CN101561353B - Brake-by-wire and steer-by-wire hardware-in-the-loop test bench for vehicle - Google Patents

Brake-by-wire and steer-by-wire hardware-in-the-loop test bench for vehicle Download PDF

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CN101561353B
CN101561353B CN 200910066983 CN200910066983A CN101561353B CN 101561353 B CN101561353 B CN 101561353B CN 200910066983 CN200910066983 CN 200910066983 CN 200910066983 A CN200910066983 A CN 200910066983A CN 101561353 B CN101561353 B CN 101561353B
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model
sensor
wire
emb
steering
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CN 200910066983
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CN101561353A (en )
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张建
李静
杨坤
殷卫乔
王坤
饶志明
魏青
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吉林大学
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Abstract

The invention discloses a brake-by-wire and steer-by-wire hardware-in-the-loop test bench for a vehicle. The test bench integrates a brake-by-wire system and a steer-by-wire system into a whole, and is divided into a software part, a real-time platform, a signal processing part and a hardware part, wherein the real-time platform consists of a host and target machines 1 and 2; the host and the target machines 1 and 2 are connected by a wireless network communication system; the signal processing part consists of first and second data acquisition cards with the model of PCL-818HD, third and fourth data acquisition cards with the model of PCL-727, a fifth data acquisition card with the model of PCI-6601 and a V/F conversion module; and the hardware part comprises a rotary angle sensor (12), atorque transducer (13), an opposite rotary motor (16), a steering resistance sensor (21), a steering actuating motor (18), an EMB actuator controller, and EMB actuator, a clamping force sensor, a revolution transmitter and a current sensor.

Description

车辆线控制动线控转向硬件在环试验台 Vehicle brake-by-wire steering HIL test stand

技术领域 FIELD

[0001] 本发明涉及一种硬件在环仿真试验台,更具体地说,本发明涉及一种集成了线控制动系统和线控转向系统的硬件在环仿真试验台。 [0001] The present invention relates to a test station hardware in the loop simulation, and more particularly, the present invention relates to an integrated system of hardware and brake-by-wire steering system in a loop simulation test bench.

背景技术 Background technique

[0002] 随着汽车技术日新月异的发展,高效、节能的线控技术(x-by-wire)应用到了汽车领域。 [0002] With the rapid development of automotive technology, efficient, energy-wire technology (x-by-wire) applied to the automotive sector. 线控系统能够明显提高系统响应速度及响应精度,改善车辆动力学特性,进一步提升车辆的行驶安全性和操纵稳定性。 Wire system can significantly improve the response speed and accuracy of response, improve the dynamic characteristics of the vehicle, to further enhance the driving safety and steering stability of the vehicle. 另外线控系统能够简化车辆系统结构,降低车辆设计、 制造、维护过程中的成本,节省车内空间,减轻整车质量。 The system can be simplified further by-wire system configuration of the vehicle, reduce vehicle design, manufacturing and maintenance costs of the process, saving interior space, reduce vehicle mass. 线控制动系统(brake-by-wire,简称BBW)、线控转向系统(steer-by-wire,简称SBW)作为汽车线控系统的代表已成为国内外研究热点,代表了未来车辆的发展方向。 By-wire braking system (brake-by-wire, referred to as BBW), by-wire steering system (steer-by-wire, referred to as SBW) as a car-by-wire system representatives have become the focus of world, it represents the future development direction of the vehicle . 目前我国对于车辆线控系统的研究还处于起步阶段,由于条件所限在系统开发,特别是在系统硬件调试、检测方面存在很大的困难。 At present, China for Vehicle-wire system is still in its infancy, due to limited conditions in systems development, especially in the system hardware debugging, detecting the presence of aspects of great difficulties. 采用硬件在环技术进行线控制动系统和线控转向系统的硬件在环仿真试验,可以实现线控制动系统和线控转向系统开发、调试、检测及性能评价等多方面功能,从而使线控制动系统和线控转向系统的开发难度、开发时间以及开发成本大大降低。 Using hardware and brake-by-wire steering system hardware in the loop simulation system, and the system may be implemented brake-by-wire steering system development, debugging, testing and performance evaluation, and many other technical features in the ring, so that the line control development difficulty moving system and steering-by-wire systems, development time and development costs are significantly reduced.

[0003] 目前尚未有线控制动系统和线控转向系统的硬件在环仿真试验台。 [0003] It has not been wired hardware control brake system and steering system in a wire loop simulation test bench.

发明内容 SUMMARY

[0004] 本发明所要解决的技术问题是为了满足社会需求,提供了一种车辆线控制动系统和线控转向系统的硬件在环试验台。 [0004] The present invention solves the technical problem is to meet the needs of society, there is provided a vehicle brake-by-wire steering system and hardware systems in the loop test bed.

[0005] 为解决上述技术问题,本发明是采用如下技术方案实现的:车辆线控制动系统和线控转向系统的硬件在环试验台由线控制动系统和线控转向系统组成。 [0005] To solve the above problems, the present invention adopts the following technical solution: the hardware system and the vehicle brake-by-wire steering system in a loop test rig steering system and a brake-by-wire system. 所述的线控制动系统和线控转向系统又划分为软件部分、实时平台、信号处理部分和硬件部分。 Said brake-by-wire steering system and the system software is divided into portions, real-time platform, the hardware portion and the signal processing section. 所述的实时平台由主机、目标机1和目标机2组成。 The real-time by the host platform, the target 1 and target 2 composition.

[0006] 所述的信号处理部分由型号为PCL-818HD的第一数据采集卡、型号为PCL-818HD 的第二数据采集卡、型号为PCL-727的第三数据采集卡、型号为PCL-727的第四数据采集卡、型号为PCI-6601的第五数据采集卡和V/F转换模块组成。 [0006] The signal processing portion of the first data from the model PCL-818HD acquisition card, a second type of data acquisition card PCL-818HD, a third type of PCL-727 data acquisition card, model PCL- fourth data acquisition card 727, model PCI-6601 data acquisition card and a fifth V / F converter module.

[0007] 型号为PCL-818HD的第一数据采集卡和目标机1之间采用ISA总线连接。 [0007] PCL-818HD model data acquisition card and a first target using a connection between the ISA bus. 型号为PCL-727的第三数据采集卡和型号为PCL-727的第四数据采集卡和目标机1之间采用ISA 总线连接。 Model PCL-727 data acquisition card and a third type and the fourth target data acquisition card PCL-727 using a connection between the ISA bus. 型号为PCL-727的第三数据采集卡和四个V/F转换模块之间采用电线连接,四个V/F转换模块和型号为PCI-6601的第五数据采集卡之间采用电线连接,型号为PCI-6601的第五数据采集卡和目标机2之间采用PCI总线连接。 Model using the wire connection between the PCL-727 data acquisition card, and a third four V / F converter module, four V / F converter modules and between the model PCI-6601 data acquisition card using a fifth wire connection, model PCI bus connection between 2 PCI-6601 data acquisition card and a fifth target. 型号为PCL-818HD的第二数据采集卡和目标机2之间采用ISA总线连接,型号为PCL-818HD的第二数据采集卡和型号为PCL-727 的第四数据采集卡之间采用电线连接,型号为PCL-818HD的第二数据采集卡的输出端分别和线控制动系统、线控转向系统中的硬件部分电线连接。 Model using ISA bus connection between 2 PCL-818HD data acquisition card and a second target, PCL-818HD model data acquisition card and a second type between the fourth PCL-727 data acquisition card using a wire connection the hardware portion of the wire, respectively, and brake-system model, the output end of the second steering wire data acquisition card PCL-818HD system is connected.

