阅读说明：本技术 一种无变速器电动教练车离合器操控模拟装置 (Derailleur-free electric learner-driven vehicle clutch control analogue means ) 是由 刘玉梅 王红人 王多洋 熊明烨 刘勃辰 张志良 赵大龙 任洪光 郝子绪 胡婷 刘 于 2021-07-30 设计创作，主要内容包括：本发明公开了一种无变速器电动教练车离合器操控模拟装置,旨在提供一种适用于无变速器电动教练车的离合器操控模拟装置。该装置包括离合器踏板、踏板支架、齿轮箱、直线导轨、齿条齿轮传动副、力矩电机及相关连接件、离合器踏板行程变化率检测装置和离合器操控模拟控制器。所述踏板支架、齿轮箱和力矩电机均通过螺栓固定在车架上；所述推杆的一端通过铰链与离合器踏板连接,另一端通过铰链与齿条连接；所述力矩电机的输出轴通过联轴器与齿轮轴连接。本发明适用于纯电动教练车,并能有效模拟驾驶员踩离合器踏板时受到的线性或非线性阻力,具有与传统燃油车相同的离合器踏板感,同时还可以监测离合器踏板行程变化率,从而监测离合器操纵的规范性。(The invention discloses a clutch control simulation device for a transmission-less electric learner-driven vehicle, and aims to provide the clutch control simulation device suitable for the transmission-less electric learner-driven vehicle. The device comprises a clutch pedal, a pedal bracket, a gear box, a linear guide rail, a rack and gear transmission pair, a torque motor and related connecting pieces, a clutch pedal stroke change rate detection device and a clutch control analog controller. The pedal bracket, the gear box and the torque motor are all fixed on the frame through bolts; one end of the push rod is connected with the clutch pedal through a hinge, and the other end of the push rod is connected with the rack through a hinge; and an output shaft of the torque motor is connected with a gear shaft through a coupler. The invention is suitable for a pure electric instructional car, can effectively simulate the linear or nonlinear resistance applied by a driver when the driver steps on the clutch pedal, has the same clutch pedal feeling as the traditional fuel car, and can monitor the stroke change rate of the clutch pedal so as to monitor the normative of the clutch operation.)

1. The clutch control simulation device of the electric instruction car without the transmission is characterized by providing a clutch control simulation mechanism, wherein the clutch control simulation mechanism comprises a clutch pedal (1), a push rod (2), a pin shaft (3), a pedal bracket (4), a rack (5), a gear box (6), a gear (8), a linear guide rail (9), a torque motor (10) and related connecting pieces, a clutch pedal stroke change rate detection device and a clutch control simulation controller; the clutch pedal (1) is mounted on the pedal bracket (4) through a hinge; the pedal bracket (4), the gear box (6) and the torque motor (10) are fixed on the frame through bolts; one end of the push rod (2) is connected with the clutch pedal (1) through a hinge, and the other end of the push rod is connected with the rack (5) through a hinge; the linear guide rail (9) is fixedly arranged on the gear box (6), and the rack (5) is arranged on the linear guide rail and can slide in the linear guide rail; the gear (8) is meshed with the rack (5), the gear (8) is connected with the gear shaft (7) through a key, and the gear shaft (7) is supported on the box body of the gear box (6) through a bearing; the output shaft of the torque motor (10) is connected with the gear shaft (7) through a coupler;

the clutch pedal (1) is connected to the pedal bracket (4) through a hinge, and the clutch pedal (1) can rotate around the pin shaft (3); one end of the push rod (2) is connected with the clutch pedal (1) through a hinge, the other end of the push rod is connected with the rack (5) through a hinge, and when the clutch pedal (1) moves, a mechanism consisting of the push rod (2), the rack (5) and the linear guide rail converts the circular motion of the clutch pedal (1) into the linear motion of the rack (5);

