CN101509834A - Hydraulic ABS test stand based on wheel speed closed-loop simulation - Google Patents

Hydraulic ABS test stand based on wheel speed closed-loop simulation Download PDF

Info

Publication number
CN101509834A
CN101509834A CNA2008101030865A CN200810103086A CN101509834A CN 101509834 A CN101509834 A CN 101509834A CN A2008101030865 A CNA2008101030865 A CN A2008101030865A CN 200810103086 A CN200810103086 A CN 200810103086A CN 101509834 A CN101509834 A CN 101509834A
Authority
CN
China
Prior art keywords
wheel speed
test
abs
pressure
hydraulic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CNA2008101030865A
Other languages
Chinese (zh)
Inventor
余贵珍
丁能根
陈默然
吴胜
王伟达
冯冲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CNA2008101030865A priority Critical patent/CN101509834A/en
Publication of CN101509834A publication Critical patent/CN101509834A/en
Pending legal-status Critical Current

Links

Abstract

The invention relates to a hydraulic pressure ABS test stand based on wheel speed closed loop analog, which comprises an industrial computer, a wheel speed generation device, a tested system, a pressure source, a deflation system, a braking system and a data collection system. Test software operated by the industrial computer comprises a whole vehicle model, a tire model, a road model, a braker model, data processing, wheel speed real-time control and a human-computer operation interface; the wheel speed generation device is composed of a motion controller, an AC (alternating current) servo motor driver, an AC servo motor and a gear ring; the deflation system is composed of an electromagnetic valve; the pressure source is composed of a hydraulic station and an oil cylinder; and the braking system is composed of a brake master cylinder, a wheel braking cylinder and a pressure sensor. The test stand can carry out a performance test to an ABS controller, a pressure regulator and a wheel speed sensor through two proposals of closed loop and open loop, and also can carry out an intensified test to the whole ABS system so as to check the reliability thereof. The test stand is applicable to ABS research and development process and also can be used for the production of ABS test equipment in batches.