[0008] 技术方案中所述线控转向系统的硬件部分包括有转向盘、转角传感器、转矩传感器、波纹管联轴器、回正电机、回正电机减速机构、磁粉制动器、弹簧回正机构、齿轮齿条机构、转向阻力传感器、转向器、位移传感器、转向执行电机和执行电机减速机构;线控制动系统的硬件部分包括有左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器、右后轮EMB执行器控制器、左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器、右后轮EMB执行器、左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器、右后轮夹紧力传感器、左前轮转速传感器、右前轮转速传感器、左后轮转速传感器、右后轮转速传感器、左前轮电流传感器、右前轮电流传感器、左后轮电流传感器和右后轮电流传感器。 [0008] Technical Solution wire steering system in the hardware section includes steering wheel angle sensor, torque sensor, bellows couplings, aligning motor, the reduction mechanism aligning motor, magnetic brake, the spring-aligning means pinion mechanism, a steering sensor resistance, steering, a displacement sensor, a steering actuator motor and performing the motor speed reduction mechanism; brake-by-wire system hardware part comprises a left front wheel controller EMB actuators, the front right wheel actuator control EMB , a left rear wheel controller EMB actuator, the actuator controller EMB right rear, a left front wheel EMB actuators, EMB actuators right front, left rear wheel EMB actuator, the right rear wheel EMB actuators, left front wheel clamp force sensor, the clamping force sensor right front wheel, left rear wheel clamping force sensor, the clamping force sensor right rear wheel, left front wheel speed sensor, right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, the current sensor left front wheel, right front wheel current sensor, left rear wheel and right rear current sensor current sensor. 转向盘输出轴通过键与转角传感器输入轴相连,转角传感器输出轴通过键与转矩传感器输入轴连接,转矩传感器输出轴通过波纹联轴器与回正电机减速机构输出轴相连,回正电机减速机构输入轴通过键与回正电机输出轴相连。 The output shaft and the steering wheel angle sensor through the key input shaft connected to an output shaft rotation angle sensor is connected by a linkage to an input shaft torque sensor, the torque sensor output shaft via a bellows coupling and aligning the output shaft of the motor speed reduction mechanism is connected to the motor back to the positive reduction mechanism is connected to the input shaft aligning motor output shaft by a key. 固定在实验台上的转向执行电机的输出轴通过键与执行电机减速机构的输入轴连接,固定在试验台上的执行电机减速机构的输出轴通过花键与转向器连接,固定在试验台上的转向器的转向齿条的一端通过螺栓与固定在试验台上的位移传感器连接,转向器的转向齿条的另一端与转向阻力传感器的一端接触连接,固定在试验台上的磁粉制动器的输出轴通过花键与固定在试验台上的齿轮齿条机构连接,齿轮齿条机构中齿条的一端通过螺栓与固定在试验台上的弹簧回正机构连接,齿轮齿条机构中齿条的另一端通过螺栓与转向阻力传感器的另一端固定在一起。 Fixed bench of the steering motor output shaft is performed via the input shaft and the key actuating motor speed reduction mechanism, the output shaft is fixed to the test stand is performed motor speed reduction mechanism by a spline connection with steering, fixed to a test stand the output end of the steering rack of the steering gear in the displacement sensor test stand fixed by bolting, steering the steering rack and the other end connected to one end of the contact sensor the steering resistance, the magnetic powder is fixed in the brake test stand by a spline shaft is connected with the fixed rack and pinion mechanism in the test stand, one end of the rack-pinion mechanism of the aligning mechanism is connected by a spring bolt is fixed to the test bench, a rack pinion mechanism in the other end end secured together by bolts and the steering resistance of another sensor. 回正电机、 转向执行电机及磁粉制动器分别和型号为PCL-818HD的第二数据采集卡输出控制信号的第5至第7数字通道电线连接。 Aligning motor, the steering motor and magnetic brake are performed and a second data acquisition card type output control signal according to the fifth to seventh digital channels PCL-818HD wire connection. 位移传感器、转向阻力传感器、转角传感器及转矩传感器的输出端分别和型号为PCL-818HD的第一数据采集卡采集信号的第5至第8A/D通道电线连接。 A displacement sensor, a steering sensor resistance, and the output of the rotation angle sensor and the torque sensor models were collected 5 to 8A PCL-818HD signal for a first data acquisition card / D channel connected to the wire. 左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器及右后轮EMB执行器控制器的输入端分别和型号为PCL-818HD的第二数据采集卡输出控制信号的第1至第4数字通道电线连接。 EMB actuators left front wheel controller, actuator controller EMB right front, left rear input controller performs EMB EMB actuator and the right rear wheel respectively, and a controller model of a second data acquisition PCL-818HD card output control signal of the digital channels to fourth wire connection. 左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器及右后轮EMB执行器控制器的输出端分别和左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器及右后轮EMB执行器的输入端电线连接。 EMB actuators left front wheel controller, actuator controller EMB right front, left rear output end of the actuator controller EMB EMB actuator and the right rear wheel and the left front wheel controller, respectively EMB actuators, right front EMB actuators, the input end of the wire left wheel and the right rear wheel actuator EMB EMB actuators connected. 左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器及右后轮夹紧力传感器的输出端分别和型号为PCL-818HD的第一数据采集卡的第1至第4A/D通道电线连接。 A first clamping force sensor left front wheel, right front wheel clamping force sensor, the clamping force sensor and the left rear wheel and right rear wheel output terminal, respectively, the clamping force sensor and a first data model for the PCL-818HD capture card through 4A / D channel connected to the wire. 左前轮夹紧力传感器、左前轮转速传感器及左前轮电流传感器的输出端分别和左前轮EMB执行器控制器的输入端电线连接;右前轮夹紧力传感器、右前轮转速传感器及右前轮电流传感器的输出端分别和右前轮EMB执行器控制器的输入端电线连接;左后轮夹紧力传感器、左后轮转速传感器及左后轮电流传感器的输出端分别和左后轮EMB执行器控制器的输入端电线连接;右后轮夹紧力传感器、右后轮转速传感器及右后轮电流传感器的输出端分别和右后轮EMB执行器控制器的输入端电线连接;所述的型号为PCL-727的第三数据采集卡和四个V/F转换模块之间采用电线连接是指:型号为PCL-727的第三数据采集卡的输出四个轮速电压信号的第1至第4A/D通道分别和四个V/F转换模块的通道输入端电线连接。 Left front wheel clamping force sensor, a left front wheel and the left front wheel speed sensor output of the current sensor and the input end of the wire are respectively left front EMB actuator connected to the controller; a clamping force sensor right front wheel, right front wheel speed output terminals are input wire EMB actuators and right front and right front wheel controller, a current sensor connected to the sensor; a clamping force sensor left rear wheel, left rear wheel and the left rear wheel speed sensor is a current sensor and an output terminal, respectively EMB left rear input end of the wire connected to the actuator controller; output terminal of clamping force sensor right rear wheel, a right rear wheel and the right rear wheel speed sensor, respectively, the current sensor and the right rear wheel controller EMB actuator input end of the wire ; said model using the wire connection between a third PCL-727 data acquisition card and four V / F converter module refers to: output a third model for the data acquisition card PCL-727 of the four wheel speed voltage 1 to 4A / D channel signal respectively and four wire path input V / F converter module. 所述的四个V/F转换模块和型号为PCI-6601的第五数据采集卡之间采用电线连接是指:四个V/F转换模块的输出四个车轮轮速脉冲信号的第1至第4通道输出端分别和型号为PCI-6601的第五数据采集卡的采集四个车轮轮速脉冲信号的第1至第4通道电线连接。 Four said V / F converter modules and between the model PCI-6601 data acquisition card using a fifth wire connection means: four outputs of the four wheel speed V pulse signal / F converter module to a first a fourth channel models and output terminals respectively connected to the fifth to collect data acquisition card of the PCI-6601 four wheel speed pulse signals of the first to fourth channel wires. 所述的型号为PCL-818HD 的第二数据采集卡和型号为PCL-727的第四数据采集卡之间采用电线连接是指:型号为PCL-818HD的第二数据采集卡的第1至第5A/D通道分别和型号为PCL-727的第四数据采集卡的输出纵向加速度、侧向加速度、横摆角速度、转向盘转角和纵向车速信号的第1至第5A/D通道电线连接;所述的主机与目标机1和目标机2之间采用PC串口、TCP连接或者无线网络通信系统连接。 The model for the PCL-818HD second models using the data acquisition card and refers to the electric wire connection between the fourth PCL-727 data acquisition card: the type of the first to the second data acquisition card of the PCL-818HD 5A / D channel model are the longitudinal and fourth output data acquisition card PCL-727 acceleration, lateral acceleration, yaw rate, the first through 5A longitudinal vehicle speed and steering wheel angle signals a / D channel connected to the wire; the said host machine and the PC serial port between the target 1 and target 2, TCP connection or wireless network communication system is connected. 所述的无线网络通信系统包括有无线网卡、无线路由器和两块普通网卡。 The wireless network communication system comprises a wireless network card, wireless router and two ordinary NIC. 所述的无线网卡采用型号为TWL541P的无线PCI网卡,安装在主机上;无线路由器采用提供了一个固定广域网接口与四个固定局域网接口并符合IEEE 802. lib和IEEE 802. llg 无线标准的型号为TWL54R的无线路由器,两块普通网卡皆采用型号为82559的网卡,分别安装于目标机1和目标机2上。 The wireless card using model TWL541P wireless PCI card, installed in the host; wireless routers provides a fixed WAN interface and LAN interface with four fixing meet IEEE 802. lib and wireless IEEE 802. llg standard model TWL54R wireless router, two cards are common model employed in the card 82559, are attached to the target 1 and target 2.

[0009] 与现有技术相比本发明的有益效果是: [0009] Advantageous effects of the present invention compared to the prior art are:

[0010] 1.本发明实现了线控制动系统和线控转向系统的硬件在环,为线控制动系统、线控转向系统的硬件开发创造了有利条件,使硬件系统的开发难度、开发成本大大降低。 [0010] 1. The present invention implements systems and hardware brake-by-wire steering system in the ring, for the brake-system-by-wire steering system hardware development to create favorable conditions for the development difficult hardware system, development cost Greatly reduced. 另外通过本试验台对于各种控制算法进行的硬件在环仿真试验的仿真预测结果更加准确可信。 Further by hardware test bed for various control algorithms in simulation predictive loop simulation results of more accurate and reliable.

[0011] 2.采用车辆线控制动线控转向硬件在环试验台进行仿真试验时,试验的特定工况是通过计算机模拟得到,不受人员、场地和天气的影响,对于极限工况的试验也不存在任何危险,试验成本和周期大大缩短。 When [0011] 2. The use of a vehicle brake-by-wire steering ring hardware simulation test bench, the particular condition test is obtained by computer simulation, not affected by people, places and weather conditions limit test for nor is there any risk, cost and test cycles are significantly reduced.

[0012] 3.在线控系统开发过程中,采用车辆线控制动线控转向硬件在环试验台进行试验,可以实现控制算法的在线调整,这样可以方便的对各种控制参数特别是极限工况下的控制参数进行优化。 [0012] 3. The line control system development process, using the vehicle brake-by-wire steering hardware test loop test station, can be achieved online adjustment control algorithm, which can facilitate the control of various parameters in particular limit condition control parameters are optimized.

[0013] 4.采用车辆线控制动线控转向硬件在环试验台测试得到的各项车辆性能参数及优化控制算法参数与实车试验比较接近。 The vehicle performance parameters [0013] 4. Using the vehicle brake-by-wire steering HIL test rig and the test result and the optimal control algorithm parameters close to the actual vehicle test.

附图说明 BRIEF DESCRIPTION

[0014] 下面结合附图对本发明作进一步的说明: [0014] DRAWINGS The present invention is further described:

[0015] 图1是本发明所述的车辆线控制动线控转向硬件在环试验台结构组成和工作原理示意框图; [0015] FIG. 1 is a brake-by-wire vehicle according to the present invention a steering HIL test rig structure and working principle schematic block;

[0016] 图2是本发明所述的车辆线控制动线控转向硬件在环试验台中的EMB执行器的结构组成示意图; [0016] FIG. 2 is a vehicle brake-by-wire steering according to the present invention in hardware loop test station EMB actuator schematic structures;

[0017] 图3是本发明所述的车辆线控制动线控转向硬件在环试验台中的EMB执行器的结构组成主视图; [0017] FIG. 3 is a vehicle brake-by-wire steering according to the present invention in hardware loop test station EMB actuator structures front view;

[0018] 图4是本发明所述的车辆线控制动线控转向硬件在环试验台中的EMB执行器控制器的结构组成和工作原理示意框图; [0018] FIG. 4 is a vehicle brake-by-wire steering according to the present invention in hardware loop test station controller EMB actuator structure and working principle schematic block;

[0019] 图5是本发明所述的车辆线控制动线控转向硬件在环试验台中的EMB执行器中动力装置_电机采用三环控制的原理框图; [0019] FIG. 5 is a vehicle brake-by-wire steering according to the present invention in hardware loop test station power unit EMB actuators _ motor is a schematic block diagram of the three-loop control;

[0020] 图6_(a)是本发明所述的车辆线控制动线控转向硬件在环试验台中的线控转向系统中转向操纵机构结构组成示意图; [0020] FIG. 6_ (a) is a brake-by-wire vehicle according to the present invention, a steering mechanism steering a hardware configuration schematic diagram illustrating a test station in the ring-wire steering system;

[0021] 图6_(b)是本发明所述的车辆线控制动线控转向硬件在环试验台中的线控转向系统中转向执行机构结构组成示意图; [0021] FIG. 6_ (b) it is a vehicle brake-by-wire steering according to the present invention is a hardware schematic view of a steering actuator in the ring structures of the test stand-wire steering system;

[0022] 图7是本发明所述的车辆线控制动线控转向硬件在环试验台试验工作的流程框图; [0022] FIG. 7 is a flow diagram of the ring bench test hardware working vehicle brake-by-wire steering according to the present invention;

[0023] 图中:1.制动盘,2.螺母,3.电机转子,4.电机定子,5.齿圈,6.行星齿轮,7.行 [0023] FIG: brake disk 1, the nut 2, the motor rotor 3, stator 4, the ring gear 5, planet gears 6, line 7.....