the linear guide rail (9) is fixedly arranged on the gear box (6), the rack (5) can slide in the linear guide rail, and the linear guide rail can ensure the motion path of the rack (5) in the horizontal direction along the direction of the linear guide rail and limit the displacement of the rack in other directions; the gear (8) is meshed with the rack (5), the gear (8) is connected with the gear shaft (7) through a key, and the gear shaft (7) is supported on the box body of the gear box (6) through a bearing; the device for detecting the stroke change rate of the clutch pedal consists of a photoelectric encoder and a detection controller which are arranged on a gear shaft (7), can detect the rotation angle and the rotating time of a gear in real time, can obtain the stroke of the clutch pedal according to the rotation angle of the gear, and can further obtain the stroke change rate of the clutch pedal by combining the rotating time of the gear;

the output shaft of the torque motor (10) is connected with the gear shaft (7) through a coupler; the torque output by the torque motor (10) is controlled to change along with the change of the rotation angle of the gear by the clutch control simulation controller, so that the pedal force sensed by a driver in the process of stepping on the clutch pedal (1) is simulated to change along with the change of the pedal stroke.

2. The clutch control simulation device for the electric instruction car without the transmission is characterized by providing a method capable of performing linear and nonlinear simulation on clutch pedal force, and the simulation method for the clutch pedal feeling of the electric instruction car without the transmission is as follows:

firstly, a control model of a torque motor for simulating pedal reaction force is established, and the following equation is established according to the geometrical relationship and the mechanical relationship among parts in a clutch control simulation mechanism:

F1*b＝F2*a

F2＝F3*cosγ

F3*cosθ＝T/R

α-β＝γ+θ

determining the relation between the resistance applied when the driver steps on the clutch pedal and the torque output by the torque motor:

wherein the content of the first and second substances,

and then the torque motor outputs the relationship between the torque and the current:

T＝C_mΦ_cI

obtaining a pedal force control model:

wherein the content of the first and second substances,

f1 — clutch pedal reaction force;

i-armature current;

a, the length of AB, namely the distance between the hinge point of the pedal arm and the hinge point of the push rod;

b-the length of AC, i.e., the length of the clutch pedal arm;

r-gear radius;

C_m-a torque constant;

Φ_c-a main magnetic flux per pole;

the angle formed by the alpha-clutch pedal and the vertical line at the initial position;

angle through which the beta clutch pedal rotates from the initial position to any position;

theta-the included angle of the push rod and the horizontal line;

the delta-gear rotation angle can be measured by a gear rotation speed measuring device in the clutch control simulation device;

furthermore, the armature current of the torque motor can be controlled to simulate the pedal reaction force received by a driver when the driver steps on the clutch pedal;

secondly, the reaction force of the clutch pedal changes along with the change of the stroke of the clutch pedal, and in order to correctly simulate the reaction force of the clutch pedal, the displacement of the pedal needs to be detected in real time;

according to the geometrical relationship among the parts in the clutch operation simulation mechanism, the following equations can be used:

get the clutch pedal angle β ═ F (h, a, x1, x, α, l)

Wherein:

h-the vertical distance from the hinge point A to the point D of the pedal arm;

x 1-horizontal distance from point A to point D;

the length of l-BD, i.e., the length of the pushrod;

the length from point x to point D, D1, i.e., the distance the rack travels, can be determined by:

x＝δπR/180°

finally, determining the stroke of the clutch pedal:

the gear rotation angle can be measured by a photoelectric encoder, and the corresponding travel of the clutch pedal is calculated;

