JPH036454B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention provides a method for setting the initial position of an actuator;
In particular, it relates to improvements in the initial position setting method of actuators used in pattern running test robots. [Background Art] Prior Art As a driving performance test for automobiles, pattern driving tests according to, for example, 10 mode, 11 mode, LA#4 mode, etc. are well known, and in order to conduct such pattern driving tests indoors, a system is used. A palm dynamometer is used. Figures 8 and 9 show the 10 mode test, LA
#4 Mode test driving pattern is shown,
Conventionally, such pattern driving tests have been carried out by having a driver accelerate and decelerate a test vehicle placed on a chassis dynamometer according to each of the driving patterns described above. Prerequisite technology The present inventor has developed a pattern running test robot that can automatically perform such a pattern running test on a chassis dynamometer, and the following describes the case of conducting a pattern running test on an automatic vehicle. The details will be explained by taking an example. FIG. 10 shows such a pattern running test robot system, in which an automatic car is installed as a test car 12 on a chassis dynamometer 10, and this test car 12 has driven wheels. 14 is locked, and the roller 1 is attached to the drive wheel 16.
The same load as in the actual running condition is applied through the motor 8. In order to accelerate and decelerate the thus installed test vehicle 12 on the chassis dynamometer 10, an accelerator operating jig 24 and a brake operating jig 26 are attached to the accelerator 20 and brake 22 in the vehicle interior, respectively. It is being When the control device 28 drives the accelerator actuator 30 and the brake actuator 32, the corresponding operating jigs 24 and 26 are driven via the wires 34 and 36, and the amount of depression of the accelerator and brake is controlled. It will be done. In addition, in this way, the palm dynamometer 1
The running state of the test vehicle 12 accelerating and decelerating above 0 is determined by the vehicle speed sensor 38, the stroke sensor 40 for detecting the amount of accelerator depression, the pedal force sensor 42 for detecting the amount of brake depression pressure, and the negative pressure sensor for detecting the negative pressure of the engine. 44 and an ignition pulse sensor 46 for detecting engine rotation, and the detection outputs of these sensors are fed back to the control device 28. Here, the sensor 4
0.42 is used to detect an engine abnormality and automatically apply an emergency stop. Then, the control device 28 drives the accelerator actuator 30 and the brake actuator 32 according to this feedback signal and a preset program, and drives the various patterns shown in FIGS. 8 and 9. Perform a driving test. [Problems to be Solved by the Invention] In order to accurately perform such a pattern running test with good reproducibility, it is necessary to accurately set the initial positions of the accelerator actuator 30 and brake actuator 32 before starting the test. It is necessary to do so. By the way, as shown in FIGS. 8 and 9, such a pattern running test starts immediately after the ignition switch is turned on and the engine is driven, so the initial position setting of each actuator 30, 32 in the first half is Normally, this must be done with the ignition switch turned off and the engine stopped. However, if the initial positions of each actuator 30, 32 are set with the engine stopped in this way,
Although the initial position of the accelerator actuator 30 can be set accurately, there is a problem in that the initial position of the brake actuator 32 cannot be set accurately. In other words, vehicle brakes are equipped with a booster, so when the ignition switch is turned on and the booster is operating,
The initial position of the brake actuator 32 is significantly different from when the ignition switch is turned off and the booster is deactivated. Therefore, as mentioned above, even if the initial position of the brake actuator is set with the ignition switch turned off, the set initial position may be significantly different from the actually required initial position. As a result, there was a problem that an accurate pattern running test with good reproducibility could not be performed. Purpose of the Invention The present invention was made in view of the above-mentioned problems, and its purpose is to accurately set the initial position of a brake actuator and conduct an accurate pattern running test with good reproducibility. An object of the present invention is to provide a method for setting the initial position of an actuator for vehicle testing. [Means and actions for solving the problem] When conducting a driving performance test according to each driving pattern of 10 mode, 11 mode, and LA#4 mode, each driving pattern is Normally, from the time the engine is turned on and the engine starts to drive, until the car starts accelerating and decelerating.