6星架,8.丝杠,9.中心轮,10.制动衬块,11.转向盘12.转角传感器13.转矩传感器14.波纹管联轴器15.回正电机减速机构,16.回正电机,17.执行电机减速机构,18.转向执行电机,19.位移传感器,20.转向器,21.转向阻力传感器,22.齿轮齿条机构,23.弹簧回正机构,24.磁粉制动器。 The planet carrier 6, 8 lead screw, 9. center wheel 10 brake pad 11. 12. The steering wheel angle sensor 13. The torque sensor 14. The bellows coupling 15. The aligning motor speed reduction mechanism, 16 . aligning motor 17 performs the motor speed reduction mechanism 18 performs a steering motor 19 displacement sensor 20. diverter, 21 steering resistance sensor, 22. rack and pinion mechanism 23 spring-aligning means 24. magnetic brakes.

具体实施方式 detailed description

[0024] 下面结合附图对本发明作详细的描述: [0024] DRAWINGS The present invention will be described in detail:

[0025] 参阅图1,本发明是一种集成了车辆线控制动系统和线控转向系统的硬件在环仿真试验台,本发明的技术问题是保证车辆线控制动系统和线控转向系统的硬件在环试验台具有良好的实时性,能够实现在各种行驶工况下车辆动力学模型、车辆控制算法、线控制动系统和线控转向系统以及各传感器之间的实时通讯。 [0025] Referring to Figure 1, the present invention is an integrated system of a vehicle brake-by-wire steering system and hardware in the loop simulation stage, the technical problem of the present invention is to ensure that the vehicle brake-by-wire system and a steering system with good real-time hardware in the loop test bed, it can be realized in real-time communication between the various driving conditions of the vehicle dynamics model, a vehicle control algorithm, and the brake-by-wire steering system, a sensor system, as well.

[0026] 为解决上述技术问题,本发明利用Matlab/xPC Target、RTW实时工具和信号采集卡自主开发了线控制动系统和线控转向系统硬件在环仿真试验台。 [0026] To solve the above problems, the present invention utilizes the Matlab / xPC Target, RTW tools and real-time signal acquisition card developed a brake-by-wire steering system and hardware systems Simulation Test Bed ring. 本试验台由线控制动系统和线控转向系统组成。 The test station consists of a steering system and brake-by-wire system. 线控制动系统和线控转向系统又分为软件部分、实时平台、信号处理部分和硬件部分。 Braking and steer-by-wire system is divided into software components, the real-time platform, the hardware and signal processing section.

[0027] 1.实时平台 [0027] 1. Real-time platform

[0028] 所述的实时平台是由一台主机、一台目标机1和一台目标机2组成。 [0028] The real-time platform is a host, a target and a target composed of 1 2. 在主机中安装有采用Matlab/Simulink建立的车辆动力学模型和车辆控制算法(例如ABS,ESP控制算法等)。 And a vehicle mounted dynamic model control algorithm (e.g. ABS, ESP control algorithms, etc.) of the vehicle using Matlab / Simulink established in the host. 主机能够进行离线仿真;能够将车辆模型和控制算法通过RTW编译成可以在目标机1 和目标机2中运行的实时代码;并能够通过局域网将实时代码下载到装有xPC Target实时内核的目标机1和目标机2中。 Host can be performed off-line simulation; and model vehicle can be compiled into RTW control algorithm can run real-time code in the target 1 and target 2; and can be provided with real-time Codes to xPC Target real-time kernel target machine through the LAN 1 and target 2. 本试验台所用主机采用的是联想开天4600计算机,CPU为英特尔奔四3. 0GHz,内存为512M。 The test station is used association host using open days 4600 computer, CPU Intel Pentium 3. 0GHz, for the memory 512M. 作为实时平台,目标机1和目标机2需要运行车辆模型及控制算法的实时代码;同时作为第一数据采集卡至第五数据采集卡的载体,目标机1和目标机2需要完成信号的采集与发送,如线控制动系统中驱动各个车轮EMB执行器的电流、 转速等信号的采集以及线控制动系统和线控转向系统控制信号的输出。 As a real-time platform, target 1 and target 2 needs to run real-time code and the vehicle model control algorithm; the same as the first to fifth data acquisition card data acquisition card carrier, the target 1 and target 2 complete signal acquisition and a collection system and a brake-by-wire transmission, such as a brake by wire system of driving the respective wheel EMB actuator current, speed and other signals of the steering output system control signal. 线控制动系统和线控转向系统根据控制信号驱动各个车轮EMB执行器完成响应动作,并将响应信号传回目标机1和目标机2。 Brake-by-wire steering system and the system operation control signal in response to completion of driving the respective wheel according EMB actuators, and the target returns a response signal 1 and target 2. 通过这种方式,目标机1和目标机2可以实时显示出各控制信号和车辆状态的信息,同时目标机1和目标机2通过局域网将所有信息反馈至主机,以便判断试验结果。 In this manner, the target 1 and target 2 may be a real-time display control signal and the information of each vehicle condition, while the target 2 and target 1 via the LAN to the host all of the information feedback, in order to determine test results. 由此便实现了硬件在环试验台的实时测试与控制功能。 Thus they realize the real-time test hardware and control functions in the loop test rig. 本试验台所使用的目标机1和目标机2是采用两台研华610H计算机,CPU为英特尔奔四2. 8GHz,内存为512M。 This target 1 used in the test station 2 and the target is the use of two Advantech 610H computer, CPU Intel Pentium 2. 8GHz, for the memory 512M.

[0029] 主机与目标机1和目标机2的通信可以采用PC串口通信或(以太网)TCP通信。 Communication [0029] The host and target 1 and target 2 may be made of PC or serial communication (Ethernet) the TCP communication. 本试验台所使用的主机与目标机1和目标机2的通信采用无线网络通信系统,无线网络通信系统主要由无线网卡、无线路由器和两块普通网卡组成。 The test station used by a host and target 2 and the communication target wireless network communication system, a wireless network communication system is mainly composed of wireless LAN, wireless router and two ordinary NIC composition. 其中:无线网卡采用腾达型号为TWL541P的无线PCI总线接口网卡,安装在主机上;无线路由器采用腾达型号为TWL54R的无线路由器,它提供了一个固定广域网接口和四个固定局域网接口,符合IEEE 802. lib和IEEE 802. llg无线标准;两块普通网卡皆采用Intel型号为82559的网卡,分别安装于目标机1和目标机2上。 Wherein: the wireless LAN using Tenda model TWL541P wireless PCI bus interface card, installed in the host; wireless routers Tenda model TWL54R wireless router, which provides a fixed WAN interface and four fixed LAN interface with IEEE 802. lib and wireless IEEE 802. llg standard; two cards are common with Intel NIC model 82559, are attached to the target 1 and target 2. 采用无线网络通信系统,不仅可以实现对试验平台的远程控制,而且大大提高了主机配置的灵活性。 Wireless network communication system, not only can realize remote control of test platform, but also greatly enhance the flexibility of host configuration.

[0030] 2.信号处理部分[0031] 车辆线控制动线控转向硬件在环试验台的信号处理部分是由若干数据采集卡和采集模块组成。 [0030] The signal processing section 2. [0031] The vehicle brake-by-wire steering hardware in the signal processing portion of the loop test rig is composed of several data acquisition card and a collection module. 具体地说,信号处理部分是由(Advantech)型号为PCL-818HD的第一、第二数据采集卡、(Advantech)型号为PCL-727的第三、第四数据采集卡、(NI)型号为PCI-6601 的第五数据采集卡和V/F转换模块组成。 Specifically, the signal processing section is a first, a second data acquisition card (from Advantech) of PCL-818HD model, (from Advantech) PCL-727 Model third, fourth data acquisition card, (the NI) Model fifth PCI-6601 data acquisition card and the V / F converter module.

[0032] 1)型号为PCL-818HD的第一、二数据采集卡 [0032] 1) Model PCL-818HD first and second data acquisition card

[0033] 型号为PCL-818HD的数据采集卡是ISA总线接口的多功能数据采集卡,它提供lOOKHz的采样速率,16路单端模拟量输入,12位分辨率双缓冲A/D转换器以及16路数字量输入、输出通道。 [0033] PCL-818HD model data acquisition card is a multifunctional data acquisition card ISA bus interface, it provides a sampling rate lOOKHz, 16 single-ended analog input, 12-bit resolution double buffer A / D converter, and 16 digital input and output channels. 型号为PCL-818HD的第一数据采集卡采集汽车运行状态参数,型号为PCL-818HD的第二数据采集卡向各车轮EMB执行器控制器输出控制信号。 Model car operating state parameter acquisition PCL-818HD first data acquisition card, model PCL-818HD second data acquisition card each wheel EMB actuator controller outputs a control signal.

[0034] 2)型号为PCL-727的第三、四数据采集卡 [0034] 2) Model the third and fourth data acquisition card of the PCL-727

[0035] 型号为PCL-727的数据采集卡是I SA总线接口的模拟量输出卡,它具有12位分辨率双缓冲D/A转换器,提供了12路独立模拟量输出以及16路数字量输入、输出通道。 [0035] The model for the PCL-727 data acquisition card analog output card I SA bus interface, having a double-buffered 12-bit resolution D / A converter 12 is provided as well as independent analog output 16 digital input and output channels. 型号为PCL-727的第三数据采集卡输出轮速电压信号,型号为PCL-727的第四数据采集卡输出纵向加速度、侧向加速度、横摆角速度、转向盘转角和纵向车速信号的汽车运行状态参数。 The third model is the data acquisition card PCL-727 of the output voltage signal of the wheel speed, longitudinal acceleration model fourth output data acquisition card PCL-727, the lateral acceleration, yaw rate, steering wheel angle and a vehicle speed signal longitudinal vehicle operation state parameters.

[0036] 3)型号为PCI-6601的第五数据采集卡 [0036] 3) Model fifth data acquisition card is a PCI-6601

[0037] 型号为PCI-6601的数据采集卡是PCI总线接口的定时和数字I/O设备,该产品拥有4个32位计数器/定时器和32条与TTL/CM0S兼容的数字I/O线,可进行包括编码器定位测量,事件计数,周期测量,脉冲宽度测量,脉冲生成,脉冲序列生成以及频率测量。 [0037] PCI-6601 model for the data acquisition card is a PCI bus interface timing and digital I / O device, the product has four 32-bit counter / timers and 32 compatible with TTL / CM0S digital I / O lines It may include an encoder for position measurement, event counting, period measurement, the pulse width measurement, the pulse generator, the pulse sequence generator, and a frequency measurement. 型号为PCI-6601的第五数据采集卡用于四个车轮轮速脉冲信号的采集。 A fifth data acquisition card model PCI-6601 for acquiring four wheel speed pulse signal.