Description

Hydraulic ABS test stand based on wheel speed closed-loop simulation
Technical field
The present invention relates to a kind of hydraulic ABS test stand, can be applied to automobile hydraulic ABS test, can detect hydraulic ABS system control logic, fatigue lifetime, performance and reliability based on wheel speed closed-loop simulation.
Background technology
ABS (Anti-lock Brake System, i.e. anti-blocking brake system) can be controlled at the slip rate of wheel within certain scope, utilizes the adhesion on tire and road surface fully, thereby obtains good directional stability and big as far as possible damping force.It has obtained using widely on passenger car and commercial car, and the entrucking rate increases substantially year by year.The ABS system itself breaks down and will cause huge property loss even personal injury, therefore how to detect the problem that the ABS system has become numerous researchers and manufacturer's great attention effectively.
At present, the automobile ABS system detection method is mainly contained two kinds of the actual road test of outdoor entrucking and indoor bench tests.For outdoor actual road test, domestic automobile brake test field does not also reach strict requirement in the combination of composition, mechanism and each coefficient of road adhesion thereof on road surface.And there is certain risk in it, the cost height, and the test period is long and be subjected to climate effect.And indoor ABS system emulation testing table has overcome the shortcoming that the road examination detects, and practical value is bigger.But automobile ABS simulation test stand both domestic and external, majority all are confined to come image data and control analysis with microcomputer, or adopt expensive DSP hardware and Matlab the development system that constitutes of Simulink special software.Also occurred with the system of PC microcomputer, but often do not had simulation system as controller.Some real-time hardware closed-loop systems often will adopt two cover computing machines to constitute, and make system become complicated and huge.These systems fail auto model and real vehicle system organically are integrated in one.And in the automobile ABS system development, these testing tables are mainly used in the Performance Detection of ABS parts and system, but reliability that all can not checking system.Whether normally the quality testing of a lot of domestic production producers product and performance routine test rest at present with driver's subjective sensation judges ABS work state.Obvious this detection mode can not satisfy fast, detect effectively, economically the requirement of ABS.
In view of the limitation of domestic test condition and the ABS specific (special) requirements to testing conditions, this paper designs the hydraulic ABS test stand of having invented based on wheel speed closed-loop.This testing table can be to ECU (Electronic Control Unit, electronic control unit), HCU (Hydraulic Control Unit, hydraulic control unit) and these three big parts of wheel speed sensors carry out Performance Detection, also can carry out strenuous test to total system, the checking system reliability greatly reduces testing expenses, cycle and risk.This testing table is applicable to the whole R﹠D process of ABS, also can be used for the production of ABS checkout equipment in batches, has certain practical value.
Summary of the invention
In order to reach the requirement that detects hydraulic ABS system control logic, fatigue lifetime, performance and reliability, the technical solution adopted in the present invention:
Closed loop policy: before on-test, go up by a certain initial speed of braking of elder generation of testing software (18) setting at industrial computer (1), send control signal again and control oil cylinder (15) to master cylinder (16) pressurization, make master cylinder pressure reach a certain test pressure value of setting through data collecting plate card (17) control Hydraulic Station (14); Be admitted to the interior vehicle brake model of industrial computer by wheel cylinder (10) force value that pressure transducer (13) collects by data acquisition system (DAS) (24) this moment, to draw damping force by brake model, will calculate the wheel speed situation of change in real time according to whole vehicle model, tire model and road surface model, and control AC servo motor (4) is according to the variation tendency change rotating speed of wheel speed; Collect the controller that wheel speed signal is sent into tested system (20) by wheel speed sensors (6), the solenoid control brake circuit internal pressure that the ECU of ABS (7) operates HCU (8) again changes, the wheel speed signal that simultaneous wheels speed sensors (6) collects is also sent into data collecting plate card (17), and and pressure export the host computer man-machine interface together to and show to preserve, be used to analyze and pass judgment on steering logic, fatigue lifetime, performance and the reliability of system under test (SUT).
