steering) control unit and the first steering device comprises an EPS or an EHPS or an HPS motor.