[0038] 4)轮速脉冲生成模块-V/F转换模块 [0038] 4) The wheel speed pulse generation module -V / F conversion module

[0039] 轮速脉冲生成模块用于模拟轮速传感器产生的脉冲信号。 [0039] The wheel speed pulse generating means for analog pulse signal generated by the wheel speed sensor. 实际车辆轮速脉冲频率范围为(0-5000)HZ。 An actual vehicle wheel speed pulse frequency range (0-5000) HZ. 车辆轮速值可以通过数据采集卡依标准方波的形式输出,速值对应着一定的脉冲频率,或一定的脉冲周期。 Vehicle wheel speed values ​​may be acquired in the form of a standard square wave output by the card through data values ​​corresponding to a certain speed pulse frequency, or pulse period constant. 通过软件编程的方法可以模拟所需的方波信号,轮速方波信号的频率越高,所模拟的轮速信号越准确性,但是方波信号的周期必须大于仿真步长,而仿真步长过小将增加Matlab/xPC Target实时内核的计算量,降低实时内核的实时性,甚至使实时内核崩溃。 It can be simulated by software programming required to process a square wave signal, the higher the frequency of the square wave signal of the wheel speed, the accuracy of the simulated wheel speed signals, but periodic square wave signal must be greater than the simulation step, the simulation step teenager had increased computational Matlab / xPC Target real-time kernel, reducing real-time kernel, and even the collapse of the real-time kernel. 由于xPC内核的限制,高频率脉冲无法通过软件手段实现。 Due to restrictions xPC core, high-frequency pulse can not be achieved by means of software. 因此, 本发明采用模拟量输出数据采集卡和V/F转换模块作为轮速脉冲生成器。 Accordingly, the present invention employs a data acquisition card analog output and V / F converter module as the wheel speed pulse generator. 模拟量输出数据采集卡采用型号为PCL-727的第三数据采集卡,它提供12路D/A模拟量输出通道,而V/F转换模块为深圳顺源科技生产的(V/F)导轨式转换模块。 Data acquisition card analog output using the third model PCL-727 data acquisition card, which provides 12 channel D / A analog output channels, and the V / F converter module Shenzhen-source technology production (V / F) guide conversion module. 共采用4个V/F转换模块,汽车动力学实时模型产生的轮速信号通过型号为PCL-727的第三数据采集卡转换为4路0-5V电压信号,再经V/F转换模块转换为0-5k HZ的脉冲信号。 Used a total of 4 V / F converter module, automotive wheel speed signal in real-time dynamic model generated by the model is converted to the third data acquisition card PCL-727 to 4-way 0-5V voltage signal, and then the V / F converter module conversion 0-5k HZ is a pulse signal.

[0040] 型号为PCL-818HD的第一数据采集卡和目标机1之间采用ISA总线连接,型号为PCL-727的第三数据采集卡和型号为PCL-727的第四数据采集卡和目标机1之间采用ISA 总线连接,型号为PCL-727的第三数据采集卡和四个V/F转换模块之间采用电线连接,四个V/F转换模块和型号为PCI-6601的第五数据采集卡之间采用电线连接,型号为PCI-6601的第五数据采集卡和目标机2之间采用PCI总线连接,型号为PCL-818HD的第二数据采集卡和目标机2之间采用ISA总线连接,型号为PCL-818HD的第二数据采集卡和型号为PCL-727 的第四数据采集卡之间采用电线连接,型号为PCL-818HD的第二数据采集卡的输出端分别和线控制动系统、线控转向系统中的硬件部分采用电线连接。 [0040] PCL-818HD model for a first data acquisition card and the target ISA bus connection between the machine 1, PCL-727 model is a data acquisition card and a third type is a fourth PCL-727 data acquisition card and the target using the ISA bus connected between the machine model between a third PCL-727 data acquisition card and four V / F converter modules wire connection, four V / F converter module model PCI-6601 and the fifth using the wire connection between the data acquisition card, model PCI-6601 data acquisition card and a fifth target PCI bus connection between the two, the model PCL-818HD second data acquisition card and the ISA between the target machine 2 and the second data acquisition card connected to the bus model, model PCL-818HD is between a fourth PCL-727 data acquisition card using the wire connection, for the output of the second model data acquisition card PCL-818HD, respectively, and control lines actuating system, the hardware portion of the wire steering system employs wire connection. [0041] 确切地说,型号为PCL-818HD的第一数据采集卡的第1至第4A/D通道分别和左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器与右后轮EMB执行器上的左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器及右后轮夹紧力传感器的输出端电线连接,采集左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器及右后轮EMB 执行器的夹紧力信号;型号为PCL-818HD的第一数据采集卡的第5A/D通道和转角传感器12的输出端电线连接,采集转向盘的转角信号;型号为PCL-818HD的第一数据采集卡的第6A/D通道和转矩传感器13的输出端电线连接,采集转矩信号;型号为PCL-818HD的第一数据采集卡的第7A/D通道和位移传感器19的输出端电线连接,采集前轮转角信号;型号为PCL-818HD的第一数据采集卡的第8A/D通道和转向阻力传感器21的输出端电线连接,采集转向阻力信号。 [0041] Specifically, the first type of data acquisition card PCL-818HD the first to 4A / D channels and the front left wheel respectively EMB actuators, EMB actuators right front, left rear wheel and the EMB actuators the left front wheel on the right rear wheel EMB actuator clamping force sensor, the clamping force sensor right front wheel, left rear wheel a clamping force sensor and an output end of the wire clamping force of the right rear wheel is connected to a sensor, collect the left front wheel EMB clamping force actuator signal, actuator EMB right front, left rear and right rear wheel actuator EMB EMB actuator; model for a first data acquisition card PCL-818HD of 5A / D channel and the rotation angle sensor 12 the output terminal of the wire connection, a steering wheel angle signal acquisition; 6A a first model for the first data acquisition card PCL-818HD a / D channels and the output of the torque sensor 13 of the wire connection, a torque signal acquisition; model PCL- the output end of the wire. 7A / D channel and a first displacement sensor 818HD data acquisition card 19 is connected to the front wheel angle signal acquisition; 8A of the first model for the first data acquisition card PCL-818HD a / D channel and the steering sensor resistance the output end of the wire 21 is connected, the acquisition steering resistance signals. 型号为PCL-818HD的第二数据采集卡的第1至第5A/D通道分别和型号为PCL-727的第四数据采集卡的第1至第5A/D通道电线连接,采集纵向加速度、侧向加速度、 横摆角速度、转向盘转角、纵向车速等信号;型号为PCL-818HD的第二数据采集卡的第1至第4数字通道分别和左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器与右后轮EMB执行器控制器的输入端电线连接,并分别向它们输出控制信号;型号为PCL-818HD的第二数据采集卡的第5数字通道和回正电机16的输入端电线连接,并向回正电机16输出控制信号;型号为PCL-818HD的第二数据采集卡的第6数字通道和转向执行电机18的输入端电线连接,并向转向执行电机18输出控制信号;型号为PCL-818HD的第二数据采集卡的第7数字通道和磁粉制动器24的输入端电线连接,并向磁粉制动器24输出控制信号。 5A the first to the second data acquisition card model PCL-818HD A / D channel model to the first and respectively the first 5A fourth data acquisition card PCL-727 A / D channel connected to the wire, the longitudinal acceleration acquisition, side acceleration, yaw rate, steering wheel angle, longitudinal vehicle speed signal; a second type of data acquisition card PCL-818HD first to fourth digital channels are a left front wheel and EMB actuator controller and right front wheels EMB execution controller, an input end of the wire left wheel actuator controller EMB EMB actuator and the right rear wheel is connected to the controller, and outputs control signals to respectively; model PCL-818HD second data acquisition card 5 digital input channels and aligning the wire 16 is connected to the motor, a control signal to the motor 16 back to the positive output; 6 model of a second channel digital data acquisition card PCL-818HD steering actuator and the input end of the wire 18 is connected to the motor, steering actuator 18 and outputs the motor control signal; model PCL-818HD second data acquisition card digital channels and a seventh magnetic powder brake is connected to the input end of the wire 24, and magnetic particle brake 24 outputs a control signal. 型号为PCL-727的第三数据采集卡的第1至第4A/D通道分别和四个V/F转换模块的通道输入端电线连接,四个V/F转换模块的第1至第4通道输出端分别和型号为PCI-6601的第五数据采集卡的第1至第4通道电线连接,首先,四个V/F转换模块将轮速电压信号转为轮速脉冲信号,然后,向型号为PCI-6601的第五数据采集卡输送四个车轮的轮速脉冲信号。 / D channel respectively and four wire path input V / F converter module is connected to the model of the first section 4A of the third data acquisition card PCL-727, and first to four V-channel 4 / F converter module models and output terminals are first to fifth wire connection 4 channel PCI-6601 data acquisition card, first, the four V / F converter module wheel speed the wheel speed signals into a voltage pulse signal, and then, to the model acquisition card transport wheel speed pulse signal for the four wheels of a fifth data PCI-6601.

[0042] 3.硬件部分 [0042] 3. Hardware section

[0043] 1)EMB 执行器 [0043] 1) EMB actuator

[0044] 参阅图2和图3,车辆线控制动线控转向硬件在环试验台所采用的EMB执行器是申请人自行研制的又称为电子机械制动系统(Electro-mechanicalBrake,简称EMB),EMB 执行器以电能为能量源,以电机为动力装置,通过EMB执行器驱动制动衬块10实现汽车的制动功能。 [0044] Referring to FIG. 2 and FIG. 3, the vehicle brake-by-wire steering actuator EMB HIL test rig used was developed by the applicant, also known as electro-mechanical brake (Electro-mechanicalBrake, abbreviated EMB), EMB actuator electric energy as an energy source to the motor-driven device, the brake pad 10 functions implemented by a vehicle driving EMB actuators. EMB执行器主要由动力装置-电机、传动装置和制动钳体三部分组成,而其中传动装置又包括减速增矩装置和运动转换装置。 EMB performed mainly by the power plant - the motor, transmission and brake calipers composed of three parts, of which the drive means further comprises torque-reduction device and a motion converting means. 其工原理为:目标机2将制动力控制信号传给线控制动系统四车轮EMB执行器控制器,四车轮EMB执行器控制器结合动力装置_电机的转速信号、电流信号及制动夹紧力信号,控制EMB执行器中的动力装置_电机产生相应转矩,在经过传动装置驱动制动钳夹紧制动盘1产生所需制动力,实现车轮的制动。 Its working principle is: the 2 target braking force control signals to the brake-system controller performs four EMB wheel, four wheel EMB actuator controller coupling the power unit _ motor speed signal, a current signal and the brake caliper force signal, controls the power motor means _ EMB actuators produces a corresponding torque to produce the desired braking force through the brake actuator driving the jaws tighten the brake disk 1, to achieve the braking of the wheels. 为了模拟真实车辆情况,本试验台设置了左前轮EMB执行器、右前轮EMB执行器、左后轮EMB 执行器及右后轮EMB执行器。 In order to simulate a real vehicle, the test bed set EMB actuators left front wheel, right front wheel EMB actuator, the rear left wheel and the right rear wheel actuator EMB EMB actuators. 申请人于2008年将EMB执行器申报了中国专利,申请号为2008200720905,公告号为CN201212535Y,公告日,2009年3月25日,发明名称为“应用在汽车上的电子机械制动执行器”。 Applicants in 2008 EMB actuator declared China Patent Application No. 2008200720905, Bulletin No. CN201212535Y, announcement, March 25, 2009, entitled "Automotive applications of electro-mechanical brake actuators" .