Open loop policy: self-editing testing software (18) provides real vehicle high, low speed test curve under high attachment coefficient road surface, high, low speed test curve under the middle attachment coefficient road surface, high, low speed test curve under the low attachment coefficient road surface; Before on-test, go up at industrial computer (1) and to send control signal by testing software (18) and control Hydraulic Station (14) through data collecting plate card (17) and control oil cylinder (15) master cylinder (16) is pressurizeed, make master cylinder pressure reach a certain test pressure value of setting, set a certain initial speed of braking again; Send control signal by testing software (18), through motion controller (2) and AC servo machinery driving device (3), control AC servo motor (4) drives the wheel speed braking curve motion of gear ring (5) to set; The wheel speed signal that is collected by wheel speed sensors (6) is sent into the controller of tested system (20), and the solenoid control brake circuit internal pressure that the ECU of ABS (7) operates HCU (8) again changes; The pressure signal that wheel speed signal that simultaneous wheels speed sensors (6) collects and pressure transducer (13) collect is sent into data collecting plate card (17), and export host computer demonstration in real time and preservation together to, analyze and pass judgment on the key property of system under test (SUT) in order to testing software (18).
Description of drawings:
Fig. 1 is based on the hydraulic ABS test stand structure principle chart of wheel speed closed-loop simulation.
Fig. 2 is based on the hydraulic ABS test stand workflow diagram of wheel speed closed-loop simulation.
Embodiment:
This testing table mainly is made up of industrial computer (1), wheel speed generating apparatus (19), system under test (SUT) (20), pressure source (21), blow-off system (22), brake system (23) and data acquisition system (DAS) (24).
Be that the present invention is described further in conjunction with the accompanying drawings below:
Consult Fig. 1, industrial computer (1) links to each other through the PCI slot with motion controller (2), motion controller (2) links to each other through patchplug with AC servo machinery driving device (3), and AC servo machinery driving device (3) links to each other through 220V power lead and signal wire with AC servo motor (4); Gear ring (5) is fixed on the axle of AC servo motor (4), and wheel speed sensors (6) keeps appropriate gap to be fixed on the AC servo motor (4) with gear ring (5); Thereby industrial computer (1) can be controlled the running of AC servo motor (4).
System under test (SUT) (20) comprises ECU (electronic control unit) (7) and the HCU (hydraulic control unit) (8) of ABS, is fixed on the special jig (9).HCU (8) links to each other through oil circuit with master cylinder (16) and wheel cylinder (10).Hydraulic Station (14) is linked to each other by push rod with oil cylinder (15), and oil cylinder (15) is linked to each other by oil circuit with master cylinder (16).
Master cylinder (16) is connected with two solenoid valves (11), two tensimeters (12) and two pressure transducers (13) respectively.Four wheel cylinders (10) connect solenoid valve (11), tensimeter (12) and pressure transducer (13) separately respectively.Two master cylinder solenoid valves (11) and four wheel cylinder solenoid valves (11) constitute blow-off system (22).
Wheel speed sensors (6) is connected with data collecting plate card (17) through the RS232 serial bus with pressure transducer (13), thereby gathers wheel speed signal and pressure signal.Hydraulic Station (14) is connected with data collecting plate card (17) through the RS232 serial bus, thereby industrial computer (1) can be controlled the variation of Hydraulic Station (14) pressure by data acquisition system (DAS).
This testing table workflow diagram is as shown in Figure 2:
The closed loop working method: the PC control instruction is sent by industrial computer testing software (18), drives AC servo motor (4) through motion controller (2) control AC servo machinery driving device (3) and drives the initial speed of braking that gear ring (5) rotation reaches setting.At this moment, the pressure signal that pressure transducer (13) spreads out of is sent to data collecting plate card (17), reaches industrial computer (1) through serial ports.Industrial computer (1) draws damping force according to the pressure of wheel braking cylinder value that receives by the vehicle brake model, and calculate current wheel speed value in real time according to whole vehicle model, tire model and road surface model, thereby control AC servo motor (4) drives the variation tendency change rotating speed of gear ring (5) according to wheel speed, collect the controller that wheel speed signal is sent into system under test (SUT) (20) by wheel speed sensors (6), the solenoid valve that the ECU of ABS (7) operates HCU (8) again produces action, produces brake pressure by constant pressure oil source and master cylinder in brake circuit.The wheel speed signal that simultaneous wheels speed sensors (6) collects is also sent into data collecting plate card (17), and exports host computer demonstration preservation together to pressure.
The operate in open loop state mode: the PC control instruction is sent by industrial computer testing software (18), drives AC servo motor (4) through motion controller (2) control AC servo machinery driving device (3) and drives gear ring (5) according to the wheel speed braking curve rotation that is written into.Collect the controller that wheel speed signal is sent into system under test (SUT) (20) by wheel speed sensors (6), the solenoid control brake circuit internal pressure that the ECU of ABS (7) operates HCU (8) again changes; The pressure signal that wheel speed signal that simultaneous wheels speed sensors (6) collects and pressure transducer (13) collect is sent into data collecting plate card (17), and exports host computer demonstration in real time and preservation together to.