There is an idling period of about 20 seconds. The present invention focuses on this idling period, and
The present invention is characterized in that the initial position of the brake actuator is set within this idling period. By doing this, the initial position of the brake actuator can be set while the ignition switch is on and the booster is working, so the initial position set is not actually required. This makes it possible to conduct a good pattern running test with good reproducibility, which accurately matches the initial position. Note that the initial position setting of the accelerator actuator is performed before the ignition switch is turned on, that is, before the engine is driven. [Example] Next, a preferred example of the present invention will be described based on the drawings. Note that the same reference numerals are given to the members corresponding to those of the above-mentioned device, and the explanation thereof will be omitted. FIG. 2 shows a part of the pattern running test robot used in this example.
0. A stepping motor is used as the brake actuator 32, and one ends of the wires 34, 36 are wound around pulleys 48, 50 attached to these stepping motors. Further, the accelerator device jig 24 and the brake device operating tool 26 include operating arms 24a and 26a that are in contact with an accelerator pedal 20a and a brake pedal 22a, respectively, at one end side, and each operating arm 24a and 26a has a link 24b, The wires 32 and 34 are respectively attached and fixed to the other end. Therefore, by driving each actuator 30, 32 and rotationally driving pulleys 48, 50, each operating arm 24 is connected via wires 34, 36.
a, 26a can be rotated clockwise and counterclockwise to freely adjust the amount of depression of the accelerator 20 and brake 22. A feature of the present invention is that it is possible to accurately set the initial positions of the accelerator actuator 30 and brake actuator 32. Here, the accelerator actuator 3
Since the initial position of 0 is almost the same in the engine stopped state and in the driven state, in this embodiment, the setting is performed in the engine stopped state before the test is started. On the other hand, the brake mechanism is equipped with a booster mechanism that only operates when the engine is driving.
The initial position setting of the brake actuator 32 is as follows.
This cannot be done satisfactorily when the engine is stopped and the booster is not operating. FIG. 3 shows the relationship between the opening degree θ of the stepping motor constituting the brake actuator 32 and the pedaling force F of the brake 22.
0 is the characteristic curve when the engine is stopped, 110
respectively represent characteristic curves under engine driving conditions. As is clear from this characteristic curve, the pedal force F for the same opening degree θ is significantly different when the engine is stopped and when the engine is running, and this shows that the initial position setting of the brake actuator 32 is suitable when the engine is stopped. It is understood that this cannot be done. In the present invention, the driving pattern that defines various brake driving tests includes an idling time of approximately 20 seconds between the time when the engine is driven at the start of the test and the time when acceleration/deceleration driving actually starts. Focusing on this, the present invention is characterized in that the initial position of the brake actuator 32 is set within this idling period. By doing so, according to the present invention,
It becomes possible to set the initial position of the brake actuator 32 before actually using it and while the booster provided in the brake mechanism is operating, and the set initial position is This will exactly match the initial position of . FIG. 4 shows an initial position setting device used in this embodiment, and FIG. 1 shows a flowchart of this device. In an embodiment, the actuator 30,
32 is provided with potentiometers 52 and 54 that detect the opening degree θ of each stepping motor used as each actuator, and the detection outputs of these potentiometers 52 and 54 are fed back to the control device 28. ing. In the embodiment, this control device 28 includes an accelerator actuator drive circuit 56, a first arithmetic circuit 58, and a first memory 60, and performs the first initial position setting step 20 shown in the flowchart of FIG.
0, the initial position of the accelerator actuator 30 is set. That is, as shown in FIG. 5, when the start button 62 provided on the operation panel of the control device 28 is operated in the engine stopped state A before the start of the pattern running test, the actuator drive circuit 56 is activated.
The accelerator actuator 30 is driven by
Depressing control of the accelerator 20 is started for initial position setting. At this time, as shown in FIG. 6, the first calculation circuit 58 first calculates the actuator opening data θ input from the potentiometer 52 and the depression stroke amount L of the accelerator 20 input from the stroke sensor 40. Based on this, first, the accelerator actuator 30 is located at the position S of the start point of accelerator depression and the position E of the end point of accelerator depression.
The opening degree θ and the accelerator stroke amount L are detected. Next, the first arithmetic circuit 58 drives the accelerator actuator 30 again using the accelerator actuator drive circuit 52, and divides the section from the start point S to the end point E into 20 equal parts, as shown in FIG. do,
The relationship between the opening degree θ and the stroke amount L of the actuator 30 at each point is used as initial position data.