[0045] 2)EMB执行器控制器 [0045] 2) EMB actuator controller

[0046] 参阅图4和图5,车辆线控制动线控转向硬件在环试验台所采用的EMB执行器控制器是申请人自行研制的,每台EMB执行器都配有一台独立的EMB执行器控制器,所以,本试验台设置了左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器及右后轮EMB执行器控制器。 [0046] Referring to FIG. 4 and FIG. 5, vehicle brake-by-wire steering hardware in the loop test rig used EMB actuator controller developed by the applicant, EMB actuators are each equipped with a separate actuator EMB the controller, therefore, the test station is provided a left front wheel controller EMB actuator, the actuator controller EMB right front, left rear wheel controller performs EMB EMB actuator and the right rear wheel controller. 由于EMB执行器控制器需要保证EMB执行器对制动压力的精确迅速调节,并能够保护电机不受损害,所以EMB执行器控制器采用了具有压力控制、转速控制及电流控制的三环控制方法对EMB执行器的动力装置-电机进行精确控制。 Since the controller need to ensure that the actuator EMB EMB actuator for accurately and quickly regulating the braking pressure, and the motor can be protected from damage, the EMB actuator controller uses a control method tricyclic pressure control, speed control and current control the power means EMB actuator - motor precise control. 该EMB执行器控制器主要由单片机系统、功率驱动电路所组成,并借助光电隔离电路和与门将两者电线连接。 The EMB is mainly performed by the SCM system, controller, power drive circuit composed, and by means of optical isolation circuit and a wire connected to both the keeper.

[0047] 所述的单片机系统包括型号为MC9S12DP512的单片机及其外围电路、外部振荡电路、复位电路和电源电路,型号为MC9S12DP512的单片机和外部振荡电路、复位电路、电源电路之间为电线连接。 [0047] The system includes a microcontroller model MC9S12DP512 microcontroller and its peripheral circuit, an external oscillator, reset circuit and power supply circuit and microcontroller model MC9S12DP512 external oscillation circuit, a reset circuit, connected between the power supply circuit to the wire.

[0048] 所述的功率驱动电路包括型号为IR2130的驱动芯片、型号为IR2130的驱动芯片的外围电路、逆变器和电流传感器,型号为IR2130的驱动芯片和型号为IR2130的驱动芯片的外围电路之间为电线连接,型号为IR2130的驱动芯片和逆变器之间为电线连接,逆变器和电流传感器之间为电线连接。 [0048] The driver circuit comprises a power driver model IR2130 chip, Model IR2130 chip peripheral circuit for driving the inverter, and a current sensor, Model IR2130 driver chip and the peripheral circuit model of the driving chip IR2130 between an electric wire connection between the model and the inverter driver IR2130 chip is wire connection, between the inverter and a current sensor connected to the wire. 申请人于2008年将车轮EMB执行器控制器申报了中国专利,其申请号为2008200723265,申请日为2008年08月26日,发明名称为“汽车电子机械制动系统的控制器”。 Applicants in 2008 EMB wheel actuator controller declared the Chinese patent application number is 2008200723265, filed August 26, 2008, entitled "controller automotive electronic mechanical brake system."

[0049] 3)线控转向系统 [0049] 3) wire steering system

[0050] 参阅图6,车辆线控制动线控转向硬件在环试验台所采用的线控转向系统为自行研制的,主要包括有转向盘11、回正电机16、回正电机减速机构15、转向器20、转向执行电机18、执行电机减速机构17、磁粉制动器24。 [0050] Referring to Figure 6, a vehicle brake-steer-by-wire steering system, the hardware loop test rig used was developed mainly comprises a steering wheel 11, aligning the motor 16, aligning the motor speed reduction mechanism 15, the steering 20, a steering actuating motor 18, the deceleration mechanism 17 performs the motor, magnetic brake 24. 其工作原理为:试验人员操纵转向盘11,目标机2根据转向盘转角及车辆状态信息控制回正电机16,使其提供期望的转向盘反力,同时控制转向执行电机18,使转向器20的齿条产生位移,该位移对应于车辆的前轮转角。 Its working principle is: Test manipulates the steering wheel 11, the target angle and the steering wheel 2 return in accordance with the control information of the positive state of the motor vehicle 16, so as to provide the desired steering reaction force, while performing steering control of the motor 18, so that the diverter 20 rack displacement, the angle corresponding to the displacement to the front wheel of the vehicle. 另一方面,目标机2根据路况、车速与车轮转向角度的不同,设定不同的试验工况,控制磁粉制动器24,通过调整磁粉制动器24的电流,控制其产生相应阻力矩,此阻力矩经齿轮齿条机构22转化为直线力,并由转向阻力传感器21将信号反馈给目标机1,车辆线控转向系统根据反馈信号调整控制信号,从而实现线控转向。 On the other hand, according to different target road conditions, vehicle speed and steering wheel angle, a different set of test conditions, the control magnetic brake 24, by adjusting the current magnetic powder brake 24, which generates respective controlling the drag torque, the drag torque by pinion mechanism 22 into a linear conversion of the force by the steering sensor resistance 21 will signal back to the target 1, a vehicle-by-wire steering system control signal adjusted in accordance with the feedback signal, thereby achieving the steering wire.

[0051] 4)传感器 [0051] 4) sensors

[0052] (1)力传感器 [0052] (1) a force sensor

[0053] 力传感器主要分用在EMB执行器上的夹紧力传感器和用在线控转向系统上的转向阻力传感器21两种。 [0053] clamping force sensor is divided into a force sensor on the EMB actuator and the steering system 21 with two kinds of sensor resistance steer. 车辆线控制动线控转向硬件在环试验台中EMB执行器上的夹紧力传感器采用德国HBM公司生产的型号为C9B的压式力传感器,采用耐腐蚀的不锈钢壳体,最大量程0kN-20kN,体积小,直径只有26mm。 Vehicle brake-by-wire steering HIL test stand clamping force sensor on the EMB actuators Germany HBM model produced C9B pressure force sensor, the use of corrosion-resistant stainless steel housing, maximum range 0kN-20kN, small size, a diameter of only 26mm. 该力传感器为应变片式,与原厂的AE301-S7放大器配合使用,精度可达0. 5 %,输出为lmV/V,既可测静态力,又可测动态力,可测的动态力最大频率为65Hz。 The force sensor is a strain gage, and AE301-S7 amplifier used in conjunction with the original accuracy up to 0.5%, output lmV / V, measuring both static forces, but also measuring dynamic forces, dynamic forces can be measured The maximum frequency of 65Hz. 夹紧力传感器安装在EMB执行器内侧制动衬片与丝杠端盖之间。 Clamping force sensor is mounted between the inner brake lining EMB actuator with the screw cap. 转向阻力传感器21采用北京航天动力研究院生产的型号为BK-4的负荷传感器,采用耐腐蚀的不锈钢壳体,最大量程_20kN-20kN。 Steering resistance force sensor 21 by Beijing Academy of Aerospace model produced BK-4 load sensors, the use of corrosion-resistant stainless steel housing, maximum range _20kN-20kN. 该传感器不需要放大器,输出信号0V-5V,精度0. 5%。 The sensor does not require an amplifier, an output signal of 0V-5V, 0.5% accuracy. 本试验台设置了左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器和右后轮夹紧力传感器。 This test stand is provided a clamping force sensor left front wheel, right front wheel clamping force sensor, the clamping force of the left rear wheel and right rear wheel sensors clamping force sensor.

[0054] (2)转速传感器[0055] 为了获得各车轮上EMB执行器的动力装置_电机的转速和转子位置信号,可直接利用布置于动力装置_无刷直流电机内部的霍尔传感器。 [0054] (2) speed sensor [0055] In order to obtain the power each wheel EMB actuator means _ motor speed and the rotor position signal, may be directly disposed on the inside of the power unit _ brushless DC motor Hall sensor. 该无刷直流电机转子有四对磁极,在电机端部安装有三个霍尔传感器,每个相隔120°,利用霍尔传感器测得的电机转角精度为15°。 The brushless DC motor rotor has four pairs of poles, the motor is attached to the end portion of the three hall sensors, each separated by 120 °, as measured using a Hall sensor of the motor rotation angle accuracy of 15 °.

[0056] EMB执行器在夹紧制动盘1时,从制动衬块10接触制动盘1到达到最大夹紧力这一过程,产生的形变极小,即电机转过的转角极小,为了能够更精确地获得电机转子位置信号,以便后续进行EMB执行器夹紧力估算,车辆线控制动线控转向硬件在环试验台在各个EMB执行器尾部安装了光电编码器,它每圈可发出2000个脉冲,四倍频后,测得的转角精度可达0.045°,输出两路相位差90°方波信号和一路零位脉冲信号。 [0056] EMB actuators clamping the brake disk 1, the contact pad 10 from the brake disk 1 to reach the maximum clamping force the process to produce minimal deformation, i.e. rotation angle of the motor rotated minimal in order to more accurately obtain the rotor position signal for subsequent EMB actuator clamping force be estimated, the vehicle brake-by-wire steering HIL testing station each EMB actuators mounted aft of the photoelectric encoder, which per revolution after 2000 pulses may be emitted, fourth harmonic, the measured angle accuracy of up to 0.045 °, a phase difference of 90 ° output two square-wave signals and zero pulse signal all the way. 本试验台设置了左前轮转速传感器、右前轮转速传感器、左后轮转速传感器和右后轮转速传感器。 The test station is provided left front wheel speed sensor, right front wheel speed sensor, a left rear wheel speed sensor and the right rear wheel speed sensor.

[0057] (3)电流传感器 [0057] (3) a current sensor

[0058] 车辆线控制动线控转向硬件在环试验台通过在各车轮EMB执行器的动力装置-电机回路中串入大功率电阻,通过测其两端电压的方式,来测电枢电流。 [0058] The vehicle brake-by-wire steering HIL test stand by means of the power of each of the wheels EMB actuators - power resistor in series with the motor circuit, by measuring the voltage across a way to measure the armature current. 电阻功率为100W,阻值为0. 5 Q。 Resistance power of 100W, a resistance of 0. 5 Q. 本试验台设置了左前轮电流传感器、右前轮电流传感器、左后轮电流传感器和右后轮电流传感器。 This test stand is provided a current sensor of the left front wheel, right front wheel current sensor, left rear wheel and right rear current sensor current sensor.

[0059] (4)位移传感器 [0059] (4) a displacement sensor

[0060] 为了获得转向器中齿条位移,车辆线控制动线控转向硬件在环试验台采用北京环宇顺通科技有限公司生产的型号为WDL200的直线位移传感器,传感器量程为0mm-200mm, 其输出信号0V-5V。 [0060] In order to obtain a steering rack displacement, the vehicle brake-by-wire steering hardware in the loop test bed using Universal Beijing-Technologies Co., Ltd., Model WDL200 linear displacement transducer, the sensor range of 0mm-200mm, which output signal 0V-5V.