Claims (7)

1. the hydraulic ABS test stand based on wheel speed closed-loop simulation comprises industrial computer (1), motion controller (2), AC servo machinery driving device (3), AC servo motor (4), gear ring (5), wheel speed sensors (6), the automobile hydraulic ABS ECU of system (7) and HCU (8), anchor clamps (9), Hydraulic Station (14), oil cylinder (15), master cylinder (16), wheel cylinder (10), solenoid valve (11), tensimeter (12), pressure transducer (13) and data collecting plate card (17) and self-editing testing software (18).
2. the hydraulic ABS test stand based on wheel speed closed-loop simulation according to claim 1 is characterized in that: constitute wheel speed generating apparatus (19) by motion controller (2), AC servo machinery driving device (3), AC servo motor (4) and gear ring (5); Constitute pressure source (21) by Hydraulic Station (14) and oil cylinder (15); Constitute blow-off system (22) by solenoid valve (11); Constitute brake system (23) by master cylinder (16), wheel cylinder (10) and pressure transducer (13); By self-control data collecting plate card (17) and serial ports composition data acquisition system (24); The self-editing testing software (18) that industrial computer (1) is moved comprises whole vehicle model, tire model, road surface model, brake model, data acquisition process, wheel speed and controls in real time and man machine operation interface.
3. the hydraulic ABS test stand based on wheel speed closed-loop simulation according to claim 1, it is characterized in that: the gear ring in the wheel speed generating apparatus (5) is installed on the axle of AC servo motor (4), self-editing testing software (18) by host computer sends steering order, controls AC servo motor (4) drive gear ring (5) motion through motion controller (2) and AC servo driver (3).
4. the hydraulic ABS test stand based on wheel speed closed-loop simulation according to claim 1 is characterized in that: Hydraulic Station (14) is linked to each other by push rod with oil cylinder (15), and oil cylinder (15) is linked to each other by oil circuit with master cylinder (16).Industrial computer (1) can pass through the variation of data acquisition system (DAS) (24) control Hydraulic Station (14) pressure.
5. the hydraulic ABS test stand based on wheel speed closed-loop simulation according to claim 1 is characterized in that: have the blow-off system (22) that is made of solenoid valve (11), replace the bleeder screw of real vehicle.
6. one kind is utilized the described method of carrying out closed loop work based on the hydraulic ABS test stand of wheel speed closed-loop simulation of claim 1:
Before on-test, go up by a certain initial speed of braking of elder generation of testing software (18) setting at industrial computer (1), send control signal again and control oil cylinder (15) to master cylinder (16) pressurization, make master cylinder pressure reach a certain test pressure value of setting through data collecting plate card (17) control Hydraulic Station (14); Be admitted to the interior vehicle brake model of industrial computer by wheel cylinder (10) force value that pressure transducer (13) collects by data acquisition system (DAS) (24) this moment, to draw damping force by brake model, will calculate the wheel speed situation of change in real time according to whole vehicle model, tire model and road surface model, and control AC servo motor (4) is according to the variation tendency change rotating speed of wheel speed; Collect the controller that wheel speed signal is sent into tested system (20) by wheel speed sensors (6), the solenoid control brake circuit internal pressure that the ECU of ABS (7) operates HCU (8) again changes, the wheel speed signal that simultaneous wheels speed sensors (6) collects is also sent into data collecting plate card (17), and and pressure export the host computer man-machine interface together to and show to preserve, be used to analyze and pass judgment on steering logic, fatigue lifetime, performance and the reliability of system under test (SUT).
7. one kind is utilized the described method of carrying out operate in open loop state based on the hydraulic ABS test stand of wheel speed closed-loop simulation of claim 1:
Self-editing testing software (18) provides real vehicle high, low speed test curve under high attachment coefficient road surface, high, low speed test curve under the middle attachment coefficient road surface, high, low speed test curve under the low attachment coefficient road surface; Before on-test, go up at industrial computer (1) and to send control signal by testing software (18) and control Hydraulic Station (14) through data collecting plate card (17) and control oil cylinder (15) master cylinder (16) is pressurizeed, make master cylinder pressure reach a certain test pressure value of setting, set a certain initial speed of braking again; Send control signal by testing software (18), through motion controller (2) and AC servo machinery driving device (3), control AC servo motor (4) drives the wheel speed braking curve motion of gear ring (5) to set; The wheel speed signal that is collected by wheel speed sensors (6) is sent into the controller of tested system (20), and the solenoid control brake circuit internal pressure that the ECU of ABS (7) operates HCU (8) again changes; The pressure signal that wheel speed signal that simultaneous wheels speed sensors (6) collects and pressure transducer (13) collect is sent into data collecting plate card (17), and export host computer demonstration in real time and preservation together to, analyze and pass judgment on the key property of system under test (SUT) in order to testing software (18).
CNA2008101030865A 2008-03-31 2008-03-31 Hydraulic ABS test stand based on wheel speed closed-loop simulation Pending CN101509834A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNA2008101030865A CN101509834A (en) 2008-03-31 2008-03-31 Hydraulic ABS test stand based on wheel speed closed-loop simulation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNA2008101030865A CN101509834A (en) 2008-03-31 2008-03-31 Hydraulic ABS test stand based on wheel speed closed-loop simulation