secondly, simulating the pedal feeling of the traditional internal combustion learner-driven vehicle, acquiring clutch pedal stroke and pedal force data by utilizing a stay wire type displacement sensor and a pedal force sensor aiming at a certain simulated fuel learner-driven vehicle, preprocessing experimental data, and performing curve fitting to obtain a relation curve of the clutch pedal stroke and the pedal force, namely a clutch pedal characteristic curve, wherein the obtained clutch pedal characteristic curve can be linear or nonlinear; when a driver steps on the clutch pedal (1), a photoelectric encoder in the clutch pedal simulation device detects the rotation angle of a gear in real time; the controller converts a rotation angle signal of the gear (8) into a corresponding clutch pedal stroke according to the motion relation among all parts in the clutch operation simulation mechanism, and obtains expected clutch pedal force in a chart checking mode; the clutch control simulation device obtains the expected torque of the torque motor (10) corresponding to the corresponding expected clutch pedal force according to the relation between the resistance applied when a driver steps on the clutch pedal and the output torque of the torque motor, controls the armature current of the torque motor through the controller according to the relation between the output torque of the torque motor and the armature current, and further controls the output torque of the torque motor (10) to reach the expected value, and linear and nonlinear simulation of the clutch pedal force can be achieved.

3. The device for simulating clutch operation of the electric instruction car without the transmission is characterized by being capable of simulating the flameout condition of a vehicle caused by the fact that a driver does not operate the clutch normally when starting, and the method for simulating the flameout condition of the starting of the electric instruction car without the transmission caused by improper clutch operation comprises the following steps: an electromagnetic switch is added into a driving circuit of a driving motor of the electric instruction car without the transmission, the on-off of the electromagnetic switch can be controlled by a clutch control analog controller according to the stroke change rate of a clutch pedal, and the threshold value of the stroke change rate of the clutch pedal is set; the clutch control simulation controller collects and processes rotation angle signals of the gear (8), converts the rotation angle signals into corresponding clutch pedal stroke information, further processes the rotation angle signals to obtain the stroke change rate of the clutch pedal (1), and compares the stroke change rate with a set threshold value; when the stroke change rate of the clutch pedal (1) is smaller than a threshold value, outputting a signal for controlling the electromagnetic switch to be 1, and driving a motor to normally operate; when the stroke change rate of the clutch pedal (1) is larger than the threshold value, the signal for controlling the electromagnetic switch is output to be 0, the control circuit of the driving motor is disconnected, and the driving motor stops running, so that the simulation of the vehicle starting flameout working condition caused by the fact that a driver does not operate the clutch normally is realized.

Technical Field

The invention belongs to the field of pure electric vehicles, relates to manual gear driving skill training of a driving training school, and particularly relates to a clutch control simulation device of a gearless electric instruction car.

Background

In recent years, along with the rapid development of electric automobile technology, an electric learner-driven vehicle is also born, because of the advantages of zero emission, no environmental pollution, capability of greatly reducing training cost and the like, the electric learner-driven vehicle is favored by many driving school training institutions in China, the electric learner-driven vehicle used in China at present is improved based on a fuel oil learner-driven vehicle, an engine is replaced by an electric motor, a storage battery is used for providing power for the learner-driven vehicle, mechanical structures such as an automobile transmission system and the like are reserved, and the structure of the electric learner-driven vehicle is too complex and the characteristics of low speed and high torque of the electric motor cannot be fully exerted.

The electric learner-driven vehicle without the transmission is designed on the basis of the electric automobile, the same manipulation experience as the traditional fuel learner-driven vehicle can be provided, most electric automobiles do not have structures such as a clutch and a clutch pedal, the electric learner-driven vehicle is used as the learner-driven vehicle, the manipulation experience to the clutch pedal device which is the same as the traditional fuel learner-driven vehicle does not exist, at present, a clutch pedal simulation device suitable for the electric learner-driven vehicle does not exist domestically, and the training of driving test subjects 2 and subjects 3 cannot be carried out. In order to solve the problems, the clutch control simulation device for the electric learner-driven vehicle without the transmission is provided.