[0061] (5)转矩传感器 [0061] (5) The torque sensor

[0062] 为获得方向盘转矩,车辆线控制动线控转向硬件在环试验台采用北京航天空气动力研究院生产的型号为AKC-215的动态扭矩传感器,最大量程-20Nm-20Nm,输出信号幅值-5V-5V,输出精度士0. 5%,允许最大转速5000r/min。 [0062] In order to obtain the steering torque, the vehicle brake-by-wire steering HIL test bench by Beijing Academy of Aerospace aerodynamic model produced AKC-215 dynamic torque sensor maximum range -20Nm-20Nm, the output signal amplitude value -5V-5V, the output accuracy disabilities 0.5%, the maximum allowed speed of 5000r / min.

[0063] (6)转角传感器 [0063] (6) rotation angle sensor

[0064] 为获得方向盘转角,车辆线控制动线控转向硬件在环试验台采用深圳霍斯特有限公司生产的FTD光电编码器,它每圈可发出1024个脉冲,最高响应频率lOOKHz,允许最大转速3000r/min。 [0064] In order to obtain a steering wheel angle, brake-by-wire vehicle steering using hardware Shenzhen Horst Co FTD photoelectric encoder of the ring testbed 1024 emitted per revolution pulses lOOkHz maximum response frequency, the maximum allowed speed of 3000r / min.

[0065] 所述的车辆线控转向系统的硬件部分主要包括转向操纵机构和转向执行机构两部分。 [0065] The hardware portion of the vehicle steering-by-wire steering system including a steering mechanism and the two parts of the actuator.

[0066] 转向操纵机构包括转向盘11、转角传感器12、转矩传感器13、波纹管联轴器14、回正电机减速机构15及回正电机16。 [0066] The steering mechanism includes a steering wheel 11, rotational angle sensor 12, torque sensor 13, bellows couplings 14, aligning the motor 15 and the reduction mechanism aligning the motor 16. 以上各部件除波纹管联轴器外全部通过支架固定连接在试验台上。 In addition to the above components bellows coupling bracket connected to the test bench passed. 转向盘11输出轴通过键与转角传感器12输入轴相连,转角传感器12输出轴通过键与转矩传感器13输入轴连接,转矩传感器13输出轴通过波纹联轴器14与回正电机减速机构15输出轴相连,回正电机减速机构15输入轴通过键与回正电机16输出轴相连。 The output shaft of the steering wheel 11 is connected by a linkage to the input shaft angle sensor 12, an output shaft rotation angle sensor 12 are connected by key 13 and the input shaft torque sensor, the torque sensor 13 through the output shaft 14 and the bellows coupling aligning the motor speed reduction mechanism 15 an output shaft connected to the motor speed reduction mechanism 15 back to the positive input through the key shaft 16 and aligning the motor output shaft is connected.

[0067] 转向执行机构包括执行电机减速机构17、转向执行电机18、位移传感器19、转向器20、转向阻力传感器21、齿轮齿条机构22、弹簧回正机构23、磁粉制动器24。 [0067] The actuator comprises a steering actuating motor speed reduction mechanism 17, a steering actuating motor 18, a displacement sensor 19, steering gear 20, the steering resistance sensor 21, a rack and pinion mechanism 22, a spring return mechanism 23 n, magnetic particle brake 24. 转向执行电机18通过支架固定连接在实验台上,其输出轴通过键与执行电机减速机构17输入轴相连接,执行电机减速机构17通过支架固定在试验台上,执行电机减速机构17输出轴通过花键与转向器20相连接,转向器20中的转向齿条通过支架固定连接在试验台上,转向器20中的转向齿条的一端通过螺栓与固定在试验台上的位移传感器19相连接,转向器20中的转向齿条的另一端与转向阻力传感器21的一端相接触,用于实时测量转向阻力大小。 Steering actuator output shaft 17 connected to the motor bracket 18 fixed on the bench, an output shaft connected by a linkage to the motor speed reduction mechanism 17 performs the input shaft 17 is fixed on a test rig performing the motor speed reduction mechanism by a bracket, by performing the motor speed reduction mechanism 20 spline connected with the diverter, the diverter steering rack 20 on the test bench, the end of the steering rack of the steering gear 20 is connected via a displacement sensor 19 and a bolt fixed to the test stand through a fixed connection bracket the other end of the steering rack of the steering diverter 20 is in contact with an end of the resistance sensor 21, steering for real-time measurement of resistance. 磁粉制动器24通过支架固定在试验台上,其输出轴通过花键与齿轮齿条机构22连接,齿轮齿条机构22通过支架固定在试验台上,齿轮齿条机构22中齿条的一端通过螺栓与固定连接在试验台上的弹簧回正机构23相连,齿条的另一端通过螺栓与转向阻力传感器21的另一端固定连接在一起。 Magnetic powder brake 24 is fixed by a bracket on the test bench, which output shaft is connected by a spline 22 and the rack and pinion mechanism, a rack and pinion mechanism 22 via a bracket fixed to a test stand, one end of a rack and pinion mechanism 22 by bolts and aligning means fixedly connected on the test stand 23 is connected to a spring, the other end of the steering rack by a bolt 21 to the other end of the resistance sensor fixedly connected together.

[0068] 回正电机16、转向执行电机18及磁粉制动器24分别和型号为PCL-818HD的第二数据采集卡的第5至第7数字通道电线连接;位移传感器19、转向阻力传感器21、转角传感器12及转矩传感器13的输出端分别和型号为PCL-818HD的第一数据采集卡的第5至第8A/D通道电线连接。 [0068] aligning the motor 16, the motor 18 and the steering actuator each magnetic brake 24 is connected to the model and 5 to 7 of the second wire channel digital data acquisition card PCL-818HD; a displacement sensor 19, a steering sensor 21 resistance, corner and an output terminal 12 of the torque sensor 13 and sensor models were collected from 5 to 8A for a first data card PCL-818HD a / D channel connected to the wire.

[0069] 所述的车辆线控制动系统的硬件部分包括有左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器、右后轮EMB执行器控制器、左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器、右后轮EMB执行器、左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器、右后轮夹紧力传感器、左前轮转速传感器、右前轮转速传感器、左后轮转速传感器、右后轮转速传感器、左前轮电流传感器、右前轮电流传感器、左后轮电流传感器和右后轮电流传感器。 [0069] The hardware portion of the vehicle brake by wire system comprising a left front wheel controller EMB actuator, the actuator controller EMB right front, left rear wheel controller EMB actuator, the right rear wheel actuator control EMB , a left front wheel EMB actuators, EMB actuators right front, left rear wheel EMB actuators, EMB right rear wheel actuator, the clamping force sensor left front wheel, right front wheel clamping force sensor, left rear wheel clamp tightening force sensor, the clamping force sensor right rear wheel, left front wheel speed sensor, right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, the current sensor left front wheel, right front wheel current sensor, left rear The current sensor and right rear wheel current sensor.

[0070] 左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器及右后轮EMB执行器控制器的输入端分别和型号为PCL-818HD的第二数据采集卡的第1至第4数字通道电线连接;左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB 执行器控制器及右后轮EMB执行器控制器的输出端分别和左前轮EMB执行器、右前轮EMB 执行器、左后轮EMB执行器及右后轮EMB执行器的输入端电线连接;左前轮夹紧力传感器、 右前轮夹紧力传感器、左后轮夹紧力传感器及右后轮夹紧力传感器的输出端分别和型号为PCL-818HD的第一数据采集卡的第1至第4A/D通道电线连接;左前轮夹紧力传感器、左前轮转速传感器及左前轮电流传感器的输出端分别和左前轮EMB执行器控制器的输入端电线连接;右前轮夹紧力传感器、右前轮转速传感器及右前轮电流传感器的输出端分别和右前 The first [0070] EMB front left wheel actuator controller, actuator controller EMB right front, left rear input controller performs EMB EMB actuator and the right rear wheel respectively, and a controller model of PCL-818HD the first to fourth wire two-channel digital data acquisition card connected; EMB actuators left front wheel controller, actuator controller EMB right front, left rear wheel controller performs EMB EMB actuator and the right rear wheel controller the left front wheel and the output terminals are EMB actuators, EMB actuators right front, left rear input end of the wire and the right rear wheel actuator EMB EMB actuator is connected; left front wheel clamping force sensor, right front clip tightening force sensor, the clamping force sensor and the left rear wheel and right rear wheel output terminal, respectively, and the clamping force sensor model / D channel for the wire connection to the first section 4A of the first data acquisition card PCL-818HD; the left front wheel clamping force sensor, left front wheel speed sensor and an output terminal of the left front wheel and a current sensor are input left front end of the wire is connected to a controller EMB actuators; right front clamping force sensor, right front wheel speed sensor and a right the output of the current sensor, respectively front and right front EMB执行器控制器的输入端电线连接;左后轮夹紧力传感器、左后轮转速传感器及左后轮电流传感器的输出端分别和左后轮EMB执行器控制器的输入端电线连接;右后轮夹紧力传感器、右后轮转速传感器及右后轮电流传感器的输出端分别和右后轮EMB执行器控制器的输入端电线连接。 EMB actuator input end of the wire is connected to the controller; a clamping force sensor left rear wheel, left rear wheel and the left rear wheel speed sensor is a current sensor input and output terminals are the left rear end of the wire is connected to a controller EMB actuators; Right clamping force sensor wheel, right rear wheel speed sensor and an output terminal, respectively, the right rear wheel and the input current sensor right rear end of the wire EMB actuator controller.

[0071] 车辆线控制动线控转向硬件在环试验台的工作原理: [0071] The vehicle brake-by-wire steering hardware loop test bed works in:

[0072] 参阅图1、6和7,在主机中采用Matlab/Simulink分别建立车辆动力学模型和车辆控制算法。 [0072] Referring to FIG. 1, 6 and 7, in the host using Matlab / vehicle and a vehicle dynamics control algorithm Simulink model were established. 车辆动力学模型主要包括整车模型、悬架模型、发动机模型、传动系模型、车轮运动模型、轮胎模型等。 Vehicle dynamics model includes vehicle model, suspension model, engine model, transmission model train, a wheel motion model, the tire model. 车辆控制算法主要指与线控制动系统、线控转向系统有关的各种优化车辆性能的控制算法。 Vehicle control algorithm mainly refers to various control algorithms associated with the brake-system-wire steering system to optimize vehicle performance. 主机通过RTW将建立好的车辆动力学模型和车辆控制算法编译成为可以在xPCTarget中运行的实时代码,通过局域网将其分别下载到目标机1和目标机2中。 Host-established model of vehicle dynamics and vehicle control algorithms for real-time code can be compiled to run in xPCTarget by a local area network which are downloaded to the target machine and the target 12 by RTW.