It is written and stored in the memory 60 of. When the first arithmetic circuit 58 finishes setting the initial position data in the first memory 60, that is, setting the initial position of the accelerator actuator 30, it turns on the OK lamp 64 of the ignition switch. This completes the initial position setting of the accelerator actuator 30, and it is displayed that the pattern driving test of the test vehicle can now be started. Further, in order to set the initial position of the brake actuator 32, the control device 28 of the embodiment includes an AND gate 70, a timer circuit 72, a brake actuator drive circuit 74, a second calculation circuit 76, and a second calculation circuit 76. Includes memory 78. Then, as shown in the second initial position setting step 210 of the flowchart of FIG. A test start signal is output, which causes the pattern running test start circuit 8
At the same time as 0 is activated, timer circuit 72 is activated. As shown in FIG. 5, the timer circuit 72 drives the brake actuator drive circuit 74 to set the initial position of the brake actuator 30 after 5 seconds have elapsed since the engine was started (idling period B). Make the action take place. That is, this brake actuator drive circuit 74 first drives the brake actuator 32 to control the depression of the brake 22, as shown in the initial position setting step 210 of FIG. At this time, the second arithmetic circuit 76 operates as shown in FIG. As shown in the figure, the opening degree θ ₀ at which the pedal force F appears is set as the starting point S, and the pedal force F detected by the pedal force sensor 42 is
The end point position E is set at a point where the pedal force is somewhat higher than the maximum value of the pedal force used in the pattern running test. Next, the second arithmetic circuit 76 controls the brake actuator drive circuit 74 to control the brake pedal again from the start point S to the end point E, divides this section into 20 equal parts, and opens the brake actuator at each point θ. and pedal force F
The relationship between the brake actuator 32 and the brake actuator 32 is written and stored in the second memory 78 as initial position data. In this way, according to the device of this embodiment, it is possible to accurately set the initial position of the brake actuator 32 during the idling period immediately after the pattern running test is started. In the embodiment, if the idling time ends before this initial position setting is completed, the stop lamp for the pattern running test is flashed to instruct the initial position setting to be performed again. As described above, according to the device of this embodiment, it is possible to accurately set the initial position of not only the accelerator actuator 30 but also the brake actuator 32 to the position required during the actual pattern running test. , it becomes possible to accurately perform various pattern driving tests on automobiles with good reproducibility. [Effects of the Invention] As explained above, according to the present invention, the initial position of the brake actuator can be accurately set while the booster is operating, and as a result, such a brake It becomes possible to conduct various driving performance tests using actuators with good reproducibility and accuracy.

[Detailed description of the invention]

FIG. 1 is a flowchart showing a preferred embodiment of the initial position setting method according to the present invention, FIG. 2 is an explanatory diagram of the main parts of the test robot used in this embodiment, and FIG. 4 is an electric circuit diagram of the initial position setting device used in this embodiment. FIG. 5 is an explanatory diagram showing the initial position setting timing of the accelerator actuator and the brake actuator. Fig. 7 and Fig. 7 are explanatory diagrams showing the initial position setting data of the accelerator actuator and brake actuator set using the device of this embodiment, and Fig. 8 and Fig. 9 are the normal 10 mode pattern driving. An explanatory diagram showing each running pattern of the test and the LA#4 pattern running test, and FIG. 10 is a schematic explanatory diagram of the robot for the pattern running test. 10... Chassis dynamo, 12... Test vehicle, 20... Accelerator, 22... Brake, 28
...Control device, 30...Accelerator actuator, 32...Brake actuator.

Claims (1)

[Scope of Claims] 1. A test robot that performs a desired pattern driving test by controlling acceleration and deceleration of a test vehicle installed on a chassis dynamometer using an accelerator actuator and a brake actuator, comprising: A method for setting the initial position of an actuator for a vehicle test, characterized in that the initial position of the brake actuator is set during an idling period from when the engine is turned on at the start of the test until acceleration and deceleration start. 2. The method according to claim 1, wherein the initial position setting of the accelerator actuator is performed before the engine is driven.