Disclosure of Invention

In order to solve the problems, the invention provides a clutch operation simulation device of a transmission-less electric instruction car, which provides a clutch operation simulation mechanism, wherein the clutch operation simulation mechanism comprises a clutch pedal (1), a push rod (2), a pin shaft (3), a pedal bracket (4), a rack (5), a gear box (6), a gear (8), a linear guide rail (9), a torque motor (10), relevant connecting pieces, a clutch pedal stroke change rate detection device and a clutch operation simulation controller. The clutch pedal (1) is mounted on the pedal bracket (4) through a hinge; the pedal bracket (4), the gear box (6) and the torque motor (10) are fixed on the frame through bolts; one end of the push rod (2) is connected with the clutch pedal (1) through a hinge, and the other end of the push rod is connected with the rack (5) through a hinge; the linear guide rail (9) is fixedly arranged on the gear box (6), and the rack (5) is arranged on the linear guide rail and can slide in the linear guide rail; the gear (8) is meshed with the rack (5), the gear (8) is connected with the gear shaft (7) through a key, and the gear shaft (7) is supported on the box body of the gear box (6) through a bearing; and an output shaft of the torque motor (10) is connected with the gear shaft (7) through a coupler.

The clutch pedal (1) is connected to the pedal bracket (4) through a hinge, and the clutch pedal (1) can rotate around the pin shaft (3); one end of the push rod (2) is connected with the clutch pedal (1) through a hinge, the other end of the push rod is connected with the rack (5) through a hinge, and when the clutch pedal (1) moves, a mechanism formed by the push rod (2), the rack (5) and the linear guide rail converts the circular arc motion of the clutch pedal (1) into the linear motion of the rack (5).

The linear guide rail (9) is fixedly arranged on the gear box (6), the rack (5) can slide in the linear guide rail, and the linear guide rail can ensure the motion path of the rack (5) in the horizontal direction along the direction of the linear guide rail and limit the displacement of the rack in other directions; the gear (8) is meshed with the rack (5), the gear (8) is connected with the gear shaft (7) through a key, and the gear shaft (7) is supported on the box body of the gear box (6) through a bearing; the device for detecting the stroke change rate of the clutch pedal is composed of a photoelectric encoder and a detection controller which are arranged on a gear shaft (7), can detect the rotation angle and the rotation time of a gear in real time, can obtain the stroke of the clutch pedal according to the rotation angle of the gear, and can further obtain the stroke change rate of the clutch pedal by combining the rotation time of the gear.

The output shaft of the torque motor (10) is connected with the gear shaft (7) through a coupler; the torque output by the torque motor (10) is controlled to change along with the change of the rotation angle of the gear by the clutch control simulation controller, so that the pedal force sensed by a driver in the process of stepping on the clutch pedal (1) is simulated to change along with the change of the pedal stroke.

The motion process of the clutch operation simulation mechanism is as follows: when the clutch pedal (1) is stepped, the clutch pedal (1) pushes a push rod, the push rod pushes a rack to move rightwards along a linear guide rail, and the rack (5) drives a gear (8) to rotate clockwise; in order to simulate the feeling of a driver stepping on the clutch pedal, the torque motor (10) outputs anticlockwise torque to resist the clockwise rotation of the gear (8), the torque is transmitted to the clutch pedal (1) through the gear (8), the rack (5) and the push rod (2), the pedal is prevented from moving rightwards, the driver can sense the feedback of the pedal force, and when the driver releases the clutch pedal, the pedal can reset under the action of the anticlockwise torque of the torque motor.

The clutch control simulation device for the electric instruction car without the transmission provides a method capable of performing linear and nonlinear simulation on clutch pedal force, and the simulation method for the clutch pedal feeling of the electric instruction car without the transmission comprises the following steps:

firstly, a control model of a torque motor for simulating pedal reaction force is established, and the following equation is established according to the geometrical relationship and the mechanical relationship among parts in a clutch control simulation mechanism:

F1*b＝F2*a

F2＝F3*cosγ

F3*cosθ＝T/R

α-β＝γ+θ

determining the relation between the resistance applied when the driver steps on the clutch pedal and the torque output by the torque motor:

wherein the content of the first and second substances,

and then the torque motor outputs the relationship between the torque and the current:

T＝C_mΦ_cI

obtaining a pedal force control model:

wherein the content of the first and second substances,

f1 — clutch pedal reaction force;

i-armature current;

a-AB, i.e. the distance between the pedal arm hinge point and the push rod hinge point;

the length of b-AC, i.e., the length of the clutch pedal arm;

r-gear radius;

C_m-a torque constant;

Φ_c-a main magnetic flux per pole;

the angle formed by the alpha-clutch pedal and the vertical line at the initial position;

angle through which the beta clutch pedal rotates from the initial position to any position;

theta-the included angle of the push rod and the horizontal line;

the delta-gear rotation angle can be measured by a gear rotation speed measuring device in the clutch control simulation device.

Furthermore, the armature current of the torque motor can be controlled to simulate the pedal reaction force received by a driver when the driver steps on the clutch pedal;

secondly, the reaction force of the clutch pedal changes along with the change of the stroke of the clutch pedal, and in order to correctly simulate the reaction force of the clutch pedal, the pedal displacement needs to be detected in real time.

According to the geometrical relationship among the parts in the clutch operation simulation mechanism, the following equations can be used:

get the clutch pedal angle β ═ F (h, a, x1, x, α, l)

Wherein:

h-the vertical distance from the hinge point A to the point D of the pedal arm;

x 1-horizontal distance from point A to point D;

the length of l-BD, i.e., the length of the pushrod;

the length from point x to point D, D1, i.e., the distance the rack travels, can be determined by:

x＝δπR/180°

finally, determining the stroke of the clutch pedal:

namely, the gear rotation angle can be measured by the photoelectric encoder, and the corresponding travel of the clutch pedal is calculated.

Secondly, simulating the pedal feeling of the traditional internal combustion learner-driven vehicle, acquiring clutch pedal stroke and pedal force data by utilizing a stay wire type displacement sensor and a pedal force sensor aiming at a certain simulated fuel learner-driven vehicle, preprocessing experimental data, and performing curve fitting to obtain a relation curve of the clutch pedal stroke and the pedal force, namely a clutch pedal characteristic curve, wherein the obtained clutch pedal characteristic curve can be linear or nonlinear; when a driver steps on the clutch pedal (1), a photoelectric encoder in the clutch pedal simulation device detects the rotation angle of a gear in real time; the controller converts a rotation angle signal of the gear (8) into a corresponding clutch pedal stroke according to the motion relation among all parts in the clutch operation simulation mechanism, and obtains expected clutch pedal force in a chart checking mode; the clutch control simulation device obtains the expected torque of the torque motor (10) corresponding to the corresponding expected clutch pedal force according to the relation between the resistance applied when a driver steps on the clutch pedal and the output torque of the torque motor, controls the armature current of the torque motor through the controller according to the relation between the output torque of the torque motor and the armature current, and further controls the output torque of the torque motor (10) to reach the expected value, and linear and nonlinear simulation of the clutch pedal force can be achieved.

