Patent Application
20050182609
This application claims the priority of German Application No. 10 2004 007 295.7 filed Feb. 14, 2004, the disclosure of which is expressly incorporated by reference herein.
The present invention relates to a method and to a system for simulating a manual operating device, and particularly to a method and a system for simulating the shifting haptics of a manual transmission in a motor vehicle.
For reducing the development expenditures specifically in the field of motor vehicle construction, efforts are rapidly being made to simulate the behavior of diverse components or also of the handling of the entire vehicle on computer systems. Furthermore, particularly in the premium segment of motor vehicle construction, the operating comfort or operating haptics of the devices to be operated play an increasingly important role.
From British Published Patent Application GB 2 036 404, a simulator is known for simulating the shifting haptics of a motor vehicle transmission. The simulator corresponds essentially to a real transmission or to the external gear shift mechanism of the transmission. In addition to mechanical power transmission elements, a pneumatic device is provided which reflects the behavior of the transmission during the shifting. As a result, the rough movements of the gear shift lever are implemented.
In German Published Patent Application DE 198 55 072, a system is disclosed for simulating a force, particularly a shifting force of a transmission simulator which has a movably disposed adjusting element which can be acted upon by means of a force generator counteracting an adjustment of the adjusting element. Furthermore, a transmission and driving simulator is described which has the device for simulating a force by means of the elastic force generator. This simulation system is also only suitable for simulating the haptics of rough movements of the gear shift lever.
From German Published Patent Document DE 38 08 004 (corresponding U.S. Pat. No. 4,849,888), a method and a system are known for evaluating the shifting-operation sensitivity of a transmission to be shifted manually, which is equipped with a gear shift lever and a synchronous transmission device, one of several gear trains in the transmission to be shifted manually being changed into a power transmission condition by means of the synchromesh transmission device, for measuring at least the load by which the gear shift lever is acted upon during a predetermined period within the time for the shifting operation of the gear shift lever. This complex system for evaluating the shifting-operation sensitivity is coupled with a real mechanical transmission which represents a cost-intensive system for the reproduction of predetermined shifting haptics, which can be modified as desired only at very high expenditures with respect to the shifting haptics.
In contrast to the known solution attempts, the system according to the invention for simulating a manual operating device, as well as the method according to the invention, has the advantage that the simulation of a manual operating device is provided without complex mechanical elements of the operating device. According to certain preferred embodiments of the invention, there is provided a system for the simulation of a manual operating device comprising a lever with an upper and a lower end which has a first axis of rotation extending essentially perpendicular to a longitudinal dimension of the lever and a second axis of rotation extending essentially perpendicular to the first axis of rotation and to the longitudinal dimension of the lever, a rotatory servo motor which is coupled on a servo motor rotor side to the second axis of rotation of the lever, for providing a predetermined torque at a predetermined actual angular position or actual speed of the lever, and a linear motor which is coupled on a linear motor rotor side with the lever, for providing a predetermined force at a predetermined actual position or actual angular position of the lever.
According to certain preferred embodiments of the invention, there is provided a simulation system providing a lever having an upper and a lower end, and a first axis of rotation being situated essentially perpendicular to a dimension of the lever, and the second axis of rotation being situated essentially perpendicular to the first axis of rotation and to the dimension of the lever. Thus according to certain preferred embodiments of the invention, particularly no external gear shift mechanism, that is, no reversing levers, bowden cable or gear shift linkage of a real transmission, is required for the simulation system. Except for a shift lever, all components of the operating device, preferably of a vehicle manual transmission, are simulated by way of software, by means of a mathematical model on a computer device and are simulated by a rotatory servo motor as well as a linear motor. In the case of the simulation in the mathematical model, particularly the behavior of the entire transmission line under real conditions as well as the influence of the overall vehicle on the transmission line, are taken into account. The dynamic behavior of a real mechanical manual transmission is therefore reproduced in real time.
An idea on which certain preferred embodiments of the present invention is based comprises coupling two electrically controllable actuators to a real lever rotatably disposed in two directions and to dynamically control the actuators such that the operating haptics of the real operating device are precisely reproduced. In this case, the simulation model, which is present as a mathematical model on a computer device, is capable of computing the mechanical quantities, that is, the forces, for example, at the operator's hand in real time and to emit them to the actuators as a function of their actual position or angular position as well as the actual speed or the actual angular velocity.
In other words, according to certain preferred embodiments of the invention, a system for simulating a manual operating device is provided having: a lever with an upper and a lower end, which has a first axis of rotation essentially perpendicular to the longitudinal dimension of the lever and a second axis of rotation essentially perpendicular to the first axis of rotation and to the dimension of the lever; a rotatory servo motor which is coupled on the rotor side to the second axis of rotation of the lever, for providing a predetermined torque at a predetermined angular position of the lever in the direction of the second axis of rotation; and a linear motor, which, on the rotor side, is coupled with the lever, for providing a predetermined force at a predetermined actual position and/or the actual speed of the lever.