Publications (1)

Publication Number Publication Date
CN101509834A true CN101509834A (en) 2009-08-19

Family

ID=41002301

Family Applications (1)

Application Number Title Priority Date Filing Date
CNA2008101030865A Pending CN101509834A (en) 2008-03-31 2008-03-31 Hydraulic ABS test stand based on wheel speed closed-loop simulation

Country Status (1)

Country Link
CN (1) CN101509834A (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013134921A1 (en) * 2012-03-13 2013-09-19 青岛四方车辆研究所有限公司 Air charging and discharging control device for air spring support system
CN103398853A (en) * 2013-07-12 2013-11-20 广州市科密汽车制动技术开发有限公司 Performance detection device for air brake pressure adjuster
CN103454088A (en) * 2013-09-04 2013-12-18 安徽安簧机械股份有限公司 Improved forklift drive axle test board and testing method thereof
CN103837352A (en) * 2014-03-31 2014-06-04 长城汽车股份有限公司 Braking performance testing device for vehicle
CN105501209A (en) * 2016-01-26 2016-04-20 杭州海向达粉末冶金有限公司 ABS (anti-lock brake system) signal detection device for vehicles
CN105938054A (en) * 2016-07-08 2016-09-14 宁波赛福汽车制动有限公司 Motorcycle anti-lock braking system endurance testing experiment table
CN106840694A (en) * 2017-01-11 2017-06-13 吉林大学 Electric motor coach composite braking hardware-in―the-loop test platform and method of testing based on electric controlled brake system
CN108614470A (en) * 2016-12-10 2018-10-02 中国航空工业集团公司北京航空精密机械研究所 A kind of three-axle table control system based on PMAC
CN105938053B (en) * 2016-07-08 2018-11-06 宁波赛福汽车制动有限公司 Motorcycle ABS performance test experiment table
CN108871808A (en) * 2018-09-21 2018-11-23 南京众控电子科技有限公司 A kind of wheel speed sensors simulator
CN110108497A (en) * 2019-04-22 2019-08-09 苏州工业职业技术学院 A kind of automobile ABS computer simulation experiment device and its emulation test method
CN111308919A (en) * 2018-12-12 2020-06-19 广州汽车集团股份有限公司 Wheel speed signal transmission method, device, terminal and computer readable storage medium
CN111855070A (en) * 2020-07-21 2020-10-30 武汉理工大学 Device and method for testing pressure change rate of components of commercial vehicle electric control air pressure braking system