The clutch control simulation device of the electric instruction car without the transmission can simulate the flameout condition of the car caused by the irregular operation of the clutch by a driver during starting, and the simulation method of the flameout condition of the starting of the electric instruction car without the transmission caused by the improper operation of the clutch comprises the following steps: an electromagnetic switch is added into a driving circuit of a driving motor of the electric instruction car without the transmission, the on-off of the electromagnetic switch can be controlled by a clutch control analog controller according to the stroke change rate of a clutch pedal, and the threshold value of the stroke change rate of the clutch pedal is set; the clutch control simulation controller collects and processes rotation angle signals of the gear (8), converts the rotation angle signals into corresponding clutch pedal stroke information, further processes the rotation angle signals to obtain the stroke change rate of the clutch pedal (1), and compares the stroke change rate with a set threshold value; when the stroke change rate of the clutch pedal (1) is smaller than a threshold value, outputting a signal for controlling the electromagnetic switch to be 1, and driving a motor to normally operate; when the stroke change rate of the clutch pedal (1) is larger than the threshold value, the signal for controlling the electromagnetic switch is output to be 0, the control circuit of the driving motor is disconnected, and the driving motor stops running, so that the simulation of the vehicle starting flameout working condition caused by the fact that a driver does not operate the clutch normally is realized.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a clutch control simulation device of a transmission-less electric instruction car, which ensures the same clutch pedal control feeling of the transmission-less electric instruction car as that of a traditional fuel instruction car; at present, a small part of a clutch of a fuel automobile adopts a spiral spring clutch, the operation counterforce of a clutch pedal of the clutch is linear, a large part of the clutch adopts a diaphragm spring clutch, and the operation counterforce of the clutch pedal of the clutch is nonlinear, a controller in the clutch pedal simulation device can control the output torque of a torque motor to carry out linear or nonlinear output along with the change of pedal displacement, so that the linear or nonlinear resistance applied to a driver when the driver tramples the clutch is effectively simulated, and the clutch operation experience which is the same as that of the traditional fuel instructional car is provided; the clutch pedal simulation device is simple in structure, convenient to install and low in manufacturing cost.

Drawings

The invention is explained in further detail below with reference to the figures and examples;

fig. 1 is a schematic structural view of a clutch manipulation simulation mechanism according to the present invention;

fig. 2 is a schematic view showing an internal structure of a clutch manipulation simulation mechanism according to the present invention;

FIG. 3 shows a partial cross-sectional view of a clutch manipulation simulation mechanism according to the present invention;

FIG. 4 shows a force analysis schematic of a clutch actuation simulation mechanism according to the present invention;

FIG. 5 shows a simplified displacement analysis of a clutch actuation simulation mechanism according to the present invention;

FIG. 6 is a graph illustrating clutch pedal characteristics of the cvt electric learner-driven vehicle according to the present invention;

FIG. 7 is a schematic diagram illustrating a clutch pedal force feel simulation method of the present invention;

FIG. 8 shows a simulation diagram of the start flameout condition control simulation of the electric learner-driven vehicle without a transmission according to the present invention;

wherein the reference numerals include: 1. clutch pedal, 2 push rod, 3 pin shaft, 4 pedal support, 5 rack, 6 gear box, 7 gear shaft, 8 gear, 9 linear guide rail and 10 torque motor

Detailed Description

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be noted that the following detailed description is only used for explaining the basic technical principle of the present invention, and does not limit the protection scope of the present invention, and those skilled in the art can make corresponding modifications according to the actual situation.

In addition, it should be noted that, in the description of the present invention, terms indicating relative positional relationships such as "inside", "upper", "lower", and the like are based on the relative positional relationships in the drawings, and are merely for convenience of description.

The invention is described in detail below with reference to the attached drawing figures:

referring to fig. 1, in order to solve the problem that the electric learner-driven vehicle without a transmission provided in the background art does not have a clutch pedal structure, the invention provides a clutch operation simulation device for the electric learner-driven vehicle without the transmission, which provides a clutch operation simulation mechanism, wherein the clutch operation simulation mechanism comprises a clutch pedal (1), a push rod (2), a pin shaft (3), a pedal bracket (4), a rack (5), a gear box (6), a gear (8), a linear guide rail (9), a torque motor (10) and related connecting pieces, a clutch pedal stroke rate detection device and a clutch operation simulation controller. The clutch pedal (1) is mounted on the pedal bracket (4) through a hinge; the pedal bracket (4), the gear box (6) and the torque motor (10) are fixed on the frame through bolts; one end of the push rod (2) is connected with the clutch pedal (1) through a hinge, and the other end of the push rod is connected with the rack (5) through a hinge; the linear guide rail (9) is fixedly arranged on the gear box (6), and the rack (5) is arranged on the linear guide rail and can slide in the linear guide rail; the gear (8) is meshed with the rack (5), the gear (8) is connected with the gear shaft (7) through a key, and the gear shaft (7) is supported on the box body of the gear box (6) through a bearing; the output shaft of the torque motor (10) is connected with the gear shaft (7) through a coupler;