Advantageous developments and further developments of the system and the method for simulating a manual operating device, according to certain preferred embodiments of the invention, are described herein and in the claims.
According to certain preferred embodiments of the invention, the rotatory servo motor is coupled directly to the second axis of rotation, and the linear motor is coupled by way of a connecting rod to a lower end of the lever, the lever extending by means of the lower end beyond the first axis of rotation.
According to certain preferred embodiments of the invention, the linear motor and the rotatory servo motor are in each case connected to a driver stage for providing a predetermined current as a function of the respective actual-position/angular position of the lever.
According to certain preferred embodiments of the invention, a common interface device is provided for the output of one desired current value respectively as a function of the actual position of the linear motor and of the angular position of the rotatory servo motor.
According to certain preferred embodiments of the invention, the interface device is connected with a computer device for detecting actual values and for the computing and output of desired values in real time, preferably consisting of a unit.
According to certain preferred embodiments of the invention, a force detection device is provided on the lever, for detecting at least one feedback variable for computing the desired values in the computer device.
According to certain preferred embodiments of the invention, the force detection device has strain gauges and preferably measuring amplifiers for detecting the bending of the lever.
According to certain preferred embodiments of the invention, the lever, the linear motor and the rotatory servo motor are mutually mechanically coupled by way of a rigid carrier device.
According to certain preferred embodiments of the invention, a desired-force/torque value of the motors is determined on a computer device as a function of an actual position of the linear motor, of the angular position of the rotatory servo motor and of an actual force acting upon the lever, by means of a math model in real time.
According to certain preferred embodiments of the invention, the force/torque value computed in real time is transmitted by way of a force/torque controller to an interface device, which in each case controls a motor end stage of the linear motor and of the rotatory servo motor, for providing a corresponding current for generating the force/torque.
According to certain preferred embodiments of the invention, data and parameters, which are generated and/or required and/or processed during the simulation, are monitored and/or changed by way of an operating surface as a software tool on a computer device.
According to certain preferred embodiments of the invention, the haptics of a real motor vehicle transmission are simulated.
According to certain preferred embodiments of the invention, a simulated driving speed and/or tractive resistances, particularly air friction and/or a gradient, and/or the position of a simulated clutch and/or a rotational engine speed and/or distortions in the transmission line during simulated cornering also flow into the simulation of the shifting haptics for a motor vehicle transmission.
According to certain preferred embodiments of the invention, a feedback variable is obtained by way of strain gauges on the lever, which feedback variable is used during a desired-value determination for controlling the motors in a computer device.
By means of the simulation method according to the invention and the simulation system according to the invention respectively, each manual gear shift transmission can be simulated without a required hardware adaptation. According to certain preferred embodiments of the invention, simulation models of the transmission line consisting of the clutch, the tires and the transmission of the overall vehicle are developed simultaneously with its construction. Correspondingly, the haptics, that is, the shifting touch for the driver, which depends on the respective transmission, can be checked and verified directly, particularly in the individual development phases. The moving-out of optimal parameters for the construction, for example, of the transmission, is permitted. A definition of shifting characteristics typical of the make or the vehicle can be provided, in which case cost-intensive construction stages or prototypes of the gear shift mechanism relating to the simulation of the shifting haptics can be saved.
In addition, measures suggested in the development process of a transmission can be tested directly for improving the shifting quality/haptics without requiring cost-intensive prototypes, time-intensive modification measures and/or cost-intensive test stand runs. As another advantage, it is easier for the development team of the transmission to make decisions as to whether a new construction of a transmission prototype is worthwhile, when improvements/changes are to be tested which, at the actual point in time, do not exist in real hardware; that is, whether changes on the transmission and/or the transmission line really lead to the endeavored goal of modified shifting haptics. According to certain preferred embodiments of the invention, in addition to an active shifting with simulated shifting haptics, measured sequences, for example, from a rear vehicle or of a test stand, can also be played back because the used actuators can freely move the gear shift lever within the scope of their respective degree of freedom.
According to certain preferred embodiments of the invention, the subjective consideration of the shifting touch or of the shifting haptics can become objective. The shifting sequence, which takes place in real time, permits a reaction to the driver's behavior; that is, a loose/firm grip with much/little force when shifting slowly/fast. Furthermore, the compact simulation system can be integrated, for example, in a total vehicle simulator and is portable.