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013134921A1 (en) * 2012-03-13 2013-09-19 青岛四方车辆研究所有限公司 Air charging and discharging control device for air spring support system
CN103398853A (en) * 2013-07-12 2013-11-20 广州市科密汽车制动技术开发有限公司 Performance detection device for air brake pressure adjuster
CN103454088A (en) * 2013-09-04 2013-12-18 安徽安簧机械股份有限公司 Improved forklift drive axle test board and testing method thereof
CN103837352A (en) * 2014-03-31 2014-06-04 长城汽车股份有限公司 Braking performance testing device for vehicle
CN105501209A (en) * 2016-01-26 2016-04-20 杭州海向达粉末冶金有限公司 ABS (anti-lock brake system) signal detection device for vehicles
CN105501209B (en) * 2016-01-26 2018-02-23 杭州海向达粉末冶金有限公司 A kind of delivery vehicle ABS signal supervisory instruments
CN105938054A (en) * 2016-07-08 2016-09-14 宁波赛福汽车制动有限公司 Motorcycle anti-lock braking system endurance testing experiment table
CN105938053B (en) * 2016-07-08 2018-11-06 宁波赛福汽车制动有限公司 Motorcycle ABS performance test experiment table
CN108614470A (en) * 2016-12-10 2018-10-02 中国航空工业集团公司北京航空精密机械研究所 A kind of three-axle table control system based on PMAC
CN106840694A (en) * 2017-01-11 2017-06-13 吉林大学 Electric motor coach composite braking hardware-in―the-loop test platform and method of testing based on electric controlled brake system
CN108871808A (en) * 2018-09-21 2018-11-23 南京众控电子科技有限公司 A kind of wheel speed sensors simulator
CN111308919A (en) * 2018-12-12 2020-06-19 广州汽车集团股份有限公司 Wheel speed signal transmission method, device, terminal and computer readable storage medium
CN111308919B (en) * 2018-12-12 2021-07-27 广州汽车集团股份有限公司 Wheel speed signal transmission method, device, terminal and computer readable storage medium
CN110108497A (en) * 2019-04-22 2019-08-09 苏州工业职业技术学院 A kind of automobile ABS computer simulation experiment device and its emulation test method
CN111855070A (en) * 2020-07-21 2020-10-30 武汉理工大学 Device and method for testing pressure change rate of components of commercial vehicle electric control air pressure braking system

Similar Documents

Publication Publication Date Title
CN101509834A (en) Hydraulic ABS test stand based on wheel speed closed-loop simulation
CN103134692A (en) Simulation test board line frame and test method for electric car power-driven system
CN207472575U (en) A kind of test-bed of brake system of car performance test
CN2708293Y (en) Test-bed for automobile ABS performance
CN201107258Y (en) Continuous road surface friction coefficient test device
CN101825510B (en) Method for estimating brake pressure of automobile and peak value of road adhesion coefficient
CN101979987B (en) Vehicle brake detection table with acceleration simulation function
CN103217301A (en) Device and method for detecting brake performance of automobile
CN202916083U (en) Device for detecting dynamic performance of ABS pneumatic solenoid valve
CN107179199A (en) A kind of Electric Motor Wheel comprehensive performance test simulation system
CN206281648U (en) Multi-functional electric transmission testing stand
CN207318117U (en) Vacuum booster and the experimental rig of electronics booster performance comparison
CN105843209A (en) Commercial semitrailer electronically-controlled braking system test bench
CN202547946U (en) Electric vehicle power-driven system artificial testboard truss
CN202869828U (en) Dynamic performance detection device for pneumatic ABS (anti-lock brake system) pressure regulator
CN201757957U (en) Automobile ABS braking system teaching experimental device based on virtual instrument
CN205507532U (en) Automatically controlled braking system laboratory bench of commercial semitrailer
CN202547950U (en) Simulation detection device for anti-lock brake system (ABS)
CN205898470U (en) Vehicle comprehensive properties detecting system
CN202393595U (en) Comprehensive simulation experiment system test table of engine front end wheel system
CN209656302U (en) A kind of modularization comprehensive braking performance test testing stand
CN201152816Y (en) Apparatus for high speed braking efficiency detection in drum type
CN207019910U (en) A kind of Electric Motor Wheel comprehensive performance test simulation system
CN206020006U (en) A kind of for vacuum booster and the device of front panel long duration test
CN106066408B (en) The three level wheel speed sensors based on brake process test System and method for

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)
WD01 Invention patent application deemed withdrawn after publication

Open date: 20090819