referring to fig. 2, the clutch pedal (1) is connected to the pedal bracket (4) through a hinge, and the clutch pedal (1) can rotate around the pin shaft (3); one end of the push rod (2) is connected with the clutch pedal (1) through a hinge, the other end of the push rod is connected with the rack (5) through a hinge, and when the clutch pedal (1) moves, a mechanism formed by the push rod (2), the rack (5) and the linear guide rail converts the circular arc motion of the clutch pedal (1) into the linear motion of the rack (5).

Referring to fig. 2 and 3, the linear guide rail (9) is fixedly mounted on the gear box (6), the rack (5) can slide in the linear guide rail, and the linear guide rail can ensure the movement path of the rack (5) in the horizontal direction along the direction of the linear guide rail and limit the displacement of the rack in other directions; the gear (8) is meshed with the rack (5), the gear (8) is connected with the gear shaft (7) through a key, and the gear shaft (7) is supported on the box body of the gear box (6) through a bearing; the device for detecting the stroke change rate of the clutch pedal consists of a photoelectric encoder and a detection controller which are arranged on a gear shaft (7), can detect the rotation angle and the rotating time of a gear in real time, can obtain the stroke of the clutch pedal according to the rotation angle of the gear, and can further obtain the stroke change rate of the clutch pedal by combining the rotating time of the gear; the output shaft of the torque motor (10) is connected with the gear shaft (7) through a coupler; the torque output by the torque motor (10) is controlled to change along with the change of the rotation angle of the gear by the clutch control simulation controller, so that the pedal force sensed by a driver in the process of stepping on the clutch pedal (1) is simulated to change along with the change of the pedal stroke.

Referring again to fig. 1 and 2, the motion process of the clutch operation simulation mechanism is as follows: when the clutch pedal (1) is stepped, the clutch pedal (1) pushes a push rod, the push rod pushes a rack to move rightwards along a linear guide rail, and the rack (5) drives a gear (8) to rotate clockwise; in order to simulate the feeling of a driver stepping on the clutch pedal, the torque motor (10) outputs anticlockwise torque to resist the clockwise rotation of the gear (8), the torque is transmitted to the clutch pedal (1) through the gear (8), the rack (5) and the push rod (2), the pedal is prevented from moving rightwards, the driver can sense the feedback of the pedal force, and when the driver releases the clutch pedal, the pedal can reset under the action of the anticlockwise torque of the torque motor.

Referring to fig. 4, 5, 6 and 7, the clutch operation simulation device for the electric instruction car with a continuously variable transmission provides a method capable of performing linear and nonlinear simulation on the clutch pedal force, and the simulation method of the clutch pedal feeling of the electric instruction car with a continuously variable transmission is as follows:

firstly, a control model of a torque motor for simulating pedal reaction force is established, and the following equation is established according to the geometrical relationship and the mechanical relationship among parts in a clutch control simulation mechanism:

F1*b＝F2*a

F2＝F3*cosγ

F3*cosθ＝T/R

α-β＝γ+θ

determining the relation between the resistance applied when the driver steps on the clutch pedal and the torque output by the torque motor:

wherein the content of the first and second substances,

and then the torque motor outputs the relationship between the torque and the current:

T＝C_mΦ_cI

obtaining a pedal force control model:

wherein the content of the first and second substances,

f1 — clutch pedal reaction force;

i-armature current;

a-AB, i.e. the distance between the pedal arm hinge point and the push rod hinge point;

the length of b-AC, i.e., the length of the clutch pedal arm;

r-gear radius;

C_m-a torque constant;

Φ_c-a main magnetic flux per pole;

the angle formed by the alpha-clutch pedal and the vertical line at the initial position;

angle through which the beta clutch pedal rotates from the initial position to any position;

theta-the included angle of the push rod and the horizontal line;

the delta-gear rotation angle can be measured by a gear rotation speed measuring device in the clutch control simulation device.