An embodiment of the invention is illustrated in the drawing and will be explained in detail in the following description.
Other objects, advantages and novel features of the present invention will become apparent from the following detailed description of the invention when considered in conjunction with the accompanying drawings.
In the figures, the same reference numbers indicate identical components or components having the same function.
By way of a shaft 19, which is non-rotatably connected with the rotatably disposed guiding device 18, a rotatory servo motor 20 is non-rotatably coupled in the direction of the first axis of rotation 16. By means of bearing devices 21, the shaft 19 is rotatably disposed in the rotating direction of the second axis of rotation 16. In this case, for example, ball bearings, roller bearings or slide bearings are used. The carrier device 17 is rigidly coupled to a carrier plate 22 by way of which the linear motor 15 is rigidly connected, preferably screwed directly to the carrier device 17. The rotatory servo motor 20 is also rigidly coupled to the carrier device 17, preferably screwed to it directly or by way of at least one intermediate piece or adapter piece 23, 24.
When the lever 10 is pushed in the direction of the arrow about the first axis of rotation 11 at the upper end 12 toward the front or rear, the lower end (not shown) of the lever 10 correspondingly moves in the opposite direction, which, by way of the connecting rod 13, is correspondingly transmitted to the rotor 14 of the linear motor 15. When, at its upper end 12, the lever 10 is moved about the second axis of rotation 16 toward the left or right, this movement is transmitted directly to the rotatably disposed guiding device 18 and the shaft 19 which is non-rotatably connected with the shaft of the rotor (not shown) of the rotatory servo motor 20. By way of the angular position of the rotor of the rotatory servo motor 20 as well as by way of the actual position of the rotor 14 of the linear motor 15, the position of the lever 10 is precisely defined.
At predetermined angular positions of the lever 10, by means of an intelligent control of the rotatory servo motor 20, a torque can now be generated which counteracts an operator's operating force on the lever 10. In this manner, lateral stops and predetermined lateral forces can be simulated which have to be applied by an operator for the lateral movement of the lever 10. Similarly, by way of an intelligent control of the rotor 14 of the linear motor 15, as a function of the actual position of the rotor 14 and of the angular position of the rotor of the rotatory servo motor 20, a predetermined force can be generated which simulates a forward or rearward stop of the lever 10 and a predetermined flow of force during the simulation of the shifting touch during the simulated engaging of a gear by an operator. In this manner, it becomes possible, for example, to precisely simulate by way of the actuators 15, 20, the shifting haptics of a mechanical H-shifting transmission which is known or defined by way of parameters.
According to
By means of the actual angular position 32 and the actual position 33, a desired current value 34 at a driver end stage 35 of the rotatory servo motor 20 and a desired current value 36 at a driver end stage 37 of the linear motor 15 are computed and emitted in the computer device 29, preferably with the force measuring values 26′, 27′ amplified in the signal level for both movement directions of the lever 10. The desired current values 34, 36 are raised in their level to amplified current signals 34′, 36′ in the driver end stages 35, 37. Reference switches or final position switches 35′ 37′ of the motors 15, 20 are preferably connected to the driver end stages 35, 37 for switching these on/off. The control currents 34′, 36′ generate a predetermined torque or a predetermined force in a predetermined direction in the electric servo motors 20, 15.
In the computer device 29, predetermined forces are indicated for this purpose in real time, mainly as a function of the actual position 33 as well as the actual angular position 32, by the servo motors 15, 20, which predetermined forces have to be applied by an operator, preferably by an operating person, for displacing the lever 10 from the present actual position. Thus, in a simple manner, the haptics of an arbitrary manual transmission can be copied and simulated for an operating person.
By way of a user surface 38, a software tool for considering and changing predetermined data or parameters, the behavior and thus particularly the operating haptics can be configured which are generated in the computer device 29 by means of a mathematical model. Desired current values 34, 36 computed by means of the mathematical model while defining predetermined parameters are transmitted by the computer device 29 to the corresponding driver end stages 35, 37 and are converted there to amplified current control signals 34′, 36′ for controlling the motors 15, 20.
Although the present invention was described above by means of a preferred embodiment, it is not limited thereto but can be modified in many fashions. In the embodiment described with respect to
Furthermore, the block formation in the individual block diagrams should be considered as an example. Control signals and desired values can be present at the individual devices as current levels, as voltage levels and/or as digital words, fed, for example, by way of an optical waveguide, the driver end stages 35, 37 emitting preferably current signals 34′, 36′. The present invention is also not only provided for the simulation of a manual transmission of a motor vehicle but other preferred embodiments are contemplated for other operating devices, such as airplane or helicopter control devices.
The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2004 007 295.7 | Feb 2004 | DE | national |