[0073] 目标机1首先通过型号为PCL-818HD的第一数据采集卡分别采集线控制动系统的左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器及右后轮夹紧力传感器的夹紧力信号和线控转向系统的转向盘转角、转向盘转矩、前轮转向角(转向器直线位移) 及转向阻力信号,从而获得车辆仿真所需的参数,然后运行车辆动力学模型实时代码,模拟车辆各工况下的运行状态,通过型号为PCL-727的第三数据采集卡和型号为PCL-727的第四数据采集卡输出车辆状态参数,型号为PCL-727的第三数据采集卡专门向V/F转换模块输出各车轮的轮速电压信号,型号为PCL-727的第四数据采集卡向目标机2输出包括转向盘转角、纵向车速、横摆角速度、纵向加速度和侧向加速度在内的车辆状态参数。 [0073] First, a target model by PCL-818HD were collected as a first data acquisition card front left wheel brake-clamping force sensor system, the clamping force sensor right front wheel, left rear wheel and the clamping force sensor clamping force of the clamping force sensor signal of the right rear wheel and steer by wire system steering wheel angle, steering wheel torque, front wheel steering angle (steering linear displacement) and the steering resistance signals so as to obtain the parameters required for the vehicle simulation , then operation of the vehicle dynamics model real-time code, the operating states of the simulated vehicle condition by model PCL-727 data acquisition card and a third model PCL-727 data acquisition card to a fourth output of the vehicle state parameters, model the output of each wheel to the V / F converter module to a third data acquisition card PCL-727 specialized wheel speed voltage signal, the model includes a steering wheel angle to the second output of the fourth target data acquisition card PCL-727, vertical speed, yaw rate, longitudinal acceleration and lateral acceleration of the vehicle, including the status parameter.

[0074] 目标机2主要运行控制算法实时代码。 [0074] 2 main target machine running control algorithms in real-time code. 目标机2首先通过数据采集卡采集控制算法所需的车辆状态参数。 2 first target vehicle state parameters required by the algorithm is controlled by the data acquisition card. 其中:四个车轮的轮速电压信号经过V/F转换模块转换为四个车轮的轮速脉冲信号后由型号为PCI-6601的第五数据采集卡采集,其它状态参数由型号为PCL-818HD的第二数据采集卡采集。 Wherein: after the wheel speed of the four wheels voltage signal is converted into a pulse signal wheel speed of the four wheels via V / F converter module from the PCI-6601 model fifth data acquisition card, other state parameters from the model PCL-818HD second data acquisition card. 随后目标机2根据当前车辆状态参数,利用控制算法运行实时代码,实时向线控制动系统和线控转向系统输出控制信号,目标机2通过控制回正电机16调整转向盘反力,以模拟真实情况下的转向盘转向感觉;通过控制磁粉制动器24调整前轮转向阻力,以模拟真实路况下前轮转向路况感觉;转向通过调整转向执行电机18调整车辆前轮转角,以实现线控转向控制;通过控制各个车轮EMB执行器调整制动力大小,以实现线控制动控制。 Then the target 2 based on the current vehicle state parameters, the control algorithm run real-time code, the real-time control signals to the steering system output and brake-by-wire system, the target n-2 reaction force motor 16 to adjust the steering wheel by the control loop to simulate the real in the case where the feeling of the steering wheel; brake 24 is adjusted by controlling the magnetic resistance of the steering wheel, the front wheel steering to simulate the feeling of a real road traffic; steering motor 18 performs steering by adjusting vehicle wheel angle adjustment, to achieve a steering control wire; EMB each wheel by controlling the actuator to adjust the size of the braking force, the brake-by-wire control to achieve. 通过线控转向与线控制动的综合控制达到提高车辆操纵稳定性和行驶安全性的目的。 By-wire steering and brake-integrated control of the vehicle to improve the steering stability and the purpose of driving safety. 其中控制信号是通过型号为PCL-818HD的第二数据采集卡输出的。 Wherein the control signal is generated by a second model PCL-818HD output to data acquisition card.

[0075] 线控转向系统根据目标机2 (通过型号为PCL-818HD的第二数据采集卡输出)的控制信号,同时控制回正电机16、转向执行电机18和磁粉制动器24,以产生期望的转向盘反力、车辆的前轮转角和转向阻力。 [0075]-wire steering system according to the target control signal (PCL-818HD is the second model output through the data acquisition card), while aligning the control motor 16, the motor 18 and the steering actuator magnetic powder brake 24, to produce the desired steering reaction force, a front wheel steering angle and vehicle resistance. 另一方面,转向盘转角信号、转向盘转矩信号、前轮转向角信号和前轮转向阻力信号,都通过各传感器反馈给目标机1和目标机2,线控转向系统根据反馈信号调整控制信号,从而实现线控转向。 On the other hand, the steering wheel angle signal, the steering torque signal, steering angle signal and the front wheel steering resistance signals are fed back to the target and the target 1 through the sensor 2, a steering-by-wire control system in accordance with the feedback signal to adjust signal, thereby achieving the steering wire.

[0076] 线控制动系统中各车轮EMB执行器控制器根据控制信号大小和EMB执行器中的电机电流、电机转速及制动夹紧力信号,采用三环控制原理控制EMB执行器控制器按控制信号要求驱动EMB执行器运动。 [0076] each wheel brake-system controller EMB actuator control signal in accordance with the motor current and the magnitude of the EMB actuators, motor speed and the brake clamping force signal, using the principles of three-loop control by controlling EMB actuator controller It required driving control signals EMB actuator motion. 最后再将夹紧力信号反馈给目标机1和目标机2,使目标机1 和目标机2能够实时显示出各控制信号效果。 Then the final clamping force feedback to the target 1 and target 2, target 12 and target machine in real time show the effect of the control signals. 同时线控制动系统根据反馈信号调整控制信号,从而实现线控制动。 Wire brake system control while the feedback signal is adjusted according to the signal, thereby achieving brake by wire.

[0077] 最后目标机1和目标机2通过局域网将车辆运动状态及控制效果参数反馈至主机用以使用户判断试验结果,已完成线控转向和线控制动硬件在环仿真试验。 [0077] Finally, the target 2 and target 1 via the local area network of the vehicle motion status and control parameters of the feedback effect to the host for causing the user to determine the test results, and has completed the brake-by-wire steering hardware in the loop simulation tests. 通过运行车辆线控制动线控转向硬件在环试验台能够对各控制策略及控制参数进行评价。 Can be evaluated for each of the control strategy and parameters through the control operation of the vehicle brake-by-wire steering HIL test bench.

[0078] 本试验台能够对各种与线控制动系统和线控转向系统有关的控制算法的控制效果进行评价,每次仿真都能给出相应的结果,如ESP仿真能够全面给出各车轮轮速变化、滑移率变化、横摆角速度变化、质心侧偏角变化以及各车轮制动压力变化等,便于用户实时验证控制策略、调整控制参数,直到获得满意效果。 [0078] The test station is able to evaluate the various systems related to the steering control algorithms and systems with brake-by-wire control effect, each simulation can give the corresponding results as the simulation ESP to fully give the respective wheels wheel speed variation, the slip rate change, the yaw rate variations, changes, and sideslip angle of each wheel brake pressure change, to facilitate real-time user authentication control policy, adjusting the control parameters until a satisfactory result.

[0079] 另外试验台还可以实现线控转向系统、线控制动系统参数与整车参数的优化匹配,并可实现车辆在极度危险工况下的控制参数的调试。 [0079] Further test stand may also be implemented to optimize the matching wire steering system, the vehicle brake by wire system parameters and parameters, and can realize the debug control parameter of the vehicle in extremely dangerous conditions. 可检测、调试本试验台采用的线控转向系统、线控制动系统、各车轮的EMB执行器及各车轮的EMB执行器控制器的缺陷、故障。 Detectable, wire debug test rig used in the present steering system, a brake-by-wire system, the actuator controller EMB EMB actuators and each wheel of each wheel defects fault.

[0080] 由于实现了线控转向系统、线控制动系统、各车轮的EMB执行器及各车轮EMB执行器控制器的硬件在环,测试得到的各项性能及获得优化参数与实车试验比较接近,从而显著减小实车试验次数,缩短开发周期,节省开发成本。 [0080] By allowing for wire steering system, a brake-by-wire system, the hardware EMB actuators and each wheel of each wheel of the EMB actuator controller in the ring, and the test result of the performance optimization parameters obtained compared with the actual vehicle test close, thereby significantly reducing the number of runs of the actual vehicle, shorten the development cycle, save development costs.

Claims (3)