Furthermore, the armature current of the torque motor can be controlled to simulate the pedal reaction force received by a driver when the driver steps on the clutch pedal;

secondly, the reaction force of the clutch pedal changes along with the change of the stroke of the clutch pedal, and in order to correctly simulate the reaction force of the clutch pedal, the pedal displacement needs to be detected in real time.

According to the geometrical relationship among the parts in the clutch operation simulation mechanism, the following equations can be used:

get the clutch pedal angle β ═ F (h, a, x1, x, α, l)

Wherein:

h-the vertical distance from the hinge point A to the point D of the pedal arm;

x 1-horizontal distance from point A to point D;

the length of l-BD, i.e., the length of the pushrod;

the length from point x to point D, D1, i.e., the distance the rack travels, can be determined by:

x＝δπR/180°

finally, determining the stroke of the clutch pedal:

namely, the gear rotation angle can be measured by the photoelectric encoder, and the corresponding travel of the clutch pedal is calculated.

Secondly, simulating the pedal feeling of the traditional internal combustion learner-driven vehicle, acquiring clutch pedal stroke and pedal force data by utilizing a stay wire type displacement sensor and a pedal force sensor aiming at a certain simulated fuel learner-driven vehicle, preprocessing experimental data, and performing curve fitting to obtain a relation curve of the clutch pedal stroke and the pedal force, namely a clutch pedal characteristic curve, wherein the obtained clutch pedal characteristic curve can be linear or nonlinear; when a driver steps on the clutch pedal (1), a photoelectric encoder in the clutch pedal simulation device detects the rotation angle of a gear in real time; the controller converts a rotation angle signal of the gear (8) into a corresponding clutch pedal stroke according to the motion relation among all parts in the clutch operation simulation mechanism, and obtains expected clutch pedal force in a chart checking mode; the clutch control simulation device obtains the expected torque of the torque motor (10) corresponding to the corresponding expected clutch pedal force according to the relation between the resistance applied when a driver steps on the clutch pedal and the output torque of the torque motor, controls the armature current of the torque motor through the controller according to the relation between the output torque of the torque motor and the armature current, and further controls the output torque of the torque motor (10) to reach the expected value, and linear and nonlinear simulation of the clutch pedal force can be achieved.

Referring to fig. 8, the clutch operation simulation device for the electric instruction car without the transmission can simulate the flameout condition of the car caused by the irregular operation of the clutch by the driver during starting, and the starting flameout simulation method for the electric instruction car without the transmission caused by the improper operation of the clutch comprises the following steps: an electromagnetic switch is added into a driving circuit of a driving motor of the electric instruction car without the transmission, the on-off of the electromagnetic switch can be controlled by a clutch control analog controller according to the stroke change rate of a clutch pedal, and the threshold value of the stroke change rate of the clutch pedal is set; the clutch control simulation controller collects and processes rotation angle signals of the gear (8), converts the rotation angle signals into corresponding clutch pedal stroke information, further processes the rotation angle signals to obtain the stroke change rate of the clutch pedal (1), and compares the stroke change rate with a set threshold value; when the stroke change rate of the clutch pedal (1) is smaller than a threshold value, outputting a signal for controlling the electromagnetic switch to be 1, and driving a motor to normally operate; when the stroke change rate of the clutch pedal (1) is larger than the threshold value, the signal for controlling the electromagnetic switch is output to be 0, the control circuit of the driving motor is disconnected, and the driving motor stops running, so that the simulation of the vehicle starting flameout working condition caused by the fact that a driver does not operate the clutch normally is realized.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.