  1. 一种车辆线控制动线控转向硬件在环试验台,由线控制动系统和线控转向系统组成;所述的线控制动系统和线控转向系统又分为软件部分、实时平台、信号处理部分和硬件部分;所述的实时平台由主机、第一目标机和第二目标机组成,其特征在于,所述的信号处理部分由型号为PCL-818HD的第一数据采集卡、型号为PCL-818HD的第二数据采集卡、型号为PCL-727的第三数据采集卡、型号为PCL-727的第四数据采集卡、型号为PCI-6601的第五数据采集卡和V/F转换模块组成;型号为PCL-818HD的第一数据采集卡和第一目标机之间采用ISA总线连接,型号为PCL-727的第三数据采集卡和型号为PCL-727的第四数据采集卡和第一目标机之间采用ISA总线连接,型号为PCL-727的第三数据采集卡和四个V/F转换模块之间采用电线连接,四个V/F转换模块和型号为PCI-6601的第五数据采集卡之间采用电线连 A vehicle brake-by-wire steering HiL test bench, and the brake-by-wire system steering system components; and the brake-by-wire steering system, the system software is divided into portions, real-time platform, Signal Processing portion and a hardware part; the real time by the host platform, the first target and the second target composition, wherein said signal processing section of the first data from the model PCL-818HD acquisition card, model PCL -818HD second data acquisition card, a third type of data acquisition card PCL-727, PCL-727 model fourth data acquisition card, model PCI-6601 data acquisition card and a fifth V / F converter module composition; model PCL-818HD between a first data acquisition card and the first target machine ISA bus connector, model PCL-727 data acquisition card and a third type is a fourth PCL-727 data acquisition card and using the ISA bus connection between a target machine model between PCL-727 data acquisition card, and a third four V / F converter modules wire connection, four V / F converter module and the model of the PCI-6601 using five wires connected between the data acquisition card ,型号为PCI-6601的第五数据采集卡和第二目标机之间采用PCI总线连接,型号为PCL-818HD的第二数据采集卡和第二目标机之间采用ISA总线连接,型号为PCL-818HD的第二数据采集卡和型号为PCL-727的第四数据采集卡之间采用电线连接,型号为PCL-818HD的第二数据采集卡的输出端分别和线控制动系统、线控转向系统中的硬件部分电线连接;所述的硬件部分包括有转向盘(11)、转角传感器(12)、转矩传感器(13)、波纹管联轴器(14)、回正电机(16)、回正电机减速机构(15)、磁粉制动器(24)、弹簧回正机构(23)、齿轮齿条机构(22)、转向阻力传感器(21)、转向器(20)、位移传感器(19)、转向执行电机(18)和执行电机减速机构(17);左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器、右后轮EMB执行器控制器、左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器、右后 , Model PCI-6601 between the second and fifth data acquisition card PCI bus target connected, PCL-818HD model between a second data acquisition card and a second target ISA bus connector machine, Model PCL a second output terminal -818HD data acquisition card and between the fourth model data acquisition card PCL-727 using wire connection, model PCL-818HD second data acquisition card and a brake-system, respectively, the steering wire the hardware portion of the wire connecting system; the hardware section includes a steering wheel (11), a rotation angle sensor (12), the torque sensor (13), the bellows coupling (14), aligning the motor (16), aligning the motor speed reduction mechanism (15), magnetic powder brake (24), a spring-aligning mechanism (23), a rack and pinion mechanism (22), a steering resistance sensor (21), the diverter (20), a displacement sensor (19), a steering actuator motor (18) and performing the motor speed reduction mechanism (17); EMB front left wheel actuator controller, actuator controller EMB right front, left rear wheel controller EMB actuator, the right rear wheel actuator controller EMB , EMB actuators left front wheel, right front wheel EMB actuators, the left rear wheel EMB actuators, right rear 轮EMB执行器、左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器、右后轮夹紧力传感器、左前轮转速传感器、右前轮转速传感器、左后轮转速传感器、右后轮转速传感器、左前轮电流传感器、右前轮电流传感器、左后轮电流传感器和右后轮电流传感器;转向盘(11)输出轴通过键与转角传感器(12)输入轴相连,转角传感器(12)输出轴通过键与转矩传感器(13)输入轴连接,转矩传感器(13)输出轴通过波纹联轴器(14)与回正电机减速机构(15)输出轴相连,回正电机减速机构(15)输入轴通过键与回正电机(16)输出轴相连;固定在实验台上的转向执行电机(18)的输出轴通过键与执行电机减速机构(17)的输入轴连接,固定在试验台上的执行电机减速机构(17)的输出轴通过花键与转向器(20)连接,固定在试验台上的转向器(20)的转向齿条的一端通过螺栓与固定在试验 EMB actuator wheel, left front wheel clamping force sensor, the clamping force sensor right front wheel, left rear wheel clamping force sensor, the clamping force sensor right rear wheel, left front wheel speed sensor, right front wheel speed sensor, a left a rear wheel speed sensor, a right rear wheel speed sensor, the current sensor left front wheel, right front wheel current sensor, left rear wheel and right rear current sensor current sensor; a steering wheel (11) by a linkage to an output shaft of the rotational angle sensor (12) It is connected to the input shaft, a rotation angle sensor (12) by a linkage to an output shaft of the torque sensor (13) connected to the input shaft, a torque sensor (13) via a bellows coupling the output shaft (14) and aligning the motor speed reduction mechanism (15) output connected to the shaft, aligning the motor speed reduction mechanism (15) through the key input shaft aligning with the motor (16) connected to an output shaft; fixed bench steering actuating motor (18) and the output shaft by a key performing the motor speed reduction mechanism (17 ) of the input shaft, fixed to a test stand is performed motor speed reduction mechanism (17) connected to an output shaft via a spline and steering gear (20), the diverter (20) is fixed to one end of the bench of the steering rack by a bolt fixed in the test 上的位移传感器(19)连接,转向器(20)的转向齿条的另一端与转向阻力传感器(21)的一端接触连接,固定在试验台上的磁粉制动器(24)的输出轴通过花键与固定在试验台上的齿轮齿条机构(22)连接,齿轮齿条机构(22)中齿条的一端通过螺栓与固定在试验台上的弹簧回正机构(23)连接,齿轮齿条机构(22)中齿条的另一端通过螺栓与转向阻力传感器(21)的另一端固定在一起;回正电机(16)、转向执行电机(18)及磁粉制动器(24)分别和型号为PCL-818HD的第二数据采集卡输出控制信号的第5至第7数字通道电线连接;位移传感器(19)、转向阻力传感器(21)、转角传感器(12)及转矩传感器(13)的输出端分别和型号为PCL-818HD的第一数据采集卡采集信号的第5至第8A/D通道电线连接;左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器及右后轮EMB执行器控制器的输入端分别 A displacement sensor (19) is connected to the other end of the steering rack of the steering gear (20) and a steering sensor resistance (21) connected to one end of the contact, the fixed magnetic powder brake test stand (24) is splined to the output shaft in connection with the fixed rack and pinion mechanism (22) of the test rig, rack and pinion mechanism (22) one end of the rack by aligning the fixing bolts on the test bench spring means (23) connected to a rack and pinion mechanism (22) the other end of the rack in the other end of the bolt and the steering resistance sensor (21) are secured together; aligning motor (16), a steering actuating motor (18) and the magnetic powder brake (24) respectively and model PCL- second data acquisition card 5 to 7 digital channel signal output control wire connected 818HD; a displacement sensor (19), a steering resistance sensor (21), a rotation angle sensor (12) and torque sensor (13) output terminal, respectively, 5 to 8A / D channel model and the wire to capture the signal of a first PCL-818HD data acquisition card connector; EMB actuators left front wheel controller, actuator controller EMB right front, left rear actuator EMB input of the controller and the right rear wheel controller are performed EMB 型号为PCL-818HD的第二数据采集卡输出控制信号的第1至第4数字通道电线连接;左前轮EMB执行器控制器、右前轮EMB执行器控制器、左后轮EMB执行器控制器及右后轮EMB执行器控制器的输出端分别和左前轮EMB执行器、右前轮EMB执行器、左后轮EMB执行器及右后轮EMB执行器的输入端电线连接;左前轮夹紧力传感器、右前轮夹紧力传感器、左后轮夹紧力传感器及右后轮夹紧力传感器的输出端分别和型号为PCL-818HD的第一数据采集卡的第1至第4A/D通道电线连接;左前轮夹紧力传感器、左前轮转速传感器及左前轮电流传感器的输出端分别和左前轮EMB执行器控制器的输入端电线连接;右前轮夹紧力传感器、右前轮转速传感器及右前轮电流传感器的输出端分别和右前轮EMB执行器控制器的输入端电线连接;左后轮夹紧力传感器、左后轮转速传感器及左后轮电流传感器的输出 Second data acquisition card output control signal according to the first to fourth wire model digital channels connected PCL-818HD; EMB actuator controller left front wheel, right front wheel controller EMB actuator, the rear left wheel actuator control EMB an output terminal of the right rear wheel and the EMB actuators and controllers are EMB actuators left front wheel, right front wheel EMB actuators, the input end of the wire left wheel and the right rear wheel actuator EMB EMB actuator is connected; left front wheel clamp force sensor, the clamping force sensor right front wheel, left rear wheel a clamping force sensor and an output terminal of the right rear wheel, respectively, and the clamping force sensor is a first type of data acquisition card PCL-818HD is first to 4A / D wire connection channel; a clamping force sensor left front wheel, left front wheel speed sensor and an output terminal of the left front wheel and a current sensor are input left front end of the wire is connected to a controller EMB actuators; right front clamp a force sensor, right front wheel speed sensor and an output terminal of the current sensor, respectively right front wheel and the right front wheel EMB input end of the wire connected to the actuator controller; clamping force left rear sensor, a left rear wheel and the left rear wheel speed sensor sensor output current 分别和左后轮EMB执行器控制器的输入端电线连接;右后轮夹紧力传感器、右后轮转速传感器及右后轮电流传感器的输出端分别和右后轮EMB执行器控制器的输入端电线连接;所述的软件部分采用Matlab/Simulink分别建立了车辆动力学模型和车辆控制算法;所述的车辆动力学模型主要包括整车模型、悬架模型、发动机模型、传动系模型、车轮运动模型、轮胎模型;所述的车辆控制算法主要包括与线控制动系统、线控转向系统相关的优化车辆性能的控制算法。 Respectively, and the left rear input end of the wire is connected to a controller EMB actuators; output terminal of clamping force sensor right rear wheel, a right rear wheel and the right rear wheel speed sensor current sensor and right rear wheels, respectively EMB actuator controller input wire connection terminal; portion of the software using Matlab / Simulink model were established vehicle and a vehicle dynamics control algorithm; dynamic model of the vehicle including the vehicle model, the model suspension, engine model, transmission model train wheel motion model, the tire model; the vehicle control algorithms including a control algorithm of the system-related vehicle performance optimization and system brake-by-wire steering.
  2. 2.按照权利要求1所述的车辆线控制动线控转向硬件在环试验台,其特征在于,所述的型号为PCL-727的第三数据采集卡和四个V/F转换模块之间采用电线连接是指:型号为PCL-727的第三数据采集卡的输出四个轮速电压信号的第1至第4A/D通道分别和四个V/F 转换模块的通道输入端电线连接;所述的四个V/F转换模块和型号为PCI-6601的第五数据采集卡之间采用电线连接是指:四个V/F转换模块的输出四个车轮轮速脉冲信号的第1至第4通道输出端分别和型号为PCI-6601的第五数据采集卡的采集四个车轮轮速脉冲信号的第1至第4通道电线连接;所述的型号为PCL-818HD的第二数据采集卡和型号为PCL-727的第四数据采集卡之间采用电线连接是指:型号为PCL-818HD的第二数据采集卡的第1至第5A/D通道分别和型号为PCL-727的第四数据采集卡的输出纵向加速度、侧向加速度、横摆角速度、转向 2. The vehicle brake-by-wire steering claim 1 HiL test bed, characterized in that, between the PCL-727 model is a data acquisition card and a third four V / F converter module using wire connection means: model output a third data acquisition card PCL-727 of the four wheel speed signal voltage to the first to 4A / D channels respectively and four wire path input V / F converter module is connected; four said V / F converter modules and between the model PCI-6601 data acquisition card using a fifth wire connection means: four outputs of the four wheel speed V pulse signal / F converter module to a first the fifth data acquisition card collection channel 4 and an output terminal respectively of the PCI-6601 model four wheel speed pulse signals of the first to fourth wire connection channel; the second model data acquisition PCL-818HD and between the fourth card type data acquisition card PCL-727 using wire connection means: a second data model for the PCL-818HD acquisition card 1 to 5A / D type channels, respectively for the first and the PCL-727 output data acquisition card four longitudinal acceleration, lateral acceleration, yaw rate, steering 转角和纵向车速信号的第1至第5A/D通道电线连接。 1 to 5A / D channel angular and longitudinal wire connecting the vehicle speed signal.
  3. 3.按照权利要求1所述的车辆线控制动线控转向硬件在环试验台,其特征在于,所述的主机与第一目标机和第二目标机之间采用PC串口、TCP连接或者无线网络通信系统连接;所述的无线网络通信系统包括有无线网卡、无线路由器和两块普通网卡;所述的无线网卡采用型号为TWL541P的无线PCI网卡,安装在主机上;无线路由器采用提供了一个固定广域网接口与四个固定局域网接口并符合IEEE802. lib和IEEE 802. llg 无线标准的型号为TWL54R的无线路由器,两块普通网卡皆采用型号为82559的网卡,分别安装于第一目标机和第二目标机上。 3. A vehicle according to claim 1, the brake-by-wire steering HiL test bed, characterized in that, using the serial port between the PC host and the first target and the second target, TCP connection or a wireless network communication system; said wireless network comprises a wireless LAN communication system, wireless router and two ordinary card; wireless card using the model TWL541P wireless PCI card, installed in the host; wireless routers provide a fixed WAN interface and LAN interface with four fixing meet IEEE802. lib and wireless IEEE 802. llg standard model TWL54R wireless router, two cards are common model employed in the card 82559, respectively mounted to the first and second target two-goal on the machine.
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